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https://github.com/gnss-sdr/gnss-sdr
synced 2025-10-31 23:33:03 +00:00
Merge remote-tracking branch 'origin/next' into gps_galileo_hybrid
This commit is contained in:
Javier Arribas
@@ -95,7 +95,7 @@ arma::vec galileo_e1_ls_pvt::rotateSatellite(double traveltime, arma::vec X_sat)
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//--- Find rotation angle --------------------------------------------------
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double omegatau;
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omegatau = OMEGA_EARTH_DOT * traveltime;
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omegatau = GALILEO_OMEGA_EARTH_DOT * traveltime;
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//--- Build a rotation matrix ----------------------------------------------
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arma::mat R3 = arma::zeros(3,3);
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@@ -147,6 +147,9 @@ arma::vec galileo_e1_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arm
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double rho2;
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double traveltime;
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double trop;
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double dlambda;
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double dphi;
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double h;
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arma::mat mat_tmp;
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arma::vec x;
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@@ -179,6 +182,15 @@ arma::vec galileo_e1_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arm
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&d_visible_satellites_Distance[i],
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pos.subvec(0,2),
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Rot_X - pos.subvec(0, 2));
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if(traveltime < 0.1 && nmbOfSatellites > 3)
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{
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//--- Find receiver's height
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togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
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//--- Find delay due to troposphere (in meters)
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tropo(&trop, sin(d_visible_satellites_El[i] * GALILEO_PI/180.0), h/1000, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
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if(trop > 50.0 ) trop = 0.0;
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}
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}
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//--- Apply the corrections ----------------------------------------
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omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0, 2), 2) - pos(3) - trop); // Armadillo
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@@ -221,14 +233,12 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
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std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
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int valid_pseudoranges = gnss_pseudoranges_map.size();
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arma::mat W = arma::eye(valid_pseudoranges, valid_pseudoranges); //channels weights matrix
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arma::mat W = arma::eye(valid_pseudoranges, valid_pseudoranges); // channels weights matrix
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arma::vec obs = arma::zeros(valid_pseudoranges); // pseudoranges observation vector
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arma::mat satpos = arma::zeros(3, valid_pseudoranges); //satellite positions matrix
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arma::mat satpos = arma::zeros(3, valid_pseudoranges); // satellite positions matrix
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int Galileo_week_number = 0;
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double utc = 0;
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double SV_clock_drift_s = 0;
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double SV_relativistic_clock_corr_s = 0;
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double TX_time_corrected_s;
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double SV_clock_bias_s = 0;
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@@ -265,16 +275,12 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
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//to compute satellite position we need GST = WN+TOW (everything expressed in seconds)
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//double Rx_time = galileo_current_time + Galileo_week_number*sec_in_day*day_in_week;
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double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m/GALILEO_C_m_s;
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double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m / GALILEO_C_m_s;
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// 2- compute the clock drift using the clock model (broadcast) for this SV
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SV_clock_drift_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time);
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// 2- compute the clock drift using the clock model (broadcast) for this SV, including relativistic effect
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SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time);
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// 3- compute the relativistic clock drift using the clock model (broadcast) for this SV
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SV_relativistic_clock_corr_s = galileo_ephemeris_iter->second.sv_clock_relativistic_term(Tx_time);
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// 4- compute the current ECEF position for this SV using corrected TX time
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SV_clock_bias_s = SV_clock_drift_s + SV_relativistic_clock_corr_s;
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// 3- compute the current ECEF position for this SV using corrected TX time
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TX_time_corrected_s = Tx_time - SV_clock_bias_s;
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galileo_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
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@@ -282,8 +288,8 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
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satpos(1,obs_counter) = galileo_ephemeris_iter->second.d_satpos_Y;
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satpos(2,obs_counter) = galileo_ephemeris_iter->second.d_satpos_Z;
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// 5- fill the observations vector with the corrected pseudoranges
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obs(obs_counter) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s*GALILEO_C_m_s;
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// 4- fill the observations vector with the corrected pseudoranges
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obs(obs_counter) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s;
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d_visible_satellites_IDs[valid_obs] = galileo_ephemeris_iter->second.i_satellite_PRN;
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d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
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valid_obs++;
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@@ -530,8 +536,8 @@ void galileo_e1_ls_pvt::cart2geo(double X, double Y, double Z, int elipsoid_sele
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}
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}
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while (abs(h - oldh) > 1.0e-12);
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d_latitude_d = phi * 180.0 / GPS_PI;
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d_longitude_d = lambda * 180 / GPS_PI;
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d_latitude_d = phi * 180.0 / GALILEO_PI;
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d_longitude_d = lambda * 180 / GALILEO_PI;
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d_height_m = h;
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}
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@@ -672,7 +678,7 @@ void galileo_e1_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x,
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double lambda;
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double phi;
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double h;
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double dtr = GPS_PI/180.0;
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double dtr = GALILEO_PI/180.0;
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double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84
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double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84
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@@ -727,3 +733,103 @@ void galileo_e1_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x,
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*D = sqrt(dx(0)*dx(0) + dx(1)*dx(1) + dx(2)*dx(2));
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}
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void galileo_e1_ls_pvt::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km)
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{
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/* Inputs:
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sinel - sin of elevation angle of satellite
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hsta_km - height of station in km
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p_mb - atmospheric pressure in mb at height hp_km
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t_kel - surface temperature in degrees Kelvin at height htkel_km
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hum - humidity in % at height hhum_km
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hp_km - height of pressure measurement in km
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htkel_km - height of temperature measurement in km
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hhum_km - height of humidity measurement in km
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Outputs:
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ddr_m - range correction (meters)
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Reference
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Goad, C.C. & Goodman, L. (1974) A Modified Hopfield Tropospheric
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Refraction Correction Model. Paper presented at the
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American Geophysical Union Annual Fall Meeting, San
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Francisco, December 12-17
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Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre
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*/
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const double a_e = 6378.137; // semi-major axis of earth ellipsoid
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const double b0 = 7.839257e-5;
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const double tlapse = -6.5;
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const double em = -978.77 / (2.8704e6 * tlapse * 1.0e-5);
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double tkhum = t_kel + tlapse * (hhum_km - htkel_km);
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double atkel = 7.5*(tkhum - 273.15) / (237.3 + tkhum - 273.15);
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double e0 = 0.0611 * hum * pow(10, atkel);
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double tksea = t_kel - tlapse * htkel_km;
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double tkelh = tksea + tlapse * hhum_km;
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double e0sea = e0 * pow((tksea / tkelh), (4 * em));
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double tkelp = tksea + tlapse * hp_km;
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double psea = p_mb * pow((tksea / tkelp), em);
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if(sinel < 0) { sinel = 0.0; }
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double tropo_delay = 0.0;
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bool done = false;
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double refsea = 77.624e-6 / tksea;
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double htop = 1.1385e-5 / refsea;
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refsea = refsea * psea;
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double ref = refsea * pow(((htop - hsta_km) / htop), 4);
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double a;
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double b;
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double rtop;
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while(1)
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{
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rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2));
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// check to see if geometry is crazy
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if(rtop < 0) { rtop = 0; }
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rtop = sqrt(rtop) - (a_e + hsta_km) * sinel;
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a = -sinel / (htop - hsta_km);
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b = -b0 * (1 - pow(sinel,2)) / (htop - hsta_km);
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arma::vec rn = arma::vec(8);
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rn.zeros();
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for(int i = 0; i<8; i++)
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{
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rn(i) = pow(rtop, (i+1+1));
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}
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arma::rowvec alpha = {2 * a, 2 * pow(a, 2) + 4 * b /3, a * (pow(a, 2) + 3 * b),
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pow(a, 4)/5 + 2.4 * pow(a, 2) * b + 1.2 * pow(b, 2), 2 * a * b * (pow(a, 2) + 3 * b)/3,
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pow(b, 2) * (6 * pow(a, 2) + 4 * b) * 1.428571e-1, 0, 0};
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if(pow(b, 2) > 1.0e-35)
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{
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alpha(6) = a * pow(b, 3) /2;
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alpha(7) = pow(b, 4) / 9;
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}
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double dr = rtop;
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arma::mat aux_ = alpha * rn;
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dr = dr + aux_(0, 0);
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tropo_delay = tropo_delay + dr * ref * 1000;
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if(done == true)
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{
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*ddr_m = tropo_delay;
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break;
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}
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done = true;
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refsea = (371900.0e-6 / tksea - 12.92e-6) / tksea;
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htop = 1.1385e-5 * (1255 / tksea + 0.05) / refsea;
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ref = refsea * e0sea * pow(((htop - hsta_km) / htop), 4);
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}
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}
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@@ -62,6 +62,7 @@ private:
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arma::vec rotateSatellite(double traveltime, arma::vec X_sat);
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void topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx);
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void togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
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void tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km);
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public:
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int d_nchannels; //!< Number of available channels for positioning
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int d_valid_observations; //!< Number of valid pseudorange observations (valid satellites)
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@@ -27,14 +27,16 @@
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*
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* -------------------------------------------------------------------------
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*/
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#define GLOG_NO_ABBREVIATED_SEVERITIES
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#include "gps_l1_ca_ls_pvt.h"
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#include <gflags/gflags.h>
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#include <glog/logging.h>
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using google::LogMessage;
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DEFINE_bool(tropo, true, "Apply tropospheric correction");
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gps_l1_ca_ls_pvt::gps_l1_ca_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file)
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{
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@@ -107,7 +109,7 @@ arma::vec gps_l1_ca_ls_pvt::rotateSatellite(double traveltime, arma::vec X_sat)
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R3(1, 2) = 0.0;
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R3(2, 0) = 0.0;
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R3(2, 1) = 0.0;
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R3(2, 2) = 1;
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R3(2, 2) = 1.0;
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//--- Do the rotation ------------------------------------------------------
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arma::vec X_sat_rot;
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@@ -147,6 +149,9 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
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double rho2;
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double traveltime;
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double trop;
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double dlambda;
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double dphi;
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double h;
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arma::mat mat_tmp;
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arma::vec x;
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@@ -164,21 +169,33 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
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else
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{
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//--- Update equations -----------------------------------------
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rho2 = (X(0, i) - pos(0)) *
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(X(0, i) - pos(0)) + (X(1, i) - pos(1)) *
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(X(1, i) - pos(1)) + (X(2,i) - pos(2)) *
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(X(2,i) - pos(2));
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rho2 = (X(0, i) - pos(0)) * (X(0, i) - pos(0))
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+ (X(1, i) - pos(1)) * (X(1, i) - pos(1))
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+ (X(2, i) - pos(2)) * (X(2, i) - pos(2));
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traveltime = sqrt(rho2) / GPS_C_m_s;
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//--- Correct satellite position (do to earth rotation) --------
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Rot_X = rotateSatellite(traveltime, X.col(i)); //armadillo
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//--- Find DOA and range of satellites
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//--- Find satellites' DOA
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topocent(&d_visible_satellites_Az[i], &d_visible_satellites_El[i],
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&d_visible_satellites_Distance[i], pos.subvec(0,2), Rot_X - pos.subvec(0,2));
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//[az(i), el(i), dist] = topocent(pos(1:3, :), Rot_X - pos(1:3, :));
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if(FLAGS_tropo)
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{
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if(traveltime < 0.1 && nmbOfSatellites > 3)
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{
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//--- Find receiver's height
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togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
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//--- Find delay due to troposphere (in meters)
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tropo(&trop, sin(d_visible_satellites_El[i] * GPS_PI / 180.0), h / 1000, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
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if(trop > 50.0 ) trop = 0.0;
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}
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}
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}
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//--- Apply the corrections ----------------------------------------
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omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0,2),2) - pos(3) - trop); // Armadillo
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@@ -189,16 +206,16 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
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A(i,2) = (-(Rot_X(2) - pos(2))) / obs(i);
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A(i,3) = 1.0;
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}
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//--- Find position update ---------------------------------------------
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x = arma::solve(w*A, w*omc); // Armadillo
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//--- Apply position update --------------------------------------------
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pos = pos + x;
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if (arma::norm(x, 2) < 1e-4)
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{
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break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm)
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}
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{
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break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm)
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}
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}
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try
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@@ -221,13 +238,11 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
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int valid_pseudoranges = gnss_pseudoranges_map.size();
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arma::mat W = arma::eye(valid_pseudoranges, valid_pseudoranges); //channels weights matrix
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arma::vec obs = arma::zeros(valid_pseudoranges); // pseudoranges observation vector
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arma::mat satpos = arma::zeros(3, valid_pseudoranges); //satellite positions matrix
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arma::vec obs = arma::zeros(valid_pseudoranges); // pseudoranges observation vector
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arma::mat satpos = arma::zeros(3, valid_pseudoranges); //satellite positions matrix
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int GPS_week = 0;
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double utc = 0;
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double SV_clock_drift_s = 0;
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double SV_relativistic_clock_corr_s = 0;
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double TX_time_corrected_s;
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double SV_clock_bias_s = 0;
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@@ -254,16 +269,12 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
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// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
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// first estimate of transmit time
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double Rx_time = GPS_current_time;
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double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m/GPS_C_m_s;
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double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m / GPS_C_m_s;
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// 2- compute the clock drift using the clock model (broadcast) for this SV
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SV_clock_drift_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time);
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// 2- compute the clock drift using the clock model (broadcast) for this SV, including relativistic effect
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SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time); //- gps_ephemeris_iter->second.d_TGD;
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// 3- compute the relativistic clock drift using the clock model (broadcast) for this SV
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SV_relativistic_clock_corr_s = gps_ephemeris_iter->second.sv_clock_relativistic_term(Tx_time);
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// 4- compute the current ECEF position for this SV using corrected TX time
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SV_clock_bias_s = SV_clock_drift_s + SV_relativistic_clock_corr_s - gps_ephemeris_iter->second.d_TGD;
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// 3- compute the current ECEF position for this SV using corrected TX time
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TX_time_corrected_s = Tx_time - SV_clock_bias_s;
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gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
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@@ -271,8 +282,8 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
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satpos(1, obs_counter) = gps_ephemeris_iter->second.d_satpos_Y;
|
||||
satpos(2, obs_counter) = gps_ephemeris_iter->second.d_satpos_Z;
|
||||
|
||||
// 5- fill the observations vector with the corrected pseudorranges
|
||||
obs(obs_counter) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s*GPS_C_m_s;
|
||||
// 4- fill the observations vector with the corrected pseudoranges
|
||||
obs(obs_counter) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s * GPS_C_m_s;
|
||||
d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
|
||||
d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
|
||||
valid_obs++;
|
||||
@@ -284,7 +295,7 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
|
||||
<< " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
|
||||
<< " [m] PR_obs=" << obs(obs_counter) << " [m]";
|
||||
|
||||
// compute the UTC time for this SV (just to print the asociated UTC timestamp)
|
||||
// compute the UTC time for this SV (just to print the associated UTC timestamp)
|
||||
GPS_week = gps_ephemeris_iter->second.i_GPS_week;
|
||||
utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week);
|
||||
}
|
||||
@@ -566,7 +577,7 @@ void gps_l1_ca_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double a
|
||||
{
|
||||
*dlambda = *dlambda + 360.0;
|
||||
}
|
||||
double r = sqrt(P*P + Z*Z); // r is distance from origin (0,0,0)
|
||||
double r = sqrt(P * P + Z * Z); // r is distance from origin (0,0,0)
|
||||
|
||||
double sinphi;
|
||||
if (r > 1.0E-20)
|
||||
@@ -587,7 +598,7 @@ void gps_l1_ca_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double a
|
||||
return;
|
||||
}
|
||||
|
||||
*h = r - a*(1-sinphi*sinphi/finv);
|
||||
*h = r - a * (1 - sinphi * sinphi / finv);
|
||||
|
||||
// iterate
|
||||
double cosphi;
|
||||
@@ -602,18 +613,18 @@ void gps_l1_ca_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double a
|
||||
cosphi = cos(*dphi);
|
||||
|
||||
// compute radius of curvature in prime vertical direction
|
||||
N_phi = a / sqrt(1 - esq*sinphi*sinphi);
|
||||
N_phi = a / sqrt(1 - esq * sinphi * sinphi);
|
||||
|
||||
// compute residuals in P and Z
|
||||
dP = P - (N_phi + (*h)) * cosphi;
|
||||
dZ = Z - (N_phi*oneesq + (*h)) * sinphi;
|
||||
|
||||
// update height and latitude
|
||||
*h = *h + (sinphi*dZ + cosphi*dP);
|
||||
*dphi = *dphi + (cosphi*dZ - sinphi*dP)/(N_phi + (*h));
|
||||
*h = *h + (sinphi * dZ + cosphi * dP);
|
||||
*dphi = *dphi + (cosphi * dZ - sinphi * dP)/(N_phi + (*h));
|
||||
|
||||
// test for convergence
|
||||
if ((dP*dP + dZ*dZ) < tolsq)
|
||||
if ((dP * dP + dZ * dZ) < tolsq)
|
||||
{
|
||||
break;
|
||||
}
|
||||
@@ -645,9 +656,9 @@ void gps_l1_ca_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x,
|
||||
double lambda;
|
||||
double phi;
|
||||
double h;
|
||||
double dtr = GPS_PI/180.0;
|
||||
double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84
|
||||
double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84
|
||||
double dtr = GPS_PI / 180.0;
|
||||
double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84
|
||||
double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84
|
||||
|
||||
// Transform x into geodetic coordinates
|
||||
togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2));
|
||||
@@ -660,12 +671,12 @@ void gps_l1_ca_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x,
|
||||
arma::mat F = arma::zeros(3,3);
|
||||
|
||||
F(0,0) = -sl;
|
||||
F(0,1) = -sb*cl;
|
||||
F(0,2) = cb*cl;
|
||||
F(0,1) = -sb * cl;
|
||||
F(0,2) = cb * cl;
|
||||
|
||||
F(1,0) = cl;
|
||||
F(1,1) = -sb*sl;
|
||||
F(1,2) = cb*sl;
|
||||
F(1,1) = -sb * sl;
|
||||
F(1,2) = cb * sl;
|
||||
|
||||
F(2,0) = 0;
|
||||
F(2,1) = cb;
|
||||
@@ -680,7 +691,7 @@ void gps_l1_ca_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x,
|
||||
double U = local_vector(2);
|
||||
|
||||
double hor_dis;
|
||||
hor_dis = sqrt(E*E + N*N);
|
||||
hor_dis = sqrt(E * E + N * N);
|
||||
|
||||
if (hor_dis < 1.0E-20)
|
||||
{
|
||||
@@ -689,8 +700,8 @@ void gps_l1_ca_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x,
|
||||
}
|
||||
else
|
||||
{
|
||||
*Az = atan2(E, N)/dtr;
|
||||
*El = atan2(U, hor_dis)/dtr;
|
||||
*Az = atan2(E, N) / dtr;
|
||||
*El = atan2(U, hor_dis) / dtr;
|
||||
}
|
||||
|
||||
if (*Az < 0)
|
||||
@@ -698,5 +709,106 @@ void gps_l1_ca_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x,
|
||||
*Az = *Az + 360.0;
|
||||
}
|
||||
|
||||
*D = sqrt(dx(0)*dx(0) + dx(1)*dx(1) + dx(2)*dx(2));
|
||||
*D = sqrt(dx(0) * dx(0) + dx(1) * dx(1) + dx(2) * dx(2));
|
||||
}
|
||||
|
||||
|
||||
void gps_l1_ca_ls_pvt::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km)
|
||||
{
|
||||
/* Inputs:
|
||||
sinel - sin of elevation angle of satellite
|
||||
hsta_km - height of station in km
|
||||
p_mb - atmospheric pressure in mb at height hp_km
|
||||
t_kel - surface temperature in degrees Kelvin at height htkel_km
|
||||
hum - humidity in % at height hhum_km
|
||||
hp_km - height of pressure measurement in km
|
||||
htkel_km - height of temperature measurement in km
|
||||
hhum_km - height of humidity measurement in km
|
||||
|
||||
Outputs:
|
||||
ddr_m - range correction (meters)
|
||||
|
||||
Reference
|
||||
Goad, C.C. & Goodman, L. (1974) A Modified Hopfield Tropospheric
|
||||
Refraction Correction Model. Paper presented at the
|
||||
American Geophysical Union Annual Fall Meeting, San
|
||||
Francisco, December 12-17
|
||||
|
||||
Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre
|
||||
*/
|
||||
|
||||
const double a_e = 6378.137; // semi-major axis of earth ellipsoid
|
||||
const double b0 = 7.839257e-5;
|
||||
const double tlapse = -6.5;
|
||||
const double em = -978.77 / (2.8704e6 * tlapse * 1.0e-5);
|
||||
|
||||
double tkhum = t_kel + tlapse * (hhum_km - htkel_km);
|
||||
double atkel = 7.5 * (tkhum - 273.15) / (237.3 + tkhum - 273.15);
|
||||
double e0 = 0.0611 * hum * pow(10, atkel);
|
||||
double tksea = t_kel - tlapse * htkel_km;
|
||||
double tkelh = tksea + tlapse * hhum_km;
|
||||
double e0sea = e0 * pow((tksea / tkelh), (4 * em));
|
||||
double tkelp = tksea + tlapse * hp_km;
|
||||
double psea = p_mb * pow((tksea / tkelp), em);
|
||||
|
||||
if(sinel < 0) { sinel = 0.0; }
|
||||
|
||||
double tropo_delay = 0.0;
|
||||
bool done = false;
|
||||
double refsea = 77.624e-6 / tksea;
|
||||
double htop = 1.1385e-5 / refsea;
|
||||
refsea = refsea * psea;
|
||||
double ref = refsea * pow(((htop - hsta_km) / htop), 4);
|
||||
|
||||
double a;
|
||||
double b;
|
||||
double rtop;
|
||||
|
||||
while(1)
|
||||
{
|
||||
rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2));
|
||||
|
||||
// check to see if geometry is crazy
|
||||
if(rtop < 0) { rtop = 0; }
|
||||
|
||||
rtop = sqrt(rtop) - (a_e + hsta_km) * sinel;
|
||||
|
||||
a = -sinel / (htop - hsta_km);
|
||||
b = -b0 * (1 - pow(sinel,2)) / (htop - hsta_km);
|
||||
|
||||
arma::vec rn = arma::vec(8);
|
||||
rn.zeros();
|
||||
|
||||
for(int i = 0; i<8; i++)
|
||||
{
|
||||
rn(i) = pow(rtop, (i+1+1));
|
||||
|
||||
}
|
||||
|
||||
arma::rowvec alpha = {2 * a, 2 * pow(a, 2) + 4 * b /3, a * (pow(a, 2) + 3 * b),
|
||||
pow(a, 4)/5 + 2.4 * pow(a, 2) * b + 1.2 * pow(b, 2), 2 * a * b * (pow(a, 2) + 3 * b)/3,
|
||||
pow(b, 2) * (6 * pow(a, 2) + 4 * b) * 1.428571e-1, 0, 0};
|
||||
|
||||
if(pow(b, 2) > 1.0e-35)
|
||||
{
|
||||
alpha(6) = a * pow(b, 3) /2;
|
||||
alpha(7) = pow(b, 4) / 9;
|
||||
}
|
||||
|
||||
double dr = rtop;
|
||||
arma::mat aux_ = alpha * rn;
|
||||
dr = dr + aux_(0, 0);
|
||||
tropo_delay = tropo_delay + dr * ref * 1000;
|
||||
|
||||
if(done == true)
|
||||
{
|
||||
*ddr_m = tropo_delay;
|
||||
break;
|
||||
}
|
||||
|
||||
done = true;
|
||||
refsea = (371900.0e-6 / tksea - 12.92e-6) / tksea;
|
||||
htop = 1.1385e-5 * (1255 / tksea + 0.05) / refsea;
|
||||
ref = refsea * e0sea * pow(((htop - hsta_km) / htop), 4);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -65,6 +65,7 @@ private:
|
||||
arma::vec rotateSatellite(double traveltime, arma::vec X_sat);
|
||||
void topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx);
|
||||
void togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
|
||||
void tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km);
|
||||
public:
|
||||
int d_nchannels; //!< Number of available channels for positioning
|
||||
int d_valid_observations; //!< Number of valid pseudorange observations (valid satellites)
|
||||
|
||||
@@ -23,9 +23,11 @@ if(OPENCL_FOUND)
|
||||
gps_l1_ca_pcps_assisted_acquisition.cc
|
||||
gps_l1_ca_pcps_acquisition_fine_doppler.cc
|
||||
gps_l1_ca_pcps_tong_acquisition.cc
|
||||
gps_l1_ca_pcps_quicksync_acquisition.cc
|
||||
gps_l1_ca_pcps_opencl_acquisition.cc
|
||||
galileo_e1_pcps_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_tong_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_8ms_ambiguous_acquisition.cc
|
||||
)
|
||||
@@ -36,8 +38,10 @@ else(OPENCL_FOUND)
|
||||
gps_l1_ca_pcps_assisted_acquisition.cc
|
||||
gps_l1_ca_pcps_acquisition_fine_doppler.cc
|
||||
gps_l1_ca_pcps_tong_acquisition.cc
|
||||
gps_l1_ca_pcps_quicksync_acquisition.cc
|
||||
galileo_e1_pcps_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_tong_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_8ms_ambiguous_acquisition.cc
|
||||
)
|
||||
|
||||
@@ -0,0 +1,348 @@
|
||||
/*!
