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Annotate TOW and WN in tracking dump

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This commit is contained in:
Carles Fernandez
2025-10-29 17:26:57 +01:00
parent 65227f4d0e
commit 32ae1c086e
4 changed files with 50 additions and 15 deletions
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src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
+41 -13
View File
@@ -1195,6 +1195,8 @@ void dll_pll_veml_tracking::clear_tracking_vars()
d_Prompt_circular_buffer.clear();
d_carrier_phase_rate_step_rad = 0.0;
d_code_phase_rate_step_chips = 0.0;
d_tow_from_telemetry_ms = 0ULL;
d_wn_from_telemetry = 0;
d_carr_ph_history.clear();
d_code_ph_history.clear();
}
@@ -1480,6 +1482,12 @@ void dll_pll_veml_tracking::log_data()
// PRN
uint32_t prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(uint32_t));
// TOW
uint64_t tow_ = d_tow_from_telemetry_ms;
d_dump_file.write(reinterpret_cast<char *>(&tow_), sizeof(uint64_t));
// Week Number
uint32_t wn_ = d_wn_from_telemetry;
d_dump_file.write(reinterpret_cast<char *>(&wn_), sizeof(uint32_t));
}
catch (const std::ofstream::failure &e)
{
@@ -1496,7 +1504,8 @@ int32_t dll_pll_veml_tracking::save_matfile() const
const int32_t number_of_double_vars = 1;
const int32_t number_of_float_vars = 19;
const int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
sizeof(float) * number_of_float_vars + sizeof(uint32_t);
sizeof(float) * number_of_float_vars + sizeof(uint32_t) +
sizeof(uint64_t) + sizeof(int32_t);
std::ifstream dump_file;
std::string dump_filename_ = d_dump_filename;
// add channel number to the filename
@@ -1548,6 +1557,8 @@ int32_t dll_pll_veml_tracking::save_matfile() const
auto aux1 = std::vector<float>(num_epoch);
auto aux2 = std::vector<double>(num_epoch);
auto PRN = std::vector<uint32_t>(num_epoch);
auto TOW = std::vector<uint64_t>(num_epoch);
auto WN = std::vector<int32_t>(num_epoch);
try
{
if (dump_file.is_open())
@@ -1576,6 +1587,8 @@ int32_t dll_pll_veml_tracking::save_matfile() const
dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(uint32_t));
dump_file.read(reinterpret_cast<char *>(&TOW[i]), sizeof(uint64_t));
dump_file.read(reinterpret_cast<char *>(&WN[i]), sizeof(int32_t));
}
}
dump_file.close();
@@ -1683,6 +1696,14 @@ int32_t dll_pll_veml_tracking::save_matfile() const
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims.data(), PRN.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("TOW_ms", MAT_C_UINT64, MAT_T_UINT64, 2, dims.data(), TOW.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("WN", MAT_C_INT32, MAT_T_INT32, 2, dims.data(), WN.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp);
return 0;
@@ -1751,10 +1772,11 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
Gnss_Synchro current_synchro_data = Gnss_Synchro();
current_synchro_data.Flag_valid_symbol_output = false;
bool loss_of_lock = false;
d_tow_from_telemetry_ms = 0ULL;
d_wn_from_telemetry = 0U;
if (d_pull_in_transitory == true)
{
// if (d_trk_parameters.pull_in_time_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(d_trk_parameters.fs_in))
if (d_trk_parameters.pull_in_time_s < (this->nitems_read(0) - d_acq_sample_stamp) / static_cast<int>(d_trk_parameters.fs_in))
{
d_pull_in_transitory = false;
@@ -1762,6 +1784,21 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_code_lock_fail_counter = 0;
}
}
// Estimate TOW if received from telemetry
if (d_last_tow_received->prn == d_acquisition_gnss_synchro->PRN) // ensure we have received async messages
{
double time_diff_s = (static_cast<double>(this->nitems_read(0)) - static_cast<double>(d_last_tow_received->sample_stamp)) / d_trk_parameters.fs_in;
