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Code Issues Releases Wiki Activity

Improve moving average smoothing filter for carrier phase and code phase

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This commit is contained in:
Antonio Ramos 2018-09-11 20:47:32 +02:00
parent b3165593cf
commit 350fa7da11
2 changed files with 41 additions and 14 deletions
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50
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@ -407,8 +407,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
clear_tracking_vars(); clear_tracking_vars();
if (trk_parameters.smoother_length > 0) if (trk_parameters.smoother_length > 0)
{ {
d_carr_ph_history.resize(trk_parameters.smoother_length); d_carr_ph_history.resize(trk_parameters.smoother_length * 2);
d_code_ph_history.resize(trk_parameters.smoother_length); d_code_ph_history.resize(trk_parameters.smoother_length * 2);
} }
else else
{ {
@ -812,17 +812,30 @@ void dll_pll_veml_tracking::update_tracking_vars()
//################### PLL COMMANDS ################################################# //################### PLL COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample] // carrier phase step (NCO phase increment per sample) [rads/sample]
// carrier phase difference = carrier_phase(t2) - carrier_phase(t1) // carrier phase difference = carrier_phase(t2) - carrier_phase(t1)
double tmp_diff = -d_carrier_phase_step_rad; // The previous cp value is stored in the variable //double tmp_diff = -d_carrier_phase_step_rad; // The previous cp value is stored in the variable
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in; d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
tmp_diff += d_carrier_phase_step_rad; // The new cp value is added to the previous in order to obtain the difference //tmp_diff += d_carrier_phase_step_rad; // The new cp value is added to the previous in order to obtain the difference
// carrier phase rate step (NCO phase increment rate per sample) [rads/sample^2] // carrier phase rate step (NCO phase increment rate per sample) [rads/sample^2]
tmp_diff /= static_cast<double>(d_current_prn_length_samples); //tmp_diff /= static_cast<double>(d_current_prn_length_samples);
if (trk_parameters.high_dyn) if (trk_parameters.high_dyn)
{ {
d_carr_ph_history.push_back(tmp_diff); d_carr_ph_history.push_back(std::pair<double, double>(d_carrier_phase_step_rad, static_cast<double>(d_current_prn_length_samples)));
if (d_carr_ph_history.full()) if (d_carr_ph_history.full())
{ {
d_carrier_phase_rate_step_rad = std::accumulate(d_carr_ph_history.begin(), d_carr_ph_history.end(), 0.0) / static_cast<double>(d_carr_ph_history.size()); //d_carr_ph_history.front().second = 0.0;
//d_carr_ph_history.at(trk_parameters.smoother_length).second = 0.0;
double tmp_cp1 = 0.0;
double tmp_cp2 = 0.0;
double tmp_samples = 0.0;
for (unsigned int k = 0; k < trk_parameters.smoother_length; k++)
{
tmp_cp1 += d_carr_ph_history.at(k).first;
tmp_cp2 += d_carr_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).first;
tmp_samples += d_carr_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).second;
}
tmp_cp1 /= static_cast<double>(trk_parameters.smoother_length);
tmp_cp2 /= static_cast<double>(trk_parameters.smoother_length);
d_carrier_phase_rate_step_rad = (tmp_cp2 - tmp_cp1) / tmp_samples;
} }
} }
@ -837,16 +850,29 @@ void dll_pll_veml_tracking::update_tracking_vars()
//################### DLL COMMANDS ################################################# //################### DLL COMMANDS #################################################
// code phase step (Code resampler phase increment per sample) [chips/sample] // code phase step (Code resampler phase increment per sample) [chips/sample]
tmp_diff = -d_code_phase_step_chips; //tmp_diff = -d_code_phase_step_chips;
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in; d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
tmp_diff += d_code_phase_step_chips; //tmp_diff += d_code_phase_step_chips;
tmp_diff /= static_cast<double>(d_current_prn_length_samples); //tmp_diff /= static_cast<double>(d_current_prn_length_samples);
if (trk_parameters.high_dyn) if (trk_parameters.high_dyn)
{ {
d_code_ph_history.push_back(tmp_diff); d_code_ph_history.push_back(std::pair<double, double>(d_code_phase_step_chips, static_cast<double>(d_current_prn_length_samples)));
if (d_code_ph_history.full()) if (d_code_ph_history.full())
{ {
d_code_phase_rate_step_chips = std::accumulate(d_code_ph_history.begin(), d_code_ph_history.end(), 0.0) / static_cast<double>(d_code_ph_history.size()); //d_code_ph_history.front().second = 0.0;
//d_code_ph_history.at(trk_parameters.smoother_length).second = 0.0;
double tmp_cp1 = 0.0;
double tmp_cp2 = 0.0;
double tmp_samples = 0.0;
for (unsigned int k = 0; k < trk_parameters.smoother_length; k++)
{
tmp_cp1 += d_code_ph_history.at(k).first;
tmp_cp2 += d_code_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).first;
tmp_samples += d_code_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).second;
}
tmp_cp1 /= static_cast<double>(trk_parameters.smoother_length);
tmp_cp2 /= static_cast<double>(trk_parameters.smoother_length);
d_code_phase_rate_step_chips = (tmp_cp2 - tmp_cp1) / tmp_samples;
} }
} }
// remnant code phase [chips] // remnant code phase [chips]

5
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
View File

@ -41,6 +41,7 @@
#include <string> #include <string>
#include <map> #include <map>
#include <queue> #include <queue>
#include <utility>
#include <boost/circular_buffer.hpp> #include <boost/circular_buffer.hpp>
class dll_pll_veml_tracking; class dll_pll_veml_tracking;
@ -146,10 +147,10 @@ private:
double d_code_phase_step_chips; double d_code_phase_step_chips;
double d_code_phase_rate_step_chips; double d_code_phase_rate_step_chips;
boost::circular_buffer<double> d_code_ph_history; boost::circular_buffer<std::pair<double, double>> d_code_ph_history;
double d_carrier_phase_step_rad; double d_carrier_phase_step_rad;
double d_carrier_phase_rate_step_rad; double d_carrier_phase_rate_step_rad;
boost::circular_buffer<double> d_carr_ph_history; boost::circular_buffer<std::pair<double, double>> d_carr_ph_history;
// remaining code phase and carrier phase between tracking loops // remaining code phase and carrier phase between tracking loops
double d_rem_code_phase_samples; double d_rem_code_phase_samples;
float d_rem_carr_phase_rad; float d_rem_carr_phase_rad;