|
||||
* \file galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Galileo E1 Signals using the QuickSync Algorithm
|
||||
* \author Damian Miralles, 2014. dmiralles2009@gmail.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/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
|
||||
#include <iostream>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <boost/math/distributions/exponential.hpp>
|
||||
#include <glog/logging.h>
|
||||
#include <cmath>
|
||||
#include "galileo_e1_signal_processing.h"
|
||||
#include "Galileo_E1.h"
|
||||
#include "configuration_interface.h"
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition(
|
||||
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)
|
||||
{
|
||||
configuration_ = configuration;
|
||||
std::string default_item_type = "gr_complex";
|
||||
std::string default_dump_filename = "../data/acquisition.dat";
|
||||
|
||||
DLOG(INFO) << "role " << role;
|
||||
|
||||
item_type_ = configuration_->property(role + ".item_type",
|
||||
default_item_type);
|
||||
|
||||
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
|
||||
if_ = configuration_->property(role + ".ifreq", 0);
|
||||
dump_ = configuration_->property(role + ".dump", false);
|
||||
shift_resolution_ = configuration_->property(role + ".doppler_max", 15);
|
||||
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 8);
|
||||
|
||||
/*--- Find number of samples per spreading code (4 ms) -----------------*/
|
||||
code_length_ = round(
|
||||
fs_in_
|
||||
/ (Galileo_E1_CODE_CHIP_RATE_HZ
|
||||
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
|
||||
|
||||
int samples_per_ms = round(code_length_ / 4.0);
|
||||
|
||||
|
||||
/*Calculate the folding factor value based on the formula described in the paper.
|
||||
This may be a bug, but acquisition also work by variying the folding factor at va-
|
||||
lues different that the expressed in the paper. In adition, it is important to point
|
||||
out that by making the folding factor smaller we were able to get QuickSync work with
|
||||
Galileo. Future work should be directed to test this asumption statistically.*/
|
||||
|
||||
//folding_factor_ = (unsigned int)ceil(sqrt(log2(code_length_)));
|
||||
folding_factor_ = configuration_->property(role + ".folding_factor", 2);
|
||||
|
||||
if (sampled_ms_ % (folding_factor_*4) != 0)
|
||||
{
|
||||
LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time"
|
||||
<< " multiple of "<<(folding_factor_*4)<<"ms, Value entered "
|
||||
<<sampled_ms_<<" ms";
|
||||
|
||||
if(sampled_ms_ < (folding_factor_*4))
|
||||
{
|
||||
sampled_ms_ = (int) (folding_factor_*4);
|
||||
}
|
||||
else
|
||||
{
|
||||
sampled_ms_ = (int)(sampled_ms_/(folding_factor_*4)) * (folding_factor_*4);
|
||||
}
|
||||
LOG(WARNING) << "coherent_integration_time should be multiple of "
|
||||
<< "Galileo code length (4 ms). coherent_integration_time = "
|
||||
<< sampled_ms_ << " ms will be used.";
|
||||
|
||||
}
|
||||
// vector_length_ = (sampled_ms_/folding_factor_) * code_length_;
|
||||
vector_length_ = sampled_ms_ * samples_per_ms;
|
||||
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
|
||||
|
||||
if (!bit_transition_flag_)
|
||||
{
|
||||
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
|
||||
}
|
||||
else
|
||||
{
|
||||
max_dwells_ = 2;
|
||||
}
|
||||
|
||||
dump_filename_ = configuration_->property(role + ".dump_filename",
|
||||
default_dump_filename);
|
||||
|
||||
code_ = new gr_complex[code_length_];
|
||||
LOG(INFO) <<"Vector Length: "<<vector_length_
|
||||
<<", Samples per ms: "<<samples_per_ms
|
||||
<<", Folding factor: "<<folding_factor_
|
||||
<<", Sampled ms: "<<sampled_ms_
|
||||
<<", Code Length: "<<code_length_;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
item_size_ = sizeof(gr_complex);
|
||||
acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_,
|
||||
sampled_ms_, max_dwells_, shift_resolution_, if_, fs_in_,
|
||||
samples_per_ms, code_length_, bit_transition_flag_, queue_,
|
||||
dump_, dump_filename_);
|
||||
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_,
|
||||
vector_length_);
|
||||
DLOG(INFO) << "stream_to_vector_quicksync("
|
||||
<< stream_to_vector_->unique_id() << ")";
|
||||
DLOG(INFO) << "acquisition_quicksync(" << acquisition_cc_->unique_id()
|
||||
<< ")";
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG(WARNING) << item_type_
|
||||
<< " unknown acquisition item type";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::~GalileoE1PcpsQuickSyncAmbiguousAcquisition()
|
||||
{
|
||||
delete[] code_;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channel)
|
||||
{
|
||||
channel_ = channel;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_channel(channel_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
|
||||
{
|
||||
|
||||
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
|
||||
|
||||
if(pfa==0.0) pfa = configuration_->property(role_+".pfa", 0.0);
|
||||
|
||||
if(pfa==0.0)
|
||||
{
|
||||
threshold_ = threshold;
|
||||
}
|
||||
else
|
||||
{
|
||||
threshold_ = calculate_threshold(pfa);
|
||||
}
|
||||
|
||||
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_;
|
||||
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_threshold(threshold_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int doppler_max)
|
||||
{
|
||||
doppler_max_ = doppler_max;
|
||||
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_doppler_max(doppler_max_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
|
||||
{
|
||||
doppler_step_ = doppler_step;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_doppler_step(doppler_step_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel_queue(
|
||||
concurrent_queue<int> *channel_internal_queue)
|
||||
{
|
||||
channel_internal_queue_ = channel_internal_queue;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_channel_queue(channel_internal_queue_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_gnss_synchro(
|
||||
Gnss_Synchro* gnss_synchro)
|
||||
{
|
||||
gnss_synchro_ = gnss_synchro;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
signed int
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::mag()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
return acquisition_cc_->mag();
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::init()
|
||||
{
|
||||
acquisition_cc_->init();
|
||||
set_local_code();
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
bool cboc = configuration_->property(
|
||||
"Acquisition" + boost::lexical_cast<std::string>(channel_)
|
||||
+ ".cboc", false);
|
||||
|
||||
std::complex<float> * code = new std::complex<float>[code_length_];
|
||||
|
||||
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
|
||||
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
|
||||
|
||||
|
||||
for (unsigned int i = 0; i < (sampled_ms_/(folding_factor_*4)); i++)
|
||||
{
|
||||
memcpy(&(code_[i*code_length_]), code,
|
||||
sizeof(gr_complex)*code_length_);
|
||||
}
|
||||
|
||||
// memcpy(code_, code,sizeof(gr_complex)*code_length_);
|
||||
acquisition_cc_->set_local_code(code_);
|
||||
|
||||
delete[] code;
|
||||
code = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_active(true);
|
||||
}
|
||||
}
|
||||
|
||||
float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa)
|
||||
{
|
||||
unsigned int frequency_bins = 0;
|
||||
for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
|
||||
{
|
||||
frequency_bins++;
|
||||
}
|
||||
|
||||
DLOG(INFO) <<"Channel "<<channel_<<" Pfa = "<< pfa;
|
||||
|
||||
unsigned int ncells = code_length_/folding_factor_ * frequency_bins;
|
||||
double exponent = 1 / (double)ncells;
|
||||
double val = pow(1.0 - pfa, exponent);
|
||||
double lambda = double(code_length_/folding_factor_);
|
||||
boost::math::exponential_distribution<double> mydist (lambda);
|
||||
float threshold = (float)quantile(mydist,val);
|
||||
|
||||
return threshold;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GalileoE1PcpsQuickSyncAmbiguousAcquisition::get_left_block()
|
||||
{
|
||||
return stream_to_vector_;
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GalileoE1PcpsQuickSyncAmbiguousAcquisition::get_right_block()
|
||||
{
|
||||
return acquisition_cc_;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,163 @@
|
||||
/*!
|
||||
* \file galileo_e1_pcps_quicksync_ambiguous_acquisition.h
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for Galileo E1 Signals
|
||||
* \date June, 2014
|
||||
* \author Damian Miralles Sanchez. dmiralles2009@gmail.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_E1_PCPS_QUICKSYNC_AMBIGUOUS_ACQUISITION_H_
|
||||
#define GNSS_SDR_GALILEO_E1_PCPS_QUICKSYNC_AMBIGUOUS_ACQUISITION_H_
|
||||
|
||||
#include <string>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/stream_to_vector.h>
|
||||
#include "gnss_synchro.h"
|
||||
#include "acquisition_interface.h"
|
||||
#include "pcps_quicksync_acquisition_cc.h"
|
||||
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class adapts a PCPS acquisition block to an
|
||||
* AcquisitionInterface for Galileo E1 Signals
|
||||
*/
|
||||
class GalileoE1PcpsQuickSyncAmbiguousAcquisition: public AcquisitionInterface
|
||||
{
|
||||
public:
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition(ConfigurationInterface* configuration,
|
||||
std::string role, unsigned int in_streams,
|
||||
unsigned int out_streams, boost::shared_ptr<gr::msg_queue> queue);
|
||||
|
||||
virtual ~GalileoE1PcpsQuickSyncAmbiguousAcquisition();
|
||||
|
||||
std::string role()
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns "Galileo_E1_PCPS_Ambiguous_Acquisition"
|
||||
*/
|
||||
std::string implementation()
|
||||
{
|
||||
return "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition";
|
||||
}
|
||||
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 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 acquisition channel unique ID
|
||||
*/
|
||||
void set_channel(unsigned int channel);
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm
|
||||
*/
|
||||
void set_threshold(float threshold);
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler off grid search
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max);
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step);
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel internal queue
|
||||
*/
|
||||
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init();
|
||||
|
||||
/*!
|
||||
* \brief Sets local code for Galileo E1 PCPS acquisition algorithm.
|
||||
*/
|
||||
void set_local_code();
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search
|
||||
*/
|
||||
signed int mag();
|
||||
|
||||
/*!
|
||||
* \brief Restart acquisition algorithm
|
||||
*/
|
||||
void reset();
|
||||
|
||||
private:
|
||||
ConfigurationInterface* configuration_;
|
||||
pcps_quicksync_acquisition_cc_sptr acquisition_cc_;
|
||||
gr::blocks::stream_to_vector::sptr stream_to_vector_;
|
||||
size_t item_size_;
|
||||
std::string item_type_;
|
||||
unsigned int vector_length_;
|
||||
unsigned int code_length_;
|
||||
bool bit_transition_flag_;
|
||||
unsigned int channel_;
|
||||
float threshold_;
|
||||
unsigned int doppler_max_;
|
||||
unsigned int doppler_step_;
|
||||
unsigned int shift_resolution_;
|
||||
unsigned int sampled_ms_;
|
||||
unsigned int max_dwells_;
|
||||
unsigned int folding_factor_;
|
||||
long fs_in_;
|
||||
long if_;
|
||||
bool dump_;
|
||||
std::string dump_filename_;
|
||||
std::complex<float> * code_;
|
||||
Gnss_Synchro * gnss_synchro_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
boost::shared_ptr<gr::msg_queue> queue_;
|
||||
concurrent_queue<int> *channel_internal_queue_;
|
||||
float calculate_threshold(float pfa);
|
||||
};
|
||||
|
||||
#endif /* GNSS_SDR_GALILEO_E1_PCPS_QUICKSYNC_AMBIGUOUS_ACQUISITION_H_ */
|
||||
@@ -0,0 +1,330 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_pcps_quicksync_acquisition.cc
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* GPS L1 C/A signals using the QuickSync Algorithm
|
||||
* \author Damian Miralles, 2014. dmiralles2009@gmail.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/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gps_l1_ca_pcps_quicksync_acquisition.h"
|
||||
#include <iostream>
|
||||
#include <cmath>
|
||||
#include <stdexcept>
|
||||
#include <boost/math/distributions/exponential.hpp>
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include "gps_sdr_signal_processing.h"
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "configuration_interface.h"
|
||||
|
||||
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
|
||||
ConfigurationInterface* configuration, std::string role,
|
||||
unsigned int in_streams, unsigned int out_streams,
|
||||
gr::msg_queue::sptr queue) :
|
||||
role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(queue)
|
||||
{
|
||||
configuration_ = configuration;
|
||||
std::string default_item_type = "gr_complex";
|
||||
std::string default_dump_filename = "./data/acquisition.dat";
|
||||
|
||||
DLOG(INFO) << "role " << role;
|
||||
|
||||
item_type_ = configuration_->property(role + ".item_type", default_item_type);
|
||||
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
|
||||
if_ = configuration_->property(role + ".ifreq", 0);
|
||||
dump_ = configuration_->property(role + ".dump", false);
|
||||
shift_resolution_ = configuration_->property(role + ".doppler_max", 15);
|
||||
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
|
||||
|
||||
|
||||
//--- Find number of samples per spreading code -------------------------
|
||||
code_length_ = round(fs_in_
|
||||
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
|
||||
|
||||
|
||||
/*Calculate the folding factor value based on the calculations*/
|
||||
unsigned int temp = (unsigned int)ceil(sqrt(log2(code_length_)));
|
||||
folding_factor_ = configuration_->property(role + ".folding_factor", temp);
|
||||
|
||||
if ( sampled_ms_ % folding_factor_ != 0)
|
||||
{
|
||||
LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time"
|
||||
<< " multiple of " << folding_factor_ << "ms, Value entered "
|
||||
<< sampled_ms_ << " ms";
|
||||
if(sampled_ms_ < folding_factor_)
|
||||
{
|
||||
sampled_ms_ = (int) folding_factor_;
|
||||
}
|
||||
else
|
||||
{
|
||||
sampled_ms_ = (int)(sampled_ms_/folding_factor_) * folding_factor_;
|
||||
}
|
||||
|
||||
LOG(WARNING) <<" Coherent_integration_time of "
|
||||
<< sampled_ms_ << " ms will be used instead.";
|
||||
|
||||
}
|
||||
vector_length_ = code_length_ * sampled_ms_;
|
||||
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
|
||||
|
||||
if (!bit_transition_flag_)
|
||||
{
|
||||
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
|
||||
}
|
||||
else
|
||||
{
|
||||
max_dwells_ = 2;
|
||||
}
|
||||
|
||||
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
|
||||
|
||||
int samples_per_ms = round(code_length_);
|
||||
code_= new gr_complex[code_length_];
|
||||
/*Object relevant information for debugging*/
|
||||
LOG(INFO) <<"Implementation: "<<this->implementation()
|
||||
<<", Vector Length: "<<vector_length_
|
||||
<<", Samples per ms: "<<samples_per_ms
|
||||
<<", Folding factor: "<<folding_factor_
|
||||
<<", Sampled ms: "<<sampled_ms_
|
||||
<<", Code Length: "<<code_length_;
|
||||
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
item_size_ = sizeof(gr_complex);
|
||||
acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_,
|
||||
sampled_ms_, max_dwells_,shift_resolution_, if_, fs_in_,
|
||||
samples_per_ms, code_length_,bit_transition_flag_, queue_,
|
||||
dump_, dump_filename_);
|
||||
|
||||
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_,
|
||||
code_length_*folding_factor_);
|
||||
|
||||
DLOG(INFO) << "stream_to_vector_quicksync(" << stream_to_vector_->unique_id() << ")";
|
||||
DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG(WARNING) << item_type_ << " unknown acquisition item type";
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
GpsL1CaPcpsQuickSyncAcquisition::~GpsL1CaPcpsQuickSyncAcquisition()
|
||||
{
|
||||
delete[] code_;
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_channel(unsigned int channel)
|
||||
{
|
||||
channel_ = channel;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_channel(channel_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_threshold(float threshold)
|
||||
{
|
||||
float pfa = configuration_->property(role_ +
|
||||
boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
|
||||
|
||||
if(pfa == 0.0)
|
||||
{
|
||||
pfa = configuration_->property(role_+".pfa", 0.0);
|
||||
}
|
||||
if(pfa == 0.0)
|
||||
{
|
||||
threshold_ = threshold;
|
||||
}
|
||||
else
|
||||
{
|
||||
threshold_ = calculate_threshold(pfa);
|
||||
}
|
||||
|
||||
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_;
|
||||
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_threshold(threshold_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_doppler_max(unsigned int doppler_max)
|
||||
{
|
||||
doppler_max_ = doppler_max;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_doppler_max(doppler_max_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_doppler_step(unsigned int doppler_step)
|
||||
{
|
||||
doppler_step_ = doppler_step;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_doppler_step(doppler_step_);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_channel_queue(
|
||||
concurrent_queue<int> *channel_internal_queue)
|
||||
{
|
||||
channel_internal_queue_ = channel_internal_queue;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_channel_queue(channel_internal_queue_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
|
||||
{
|
||||
gnss_synchro_ = gnss_synchro;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
signed int GpsL1CaPcpsQuickSyncAcquisition::mag()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
return acquisition_cc_->mag();
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::init()
|
||||
{
|
||||
acquisition_cc_->init();
|
||||
set_local_code();
|
||||
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_local_code()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
std::complex<float>* code = new std::complex<float>[code_length_];
|
||||
|
||||
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
|
||||
|
||||
|
||||
for (unsigned int i = 0; i < (sampled_ms_/folding_factor_); i++)
|
||||
{
|
||||
memcpy(&(code_[i*code_length_]), code,
|
||||
sizeof(gr_complex)*code_length_);
|
||||
}
|
||||
|
||||
//memcpy(code_, code,sizeof(gr_complex)*code_length_);
|
||||
acquisition_cc_->set_local_code(code_);
|
||||
|
||||
delete[] code;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::reset()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_active(true);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
float GpsL1CaPcpsQuickSyncAcquisition::calculate_threshold(float pfa)
|
||||
{
|
||||
//Calculate the threshold
|
||||
unsigned int frequency_bins = 0;
|
||||
for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
|
||||
{
|
||||
frequency_bins++;
|
||||
}
|
||||
DLOG(INFO) << "Channel " << channel_<< " Pfa = " << pfa;
|
||||
unsigned int ncells = (code_length_/folding_factor_)*frequency_bins;
|
||||
double exponent = 1/(double)ncells;
|
||||
double val = pow(1.0 - pfa, exponent);
|
||||
double lambda = double((code_length_/folding_factor_));
|
||||
boost::math::exponential_distribution<double> mydist (lambda);
|
||||
float threshold = (float)quantile(mydist,val);
|
||||
|
||||
return threshold;
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GpsL1CaPcpsQuickSyncAcquisition::get_left_block()
|
||||
{
|
||||
return stream_to_vector_;
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GpsL1CaPcpsQuickSyncAcquisition::get_right_block()
|
||||
{
|
||||
return acquisition_cc_;
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,169 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_pcps_quicksync_acquisition.h
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for GPS L1 C/A signals implementing the QuickSync Algorithm.