uint64_t time_diff_ms = static_cast<uint64_t>((time_diff_s * 1000.0));
d_tow_from_telemetry_ms = (d_last_tow_received->tow + time_diff_ms) % static_cast<uint64_t>(604800000); // round to milliseconds in a week
d_wn_from_telemetry = d_last_tow_received->wn;
if (d_tow_from_telemetry_ms < d_last_tow_received->tow)
{
d_wn_from_telemetry = d_last_tow_received->wn + 1;
}
// std::cout << "Channel:" << d_channel << " Time_diff: " << time_diff_ms << " d_tow_from_telemetry_ms: " << d_tow_from_telemetry_ms << std::endl;
}
switch (d_state)
{
case 0: // Standby - Consume samples at full throttle, do nothing
@@ -2043,7 +2080,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
}
}
}
current_synchro_data.TOW_at_current_symbol_ms = d_tow_from_telemetry_ms;
// time tags
std::vector<gr::tag_t> tags_vec;
this->get_tags_in_range(tags_vec, 0, this->nitems_read(0), this->nitems_read(0) + d_current_prn_length_samples);
@@ -2084,6 +2121,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
current_synchro_data.Flag_PLL_180_deg_phase_locked = d_Flag_PLL_180_deg_phase_locked;
// generate new tag associated with gnss-synchro object
if (d_timetag_waiting == true)
@@ -2112,16 +2150,6 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
add_item_tag(0, this->nitems_written(0) + 1, tag.key, tag.value);
}
// Estimate TOW if received from telemetry
if (d_last_tow_received->prn == current_synchro_data.PRN) // ensure we have received async messages
{
double time_diff_s = (static_cast<double>(current_synchro_data.Tracking_sample_counter) - static_cast<double>(d_last_tow_received->sample_stamp)) / d_trk_parameters.fs_in;
uint64_t time_diff_ms = static_cast<uint64_t>((time_diff_s * 1000.0));
uint64_t estimated_tow_ms = (d_last_tow_received->tow + time_diff_ms) % 604800000; // round to milliseconds in a week
// std::cout << "Channel:" << d_channel << " Time_diff: " << time_diff_s << " estimated_tow_ms: " << estimated_tow_ms << std::endl;
current_synchro_data.TOW_at_current_symbol_ms = estimated_tow_ms;
}
*out[0] = std::move(current_synchro_data);
return 1;
}
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
+3
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@@ -177,6 +177,9 @@ private:
float *d_prompt_data_shift;
float d_rem_carr_phase_rad;
uint64_t d_tow_from_telemetry_ms{};
int32_t d_wn_from_telemetry{};
int32_t d_symbols_per_bit;
int32_t d_state;
int32_t d_correlation_length_ms;
tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc
+4 -2
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@@ -45,6 +45,8 @@ bool Tracking_Dump_Reader::read_binary_obs()
d_dump_file.read(reinterpret_cast<char *>(&aux1), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&aux2), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&PRN), sizeof(unsigned int));
d_dump_file.read(reinterpret_cast<char *>(&TOW_ms), sizeof(uint64_t));
d_dump_file.read(reinterpret_cast<char *>(&WN), sizeof(int32_t));
}
catch (const std::ifstream::failure &e)
{
@@ -72,7 +74,8 @@ int64_t Tracking_Dump_Reader::num_epochs()
int number_of_double_vars = 1;
int number_of_float_vars = 19;
int epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
sizeof(float) * number_of_float_vars + sizeof(unsigned int);
sizeof(float) * number_of_float_vars + sizeof(unsigned int) +
sizeof(uint64_t) + sizeof(int32_t);
std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
if (tmpfile.is_open())
{
@@ -81,7 +84,6 @@ int64_t Tracking_Dump_Reader::num_epochs()
return nepoch;
}
return 0;
}
tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.h
+2
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@@ -70,6 +70,8 @@ public:
double aux2;
unsigned int PRN;
uint64_t TOW_ms;
int32_t WN;
private:
std::string d_dump_filename;