|
||||
* \date June, 2014
|
||||
* \author Damian Miralles Sanchez. dmiralles2009@gmail.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_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H_
|
||||
#define GNSS_SDR_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H_
|
||||
|
||||
#include <string>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/stream_to_vector.h>
|
||||
#include "gnss_synchro.h"
|
||||
#include "acquisition_interface.h"
|
||||
#include "pcps_quicksync_acquisition_cc.h"
|
||||
#include "configuration_interface.h"
|
||||
|
||||
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
|
||||
* for GPS L1 C/A signals
|
||||
*/
|
||||
class GpsL1CaPcpsQuickSyncAcquisition: public AcquisitionInterface
|
||||
{
|
||||
public:
|
||||
GpsL1CaPcpsQuickSyncAcquisition(ConfigurationInterface* configuration,
|
||||
std::string role, unsigned int in_streams,
|
||||
unsigned int out_streams, boost::shared_ptr<gr::msg_queue> queue);
|
||||
|
||||
virtual ~GpsL1CaPcpsQuickSyncAcquisition();
|
||||
|
||||
std::string role()
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns "GPS_L1_CA_PCPS_QuickSync_Acquisition"
|
||||
*/
|
||||
std::string implementation()
|
||||
{
|
||||
return "GPS_L1_CA_PCPS_QuickSync_Acquisition";
|
||||
}
|
||||
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 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 acquisition channel unique ID
|
||||
*/
|
||||
void set_channel(unsigned int channel);
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm
|
||||
*/
|
||||
void set_threshold(float threshold);
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler off grid search
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max);
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step);
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel internal queue
|
||||
*/
|
||||
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init();
|
||||
|
||||
/*!
|
||||
* \brief Sets local code for GPS L1/CA PCPS acquisition algorithm.
|
||||
*/
|
||||
void set_local_code();
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search
|
||||
*/
|
||||
signed int mag();
|
||||
|
||||
/*!
|
||||
* \brief Restart acquisition algorithm
|
||||
*/
|
||||
void reset();
|
||||
|
||||
|
||||
private:
|
||||
ConfigurationInterface* configuration_;
|
||||
pcps_quicksync_acquisition_cc_sptr acquisition_cc_;
|
||||
gr::blocks::stream_to_vector::sptr stream_to_vector_;
|
||||
size_t item_size_;
|
||||
std::string item_type_;
|
||||
unsigned int vector_length_;
|
||||
unsigned int code_length_;
|
||||
bool bit_transition_flag_;
|
||||
unsigned int channel_;
|
||||
float threshold_;
|
||||
unsigned int doppler_max_;
|
||||
unsigned int doppler_step_;
|
||||
unsigned int shift_resolution_;
|
||||
unsigned int sampled_ms_;
|
||||
unsigned int max_dwells_;
|
||||
unsigned int folding_factor_;
|
||||
long fs_in_;
|
||||
long if_;
|
||||
bool dump_;
|
||||
std::string dump_filename_;
|
||||
std::complex<float> * code_;
|
||||
Gnss_Synchro * gnss_synchro_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
boost::shared_ptr<gr::msg_queue> queue_;
|
||||
concurrent_queue<int> *channel_internal_queue_;
|
||||
|
||||
float calculate_threshold(float pfa);
|
||||
|
||||
};
|
||||
|
||||
#endif /* GNSS_SDR_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H_ */
|
||||
@@ -24,6 +24,7 @@ if(OPENCL_FOUND)
|
||||
pcps_acquisition_fine_doppler_cc.cc
|
||||
pcps_tong_acquisition_cc.cc
|
||||
pcps_cccwsr_acquisition_cc.cc
|
||||
pcps_quicksync_acquisition_cc.cc
|
||||
galileo_pcps_8ms_acquisition_cc.cc
|
||||
pcps_opencl_acquisition_cc.cc # Needs OpenCL
|
||||
)
|
||||
@@ -35,6 +36,7 @@ else(OPENCL_FOUND)
|
||||
pcps_acquisition_fine_doppler_cc.cc
|
||||
pcps_tong_acquisition_cc.cc
|
||||
pcps_cccwsr_acquisition_cc.cc
|
||||
pcps_quicksync_acquisition_cc.cc
|
||||
galileo_pcps_8ms_acquisition_cc.cc
|
||||
)
|
||||
endif(OPENCL_FOUND)
|
||||
|
||||
@@ -0,0 +1,596 @@
|
||||
/*!
|
||||
* \file pcps_quicksync_acquisition_cc.cc
|
||||
* \brief This class implements a Parallel Code Phase Search Acquisition
|
||||
* \author Damian Miralles Sanchez, 2014. dmiralles2009(at)gmail.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/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "pcps_quicksync_acquisition_cc.h"
|
||||
#include <ctime>
|
||||
#include <cmath>
|
||||
#include <sstream>
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <glog/logging.h>
|
||||
#include <volk/volk.h>
|
||||
#include "control_message_factory.h"
|
||||
#include "gnss_signal_processing.h"
|
||||
|
||||
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
pcps_quicksync_acquisition_cc_sptr pcps_quicksync_make_acquisition_cc(
|
||||
unsigned int folding_factor,
|
||||
unsigned int sampled_ms, unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename)
|
||||
{
|
||||
|
||||
return pcps_quicksync_acquisition_cc_sptr(
|
||||
new pcps_quicksync_acquisition_cc(
|
||||
folding_factor,
|
||||
sampled_ms, max_dwells, doppler_max,
|
||||
freq, fs_in, samples_per_ms,
|
||||
samples_per_code,
|
||||
bit_transition_flag,
|
||||
queue, dump, dump_filename));
|
||||
}
|
||||
|
||||
pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
|
||||
unsigned int folding_factor,
|
||||
unsigned int sampled_ms, unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename):
|
||||
gr::block("pcps_quicksync_acquisition_cc",
|
||||
gr::io_signature::make(1, 1, (sizeof(gr_complex)*sampled_ms * samples_per_ms )),
|
||||
gr::io_signature::make(0, 0, (sizeof(gr_complex)*sampled_ms * samples_per_ms )))
|
||||
{
|
||||
//DLOG(INFO) << "START CONSTRUCTOR";
|
||||
|
||||
d_sample_counter = 0; // SAMPLE COUNTER
|
||||
d_active = false;
|
||||
d_state = 0;
|
||||
d_queue = queue;
|
||||
d_freq = freq;
|
||||
d_fs_in = fs_in;
|
||||
d_samples_per_ms = samples_per_ms;
|
||||
d_samples_per_code = samples_per_code;
|
||||
d_sampled_ms = sampled_ms;
|
||||
d_max_dwells = max_dwells;
|
||||
d_well_count = 0;
|
||||
d_doppler_max = doppler_max;
|
||||
d_mag = 0;
|
||||
d_input_power = 0.0;
|
||||
d_num_doppler_bins = 0;
|
||||
d_bit_transition_flag = bit_transition_flag;
|
||||
d_folding_factor = folding_factor;
|
||||
|
||||
//fft size is reduced.
|
||||
d_fft_size = (d_samples_per_code) / d_folding_factor;
|
||||
|
||||
|
||||
//todo: do something if posix_memalign fails
|
||||
if (posix_memalign((void**)&d_fft_codes, 16, d_fft_size * sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_magnitude, 16, d_samples_per_code * d_folding_factor * sizeof(float)) == 0){};
|
||||
if (posix_memalign((void**)&d_magnitude_folded, 16, d_fft_size * sizeof(float)) == 0){};
|
||||
|
||||
d_possible_delay = new unsigned int[d_folding_factor];
|
||||
d_corr_output_f = new float[d_folding_factor];
|
||||
|
||||
/*Create the d_code signal , which would store the values of the code in its
|
||||
original form to perform later correlation in time domain*/
|
||||
d_code = new gr_complex[d_samples_per_code]();
|
||||
|
||||
|
||||
// Direct FFT
|
||||
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
|
||||
// Inverse FFT
|
||||
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
|
||||
|
||||
// For dumping samples into a file
|
||||
d_dump = dump;
|
||||
d_dump_filename = dump_filename;
|
||||
|
||||
// DLOG(INFO) << "END CONSTRUCTOR";
|
||||
}
|
||||
|
||||
pcps_quicksync_acquisition_cc::~pcps_quicksync_acquisition_cc()
|
||||
{
|
||||
//DLOG(INFO) << "START DESTROYER";
|
||||
if (d_num_doppler_bins > 0)
|
||||
{
|
||||
for (unsigned int i = 0; i < d_num_doppler_bins; i++)
|
||||
{
|
||||
free(d_grid_doppler_wipeoffs[i]);
|
||||
}
|
||||
delete[] d_grid_doppler_wipeoffs;
|
||||
}
|
||||
|
||||
free(d_fft_codes);
|
||||
free(d_magnitude);
|
||||
free(d_magnitude_folded);
|
||||
|
||||
delete d_ifft;
|
||||
d_ifft = NULL;
|
||||
delete d_fft_if;
|
||||
d_fft_if = NULL;
|
||||
delete d_code;
|
||||
d_code = NULL;
|
||||
delete d_possible_delay;
|
||||
d_possible_delay = NULL;
|
||||
delete d_corr_output_f;
|
||||
d_corr_output_f = NULL;
|
||||
if (d_dump)
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
// DLOG(INFO) << "END DESTROYER";
|
||||
}
|
||||
|
||||
void pcps_quicksync_acquisition_cc::set_local_code(std::complex<float> * code)
|
||||
{
|
||||
// DLOG(INFO) << "START LOCAL CODE";
|
||||
|
||||
|
||||
/*save a local copy of the code without the folding process to perform corre-
|
||||
lation in time in the final steps of the acquisition stage*/
|
||||
memcpy(d_code, code, sizeof(gr_complex)*d_samples_per_code);
|
||||
|
||||
d_code_folded = new gr_complex[d_fft_size]();
|
||||
memcpy(d_fft_if->get_inbuf(), d_code_folded, sizeof(gr_complex)*(d_fft_size));
|
||||
|
||||
/*perform folding of the code by the factorial factor parameter. Notice that
|
||||
folding of the code in the time stage would result in a downsampled spectrum
|
||||
in the frequency domain after applying the fftw operation*/
|
||||
for (unsigned int i = 0; i < d_folding_factor; i++)
|
||||
{
|
||||
std::transform ((code + i*d_fft_size), (code + ((i+1)*d_fft_size)) ,
|
||||
d_fft_if->get_inbuf(), d_fft_if->get_inbuf(),
|
||||
std::plus<gr_complex>());
|
||||
}
|
||||
|
||||
|
||||
d_fft_if->execute(); // We need the FFT of local code
|
||||
|
||||
//Conjugate the local code
|
||||
if (is_unaligned())
|
||||
{
|
||||
volk_32fc_conjugate_32fc_u(d_fft_codes,d_fft_if->get_outbuf(), d_fft_size);
|
||||
}
|
||||
else
|
||||
{
|
||||
volk_32fc_conjugate_32fc_a(d_fft_codes,d_fft_if->get_outbuf(), d_fft_size);
|
||||
}
|
||||
// DLOG(INFO) << "END LOCAL CODE";
|
||||
|
||||
}
|
||||
|
||||
void pcps_quicksync_acquisition_cc::init()
|
||||
{
|
||||
//DLOG(INFO) << "START init";
|
||||
d_gnss_synchro->Acq_delay_samples = 0.0;
|
||||
d_gnss_synchro->Acq_doppler_hz = 0.0;
|
||||
d_gnss_synchro->Acq_samplestamp_samples = 0;
|
||||
d_mag = 0.0;
|
||||
d_input_power = 0.0;
|
||||
|
||||
// Count the number of bins
|
||||
d_num_doppler_bins = 0;
|
||||
for (int doppler = (int)(-d_doppler_max);
|
||||
doppler <= (int)(d_doppler_max);
|
||||
doppler += d_doppler_step)
|
||||
{
|
||||
d_num_doppler_bins++;
|
||||
}
|
||||
|
||||
// Create the carrier Doppler wipeoff signals
|
||||
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
|
||||
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
|
||||
{
|
||||
if (posix_memalign((void**)&(d_grid_doppler_wipeoffs[doppler_index]), 16,
|
||||
d_samples_per_code * d_folding_factor * sizeof(gr_complex)) == 0){};
|
||||
|
||||
int doppler = -(int)d_doppler_max + d_doppler_step*doppler_index;
|
||||
complex_exp_gen_conj(d_grid_doppler_wipeoffs[doppler_index],
|
||||
d_freq + doppler, d_fs_in,
|
||||
d_samples_per_code * d_folding_factor);
|
||||
}
|
||||
// DLOG(INFO) << "end init";
|
||||
}
|
||||
|
||||
int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
|
||||
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
|
||||
gr_vector_void_star &output_items)
|
||||
{
|
||||
/*
|
||||
* By J.Arribas, L.Esteve and M.Molina
|
||||
* Acquisition strategy (Kay Borre book + CFAR threshold):
|
||||
* 1. Compute the input signal power estimation
|
||||
* 2. Doppler serial search loop
|
||||
* 3. Perform the FFT-based circular convolution (parallel time search)
|
||||
* 4. Record the maximum peak and the associated synchronization parameters
|
||||
* 5. Compute the test statistics and compare to the threshold
|
||||
* 6. Declare positive or negative acquisition using a message queue
|
||||
*/
|
||||
//DLOG(INFO) << "START GENERAL WORK";
|
||||
int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
|
||||
//std::cout<<"general_work in quicksync gnuradio block"<<std::endl;
|
||||
switch (d_state)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
//DLOG(INFO) << "START CASE 0";
|
||||
if (d_active)
|
||||
{
|
||||
//restart acquisition variables
|
||||
d_gnss_synchro->Acq_delay_samples = 0.0;
|
||||
d_gnss_synchro->Acq_doppler_hz = 0.0;
|
||||
d_gnss_synchro->Acq_samplestamp_samples = 0;
|
||||
d_well_count = 0;
|
||||
d_mag = 0.0;
|
||||
d_input_power = 0.0;
|
||||
d_test_statistics = 0.0;
|
||||
|
||||
d_state = 1;
|
||||
}
|
||||
|
||||
d_sample_counter += d_sampled_ms * d_samples_per_ms * ninput_items[0]; // sample counter
|
||||
consume_each(ninput_items[0]);
|
||||
//DLOG(INFO) << "END CASE 0";
|
||||
break;
|
||||
}
|
||||
|
||||
case 1:
|
||||
{
|
||||
/* initialize acquisition implementing the QuickSync algorithm*/
|
||||
//DLOG(INFO) << "START CASE 1";
|
||||
int doppler;
|
||||
unsigned int indext = 0;
|
||||
float magt = 0.0;
|
||||
const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
|
||||
|
||||
gr_complex *in_temp;
|
||||
if (posix_memalign((void**)&(in_temp), 16,d_samples_per_code * d_folding_factor * sizeof(gr_complex)) == 0){};
|
||||
|
||||
|
||||
gr_complex *in_temp_folded;
|
||||
if (posix_memalign((void**)&(in_temp_folded), 16,d_fft_size * sizeof(gr_complex)) == 0){};
|
||||
|
||||
/*Create a signal to store a signal of size 1ms, to perform correlation
|
||||
in time. No folding on this data is required*/
|
||||
gr_complex *in_1code;
|
||||
if (posix_memalign((void**)&(in_1code), 16,d_samples_per_code * sizeof(gr_complex)) == 0){};
|
||||
|
||||
/*Stores the values of the correlation output between the local code
|
||||
and the signal with doppler shift corrected */
|
||||
gr_complex *corr_output;
|
||||
if (posix_memalign((void**)&(corr_output), 16,d_samples_per_code * sizeof(gr_complex)) == 0){};
|
||||
|
||||
/*Stores a copy of the folded version of the signal.This is used for
|
||||
the FFT operations in future steps of excecution*/
|
||||
// gr_complex in_folded[d_fft_size];
|
||||
float fft_normalization_factor = (float)d_fft_size * (float)d_fft_size;
|
||||
|
||||
d_input_power = 0.0;
|
||||
d_mag = 0.0;
|
||||
d_test_statistics = 0.0;
|
||||
d_noise_floor_power = 0.0;
|
||||
|
||||
d_sample_counter += d_sampled_ms * d_samples_per_ms; // sample counter
|
||||
|
||||
d_well_count++;
|
||||
|
||||
DLOG(INFO) << "Channel: " << d_channel
|
||||
<< " , doing acquisition of satellite: "
|
||||
<< d_gnss_synchro->System << " "<< d_gnss_synchro->PRN
|
||||
<< " ,algorithm: pcps_quicksync_acquisition"
|
||||
<< " ,folding factor: " << d_folding_factor
|
||||
<< " ,sample stamp: " << d_sample_counter << ", threshold: "
|
||||
<< d_threshold << ", doppler_max: " << d_doppler_max
|
||||
<< ", doppler_step: " << d_doppler_step << ", Signal Size: "
|
||||
<< d_samples_per_code * d_folding_factor;
|
||||
|
||||
|
||||
/* 1- Compute the input signal power estimation. This operation is
|
||||
being performed in a signal of size nxp */
|
||||
volk_32fc_magnitude_squared_32f_a(d_magnitude, in, d_samples_per_code * d_folding_factor);
|
||||
volk_32f_accumulator_s32f_a(&d_input_power, d_magnitude, d_samples_per_code * d_folding_factor);
|
||||
d_input_power /= (float)(d_samples_per_code * d_folding_factor);
|
||||
|
||||
|
||||
|
||||
for (unsigned int doppler_index=0;doppler_index<d_num_doppler_bins;doppler_index++)
|
||||
{
|
||||
/*Ensure that the signal is going to start with all samples
|
||||
at zero. This is done to avoid over acumulation when performing
|
||||
the folding process to be stored in d_fft_if->get_inbuf()*/
|
||||
d_signal_folded = new gr_complex[d_fft_size]();
|
||||
memcpy( d_fft_if->get_inbuf(),d_signal_folded,
|
||||
sizeof(gr_complex)*(d_fft_size));
|
||||
|
||||
/*Doppler search steps and then multiplication of the incoming
|
||||
signal with the doppler wipeoffs to eliminate frequency offset
|
||||
*/
|
||||
doppler=-(int)d_doppler_max+d_doppler_step*doppler_index;
|
||||
|
||||
/*Perform multiplication of the incoming signal with the
|
||||
complex exponential vector. This removes the frequency doppler
|
||||
shift offset*/
|
||||
volk_32fc_x2_multiply_32fc_a(in_temp, in,
|
||||
d_grid_doppler_wipeoffs[doppler_index],
|
||||
d_samples_per_code * d_folding_factor);
|
||||
|
||||
/*Perform folding of the carrier wiped-off incoming signal. Since
|
||||
superlinear method is being used the folding factor in the
|
||||
incoming raw data signal is of d_folding_factor^2*/
|
||||
for ( int i = 0; i < (int)(d_folding_factor*d_folding_factor); i++)
|
||||
{
|
||||
std::transform ((in_temp+i*d_fft_size),
|
||||
(in_temp+((i+1)*d_fft_size)) ,
|
||||
d_fft_if->get_inbuf(),
|
||||
d_fft_if->get_inbuf(),
|
||||
std::plus<gr_complex>());
|
||||
}
|
||||
|
||||
/* 3- Perform the FFT-based convolution (parallel time search)
|
||||
Compute the FFT of the carrier wiped--off incoming signal*/
|
||||
d_fft_if->execute();
|
||||
|
||||
/*Multiply carrier wiped--off, Fourier transformed incoming
|
||||
signal with the local FFT'd code reference using SIMD
|
||||
operations with VOLK library*/
|
||||
volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(),
|
||||
d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
|
||||
|
||||
/* compute the inverse FFT of the aliased signal*/
|
||||
d_ifft->execute();
|
||||
|
||||
/* Compute the magnitude and get the maximum value with its
|
||||
index position*/
|
||||
volk_32fc_magnitude_squared_32f_a(d_magnitude_folded,
|
||||
d_ifft->get_outbuf(), d_fft_size);
|
||||
|
||||
/* Normalize the maximum value to correct the scale factor
|
||||
introduced by FFTW*/
|
||||
//volk_32f_s32f_multiply_32f_a(d_magnitude_folded,d_magnitude_folded,
|
||||
// (1 / (fft_normalization_factor * fft_normalization_factor)), d_fft_size);
|
||||
volk_32f_index_max_16u_a(&indext, d_magnitude_folded, d_fft_size);
|
||||
|
||||
magt = d_magnitude_folded[indext]/ (fft_normalization_factor * fft_normalization_factor);
|
||||
|
||||
delete d_signal_folded;
|
||||
|
||||
// 4- record the maximum peak and the associated synchronization parameters
|
||||
if (d_mag < magt)
|
||||
{
|
||||
d_mag = magt;
|
||||
|
||||
/* In case that d_bit_transition_flag = true, we compare the potentially
|
||||
new maximum test statistics (d_mag/d_input_power) with the value in
|
||||
d_test_statistics. When the second dwell is being processed, the value
|
||||
of d_mag/d_input_power could be lower than d_test_statistics (i.e,
|
||||
the maximum test statistics in the previous dwell is greater than
|
||||
current d_mag/d_input_power). Note that d_test_statistics is not
|
||||
restarted between consecutive dwells in multidwell operation.*/
|
||||
if (d_test_statistics < (d_mag / d_input_power) || !d_bit_transition_flag)
|
||||
{
|
||||
unsigned int detected_delay_samples_folded = 0;
|
||||
detected_delay_samples_folded = (indext % d_samples_per_code);
|
||||
//float d_corr_output_f[d_folding_factor];
|
||||
gr_complex complex_acumulator[100];
|
||||
//gr_complex complex_acumulator[d_folding_factor];
|
||||
//const int ff = d_folding_factor;
|
||||
//gr_complex complex_acumulator[ff];
|
||||
//gr_complex complex_acumulator[];
|
||||
//complex_acumulator = new gr_complex[d_folding_factor]();
|
||||
|
||||
for (int i = 0; i < (int)d_folding_factor; i++)
|
||||
{
|
||||
d_possible_delay[i]= detected_delay_samples_folded+
|
||||
(i)*d_fft_size;
|
||||
}
|
||||
|
||||
for ( int i = 0; i < (int)d_folding_factor; i++)
|
||||
{
|
||||
|
||||
/*Copy a signal of 1 code length into suggested buffer.
|
||||
The copied signal must have doppler effect corrected*/
|
||||
memcpy(in_1code,&in_temp[d_possible_delay[i]],
|
||||
sizeof(gr_complex)*(d_samples_per_code));
|
||||
|
||||
/*Perform multiplication of the unmodified local
|
||||
generated code with the incoming signal with doppler
|
||||
effect corrected and accumulates its value. This
|
||||
is indeed correlation in time for an specific value
|
||||
of a shift*/
|
||||
volk_32fc_x2_multiply_32fc_a(corr_output, in_1code,
|
||||
d_code, d_samples_per_code);
|
||||
|
||||
for(int j=0; j < (d_samples_per_code); j++)
|
||||
{
|
||||
complex_acumulator[i] += (corr_output[j]);
|
||||
}
|
||||
|
||||
}
|
||||
/*Obtain maximun value of correlation given the
|
||||
possible delay selected */
|
||||
volk_32fc_magnitude_squared_32f_a(d_corr_output_f,
|
||||
complex_acumulator, d_folding_factor);
|
||||
volk_32f_index_max_16u_a(&indext, d_corr_output_f,
|
||||
d_folding_factor);
|
||||
|
||||
/*Now save the real code phase in the gnss_syncro
|
||||
block for use in other stages*/
|
||||
d_gnss_synchro->Acq_delay_samples = (double)
|
||||
(d_possible_delay[indext]);
|
||||
d_gnss_synchro->Acq_doppler_hz = (double)doppler;
|
||||
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
|
||||
|
||||
|
||||
/* 5- Compute the test statistics and compare to the threshold
|
||||
d_test_statistics = 2 * d_fft_size * d_mag / d_input_power;*/
|
||||
d_test_statistics = d_mag / d_input_power;
|
||||
//delete complex_acumulator;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// Record results to file if required
|
||||
if (d_dump)
|
||||
{
|
||||
/*
|
||||
std::stringstream filename;
|
||||
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
|
||||
filename.str("");
|
||||
filename << "../data/test_statistics_" << d_gnss_synchro->System
|
||||
<<"_" << d_gnss_synchro->Signal << "_sat_"
|
||||
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
|
||||
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
|
||||
d_dump_file.write((char*)d_ifft->get_outbuf(), n); //write directly |abs(x)|^2 in this Doppler bin?
|
||||
d_dump_file.close();
|
||||
*/
|
||||
/*Since QuickSYnc performs a folded correlation in frequency by means
|
||||
of the FFT, it is esential to also keep the values obtained from the
|
||||
possible delay to show how it is maximize*/
|
||||
std::stringstream filename;
|
||||
std::streamsize n = sizeof(float) * (d_fft_size); // complex file write
|
||||
filename.str("");
|
||||
filename << "../data/test_statistics_" << d_gnss_synchro->System
|
||||
<<"_" << d_gnss_synchro->Signal << "_sat_"
|
||||
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
|
||||
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
|
||||
d_dump_file.write((char*)d_magnitude_folded, n); //write directly |abs(x)|^2 in this Doppler bin?
|
||||
d_dump_file.close();
|
||||
}
|
||||
}
|
||||
|
||||
if (!d_bit_transition_flag)
|
||||
{
|
||||
if (d_test_statistics > d_threshold)
|
||||
{
|
||||
d_state = 2; // Positive acquisition
|
||||
|
||||
}
|
||||
else if (d_well_count == d_max_dwells)
|
||||
{
|
||||
d_state = 3; // Negative acquisition
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_well_count == d_max_dwells) // d_max_dwells = 2
|
||||
{
|
||||
if (d_test_statistics > d_threshold)
|
||||
{
|
||||
d_state = 2; // Positive acquisition
|
||||
}
|
||||
else
|
||||
{
|
||||
d_state = 3; // Negative acquisition
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
consume_each(1);
|
||||
|
||||
delete d_code_folded;
|
||||
d_code_folded = NULL;
|
||||
|
||||
free(in_temp);
|
||||
free(in_1code);
|
||||
free(corr_output);
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case 2:
|
||||
{
|
||||
//DLOG(INFO) << "START CASE 2";
|
||||
// 6.1- Declare positive acquisition using a message queue
|
||||
DLOG(INFO) << "positive acquisition";
|
||||
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
|
||||
DLOG(INFO) << "sample_stamp " << d_sample_counter;
|
||||
DLOG(INFO) << "test statistics value " << d_test_statistics;
|
||||
DLOG(INFO) << "test statistics threshold " << d_threshold;
|
||||
DLOG(INFO) << "folding factor " << d_folding_factor;
|
||||
DLOG(INFO) << "possible delay correlation output";
|
||||
for (int i = 0; i < (int)d_folding_factor; i++) DLOG(INFO) << d_possible_delay[i] <<"\t\t\t"<<d_corr_output_f[i];
|
||||
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
|
||||
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
|
||||
DLOG(INFO) << "magnitude folded " << d_mag;
|
||||
DLOG(INFO) << "input signal power " << d_input_power;
|
||||
|
||||
d_active = false;
|
||||
d_state = 0;
|
||||
|
||||
d_sample_counter += d_sampled_ms * d_samples_per_ms * ninput_items[0]; // sample counter
|
||||
consume_each(ninput_items[0]);
|
||||
|
||||
acquisition_message = 1;
|
||||
d_channel_internal_queue->push(acquisition_message);
|
||||
//DLOG(INFO) << "END CASE 2";
|
||||
break;
|
||||
}
|
||||
|
||||
case 3:
|
||||
{
|
||||
//DLOG(INFO) << "START CASE 3";
|
||||
// 6.2- Declare negative acquisition using a message queue
|
||||
DLOG(INFO) << "negative acquisition";
|
||||
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
|
||||
DLOG(INFO) << "sample_stamp " << d_sample_counter;
|
||||
DLOG(INFO) << "test statistics value " << d_test_statistics;
|
||||
DLOG(INFO) << "test statistics threshold " << d_threshold;
|
||||
DLOG(INFO) << "folding factor "<<d_folding_factor;
|
||||
DLOG(INFO) << "possible delay corr output";
|
||||
for (int i = 0; i < (int)d_folding_factor; i++) DLOG(INFO) << d_possible_delay[i] <<"\t\t\t"<<d_corr_output_f[i];
|
||||
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
|
||||
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
|
||||
DLOG(INFO) << "magnitude folded " << d_mag;
|
||||
DLOG(INFO) << "input signal power " << d_input_power;
|
||||
|
||||
d_active = false;
|
||||
d_state = 0;
|
||||
|
||||
d_sample_counter += d_sampled_ms * d_samples_per_ms * ninput_items[0]; // sample counter
|
||||
consume_each(ninput_items[0]);
|
||||
|
||||
acquisition_message = 2;
|
||||
d_channel_internal_queue->push(acquisition_message);
|
||||
//DLOG(INFO) << "END CASE 3";
|
||||
break;
|
||||
}
|
||||
}
|
||||
//DLOG(INFO) << "END GENERAL WORK";
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,260 @@
|
||||
/*!
|
||||
* \file pcps_quicksync_acquisition_cc.h
|
||||
* \brief This class implements a Parallel Code Phase Search Acquisition with the
|
||||
* QuickSync Algorithm
|
||||
*
|
||||
* Acquisition strategy (Kay Borre book CFAR + threshold).
|
||||
* <ol>
|
||||
* <li> Compute the input signal power estimation
|
||||
* <li> Doppler serial search loop
|
||||
* <li> Perform folding of the incoming signal and local generated code
|
||||
* <li> Perform the FFT-based circular convolution (parallel time search)
|
||||
* <li> Record the maximum peak and the associated synchronization parameters
|
||||
* <li> Compute the test statistics and compare to the threshold
|
||||
* <li> Declare positive or negative acquisition using a message queue
|
||||
* <li> Obtain the adequate acquisition parameters by correlating the incoming
|
||||
* signal shifted by the possible folded delays
|
||||
* </ol>
|
||||
*
|
||||
* Kay Borre book: 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. pp 81-84
|
||||
*
|
||||
* \date Jun2 2014
|
||||
* \author Damian Miralles Sanchez, dmiralles2009@gmail.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_PCPS_QUICKSYNC_ACQUISITION_CC_H_
|
||||
#define GNSS_SDR_PCPS_QUICKSYNC_ACQUISITION_CC_H_
|
||||
|
||||
#include <fstream>
|
||||
#include <queue>
|
||||
#include <string>
|
||||
#include <algorithm>
|
||||
#include <functional>
|
||||
#include <assert.h>
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <boost/thread/thread.hpp>
|
||||
#include <gnuradio/block.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/gr_complex.h>
|
||||
#include <gnuradio/fft/fft.h>
|
||||
#include "concurrent_queue.h"
|
||||
#include "gnss_synchro.h"
|
||||
|
||||
class pcps_quicksync_acquisition_cc;
|
||||
|
||||
typedef boost::shared_ptr<pcps_quicksync_acquisition_cc>
|
||||
pcps_quicksync_acquisition_cc_sptr;
|
||||
|
||||
pcps_quicksync_acquisition_cc_sptr
|
||||
pcps_quicksync_make_acquisition_cc(unsigned int folding_factor,
|
||||
unsigned int sampled_ms, unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename);
|
||||
|
||||
/*!
|
||||
* \brief This class implements a Parallel Code Phase Search Acquisition with
|
||||
* the implementation of the Sparse QuickSync Algorithm.
|
||||
*
|
||||
* Check \ref Navitec2012 "Faster GPS via the Sparse Fourier Transform",
|
||||
* for details of its implementation and functionality.
|
||||
*/
|
||||
class pcps_quicksync_acquisition_cc: public gr::block
|
||||
{
|
||||
private:
|
||||
friend pcps_quicksync_acquisition_cc_sptr
|
||||
pcps_quicksync_make_acquisition_cc(unsigned int folding_factor,
|
||||
unsigned int sampled_ms, unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename);
|
||||
|
||||
pcps_quicksync_acquisition_cc(unsigned int folding_factor,
|
||||
unsigned int sampled_ms, unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename);
|
||||
|
||||
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
|
||||
int doppler_offset);
|
||||
|
||||
gr_complex* d_code;
|
||||
unsigned int d_folding_factor; // also referred in the paper as 'p'
|
||||
float * d_corr_acumulator;
|
||||
unsigned int *d_possible_delay;
|
||||
float *d_corr_output_f;
|
||||
float * d_magnitude_folded;
|
||||
gr_complex *d_signal_folded;
|
||||
gr_complex *d_code_folded;
|
||||
float d_noise_floor_power;
|
||||
|
||||
long d_fs_in;
|
||||
long d_freq;
|
||||
int d_samples_per_ms;
|
||||
int d_samples_per_code;
|
||||
unsigned int d_doppler_resolution;
|
||||
float d_threshold;
|
||||
std::string d_satellite_str;
|
||||
unsigned int d_doppler_max;
|
||||
unsigned int d_doppler_step;
|
||||
unsigned int d_sampled_ms;
|
||||
unsigned int d_max_dwells;
|
||||
unsigned int d_well_count;
|
||||
unsigned int d_fft_size;
|
||||
unsigned long int d_sample_counter;
|
||||
gr_complex** d_grid_doppler_wipeoffs;
|
||||
unsigned int d_num_doppler_bins;
|
||||
gr_complex* d_fft_codes;
|
||||
gr::fft::fft_complex* d_fft_if;
|
||||
gr::fft::fft_complex* d_fft_if2;
|
||||
gr::fft::fft_complex* d_ifft;
|
||||
Gnss_Synchro *d_gnss_synchro;
|
||||
unsigned int d_code_phase;
|
||||
float d_doppler_freq;
|
||||
float d_mag;
|
||||
float* d_magnitude;
|
||||
float d_input_power;
|
||||
float d_test_statistics;
|
||||
bool d_bit_transition_flag;
|
||||
gr::msg_queue::sptr d_queue;
|
||||
concurrent_queue<int> *d_channel_internal_queue;
|
||||
std::ofstream d_dump_file;
|
||||
bool d_active;
|
||||
int d_state;
|
||||
bool d_dump;
|
||||
unsigned int d_channel;
|
||||
std::string d_dump_filename;
|
||||
|
||||
public:
|
||||
/*!
|
||||
* \brief Default destructor.
|
||||
*/
|
||||
~pcps_quicksync_acquisition_cc();
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
|
||||
* to exchange synchronization data between acquisition and tracking blocks.
|
||||
* \param p_gnss_synchro Satellite information shared by the processing blocks.
|
||||
*/
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
||||
{
|
||||
d_gnss_synchro = p_gnss_synchro;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search.
|
||||
*/
|
||||
unsigned int mag()
|
||||
{
|
||||
return d_mag;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init();
|
||||
|
||||
/*!
|
||||
* \brief Sets local code for PCPS acquisition algorithm.
|
||||
* \param code - Pointer to the PRN code.
|
||||
*/
|
||||
void set_local_code(std::complex<float> * code);
|
||||
|
||||
/*!
|
||||
* \brief Starts acquisition algorithm, turning from standby mode to
|
||||
* active mode
|
||||
* \param active - bool that activates/deactivates the block.
|
||||
*/
|
||||
void set_active(bool active)
|
||||
{
|
||||
d_active = active;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition channel unique ID
|
||||
* \param channel - receiver channel.
|
||||
*/
|
||||
void set_channel(unsigned int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm.
|
||||
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
|
||||
* Algorithm 1, for a definition of this threshold).
|
||||
*/
|
||||
void set_threshold(float threshold)
|
||||
{
|
||||
d_threshold = threshold;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler grid search
|
||||
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max)
|
||||
{
|
||||
d_doppler_max = doppler_max;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
* \param doppler_step - Frequency bin of the search grid [Hz].
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step)
|
||||
{
|
||||
d_doppler_step = doppler_step;
|
||||
}
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel internal queue.
|
||||
* \param channel_internal_queue - Channel's internal blocks information queue.
|
||||
*/
|
||||
void set_channel_queue(concurrent_queue<int> *channel_internal_queue)
|
||||
{
|
||||
d_channel_internal_queue = channel_internal_queue;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Parallel Code Phase Search Acquisition signal processing.
|
||||
*/
|
||||
int general_work(int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items,
|
||||
gr_vector_void_star &output_items);
|
||||
};
|
||||
|
||||
#endif /* GNSS_SDR_PCPS_ACQUISITION_CC_H_*/
|
||||
@@ -18,7 +18,7 @@
|
||||
|
||||
# Optional drivers
|
||||
|
||||
if($ENV{GN3S_DRIVER})
|
||||
if(ENABLE_GN3S)
|
||||
##############################################
|
||||
# GN3S (USB dongle)
|
||||
##############################################
|
||||
@@ -49,12 +49,10 @@ if($ENV{GN3S_DRIVER})
|
||||
file(COPY ${CMAKE_SOURCE_DIR}/firmware/GN3S_v2/bin/gn3s_firmware.ihx
|
||||
DESTINATION ${CMAKE_SOURCE_DIR}/install/
|
||||
)
|
||||
endif($ENV{GN3S_DRIVER})
|
||||
endif(ENABLE_GN3S)
|
||||
|
||||
if($ENV{RAW_ARRAY_DRIVER})
|
||||
set(RAW_ARRAY_DRIVER ON)
|
||||
endif($ENV{RAW_ARRAY_DRIVER})
|
||||
if(RAW_ARRAY_DRIVER)
|
||||
|
||||
if(ENABLE_ARRAY)
|
||||
##############################################
|
||||
# GRDBFCTTC GNSS EXPERIMENTAL ARRAY PROTOTYPE
|
||||
##############################################
|
||||
@@ -82,13 +80,10 @@ if(RAW_ARRAY_DRIVER)
|
||||
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GRDBFCTTC_LIBRARIES})
|
||||
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${GRDBFCTTC_INCLUDE_DIRS})
|
||||
set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} raw_array_signal_source.cc)
|
||||
endif(RAW_ARRAY_DRIVER)
|
||||
endif(ENABLE_ARRAY)
|
||||
|
||||
|
||||
if($ENV{RTLSDR_DRIVER})
|
||||
set(RTLSDR_DRIVER ON)
|
||||
endif($ENV{RTLSDR_DRIVER})
|
||||
if(RTLSDR_DRIVER)
|
||||
if(ENABLE_RTLSDR)
|
||||
################################################################################
|
||||
# OsmoSDR - http://sdr.osmocom.org/trac/
|
||||
################################################################################
|
||||
@@ -104,7 +99,7 @@ if(RTLSDR_DRIVER)
|
||||
set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} rtlsdr_signal_source.cc)
|
||||
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GROSMOSDR_LIBRARIES})
|
||||
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${RTL_DRIVER_INCLUDE_DIRS})
|
||||
endif(RTLSDR_DRIVER)
|
||||
endif(ENABLE_RTLSDR)
|
||||
|
||||
set(SIGNAL_SOURCE_ADAPTER_SOURCES file_signal_source.cc
|
||||
gen_signal_source.cc
|
||||
|
||||
@@ -7,11 +7,11 @@
|
||||
* 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, Birkha user, 2007
|
||||
* Approach, Birkhauser, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
@@ -21,7 +21,7 @@
|
||||
* 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
|
||||
@@ -37,6 +37,7 @@
|
||||
#include "galileo_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>
|
||||
@@ -148,7 +149,7 @@ galileo_e1_dll_pll_veml_tracking_cc::galileo_e1_dll_pll_veml_tracking_cc(
|
||||
|
||||
//--- Initializations ------------------------------
|
||||
// Initial code frequency basis of NCO
|
||||
d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ;
|
||||
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
|
||||
@@ -369,7 +370,7 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
|
||||
//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 = 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 ##########################################################
|
||||
@@ -385,15 +386,15 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
float T_chip_seconds;
|
||||
float T_prn_seconds;
|
||||
float T_prn_samples;
|
||||
float K_blk_samples;
|
||||
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 / d_code_freq_chips;
|
||||
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 * (float)d_fs_in;
|
||||
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs*(float)d_fs_in;
|
||||
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
|
||||
|
||||
@@ -427,12 +428,11 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
|
||||
{
|
||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
||||
ControlMessageFactory* cmf = new ControlMessageFactory();
|
||||
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
|
||||
if (d_queue != gr::msg_queue::sptr())
|
||||
{
|
||||
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
||||
}
|
||||
delete cmf;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
}
|
||||
|
||||
@@ -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
|
||||
@@ -145,7 +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
|
||||
@@ -160,7 +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;
|
||||
|
||||
@@ -39,6 +39,7 @@
|
||||
#include "galileo_e1_tcp_connector_tracking_cc.h"
|
||||
#include <cmath>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <sstream>
|
||||
#include <boost/asio.hpp>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
@@ -391,20 +392,20 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_ve
|
||||
code_error_filt_chips = tcp_data.proc_pack_code_error;
|
||||
//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]
|
||||
d_acc_code_phase_secs=d_acc_code_phase_secs+code_error_filt_secs;
|
||||
code_error_filt_secs = (Galileo_E1_CODE_PERIOD * code_error_filt_chips) / Galileo_E1_CODE_CHIP_RATE_HZ; //[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
|
||||
float T_chip_seconds;
|
||||
float T_prn_seconds;
|
||||
float T_prn_samples;
|
||||
float K_blk_samples;
|
||||
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 / d_code_freq_chips;
|
||||
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 * (float)d_fs_in;
|
||||
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs*(float)d_fs_in;
|
||||
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
|
||||
|
||||
@@ -438,12 +439,11 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_ve
|
||||
{
|
||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
||||
ControlMessageFactory* cmf = new ControlMessageFactory();
|
||||
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
|
||||
if (d_queue != gr::msg_queue::sptr())
|
||||
{
|
||||
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
||||
}
|
||||
delete cmf;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
}
|
||||
@@ -489,23 +489,23 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_ve
|
||||
}
|
||||
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);
|
||||
// ########## 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;
|
||||
}
|
||||
}
|
||||
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);
|
||||
|
||||
@@ -23,7 +23,7 @@
|
||||
* 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
|
||||
@@ -149,7 +149,7 @@ 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_next_rem_code_phase_samples;
|
||||
float d_rem_carr_phase_rad;
|
||||
|
||||
@@ -161,7 +161,7 @@ private:
|
||||
Correlator d_correlator;
|
||||
|
||||
// tracking vars
|
||||
float d_code_freq_chips;
|
||||
double d_code_freq_chips;
|
||||
float d_carrier_doppler_hz;
|
||||
float d_acc_carrier_phase_rad;
|
||||
float d_acc_code_phase_secs;
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
* 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
|
||||
@@ -474,12 +474,11 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
|
||||
{
|
||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
||||
ControlMessageFactory* cmf = new ControlMessageFactory();
|
||||
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
|
||||
if (d_queue != gr::msg_queue::sptr())
|
||||
{
|
||||
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
||||
}
|
||||
delete cmf;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
}
|
||||
@@ -513,12 +512,12 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
|
||||
double T_prn_seconds;
|
||||
double T_prn_samples;
|
||||
double K_blk_samples;
|
||||
T_chip_seconds = 1/d_code_freq_hz;
|
||||
T_chip_seconds = 1 / (double)d_code_freq_hz;
|
||||
T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_samples = T_prn_seconds * d_fs_in;
|
||||
|
||||
float code_error_filt_samples;
|
||||
code_error_filt_samples = T_prn_seconds*code_error_filt_chips*T_chip_seconds*(float)d_fs_in; //[seconds]
|
||||
code_error_filt_samples = T_prn_seconds * code_error_filt_chips * T_chip_seconds * (double)d_fs_in; //[seconds]
|
||||
d_acc_code_phase_samples = d_acc_code_phase_samples + code_error_filt_samples;
|
||||
|
||||
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_samples;
|
||||
@@ -529,7 +528,7 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
|
||||
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 PRN start sample
|
||||
current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + d_rem_code_phase_samples)/d_fs_in;
|
||||
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;
|
||||
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, Code_phase_secs=0
|
||||
current_synchro_data.Code_phase_secs = 0;
|
||||
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
* 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
|
||||
@@ -36,6 +36,7 @@
|
||||
|
||||
#include "gps_l1_ca_dll_pll_optim_tracking_cc.h"
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <sstream>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <gnuradio/io_signature.h>
|
||||
@@ -396,9 +397,9 @@ int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vec
|
||||
// New code Doppler frequency estimation
|
||||
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_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*GPS_L1_CA_CODE_PERIOD;
|
||||
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L1_CA_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*GPS_L1_CA_CODE_PERIOD;
|
||||
d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L1_CA_CODE_PERIOD;
|
||||
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
|
||||
|
||||
// ################## DLL ##########################################################
|
||||
@@ -408,20 +409,20 @@ int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vec
|
||||
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 = (GPS_L1_CA_CODE_PERIOD*code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; //[seconds]
|
||||
code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; //[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
|
||||
float T_chip_seconds;
|
||||
float T_prn_seconds;
|
||||
float T_prn_samples;
|
||||
float 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 / d_code_freq_chips;
|
||||
double T_chip_seconds;
|
||||
double T_prn_seconds;
|
||||
double T_prn_samples;
|
||||
double K_blk_samples;
|
||||
// Compute the next buffer length 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 * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_samples = T_prn_seconds * (float)d_fs_in;
|
||||
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs*(float)d_fs_in;
|
||||
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
|
||||
|
||||
@@ -452,12 +453,11 @@ int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vec
|
||||
{
|
||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
||||
ControlMessageFactory* cmf = new ControlMessageFactory();
|
||||
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
|
||||
if (d_queue != gr::msg_queue::sptr())
|
||||
{
|
||||
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
||||
}
|
||||
delete cmf;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
}
|
||||
@@ -499,24 +499,23 @@ int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vec
|
||||
}
|
||||
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);
|
||||
|
||||
// ########## 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;
|
||||
}
|
||||
}
|
||||
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);
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
* 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
|
||||
@@ -134,7 +134,7 @@ private:
|
||||
gr_complex *d_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
|
||||
@@ -148,7 +148,7 @@ private:
|
||||
Correlator d_correlator;
|
||||
|
||||
// tracking vars
|
||||
float d_code_freq_chips;
|
||||
double d_code_freq_chips;
|
||||
float d_carrier_doppler_hz;
|
||||
float d_acc_carrier_phase_rad;
|
||||
float d_code_phase_samples;
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
* 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
|
||||
@@ -37,6 +37,7 @@
|
||||
#include "gps_l1_ca_dll_pll_tracking_cc.h"
|
||||
#include <cmath>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <sstream>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <gnuradio/io_signature.h>
|
||||
@@ -408,9 +409,9 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
|
||||
// New code Doppler frequency estimation
|
||||
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_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*GPS_L1_CA_CODE_PERIOD;
|
||||
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L1_CA_CODE_PERIOD;
|
||||
//remanent 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*GPS_L1_CA_CODE_PERIOD;
|
||||
d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L1_CA_CODE_PERIOD;
|
||||
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
|
||||
|
||||
// ################## DLL ##########################################################
|
||||
@@ -420,20 +421,20 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
|
||||
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 = (GPS_L1_CA_CODE_PERIOD*code_error_filt_chips)/GPS_L1_CA_CODE_RATE_HZ; //[seconds]
|
||||
code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; //[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
|
||||
float T_chip_seconds;
|
||||
float T_prn_seconds;
|
||||
float T_prn_samples;
|
||||
float K_blk_samples;
|
||||
double T_chip_seconds;
|
||||
double T_prn_seconds;
|
||||
double T_prn_samples;
|
||||
double K_blk_samples;
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
T_chip_seconds = 1 / d_code_freq_chips;
|
||||
T_chip_seconds = 1 / (double)d_code_freq_chips;
|
||||
T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_samples = T_prn_seconds * (float)d_fs_in;
|
||||
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs*(float)d_fs_in;
|
||||
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
|
||||
|
||||
@@ -464,12 +465,11 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
|
||||
{
|
||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
||||
ControlMessageFactory* cmf = new ControlMessageFactory();
|
||||
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
|
||||
if (d_queue != gr::msg_queue::sptr())
|
||||
{
|
||||
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
||||
}
|
||||
delete cmf;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
}
|
||||
@@ -525,23 +525,23 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
|
||||
}
|
||||
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);
|
||||
// ########## 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;
|
||||
}
|
||||
}
|
||||
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);
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
* 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
|
||||
@@ -138,7 +138,7 @@ private:
|
||||
gr_complex *d_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
|
||||
@@ -152,7 +152,7 @@ private:
|
||||
Correlator d_correlator;
|
||||
|
||||
// tracking vars
|
||||
float d_code_freq_chips;
|
||||
double d_code_freq_chips;
|
||||
float d_carrier_doppler_hz;
|
||||
float d_acc_carrier_phase_rad;
|
||||
float d_code_phase_samples;
|
||||
|
||||
@@ -457,19 +457,19 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
|
||||
// sampling frequency (fixed)
|
||||
d_code_phase_step_chips = d_code_freq_hz / (float)d_fs_in; //[chips]
|
||||
// variable code PRN sample block size
|
||||
float T_chip_seconds;
|
||||
float T_prn_seconds;
|
||||
float T_prn_samples;
|
||||
float K_blk_samples;
|
||||
T_chip_seconds = 1 / d_code_freq_hz;
|
||||
double T_chip_seconds;
|
||||
double T_prn_seconds;
|
||||
double T_prn_samples;
|
||||
double K_blk_samples;
|
||||
T_chip_seconds = 1 / (double)d_code_freq_hz;
|
||||
T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_samples = T_prn_seconds * d_fs_in;
|
||||
T_prn_samples = T_prn_seconds * (double)d_fs_in;
|
||||
d_rem_code_phase_samples = d_next_rem_code_phase_samples;
|
||||
K_blk_samples = T_prn_samples + d_rem_code_phase_samples;//-code_error*(float)d_fs_in;
|
||||
K_blk_samples = T_prn_samples + d_rem_code_phase_samples;//-code_error*(double)d_fs_in;
|
||||
|
||||
// Update the current PRN delay (code phase in samples)
|
||||
float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
|
||||
float T_prn_true_samples = T_prn_true_seconds * (float)d_fs_in;
|
||||
double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
|
||||
double T_prn_true_samples = T_prn_true_seconds * (double)d_fs_in;
|
||||
d_code_phase_samples = d_code_phase_samples + T_prn_samples - T_prn_true_samples;
|
||||
if (d_code_phase_samples < 0)
|
||||
{
|
||||
@@ -509,11 +509,10 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
|
||||
{
|
||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
||||
ControlMessageFactory* cmf = new ControlMessageFactory();
|
||||
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
|
||||
if (d_queue != gr::msg_queue::sptr()) {
|
||||
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
||||
}
|
||||
delete cmf;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
|
||||
@@ -558,23 +557,23 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
|
||||
}
|
||||
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);
|
||||
// ########## 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;
|
||||
}
|
||||
}
|
||||
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);
|
||||
|
||||
@@ -21,7 +21,7 @@
|
||||
* 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
|
||||
@@ -132,9 +132,9 @@ private:
|
||||
long d_if_freq;
|
||||
long d_fs_in;
|
||||
|
||||
float d_early_late_spc_chips;
|
||||
double d_early_late_spc_chips;
|
||||
|
||||
float d_code_phase_step_chips;
|
||||
double d_code_phase_step_chips;
|
||||
|
||||
gr_complex* d_ca_code;
|
||||
|
||||
@@ -148,8 +148,8 @@ private:
|
||||
gr_complex *d_Late;
|
||||
|
||||
// remaining code phase and carrier phase between tracking loops
|
||||
float d_rem_code_phase_samples;
|
||||
float d_next_rem_code_phase_samples;
|
||||
double d_rem_code_phase_samples;
|
||||
double d_next_rem_code_phase_samples;
|
||||
float d_rem_carr_phase_rad;
|
||||
|
||||
// PLL and DLL filter library
|
||||
@@ -163,10 +163,10 @@ private:
|
||||
Correlator d_correlator;
|
||||
|
||||
// tracking vars
|
||||
float d_code_freq_hz;
|
||||
float d_carrier_doppler_hz;
|
||||
float d_acc_carrier_phase_rad;
|
||||
float d_code_phase_samples;
|
||||
double d_code_freq_hz;
|
||||
double d_carrier_doppler_hz;
|
||||
double d_acc_carrier_phase_rad;
|
||||
double d_code_phase_samples;
|
||||
size_t d_port_ch0;
|
||||
size_t d_port;
|
||||
int d_listen_connection;
|
||||
|
||||
@@ -65,37 +65,17 @@ include_directories(
|
||||
)
|
||||
|
||||
|
||||
#Enable GN3S module if the flag is present
|
||||
if( $ENV{GN3S_DRIVER} )
|
||||
message(STATUS "Support for RF front-end GN3S v2 enabled" )
|
||||
if(ENABLE_GN3S)
|
||||
add_definitions(-DGN3S_DRIVER=1)
|
||||
endif( $ENV{GN3S_DRIVER} )
|
||||
if( GN3S_DRIVER )
|
||||
message(STATUS "Support for RF front-end GN3S v2 enabled" )
|
||||
add_definitions(-DGN3S_DRIVER=1)
|
||||
endif( GN3S_DRIVER )
|
||||
endif(ENABLE_GN3S)
|
||||
|
||||
|
||||
if( $ENV{RAW_ARRAY_DRIVER} )
|
||||
message(STATUS "Support for CTTC RAW ARRAY enabled" )
|
||||
if(ENABLE_ARRAY)
|
||||
add_definitions(-DRAW_ARRAY_DRIVER=1)
|
||||
endif( $ENV{RAW_ARRAY_DRIVER} )
|
||||
endif(ENABLE_ARRAY)
|
||||
|
||||
if( RAW_ARRAY_DRIVER )
|
||||
message(STATUS "Support for CTTC RAW ARRAY enabled" )
|
||||
add_definitions(-DRAW_ARRAY_DRIVER=1)
|
||||
endif( RAW_ARRAY_DRIVER )
|
||||
|
||||
#Enable RTL-SDR module if the flag is present
|
||||
if( $ENV{RTLSDR_DRIVER} )
|
||||
message(STATUS "Support for RF front-end based on RTL dongle enabled" )
|
||||
if(ENABLE_RTLSDR)
|
||||
add_definitions(-DRTLSDR_DRIVER=1)
|
||||
endif( $ENV{RTLSDR_DRIVER} )
|
||||
|
||||
if( RTLSDR_DRIVER )
|
||||
message(STATUS "Support for RF front-end based on RTL dongle enabled" )
|
||||
add_definitions(-DRTLSDR_DRIVER=1)
|
||||
endif( RTLSDR_DRIVER )
|
||||
endif(ENABLE_RTLSDR)
|
||||
|
||||
#Enable OpenCL if found in the system
|
||||
if(OPENCL_FOUND)
|
||||
|
||||
@@ -61,10 +61,12 @@
|
||||
#include "gps_l1_ca_pcps_tong_acquisition.h"
|
||||
#include "gps_l1_ca_pcps_assisted_acquisition.h"
|
||||
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
|
||||
#include "gps_l1_ca_pcps_quicksync_acquisition.h"
|
||||
#include "galileo_e1_pcps_ambiguous_acquisition.h"
|
||||
#include "galileo_e1_pcps_8ms_ambiguous_acquisition.h"
|
||||
#include "galileo_e1_pcps_tong_ambiguous_acquisition.h"
|
||||
#include "galileo_e1_pcps_cccwsr_ambiguous_acquisition.h"
|
||||
#include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
|
||||
#include "gps_l1_ca_dll_pll_tracking.h"
|
||||
#include "gps_l1_ca_dll_pll_optim_tracking.h"
|
||||
#include "gps_l1_ca_dll_fll_pll_tracking.h"
|
||||
@@ -494,6 +496,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("GPS_L1_CA_PCPS_QuickSync_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<GNSSBlockInterface> block_( new GpsL1CaPcpsQuickSyncAcquisition(configuration.get(), role, in_streams,
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("Galileo_E1_PCPS_Ambiguous_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<GNSSBlockInterface> block_(new GalileoE1PcpsAmbiguousAcquisition(configuration.get(), role, in_streams,
|
||||
@@ -518,6 +526,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<GNSSBlockInterface> block_( new GalileoE1PcpsQuickSyncAmbiguousAcquisition(configuration.get(), role, in_streams,
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
|
||||
// TRACKING BLOCKS -------------------------------------------------------------
|
||||
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking") == 0)
|
||||
@@ -694,6 +708,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("GPS_L1_CA_PCPS_QuickSync_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<AcquisitionInterface> block_( new GpsL1CaPcpsQuickSyncAcquisition(configuration.get(), role, in_streams,
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("Galileo_E1_PCPS_Ambiguous_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<AcquisitionInterface> block_(new GalileoE1PcpsAmbiguousAcquisition(configuration.get(), role, in_streams,
|
||||
@@ -718,6 +738,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<AcquisitionInterface> block_( new GalileoE1PcpsQuickSyncAmbiguousAcquisition(configuration.get(), role, in_streams,
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else
|
||||
{
|
||||
// Log fatal. This causes execution to stop.
|
||||
|
||||
@@ -46,7 +46,7 @@ const double GALILEO_GM = 3.986004418e14; //!< Geocentric gravitational constan
|
||||
const double GALILEO_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Mean angular velocity of the Earth [rad/s]
|
||||
const double GALILEO_C_m_s = 299792458.0; //!< The speed of light, [m/s]
|
||||
const double GALILEO_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
|
||||
const double GALILEO_F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
|
||||
const double GALILEO_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)]
|
||||
|
||||
// carrier and code frequencies
|
||||
const double Galileo_E1_FREQ_HZ = 1.57542e9; //!< Galileo E1 carrier frequency [Hz]
|
||||
|
||||
@@ -106,7 +106,7 @@ double Galileo_Ephemeris::sv_clock_drift(double transmitTime)
|
||||
// Satellite Time Correction Algorithm, ICD 5.1.4
|
||||
double dt;
|
||||
dt = transmitTime - t0c_4;
|
||||
Galileo_satClkDrift = af0_4 + af1_4*dt + (af2_4 * dt)*(af2_4 * dt) + Galileo_dtr;
|
||||
Galileo_satClkDrift = af0_4 + af1_4 * dt + af2_4 * (dt * dt) + sv_clock_relativistic_term(transmitTime); //+Galileo_dtr;
|
||||
return Galileo_satClkDrift;
|
||||
}
|
||||
|
||||
|
||||
@@ -137,7 +137,7 @@ double Gps_Ephemeris::sv_clock_drift(double transmitTime)
|
||||
{
|
||||
double dt;
|
||||
dt = check_t(transmitTime - d_Toc);
|
||||
d_satClkDrift = d_A_f0 + d_A_f1*dt + (d_A_f2 * dt)*(d_A_f2 * dt);
|
||||
d_satClkDrift = d_A_f0 + d_A_f1 * dt + d_A_f2 * (dt * dt) + sv_clock_relativistic_term(transmitTime);
|
||||
return d_satClkDrift;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
# Copyright (C) 2012-2013 (see AUTHORS file for a list of contributors)
|
||||
# Copyright (C) 2012-2014 (see AUTHORS file for a list of contributors)
|
||||
#
|
||||
# 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.
|
||||
# (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
|
||||
@@ -16,6 +16,16 @@
|
||||
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
#
|
||||
|
||||
set(GNSS_SDR_OPTIONAL_LIBS "")
|
||||
set(GNSS_SDR_OPTIONAL_HEADERS "")
|
||||
|
||||
if(ENABLE_GPERFTOOLS)
|
||||
if(GPERFTOOLS_FOUND)
|
||||
#set(GNSS_SDR_OPTIONAL_LIBS "${GNSS_SDR_OPTIONAL_LIBS};${GPERFTOOLS_LIBRARIES}")
|
||||
set(GNSS_SDR_OPTIONAL_LIBS "${GNSS_SDR_OPTIONAL_LIBS};${GPERFTOOLS_PROFILER};${GPERFTOOLS_TCMALLOC}")
|
||||
set(GNSS_SDR_OPTIONAL_HEADERS "${GNSS_SDR_OPTIONAL_HEADERS};${GPERFTOOLS_INCLUDE_DIR}")
|
||||
endif(GPERFTOOLS_FOUND)
|
||||
endif(ENABLE_GPERFTOOLS)
|
||||
|
||||
include_directories(
|
||||
${CMAKE_SOURCE_DIR}/src/core/system_parameters
|
||||
@@ -30,6 +40,7 @@ include_directories(
|
||||
${ARMADILLO_INCLUDE_DIRS}
|
||||
${Boost_INCLUDE_DIRS}
|
||||
${GNURADIO_RUNTIME_INCLUDE_DIRS}
|
||||
${GNSS_SDR_OPTIONAL_HEADERS}
|
||||
)
|
||||
|
||||
add_definitions( -DGNSS_SDR_VERSION="${VERSION}" )
|
||||
@@ -57,6 +68,7 @@ target_link_libraries(gnss-sdr ${MAC_LIBRARIES}
|
||||
${UHD_LIBRARIES}
|
||||
gnss_sp_libs
|
||||
gnss_rx
|
||||
${GNSS_SDR_OPTIONAL_LIBS}
|
||||
)
|
||||
|
||||
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
# Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
|
||||
# Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
|
||||
#
|
||||
# This file is part of GNSS-SDR.
|
||||
#
|
||||
# GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation, either version 3 of the License, or
|
||||
# at your option) any later version.
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# GNSS-SDR is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
@@ -89,6 +89,16 @@ else(NOT GTEST_DIR_LOCAL)
|
||||
endif(NOT GTEST_DIR_LOCAL)
|
||||
|
||||
|
||||
set(GNSS_SDR_TEST_OPTIONAL_LIBS "")
|
||||
set(GNSS_SDR_TEST_OPTIONAL_HEADERS "")
|
||||
|
||||
if(ENABLE_GPERFTOOLS)
|
||||
if(GPERFTOOLS_FOUND)
|
||||
set(GNSS_SDR_TEST_OPTIONAL_LIBS "${GNSS_SDR_TEST_OPTIONAL_LIBS};${GPERFTOOLS_LIBRARIES}")
|
||||
set(GNSS_SDR_TEST_OPTIONAL_HEADERS "${GNSS_SDR_TEST_OPTIONAL_HEADERS};${GPERFTOOLS_INCLUDE_DIR}")
|
||||
endif(GPERFTOOLS_FOUND)
|
||||
endif(ENABLE_GPERFTOOLS)
|
||||
|
||||
|
||||
include_directories(
|
||||
${GTEST_INCLUDE_DIRECTORIES}
|
||||
@@ -120,6 +130,7 @@ include_directories(
|
||||
${Boost_INCLUDE_DIRS}
|
||||
${ARMADILLO_INCLUDE_DIRS}
|
||||
${VOLK_INCLUDE_DIRS}
|
||||
${GNSS_SDR_TEST_OPTIONAL_HEADERS}
|
||||
)
|
||||
|
||||
|
||||
@@ -158,6 +169,7 @@ target_link_libraries(run_tests ${MAC_LIBRARIES}
|
||||
signal_generator_adapters
|
||||
out_adapters
|
||||
pvt_gr_blocks
|
||||
${GNSS_SDR_TEST_OPTIONAL_LIBS}
|
||||
)
|
||||
|
||||
install(TARGETS run_tests DESTINATION ${CMAKE_SOURCE_DIR}/install)
|
||||
@@ -193,11 +205,13 @@ add_executable(gnss_block_test EXCLUDE_FROM_ALL
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/gps_l1_ca_pcps_multithread_acquisition_gsoc2013_test.cc
|
||||
# ${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_ambiguous_acquisition_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_ambiguous_acquisition_gsoc2013_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc
|
||||
#${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_dll_pll_veml_tracking_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/file_output_filter_test.cc
|
||||
|
||||
@@ -0,0 +1,818 @@
|
||||
/*!
|
||||
* \file galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
|
||||
* \brief This class implements an acquisition test for
|
||||
* GalileoE1PcpsQuickSyncAmbiguousAcquisition class.
|
||||
* \author Damian Miralles, 2014. dmiralles2009@gmail.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/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include <ctime>
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <stdexcept>
|
||||
#include <boost/shared_ptr.hpp>
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_block_interface.h"
|
||||
#include "in_memory_configuration.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "signal_generator.h"
|
||||
#include "signal_generator_c.h"
|
||||
#include "fir_filter.h"
|
||||
#include "gen_signal_source.h"
|
||||
#include "gnss_sdr_valve.h"
|
||||
#include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
|
||||
|
||||
DEFINE_double(e1_value_threshold, 0.3, "Value of the threshold for the acquisition");
|
||||
DEFINE_int32(e1_value_CN0_dB_0, 44, "Value for the CN0_dB_0 in channel 0");
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
class GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test: public ::testing::Test
|
||||
{
|
||||
protected:
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test()
|
||||
{
|
||||
queue = gr::msg_queue::make(0);
|
||||
top_block = gr::make_top_block("Acquisition test");
|
||||
factory = std::make_shared<GNSSBlockFactory>();
|
||||
item_size = sizeof(gr_complex);
|
||||
stop = false;
|
||||
message = 0;
|
||||
}
|
||||
|
||||
~GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test()
|
||||
{
|
||||
}
|
||||
|
||||
void init();
|
||||
void config_1();
|
||||
void config_2();
|
||||
void config_3();
|
||||
void start_queue();
|
||||
void wait_message();
|
||||
void process_message();
|
||||
void stop_queue();
|
||||
|
||||
gr::msg_queue::sptr queue;
|
||||
gr::top_block_sptr top_block;
|
||||
std::shared_ptr<GalileoE1PcpsQuickSyncAmbiguousAcquisition> acquisition;
|
||||
std::shared_ptr<GNSSBlockFactory> factory;
|
||||
std::shared_ptr<InMemoryConfiguration> config;
|
||||
Gnss_Synchro gnss_synchro;
|
||||
size_t item_size;
|
||||
concurrent_queue<int> channel_internal_queue;
|
||||
bool stop;
|
||||
int message;
|
||||
boost::thread ch_thread;
|
||||
|
||||
unsigned int integration_time_ms;
|
||||
unsigned int fs_in;
|
||||
unsigned int folding_factor;
|
||||
|
||||
double expected_delay_chips;
|
||||
double expected_doppler_hz;
|
||||
float max_doppler_error_hz;
|
||||
float max_delay_error_chips;
|
||||
|
||||
unsigned int num_of_realizations;
|
||||
unsigned int realization_counter;
|
||||
unsigned int detection_counter;
|
||||
unsigned int correct_estimation_counter;
|
||||
unsigned int acquired_samples;
|
||||
unsigned int mean_acq_time_us;
|
||||
|
||||
double mse_doppler;
|
||||
double mse_delay;
|
||||
|
||||
double Pd; // Probability of detection
|
||||
double Pfa_p; // Probability of false alarm on present satellite
|
||||
double Pfa_a; // Probability of false alarm on absent satellite
|
||||
double Pmd; // Probability of miss detection
|
||||
|
||||
std::ofstream pdpfafile;
|
||||
unsigned int miss_detection_counter;
|
||||
bool dump_test_results;
|
||||
};
|
||||
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::init()
|
||||
{
|
||||
message = 0;
|
||||
realization_counter = 0;
|
||||
detection_counter = 0;
|
||||
correct_estimation_counter = 0;
|
||||
acquired_samples = 0;
|
||||
mse_doppler = 0;
|
||||
mse_delay = 0;
|
||||
mean_acq_time_us = 0;
|
||||
Pd = 0;
|
||||
Pfa_p = 0;
|
||||
Pfa_a = 0;
|
||||
|
||||
miss_detection_counter = 0;
|
||||
Pmd = 0;
|
||||
}
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_1()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'E';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal, 2, 0);
|
||||
|
||||
integration_time_ms = 8;
|
||||
fs_in = 4e6;
|
||||
|
||||
expected_delay_chips = 600;
|
||||
expected_doppler_hz = 750;
|
||||
max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
|
||||
max_delay_error_chips = 0.50;
|
||||
|
||||
num_of_realizations = 1;
|
||||
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.item_type", "gr_complex");
|
||||
|
||||
config->set_property("SignalSource.num_satellites", "1");
|
||||
|
||||
config->set_property("SignalSource.system_0", "E");
|
||||
config->set_property("SignalSource.PRN_0", "10");
|
||||
config->set_property("SignalSource.CN0_dB_0", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_0",
|
||||
std::to_string(expected_doppler_hz));
|
||||
config->set_property("SignalSource.delay_chips_0",
|
||||
std::to_string(expected_delay_chips));
|
||||
|
||||
config->set_property("SignalSource.noise_flag", "false");
|
||||
config->set_property("SignalSource.data_flag", "false");
|
||||
config->set_property("SignalSource.BW_BB", "0.97");
|
||||
|
||||
config->set_property("InputFilter.implementation", "Fir_Filter");
|
||||
config->set_property("InputFilter.input_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.output_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.taps_item_type", "float");
|
||||
config->set_property("InputFilter.number_of_taps", "11");
|
||||
config->set_property("InputFilter.number_of_bands", "2");
|
||||
config->set_property("InputFilter.band1_begin", "0.0");
|
||||
config->set_property("InputFilter.band1_end", "0.97");
|
||||
config->set_property("InputFilter.band2_begin", "0.98");
|
||||
config->set_property("InputFilter.band2_end", "1.0");
|
||||
config->set_property("InputFilter.ampl1_begin", "1.0");
|
||||
config->set_property("InputFilter.ampl1_end", "1.0");
|
||||
config->set_property("InputFilter.ampl2_begin", "0.0");
|
||||
config->set_property("InputFilter.ampl2_end", "0.0");
|
||||
config->set_property("InputFilter.band1_error", "1.0");
|
||||
config->set_property("InputFilter.band2_error", "1.0");
|
||||
config->set_property("InputFilter.filter_type", "bandpass");
|
||||
config->set_property("InputFilter.grid_density", "16");
|
||||
|
||||
config->set_property("Acquisition.item_type", "gr_complex");
|
||||
config->set_property("Acquisition.if", "0");
|
||||
config->set_property("Acquisition.coherent_integration_time_ms",
|
||||
std::to_string(integration_time_ms));
|
||||
config->set_property("Acquisition.max_dwells", "1");
|
||||
config->set_property("Acquisition.bit_transition_flag","false");
|
||||
config->set_property("Acquisition.implementation", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition");
|
||||
config->set_property("Acquisition.threshold", "1");
|
||||
config->set_property("Acquisition.doppler_max", "10000");
|
||||
config->set_property("Acquisition.doppler_step", "250");
|
||||
config->set_property("Acquisition.folding_factor", "2");
|
||||
config->set_property("Acquisition.dump", "true");
|
||||
}
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_2()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'E';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal, 2, 0);
|
||||
|
||||
integration_time_ms = 8;
|
||||
fs_in = 4e6;
|
||||
|
||||
expected_delay_chips = 600;
|
||||
expected_doppler_hz = 750;
|
||||
max_doppler_error_hz = 2 / (3 * integration_time_ms * 1e-3);
|
||||
max_delay_error_chips = 0.50;
|
||||
|
||||
/*Unset this flag to eliminates data logging for the Validation of results
|
||||
probabilities test*/
|
||||
dump_test_results = true;
|
||||
|
||||
num_of_realizations = 100;
|
||||
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.item_type", "gr_complex");
|
||||
|
||||
config->set_property("SignalSource.num_satellites", "4");
|
||||
|
||||
config->set_property("SignalSource.system_0", "E");
|
||||
config->set_property("SignalSource.PRN_0", "10");
|
||||
config->set_property("SignalSource.CN0_dB_0", std::to_string(FLAGS_e1_value_CN0_dB_0));
|
||||
config->set_property("SignalSource.doppler_Hz_0",
|
||||
std::to_string(expected_doppler_hz));
|
||||
config->set_property("SignalSource.delay_chips_0",
|
||||
std::to_string(expected_delay_chips));
|
||||
|
||||
config->set_property("SignalSource.system_1", "E");
|
||||
config->set_property("SignalSource.PRN_1", "15");
|
||||
config->set_property("SignalSource.CN0_dB_1", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_1", "1000");
|
||||
config->set_property("SignalSource.delay_chips_1", "100");
|
||||
|
||||
config->set_property("SignalSource.system_2", "E");
|
||||
config->set_property("SignalSource.PRN_2", "21");
|
||||
config->set_property("SignalSource.CN0_dB_2", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_2", "2000");
|
||||
config->set_property("SignalSource.delay_chips_2", "200");
|
||||
|
||||
config->set_property("SignalSource.system_3", "E");
|
||||
config->set_property("SignalSource.PRN_3", "22");
|
||||
config->set_property("SignalSource.CN0_dB_3", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_3", "3000");
|
||||
config->set_property("SignalSource.delay_chips_3", "300");
|
||||
|
||||
config->set_property("SignalSource.noise_flag", "true");
|
||||
config->set_property("SignalSource.data_flag", "true");
|
||||
config->set_property("SignalSource.BW_BB", "0.97");
|
||||
|
||||
config->set_property("InputFilter.implementation", "Fir_Filter");
|
||||
config->set_property("InputFilter.input_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.output_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.taps_item_type", "float");
|
||||
config->set_property("InputFilter.number_of_taps", "11");
|
||||
config->set_property("InputFilter.number_of_bands", "2");
|
||||
config->set_property("InputFilter.band1_begin", "0.0");
|
||||
config->set_property("InputFilter.band1_end", "0.97");
|
||||
config->set_property("InputFilter.band2_begin", "0.98");
|
||||
config->set_property("InputFilter.band2_end", "1.0");
|
||||
config->set_property("InputFilter.ampl1_begin", "1.0");
|
||||
config->set_property("InputFilter.ampl1_end", "1.0");
|
||||
config->set_property("InputFilter.ampl2_begin", "0.0");
|
||||
config->set_property("InputFilter.ampl2_end", "0.0");
|
||||
config->set_property("InputFilter.band1_error", "1.0");
|
||||
config->set_property("InputFilter.band2_error", "1.0");
|
||||
config->set_property("InputFilter.filter_type", "bandpass");
|
||||
config->set_property("InputFilter.grid_density", "16");
|
||||
|
||||
config->set_property("Acquisition.item_type", "gr_complex");
|
||||
config->set_property("Acquisition.if", "0");
|
||||
config->set_property("Acquisition.coherent_integration_time_ms",
|
||||
std::to_string(integration_time_ms));
|
||||
config->set_property("Acquisition.max_dwells", "1");
|
||||
config->set_property("Acquisition.bit_transition_flag","false");
|
||||
config->set_property("Acquisition.implementation", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition");
|
||||
config->set_property("Acquisition.threshold", std::to_string(FLAGS_e1_value_threshold));
|
||||
config->set_property("Acquisition.doppler_max", "10000");
|
||||
config->set_property("Acquisition.doppler_step", "125");
|
||||
config->set_property("Acquisition.folding_factor", "2");
|
||||
config->set_property("Acquisition.dump", "false");
|
||||
}
|
||||
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_3()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'E';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal, 2, 0);
|
||||
|
||||
integration_time_ms = 16;
|
||||
fs_in = 4e6;
|
||||
|
||||
expected_delay_chips = 600;
|
||||
expected_doppler_hz = 750;
|
||||
max_doppler_error_hz = 2 / (3 * integration_time_ms * 1e-3);
|
||||
max_delay_error_chips = 0.50;
|
||||
|
||||
num_of_realizations = 1;
|
||||
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.item_type", "gr_complex");
|
||||
|
||||
config->set_property("SignalSource.num_satellites", "4");
|
||||
|
||||
config->set_property("SignalSource.system_0", "E");
|
||||
config->set_property("SignalSource.PRN_0", "10");
|
||||
config->set_property("SignalSource.CN0_dB_0", std::to_string(FLAGS_e1_value_CN0_dB_0));
|
||||
config->set_property("SignalSource.doppler_Hz_0",
|
||||
std::to_string(expected_doppler_hz));
|
||||
config->set_property("SignalSource.delay_chips_0",
|
||||
std::to_string(expected_delay_chips));
|
||||
|
||||
config->set_property("SignalSource.system_1", "E");
|
||||
config->set_property("SignalSource.PRN_1", "15");
|
||||
config->set_property("SignalSource.CN0_dB_1", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_1", "1000");
|
||||
config->set_property("SignalSource.delay_chips_1", "100");
|
||||
|
||||
config->set_property("SignalSource.system_2", "E");
|
||||
config->set_property("SignalSource.PRN_2", "21");
|
||||
config->set_property("SignalSource.CN0_dB_2", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_2", "2000");
|
||||
config->set_property("SignalSource.delay_chips_2", "200");
|
||||
|
||||
config->set_property("SignalSource.system_3", "E");
|
||||
config->set_property("SignalSource.PRN_3", "22");
|
||||
config->set_property("SignalSource.CN0_dB_3", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_3", "3000");
|
||||
config->set_property("SignalSource.delay_chips_3", "300");
|
||||
|
||||
config->set_property("SignalSource.noise_flag", "true");
|
||||
config->set_property("SignalSource.data_flag", "true");
|
||||
config->set_property("SignalSource.BW_BB", "0.97");
|
||||
|
||||
config->set_property("InputFilter.implementation", "Fir_Filter");
|
||||
config->set_property("InputFilter.input_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.output_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.taps_item_type", "float");
|
||||
config->set_property("InputFilter.number_of_taps", "11");
|
||||
config->set_property("InputFilter.number_of_bands", "2");
|
||||
config->set_property("InputFilter.band1_begin", "0.0");
|
||||
config->set_property("InputFilter.band1_end", "0.97");
|
||||
config->set_property("InputFilter.band2_begin", "0.98");
|
||||
config->set_property("InputFilter.band2_end", "1.0");
|
||||
config->set_property("InputFilter.ampl1_begin", "1.0");
|
||||
config->set_property("InputFilter.ampl1_end", "1.0");
|
||||
config->set_property("InputFilter.ampl2_begin", "0.0");
|
||||
config->set_property("InputFilter.ampl2_end", "0.0");
|
||||
config->set_property("InputFilter.band1_error", "1.0");
|
||||
config->set_property("InputFilter.band2_error", "1.0");
|
||||
config->set_property("InputFilter.filter_type", "bandpass");
|
||||
config->set_property("InputFilter.grid_density", "16");
|
||||
|
||||
config->set_property("Acquisition.item_type", "gr_complex");
|
||||
config->set_property("Acquisition.if", "0");
|
||||
config->set_property("Acquisition.coherent_integration_time_ms",
|
||||
std::to_string(integration_time_ms));
|
||||
config->set_property("Acquisition.max_dwells", "1");
|
||||
config->set_property("Acquisition.bit_transition_flag","false");
|
||||
config->set_property("Acquisition.implementation", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition");
|
||||
config->set_property("Acquisition.threshold", "0.2");
|
||||
config->set_property("Acquisition.doppler_max", "10000");
|
||||
config->set_property("Acquisition.doppler_step", "125");
|
||||
config->set_property("Acquisition.folding_factor", "4");
|
||||
config->set_property("Acquisition.dump", "true");
|
||||
}
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::start_queue()
|
||||
{
|
||||
stop = false;
|
||||
ch_thread = boost::thread(&GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::wait_message, this);
|
||||
}
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::wait_message()
|
||||
{
|
||||
struct timeval tv;
|
||||
long long int begin = 0;
|
||||
long long int end = 0;
|
||||
|
||||
while (!stop)
|
||||
{
|
||||
acquisition->reset();
|
||||
|
||||
gettimeofday(&tv, NULL);
|
||||
begin = tv.tv_sec*1e6 + tv.tv_usec;
|
||||
|
||||
channel_internal_queue.wait_and_pop(message);
|
||||
|
||||
gettimeofday(&tv, NULL);
|
||||
end = tv.tv_sec*1e6 + tv.tv_usec;
|
||||
|
||||
mean_acq_time_us += (end - begin);
|
||||
|
||||
process_message();
|
||||
}
|
||||
}
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::process_message()
|
||||
{
|
||||
if (message == 1)
|
||||
{
|
||||
detection_counter++;
|
||||
|
||||
// The term -5 is here to correct the additional delay introduced by the FIR filter
|
||||
double delay_error_chips = abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples - 5) * 1023.0 / ((double)fs_in * 1e-3));
|
||||
double doppler_error_hz = abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
|
||||
|
||||
mse_delay += std::pow(delay_error_chips, 2);
|
||||
mse_doppler += std::pow(doppler_error_hz, 2);
|
||||
|
||||
if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
|
||||
{
|
||||
correct_estimation_counter++;
|
||||
}
|
||||
|
||||
}
|
||||
else if(message == 2 && gnss_synchro.PRN == 10)
|
||||
{
|
||||
/*
|
||||
if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
|
||||
{
|
||||
miss_detection_counter++;
|
||||
}
|
||||
*/
|
||||
miss_detection_counter++;
|
||||
}
|
||||
|
||||
realization_counter++;
|
||||
|
||||
std::cout << "Progress: " << round((float)realization_counter / num_of_realizations * 100) << "% \r" << std::flush;
|
||||
|
||||
if (realization_counter == num_of_realizations)
|
||||
{
|
||||
mse_delay /= (double)num_of_realizations;
|
||||
mse_doppler /= (double)num_of_realizations;
|
||||
|
||||
Pd = (double)correct_estimation_counter / (double)num_of_realizations;
|
||||
Pfa_a = (double)detection_counter / (double)num_of_realizations;
|
||||
Pfa_p = (double)(detection_counter - correct_estimation_counter) / (double)num_of_realizations;
|
||||
Pmd = (double)miss_detection_counter / (double)num_of_realizations;
|
||||
|
||||
mean_acq_time_us /= (double)num_of_realizations;
|
||||
|
||||
stop_queue();
|
||||
top_block->stop();
|
||||
}
|
||||
}
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::stop_queue()
|
||||
{
|
||||
stop = true;
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, Instantiate)
|
||||
{
|
||||
config_1();
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition", 1, 1, queue);
|
||||
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsQuickSyncAmbiguousAcquisition>(acq_);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ConnectAndRun)
|
||||
{
|
||||
LOG(INFO) << "**Start connect and run test";
|
||||
int nsamples = floor(fs_in*integration_time_ms*1e-3);
|
||||
struct timeval tv;
|
||||
long long int begin = 0;
|
||||
long long int end = 0;
|
||||
|
||||
config_1();
|
||||
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition", 1, 1, queue);
|
||||
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsQuickSyncAmbiguousAcquisition>(acq_);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
boost::shared_ptr<gr::analog::sig_source_c> source =
|
||||
gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
|
||||
boost::shared_ptr<gr::block> valve =
|
||||
gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
|
||||
top_block->connect(source, 0, valve, 0);
|
||||
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
|
||||
|
||||
}) << "Failure connecting the blocks of acquisition test."<< std::endl;
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
gettimeofday(&tv, NULL);
|
||||
begin = tv.tv_sec * 1e6 + tv.tv_usec;
|
||||
top_block->run(); // Start threads and wait
|
||||
gettimeofday(&tv, NULL);
|
||||
end = tv.tv_sec * 1e6 + tv.tv_usec;
|
||||
}) << "Failure running the top_block."<< std::endl;
|
||||
|
||||
std::cout << "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
|
||||
LOG(INFO) << "----end connect and run test-----";
|
||||
LOG(INFO) << "**End connect and run test";
|
||||
}
|
||||
|
||||
TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ValidationOfResults)
|
||||
{
|
||||
LOG(INFO) << "Start validation of results test";
|
||||
config_1();
|
||||
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition", 1, 1, queue);
|
||||
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsQuickSyncAmbiguousAcquisition>(acq_);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel(1);
|
||||
}) << "Failure setting channel."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel_queue(&channel_internal_queue);
|
||||
}) << "Failure setting channel_internal_queue."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
|
||||
}) << "Failure setting doppler_max."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 125));
|
||||
}) << "Failure setting doppler_step."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
|
||||
}) << "Failure setting threshold."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
}) << "Failure connecting acquisition to the top_block." << std::endl;
|
||||
|
||||
acquisition->init();
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
boost::shared_ptr<GenSignalSource> signal_source;
|
||||
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
||||
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
|
||||
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
||||
signal_source->connect(top_block);
|
||||
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
|
||||
// i = 0 --> satellite in acquisition is visible
|
||||
// i = 1 --> satellite in acquisition is not visible
|
||||
for (unsigned int i = 0; i < 2; i++)
|
||||
{
|
||||
init();
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
gnss_synchro.PRN = 10; // This satellite is visible
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
gnss_synchro.PRN = 20; // This satellite is not visible
|
||||
}
|
||||
|
||||
acquisition->set_local_code();
|
||||
start_queue();
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
top_block->run(); // Start threads and wait
|
||||
}) << "Failure running the top_block."<< std::endl;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
|
||||
if (message == 1)
|
||||
{
|
||||
EXPECT_EQ((unsigned int)1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
|
||||
}
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
|
||||
}
|
||||
}
|
||||
LOG(INFO) << "End validation of results test";
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ValidationOfResultsWithNoise)
|
||||
{
|
||||
LOG(INFO) << "Start validation of results with noise+interference test";
|
||||
config_3();
|
||||
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition", 1, 1, queue);
|
||||
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsQuickSyncAmbiguousAcquisition>(acq_);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel(1);
|
||||
}) << "Failure setting channel."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel_queue(&channel_internal_queue);
|
||||
}) << "Failure setting channel_internal_queue."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
|
||||
}) << "Failure setting doppler_max."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 125));
|
||||
}) << "Failure setting doppler_step."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
|
||||
}) << "Failure setting threshold."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
}) << "Failure connecting acquisition to the top_block." << std::endl;
|
||||
|
||||
acquisition->init();
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
boost::shared_ptr<GenSignalSource> signal_source;
|
||||
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
||||
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
|
||||
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
||||
signal_source->connect(top_block);
|
||||
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
|
||||
// i = 0 --> satellite in acquisition is visible
|
||||
// i = 1 --> satellite in acquisition is not visible
|
||||
for (unsigned int i = 0; i < 2; i++)
|
||||
{
|
||||
init();
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
gnss_synchro.PRN = 10; // This satellite is visible
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
gnss_synchro.PRN = 20; // This satellite is not visible
|
||||
}
|
||||
|
||||
acquisition->set_local_code();
|
||||
start_queue();
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
top_block->run(); // Start threads and wait
|
||||
}) << "Failure running the top_block."<< std::endl;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
|
||||
if (message == 1)
|
||||
{
|
||||
EXPECT_EQ((unsigned int)1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
|
||||
}
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
|
||||
}
|
||||
}
|
||||
LOG(INFO) << "End validation of results with noise+interference test";
|
||||
}
|
||||
|
||||
TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ValidationOfResultsProbabilities)
|
||||
{
|
||||
config_2();
|
||||
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition", 1, 1, queue);
|
||||
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsQuickSyncAmbiguousAcquisition>(acq_);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel(1);
|
||||
}) << "Failure setting channel."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel_queue(&channel_internal_queue);
|
||||
}) << "Failure setting channel_internal_queue."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
|
||||
}) << "Failure setting doppler_max."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
|
||||
}) << "Failure setting doppler_step."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
|
||||
}) << "Failure setting threshold."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
}) << "Failure connecting acquisition to the top_block." << std::endl;
|
||||
|
||||
acquisition->init();
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
boost::shared_ptr<GenSignalSource> signal_source;
|
||||
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
||||
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
|
||||
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
||||
signal_source->connect(top_block);
|
||||
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
|
||||
std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
|
||||
|
||||
// i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
|
||||
// i = 1 --> satellite in acquisition is not visible (prob of false detection)
|
||||
for (unsigned int i = 0; i < 2; i++)
|
||||
{
|
||||
init();
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
gnss_synchro.PRN = 10; // This satellite is visible
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
gnss_synchro.PRN = 20; // This satellite is not visible
|
||||
}
|
||||
|
||||
acquisition->set_local_code();
|
||||
start_queue();
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
top_block->run(); // Start threads and wait
|
||||
}) << "Failure running the top_block." << std::endl;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
std::cout << "Estimated probability of detection = " << Pd << std::endl;
|
||||
std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
|
||||
std::cout << "Estimated probability of miss detection (satellite present) = " << Pmd << std::endl;
|
||||
std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
|
||||
|
||||
if(dump_test_results)
|
||||
{
|
||||
std::stringstream filenamepd;
|
||||
filenamepd.str("");
|
||||
filenamepd << "../data/test_statistics_" << gnss_synchro.System
|
||||
<< "_" << gnss_synchro.Signal << "_sat_"
|
||||
<< gnss_synchro.PRN << "CN0_dB_0_" << FLAGS_e1_value_CN0_dB_0 << "_dBHz.csv";
|
||||
|
||||
pdpfafile.open(filenamepd.str().c_str(), std::ios::app | std::ios::out);
|
||||
pdpfafile << FLAGS_e1_value_threshold << "," << Pd << "," << Pfa_p << "," << Pmd << std::endl;
|
||||
pdpfafile.close();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
|
||||
std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
|
||||
|
||||
if(dump_test_results)
|
||||
{
|
||||
std::stringstream filenamepf;
|
||||
filenamepf.str("");
|
||||
filenamepf << "../data/test_statistics_" << gnss_synchro.System
|
||||
<< "_" << gnss_synchro.Signal << "_sat_"
|
||||
<< gnss_synchro.PRN << "CN0_dB_0_" << FLAGS_e1_value_CN0_dB_0 << "_dBHz.csv";
|
||||
|
||||
pdpfafile.open(filenamepf.str().c_str(), std::ios::app | std::ios::out);
|
||||
pdpfafile << FLAGS_e1_value_threshold << "," << Pfa_a << std::endl;
|
||||
pdpfafile.close();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -20,7 +20,7 @@
|
||||
* 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
|
||||
@@ -194,6 +194,31 @@ TEST(GNSS_Block_Factory_Test, InstantiateGpsL1CaPcpsAcquisition)
|
||||
}
|
||||
|
||||
|
||||
TEST(GNSS_Block_Factory_Test, InstantiateGpsL1CaPcpsQuickSyncAcquisition)
|
||||
{
|
||||
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
|
||||
configuration->set_property("Acquisition.implementation", "GPS_L1_CA_PCPS_QuickSync_Acquisition");
|
||||
gr::msg_queue::sptr queue = gr::msg_queue::make(0);
|
||||
std::shared_ptr<GNSSBlockFactory> factory = std::make_shared<GNSSBlockFactory>();
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(configuration, "Acquisition", "GPS_L1_CA_PCPS_QuickSync_Acquisition", 1, 1, queue);
|
||||
std::shared_ptr<AcquisitionInterface> acquisition = std::dynamic_pointer_cast<AcquisitionInterface>(acq_);
|
||||
EXPECT_STREQ("Acquisition", acquisition->role().c_str());
|
||||
EXPECT_STREQ("GPS_L1_CA_PCPS_QuickSync_Acquisition", acquisition->implementation().c_str());
|
||||
}
|
||||
|
||||
TEST(GNSS_Block_Factory_Test, InstantiateGalileoE1PcpsQuickSyncAmbiguousAcquisition)
|
||||
{
|
||||
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
|
||||
configuration->set_property("Acquisition.implementation", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition");
|
||||
gr::msg_queue::sptr queue = gr::msg_queue::make(0);
|
||||
std::shared_ptr<GNSSBlockFactory> factory = std::make_shared<GNSSBlockFactory>();
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(configuration, "Acquisition", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition", 1, 1, queue);
|
||||
std::shared_ptr<AcquisitionInterface> acquisition = std::dynamic_pointer_cast<AcquisitionInterface>(acq_);
|
||||
EXPECT_STREQ("Acquisition", acquisition->role().c_str());
|
||||
EXPECT_STREQ("Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition", acquisition->implementation().c_str());
|
||||
}
|
||||
|
||||
|
||||
TEST(GNSS_Block_Factory_Test, InstantiateGalileoE1PcpsAmbiguousAcquisition)
|
||||
{
|
||||
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
|
||||
|
||||
@@ -0,0 +1,804 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc
|
||||
* \brief This class implements an acquisition test for
|
||||
* GpsL1CaPcpsQuickSyncAcquisition class based on some input parameters.
|
||||
* \author Damian Miralles Sanchez, 2014. dmiralles2009(at)gmail.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/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#include <ctime>
|
||||
#include <iostream>
|
||||
#include <stdexcept>
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_block_factory.h"
|
||||
#include "gnss_block_interface.h"
|
||||
#include "in_memory_configuration.h"
|
||||
#include "gnss_sdr_valve.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "gps_l1_ca_pcps_quicksync_acquisition.h"
|
||||
|
||||
DEFINE_double(value_threshold, 0.3, "Value of the threshold for the acquisition");
|
||||
DEFINE_int32(value_CN0_dB_0, 44, "Value for the CN0_dB_0 in channel 0");
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
class GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test: public ::testing::Test
|
||||
{
|
||||
protected:
|
||||
GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test()
|
||||
{
|
||||
queue = gr::msg_queue::make(0);
|
||||
top_block = gr::make_top_block("Acquisition test");
|
||||
factory = std::make_shared<GNSSBlockFactory>();
|
||||
item_size = sizeof(gr_complex);
|
||||
stop = false;
|
||||
message = 0;
|
||||
}
|
||||
|
||||
~GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test()
|
||||
{}
|
||||
|
||||
void init();
|
||||
void config_1();
|
||||
void config_2();
|
||||
void config_3();
|
||||
void start_queue();
|
||||
void wait_message();
|
||||
void process_message();
|
||||
void stop_queue();
|
||||
|
||||
gr::msg_queue::sptr queue;
|
||||
gr::top_block_sptr top_block;
|
||||
std::shared_ptr<GNSSBlockFactory> factory;
|
||||
std::shared_ptr<GpsL1CaPcpsQuickSyncAcquisition> acquisition;
|
||||
std::shared_ptr<InMemoryConfiguration> config;
|
||||
Gnss_Synchro gnss_synchro;
|
||||
size_t item_size;
|
||||
concurrent_queue<int> channel_internal_queue;
|
||||
bool stop;
|
||||
int message;
|
||||
boost::thread ch_thread;
|
||||
|
||||
unsigned int integration_time_ms;
|
||||
unsigned int fs_in;
|
||||
unsigned int folding_factor;
|
||||
|
||||
double expected_delay_chips;
|
||||
double expected_doppler_hz;
|
||||
float max_doppler_error_hz;
|
||||
float max_delay_error_chips;
|
||||
|
||||
unsigned int num_of_realizations;
|
||||
unsigned int realization_counter;
|
||||
unsigned int detection_counter;
|
||||
unsigned int correct_estimation_counter;
|
||||
unsigned int acquired_samples;
|
||||
unsigned int mean_acq_time_us;
|
||||
|
||||
double mse_doppler;
|
||||
double mse_delay;
|
||||
|
||||
double Pd;
|
||||
double Pfa_p;
|
||||
double Pfa_a;
|
||||
double Pmd;
|
||||
|
||||
std::ofstream pdpfafile;
|
||||
unsigned int miss_detection_counter;
|
||||
bool dump_test_results;
|
||||
};
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::init()
|
||||
{
|
||||
message = 0;
|
||||
realization_counter = 0;
|
||||
detection_counter = 0;
|
||||
correct_estimation_counter = 0;
|
||||
acquired_samples = 0;
|
||||
mse_doppler = 0;
|
||||
mse_delay = 0;
|
||||
mean_acq_time_us = 0;
|
||||
Pd = 0;
|
||||
Pfa_p = 0;
|
||||
Pfa_a = 0;
|
||||
|
||||
miss_detection_counter = 0;
|
||||
Pmd = 0;
|
||||
|
||||
}
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::config_1()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'G';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal,2,0);
|
||||
|
||||
integration_time_ms = 4;
|
||||
fs_in = 8e6;
|
||||
|
||||
expected_delay_chips = 600;
|
||||
expected_doppler_hz = 750;
|
||||
max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
|
||||
max_delay_error_chips = 0.50;
|
||||
|
||||
num_of_realizations = 1;
|
||||
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
|
||||
config->set_property("SignalSource.item_type", "gr_complex");
|
||||
config->set_property("SignalSource.num_satellites", "1");
|
||||
config->set_property("SignalSource.repeat", "true");
|
||||
|
||||
config->set_property("SignalSource.system_0", "G");
|
||||
config->set_property("SignalSource.PRN_0", "10");
|
||||
config->set_property("SignalSource.CN0_dB_0", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
|
||||
config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
|
||||
|
||||
config->set_property("SignalSource.noise_flag", "false");
|
||||
config->set_property("SignalSource.data_flag", "false");
|
||||
config->set_property("SignalSource.BW_BB", "0.97");
|
||||
|
||||
config->set_property("InputFilter.implementation", "Fir_Filter");
|
||||
config->set_property("InputFilter.input_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.output_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.taps_item_type", "float");
|
||||
config->set_property("InputFilter.number_of_taps", "11");
|
||||
config->set_property("InputFilter.number_of_bands", "2");
|
||||
config->set_property("InputFilter.band1_begin", "0.0");
|
||||
config->set_property("InputFilter.band1_end", "0.97");
|
||||
config->set_property("InputFilter.band2_begin", "0.98");
|
||||
config->set_property("InputFilter.band2_end", "1.0");
|
||||
config->set_property("InputFilter.ampl1_begin", "1.0");
|
||||
config->set_property("InputFilter.ampl1_end", "1.0");
|
||||
config->set_property("InputFilter.ampl2_begin", "0.0");
|
||||
config->set_property("InputFilter.ampl2_end", "0.0");
|
||||
config->set_property("InputFilter.band1_error", "1.0");
|
||||
config->set_property("InputFilter.band2_error", "1.0");
|
||||
config->set_property("InputFilter.filter_type", "bandpass");
|
||||
config->set_property("InputFilter.grid_density", "16");
|
||||
|
||||
config->set_property("Acquisition.item_type", "gr_complex");
|
||||
config->set_property("Acquisition.if", "0");
|
||||
config->set_property("Acquisition.coherent_integration_time_ms",
|
||||
std::to_string(integration_time_ms));
|
||||
config->set_property("Acquisition.max_dwells", "1");
|
||||
config->set_property("Acquisition.implementation", "GPS_L1_CA_PCPS_QuickSync_Acquisition");
|
||||
config->set_property("Acquisition.threshold", "100");
|
||||
config->set_property("Acquisition.doppler_max", "10000");
|
||||
config->set_property("Acquisition.doppler_step", "250");
|
||||
config->set_property("Acquisition.bit_transition_flag", "false");
|
||||
config->set_property("Acquisition.dump", "true");
|
||||
}
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::config_2()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'G';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal,2,0);
|
||||
|
||||
integration_time_ms = 4;
|
||||
fs_in = 8e6;
|
||||
|
||||
expected_delay_chips = 600;
|
||||
expected_doppler_hz = 750;
|
||||
max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
|
||||
max_delay_error_chips = 0.50;
|
||||
|
||||
/*Unset this flag to eliminates data logging for the Validation of results
|
||||
probabilities test*/
|
||||
dump_test_results = true;
|
||||
|
||||
num_of_realizations = 100;
|
||||
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.item_type", "gr_complex");
|
||||
|
||||
config->set_property("SignalSource.num_satellites", "4");
|
||||
|
||||
config->set_property("SignalSource.system_0", "G");
|
||||
config->set_property("SignalSource.PRN_0", "10");
|
||||
config->set_property("SignalSource.CN0_dB_0", std::to_string(FLAGS_value_CN0_dB_0));
|
||||
config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
|
||||
config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
|
||||
|
||||
config->set_property("SignalSource.system_1", "G");
|
||||
config->set_property("SignalSource.PRN_1", "15");
|
||||
config->set_property("SignalSource.CN0_dB_1", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_1", "1000");
|
||||
config->set_property("SignalSource.delay_chips_1", "100");
|
||||
|
||||
config->set_property("SignalSource.system_2", "G");
|
||||
config->set_property("SignalSource.PRN_2", "21");
|
||||
config->set_property("SignalSource.CN0_dB_2", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_2", "2000");
|
||||
config->set_property("SignalSource.delay_chips_2", "200");
|
||||
|
||||
config->set_property("SignalSource.system_3", "G");
|
||||
config->set_property("SignalSource.PRN_3", "22");
|
||||
config->set_property("SignalSource.CN0_dB_3", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_3", "3000");
|
||||
config->set_property("SignalSource.delay_chips_3", "300");
|
||||
|
||||
config->set_property("SignalSource.noise_flag", "true");
|
||||
config->set_property("SignalSource.data_flag", "true");
|
||||
config->set_property("SignalSource.BW_BB", "0.97");
|
||||
|
||||
config->set_property("InputFilter.implementation", "Fir_Filter");
|
||||
config->set_property("InputFilter.input_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.output_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.taps_item_type", "float");
|
||||
config->set_property("InputFilter.number_of_taps", "11");
|
||||
config->set_property("InputFilter.number_of_bands", "2");
|
||||
config->set_property("InputFilter.band1_begin", "0.0");
|
||||
config->set_property("InputFilter.band1_end", "0.97");
|
||||
config->set_property("InputFilter.band2_begin", "0.98");
|
||||
config->set_property("InputFilter.band2_end", "1.0");
|
||||
config->set_property("InputFilter.ampl1_begin", "1.0");
|
||||
config->set_property("InputFilter.ampl1_end", "1.0");
|
||||
config->set_property("InputFilter.ampl2_begin", "0.0");
|
||||
config->set_property("InputFilter.ampl2_end", "0.0");
|
||||
config->set_property("InputFilter.band1_error", "1.0");
|
||||
config->set_property("InputFilter.band2_error", "1.0");
|
||||
config->set_property("InputFilter.filter_type", "bandpass");
|
||||
config->set_property("InputFilter.grid_density", "16");
|
||||
|
||||
config->set_property("Acquisition.item_type", "gr_complex");
|
||||
config->set_property("Acquisition.if", "0");
|
||||
config->set_property("Acquisition.coherent_integration_time_ms",
|
||||
std::to_string(integration_time_ms));
|
||||
config->set_property("Acquisition.max_dwells", "1");
|
||||
config->set_property("Acquisition.implementation", "GPS_L1_CA_PCPS_QuickSync_Acquisition");
|
||||
config->set_property("Acquisition.threshold", std::to_string(FLAGS_value_threshold));
|
||||
config->set_property("Acquisition.doppler_max", "10000");
|
||||
config->set_property("Acquisition.doppler_step", "250");
|
||||
config->set_property("Acquisition.bit_transition_flag", "false");
|
||||
config->set_property("Acquisition.dump", "false");
|
||||
}
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::config_3()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'G';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal,2,0);
|
||||
|
||||
integration_time_ms = 4;
|
||||
fs_in = 4e6;
|
||||
|
||||
expected_delay_chips = 600;
|
||||
expected_doppler_hz = 750;
|
||||
max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
|
||||
max_delay_error_chips = 0.50;
|
||||
|
||||
/*Unset this flag to eliminates data logging for the Validation of results
|
||||
probabilities test*/
|
||||
dump_test_results = true;
|
||||
|
||||
num_of_realizations = 1;
|
||||
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.item_type", "gr_complex");
|
||||
|
||||
config->set_property("SignalSource.num_satellites", "4");
|
||||
|
||||
config->set_property("SignalSource.system_0", "G");
|
||||
config->set_property("SignalSource.PRN_0", "10");
|
||||
config->set_property("SignalSource.CN0_dB_0", std::to_string(FLAGS_value_CN0_dB_0));
|
||||
config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
|
||||
config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
|
||||
|
||||
config->set_property("SignalSource.system_1", "G");
|
||||
config->set_property("SignalSource.PRN_1", "15");
|
||||
config->set_property("SignalSource.CN0_dB_1", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_1", "1000");
|
||||
config->set_property("SignalSource.delay_chips_1", "100");
|
||||
|
||||
config->set_property("SignalSource.system_2", "G");
|
||||
config->set_property("SignalSource.PRN_2", "21");
|
||||
config->set_property("SignalSource.CN0_dB_2", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_2", "2000");
|
||||
config->set_property("SignalSource.delay_chips_2", "200");
|
||||
|
||||
config->set_property("SignalSource.system_3", "G");
|
||||
config->set_property("SignalSource.PRN_3", "22");
|
||||
config->set_property("SignalSource.CN0_dB_3", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_3", "3000");
|
||||
config->set_property("SignalSource.delay_chips_3", "300");
|
||||
|
||||
config->set_property("SignalSource.noise_flag", "true");
|
||||
config->set_property("SignalSource.data_flag", "true");
|
||||
config->set_property("SignalSource.BW_BB", "0.97");
|
||||
|
||||
config->set_property("InputFilter.implementation", "Fir_Filter");
|
||||
config->set_property("InputFilter.input_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.output_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.taps_item_type", "float");
|
||||
config->set_property("InputFilter.number_of_taps", "11");
|
||||
config->set_property("InputFilter.number_of_bands", "2");
|
||||
config->set_property("InputFilter.band1_begin", "0.0");
|
||||
config->set_property("InputFilter.band1_end", "0.97");
|
||||
config->set_property("InputFilter.band2_begin", "0.98");
|
||||
config->set_property("InputFilter.band2_end", "1.0");
|
||||
config->set_property("InputFilter.ampl1_begin", "1.0");
|
||||
config->set_property("InputFilter.ampl1_end", "1.0");
|
||||
config->set_property("InputFilter.ampl2_begin", "0.0");
|
||||
config->set_property("InputFilter.ampl2_end", "0.0");
|
||||
config->set_property("InputFilter.band1_error", "1.0");
|
||||
config->set_property("InputFilter.band2_error", "1.0");
|
||||
config->set_property("InputFilter.filter_type", "bandpass");
|
||||
config->set_property("InputFilter.grid_density", "16");
|
||||
|
||||
config->set_property("Acquisition.item_type", "gr_complex");
|
||||
config->set_property("Acquisition.if", "0");
|
||||
config->set_property("Acquisition.coherent_integration_time_ms",
|
||||
std::to_string(integration_time_ms));
|
||||
config->set_property("Acquisition.max_dwells", "1");
|
||||
config->set_property("Acquisition.implementation", "GPS_L1_CA_PCPS_QuickSync_Acquisition");
|
||||
config->set_property("Acquisition.threshold", "1.2");
|
||||
config->set_property("Acquisition.doppler_max", "10000");
|
||||
config->set_property("Acquisition.doppler_step", "250");
|
||||
config->set_property("Acquisition.bit_transition_flag", "false");
|
||||
config->set_property("Acquisition.dump", "true");
|
||||
}
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::start_queue()
|
||||
{
|
||||
stop = false;
|
||||
ch_thread = boost::thread(&GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::wait_message, this);
|
||||
}
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::wait_message()
|
||||
{
|
||||
struct timeval tv;
|
||||
long long int begin = 0;
|
||||
long long int end = 0;
|
||||
|
||||
while (!stop)
|
||||
{
|
||||
acquisition->reset();
|
||||
|
||||
gettimeofday(&tv, NULL);
|
||||
begin = tv.tv_sec * 1e6 + tv.tv_usec;
|
||||
|
||||
channel_internal_queue.wait_and_pop(message);
|
||||
|
||||
gettimeofday(&tv, NULL);
|
||||
end = tv.tv_sec * 1e6 + tv.tv_usec;
|
||||
|
||||
mean_acq_time_us += (end - begin);
|
||||
|
||||
process_message();
|
||||
}
|
||||
}
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::process_message()
|
||||
{
|
||||
|
||||
if (message == 1)
|
||||
{
|
||||
detection_counter++;
|
||||
|
||||
// The term -5 is here to correct the additional delay introduced by the FIR filter
|
||||
double delay_error_chips = abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples - 5) * 1023.0/ ((double)fs_in * 1e-3));
|
||||
double doppler_error_hz = abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
|
||||
|
||||
mse_delay += std::pow(delay_error_chips, 2);
|
||||
mse_doppler += std::pow(doppler_error_hz, 2);
|
||||
|
||||
if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
|
||||
{
|
||||
correct_estimation_counter++;
|
||||
}
|
||||
}
|
||||
else if(message == 2 && gnss_synchro.PRN == 10)
|
||||
{
|
||||
miss_detection_counter++;
|
||||
}
|
||||
|
||||
realization_counter++;
|
||||
|
||||
std::cout << "Progress: " << round((float)realization_counter/num_of_realizations*100) << "% \r" << std::flush;
|
||||
|
||||
if (realization_counter == num_of_realizations)
|
||||
{
|
||||
mse_delay /= num_of_realizations;
|
||||
mse_doppler /= num_of_realizations;
|
||||
|
||||
Pd = (double)correct_estimation_counter / (double)num_of_realizations;
|
||||
Pfa_a = (double)detection_counter / (double)num_of_realizations;
|
||||
Pfa_p = (double)(detection_counter-correct_estimation_counter) / (double)num_of_realizations;
|
||||
Pmd = (double)miss_detection_counter / (double)num_of_realizations;
|
||||
|
||||
mean_acq_time_us /= num_of_realizations;
|
||||
|
||||
stop_queue();
|
||||
top_block->stop();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::stop_queue()
|
||||
{
|
||||
stop = true;
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, Instantiate)
|
||||
{
|
||||
config_1();
|
||||
acquisition = std::make_shared<GpsL1CaPcpsQuickSyncAcquisition>(config.get(), "Acquisition", 1, 1, queue);
|
||||
}
|
||||
|
||||
TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, ConnectAndRun)
|
||||
{
|
||||
int nsamples = floor(fs_in*integration_time_ms*1e-3);
|
||||
struct timeval tv;
|
||||
long long int begin = 0;
|
||||
long long int end = 0;
|
||||
|
||||
config_1();
|
||||
acquisition = std::make_shared<GpsL1CaPcpsQuickSyncAcquisition>(config.get(), "Acquisition", 1, 1, queue);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
|
||||
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
|
||||
top_block->connect(source, 0, valve, 0);
|
||||
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test."<< std::endl;
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
gettimeofday(&tv, NULL);
|
||||
begin = tv.tv_sec *1e6 + tv.tv_usec;
|
||||
top_block->run(); // Start threads and wait
|
||||
gettimeofday(&tv, NULL);
|
||||
end = tv.tv_sec *1e6 + tv.tv_usec;
|
||||
}) << "Failure running the top_block."<< std::endl;
|
||||
|
||||
std::cout << "Processed " << nsamples << " samples in " << (end-begin) << " microseconds" << std::endl;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, ValidationOfResults)
|
||||
{
|
||||
config_1();
|
||||
|
||||
acquisition = std::make_shared<GpsL1CaPcpsQuickSyncAcquisition>(config.get(), "Acquisition", 1, 1, queue);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel(1);
|
||||
}) << "Failure setting channel."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel_queue(&channel_internal_queue);
|
||||
}) << "Failure setting channel_internal_queue."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
|
||||
}) << "Failure setting doppler_max."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 250));
|
||||
}) << "Failure setting doppler_step."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
|
||||
}) << "Failure setting threshold."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
}) << "Failure connecting acquisition to the top_block."<< std::endl;
|
||||
|
||||
acquisition->init();
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
boost::shared_ptr<GenSignalSource> signal_source;
|
||||
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
||||
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
|
||||
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
||||
signal_source->connect(top_block);
|
||||
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
|
||||
// i = 0 --> satellite in acquisition is visible
|
||||
// i = 1 --> satellite in acquisition is not visible
|
||||
|
||||
for (unsigned int i = 0; i < 2; i++)
|
||||
{
|
||||
init();
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
gnss_synchro.PRN = 10; // This satellite is visible
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
gnss_synchro.PRN = 20; // This satellite is not visible
|
||||
}
|
||||
|
||||
acquisition->set_local_code();
|
||||
start_queue();
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
top_block->run(); // Start threads and wait
|
||||
}) << "Failure running the top_block." << std::endl;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
|
||||
if (message == 1)
|
||||
{
|
||||
|
||||
EXPECT_EQ((unsigned int)1, correct_estimation_counter)
|
||||
<< "Acquisition failure. Incorrect parameters estimation.";
|
||||
}
|
||||
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
EXPECT_EQ(2, message)
|
||||
<< "Acquisition failure. Expected message: 2=ACQ FAIL.";
|
||||
}
|
||||
}
|
||||
unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples;
|
||||
std::cout << "----Acquired: " << nsamples << " samples"<< std::endl;
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, ValidationOfResultsWithNoise)
|
||||
{
|
||||
config_3();
|
||||
|
||||
acquisition = std::make_shared<GpsL1CaPcpsQuickSyncAcquisition>(config.get(), "Acquisition", 1, 1, queue);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel(1);
|
||||
}) << "Failure setting channel."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel_queue(&channel_internal_queue);
|
||||
}) << "Failure setting channel_internal_queue."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
|
||||
}) << "Failure setting doppler_max."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 250));
|
||||
}) << "Failure setting doppler_step."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
|
||||
}) << "Failure setting threshold."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
}) << "Failure connecting acquisition to the top_block."<< std::endl;
|
||||
|
||||
acquisition->init();
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
boost::shared_ptr<GenSignalSource> signal_source;
|
||||
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
||||
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
|
||||
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
||||
signal_source->connect(top_block);
|
||||
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
|
||||
// i = 0 --> satellite in acquisition is visible
|
||||
// i = 1 --> satellite in acquisition is not visible
|
||||
|
||||
for (unsigned int i = 0; i < 2; i++)
|
||||
{
|
||||
init();
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
gnss_synchro.PRN = 10; // This satellite is visible
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
gnss_synchro.PRN = 20; // This satellite is not visible
|
||||
}
|
||||
|
||||
acquisition->set_local_code();
|
||||
start_queue();
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
top_block->run(); // Start threads and wait
|
||||
}) << "Failure running the top_block." << std::endl;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
|
||||
if (message == 1)
|
||||
{
|
||||
|
||||
EXPECT_EQ((unsigned int)1, correct_estimation_counter)
|
||||
<< "Acquisition failure. Incorrect parameters estimation.";
|
||||
}
|
||||
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
EXPECT_EQ(2, message)
|
||||
<< "Acquisition failure. Expected message: 2=ACQ FAIL.";
|
||||
}
|
||||
}
|
||||
unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples;
|
||||
std::cout << "----Acquired: " << nsamples << " samples"<< std::endl;
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, ValidationOfResultsProbabilities)
|
||||
{
|
||||
config_2();
|
||||
|
||||
acquisition = std::make_shared<GpsL1CaPcpsQuickSyncAcquisition>(config.get(), "Acquisition", 1, 1, queue);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel(1);
|
||||
}) << "Failure setting channel."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel_queue(&channel_internal_queue);
|
||||
}) << "Failure setting channel_internal_queue."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
|
||||
}) << "Failure setting doppler_max."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
|
||||
}) << "Failure setting doppler_step."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
|
||||
}) << "Failure setting threshold."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
}) << "Failure connecting acquisition to the top_block."<< std::endl;
|
||||
|
||||
acquisition->init();
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
boost::shared_ptr<GenSignalSource> signal_source;
|
||||
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
||||
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
|
||||
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
||||
signal_source->connect(top_block);
|
||||
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
|
||||
std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
|
||||
|
||||
// i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
|
||||
// i = 1 --> satellite in acquisition is not visible (prob of false detection)
|
||||
for (unsigned int i = 0; i < 2; i++)
|
||||
{
|
||||
init();
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
gnss_synchro.PRN = 10; // This satellite is visible
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
gnss_synchro.PRN = 20; // This satellite is not visible
|
||||
}
|
||||
|
||||
acquisition->set_local_code();
|
||||
start_queue();
|
||||
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
top_block->run(); // Start threads and wait
|
||||
}) << "Failure running the top_block." << std::endl;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
std::cout << "Estimated probability of detection = " << Pd << std::endl;
|
||||
std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
|
||||
std::cout << "Estimated probability of miss detection (satellite present) = " << Pmd << std::endl;
|
||||
std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
|
||||
|
||||
if(dump_test_results)
|
||||
{
|
||||
std::stringstream filenamepd;
|
||||
filenamepd.str("");
|
||||
filenamepd << "../data/test_statistics_" << gnss_synchro.System
|
||||
<< "_" << gnss_synchro.Signal << "_sat_"
|
||||
<< gnss_synchro.PRN << "CN0_dB_0_" << FLAGS_value_CN0_dB_0 << "_dBHz.csv";
|
||||
|
||||
pdpfafile.open(filenamepd.str().c_str(), std::ios::app | std::ios::out);
|
||||
pdpfafile << FLAGS_value_threshold << "," << Pd << "," << Pfa_p << "," << Pmd << std::endl;
|
||||
pdpfafile.close();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
|
||||
std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
|
||||
|
||||
if(dump_test_results)
|
||||
{
|
||||
std::stringstream filenamepf;
|
||||
filenamepf.str("");
|
||||
filenamepf << "../data/test_statistics_" << gnss_synchro.System
|
||||
<< "_" << gnss_synchro.Signal << "_sat_"
|
||||
<< gnss_synchro.PRN << "CN0_dB_0_" << FLAGS_value_CN0_dB_0 << "_dBHz.csv";
|
||||
|
||||
pdpfafile.open(filenamepf.str().c_str(), std::ios::app | std::ios::out);
|
||||
pdpfafile << FLAGS_value_threshold << "," << Pfa_a << std::endl;
|
||||
pdpfafile.close();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -90,6 +90,7 @@ DECLARE_string(log_dir);
|
||||
#if OPENCL_BLOCKS_TEST
|
||||
#include "gnss_block/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc"
|
||||
#endif
|
||||
#include "gnss_block/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc"
|
||||
#include "gnss_block/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc"
|
||||
#include "gnss_block/galileo_e1_pcps_ambiguous_acquisition_test.cc"
|
||||
#include "gnss_block/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc"
|
||||
@@ -97,6 +98,7 @@ DECLARE_string(log_dir);
|
||||
#include "gnss_block/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc"
|
||||
#include "gnss_block/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc"
|
||||
#include "gnss_block/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc"
|
||||
#include "gnss_block/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc"
|
||||
#include "gnss_block/galileo_e1_dll_pll_veml_tracking_test.cc"
|
||||
#include "gnuradio_block/gnss_sdr_valve_test.cc"
|
||||
#include "gnuradio_block/direct_resampler_conditioner_cc_test.cc"
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
# Copyright (C) 2012-2013 (see AUTHORS file for a list of contributors)
|
||||
# Copyright (C) 2012-2014 (see AUTHORS file for a list of contributors)
|
||||
#
|
||||
# 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.
|
||||
# (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
|
||||
@@ -17,11 +17,7 @@
|
||||
#
|
||||
|
||||
|
||||
if($ENV{RTLSDR_DRIVER})
|
||||
set(RTLSDR_DRIVER ON)
|
||||
endif($ENV{RTLSDR_DRIVER})
|
||||
|
||||
if(RTLSDR_DRIVER)
|
||||
if(ENABLE_RTLSDR)
|
||||
set(FRONT_END_CAL_SOURCES front_end_cal.cc)
|
||||
|
||||
include_directories(
|
||||
@@ -76,4 +72,4 @@ if(RTLSDR_DRIVER)
|
||||
DESTINATION ${CMAKE_SOURCE_DIR}/install
|
||||
)
|
||||
|
||||
endif(RTLSDR_DRIVER)
|
||||
endif(ENABLE_RTLSDR)
|
||||
|
||||
Reference in New Issue
Block a user