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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into glonass_dec

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This commit is contained in:
Damian Miralles 2018-03-08 14:48:30 -07:00
commit 36d71d46af
1077 changed files with 55821 additions and 52975 deletions
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91
.clang-format Normal file
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@ -0,0 +1,91 @@
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70
CMakeLists.txt
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@ -317,6 +317,7 @@ set(GNSSSDR_BOOST_MIN_VERSION "1.45")
set(GNSSSDR_PYTHON_MIN_VERSION "2.7") set(GNSSSDR_PYTHON_MIN_VERSION "2.7")
set(GNSSSDR_MAKO_MIN_VERSION "0.4.2") set(GNSSSDR_MAKO_MIN_VERSION "0.4.2")
set(GNSSSDR_ARMADILLO_MIN_VERSION "4.200.0") set(GNSSSDR_ARMADILLO_MIN_VERSION "4.200.0")
set(GNSSSDR_MATIO_MIN_VERSION "1.5.3")
@ -448,10 +449,10 @@ if(ENABLE_UNIT_TESTING OR ENABLE_SYSTEM_TESTING)
endif(LIBGTEST_DEV_DIR) endif(LIBGTEST_DEV_DIR)
find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS ${GTEST_DIR}/include) find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS ${GTEST_DIR}/include)
else(GTEST_DIR) else(GTEST_DIR)
find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS /usr/src/gtest /opt/local/src/gtest-1.7.0) find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS /usr/src/googletest/googletest /usr/src/gtest /opt/local/src/gtest-1.7.0 )
find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS /usr/include /opt/local/src/gtest-1.7.0/include) find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS /usr/include /opt/local/src/gtest-1.7.0/include)
if(LIBGTEST_DEV_DIR) if(LIBGTEST_DEV_DIR)
message (STATUS "Googletest (libgtest-dev package) has been found.") message (STATUS "Googletest package has been found.")
else(LIBGTEST_DEV_DIR) else(LIBGTEST_DEV_DIR)
message (STATUS " Googletest has not been found.") message (STATUS " Googletest has not been found.")
message (STATUS " Googletest will be downloaded and built automatically ") message (STATUS " Googletest will be downloaded and built automatically ")
@ -479,7 +480,7 @@ set(Boost_ADDITIONAL_VERSIONS
) )
set(Boost_USE_MULTITHREAD ON) set(Boost_USE_MULTITHREAD ON)
set(Boost_USE_STATIC_LIBS OFF) set(Boost_USE_STATIC_LIBS OFF)
find_package(Boost COMPONENTS date_time system filesystem thread serialization chrono unit_test_framework program_options REQUIRED) find_package(Boost COMPONENTS date_time system filesystem thread serialization chrono REQUIRED)
if(NOT Boost_FOUND) if(NOT Boost_FOUND)
message(FATAL_ERROR "Fatal error: Boost (version >=${GNSSSDR_BOOST_MIN_VERSION}) required.") message(FATAL_ERROR "Fatal error: Boost (version >=${GNSSSDR_BOOST_MIN_VERSION}) required.")
endif(NOT Boost_FOUND) endif(NOT Boost_FOUND)
@ -543,11 +544,11 @@ endif()
################################################################################ ################################################################################
# Lib4cpp - http://log4cpp.sourceforge.net/ # Log4cpp - http://log4cpp.sourceforge.net/
################################################################################ ################################################################################
find_package(Log4cpp) find_package(Log4cpp)
if(NOT LOG4CPP_FOUND) if(NOT LOG4CPP_FOUND)
message(FATAL_ERROR "*** Lib4cpp is required to build gnss-sdr") message(FATAL_ERROR "*** Log4cpp is required to build gnss-sdr")
endif() endif()
@ -599,10 +600,12 @@ if(NOT VOLK_GNSSSDR_FOUND)
message(FATAL_ERROR "six - python 2 and 3 compatibility library required to build VOLK_GNSSSDR") message(FATAL_ERROR "six - python 2 and 3 compatibility library required to build VOLK_GNSSSDR")
endif(NOT SIX_FOUND) endif(NOT SIX_FOUND)
set(READ_ENVIRO "")
if(ENABLE_PACKAGING) if(ENABLE_PACKAGING)
if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
set(STRIP_VOLK_GNSSSDR_PROFILE "-DENABLE_STRIP=ON -DCMAKE_VERBOSE_MAKEFILE=ON") set(STRIP_VOLK_GNSSSDR_PROFILE "-DENABLE_STRIP=ON -DCMAKE_VERBOSE_MAKEFILE=ON")
endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
set(READ_ENVIRO ${CMAKE_COMMAND} -E environment)
endif(ENABLE_PACKAGING) endif(ENABLE_PACKAGING)
set(VOLK_GNSSSDR_BUILD_COMMAND "${CMAKE_MAKE_PROGRAM}") set(VOLK_GNSSSDR_BUILD_COMMAND "${CMAKE_MAKE_PROGRAM}")
@ -638,11 +641,11 @@ if(NOT VOLK_GNSSSDR_FOUND)
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module PREFIX ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/build BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/build
CMAKE_ARGS ${VOLK_GNSSSDR_CMAKE_ARGS} CMAKE_ARGS ${READ_ENVIRO} ${VOLK_GNSSSDR_CMAKE_ARGS}
DOWNLOAD_COMMAND "" DOWNLOAD_COMMAND ""
UPDATE_COMMAND "" UPDATE_COMMAND ""
PATCH_COMMAND "" PATCH_COMMAND ""
BUILD_COMMAND ${VOLK_GNSSSDR_BUILD_COMMAND} volk_gnsssdr_profile BUILD_COMMAND ${READ_ENVIRO} ${VOLK_GNSSSDR_BUILD_COMMAND} volk_gnsssdr_profile
INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install
) )
else(CMAKE_VERSION VERSION_LESS 3.2) else(CMAKE_VERSION VERSION_LESS 3.2)
@ -650,11 +653,11 @@ if(NOT VOLK_GNSSSDR_FOUND)
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module PREFIX ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/build BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/build
CMAKE_ARGS ${VOLK_GNSSSDR_CMAKE_ARGS} CMAKE_ARGS ${READ_ENVIRO} ${VOLK_GNSSSDR_CMAKE_ARGS}
DOWNLOAD_COMMAND "" DOWNLOAD_COMMAND ""
UPDATE_COMMAND "" UPDATE_COMMAND ""
PATCH_COMMAND "" PATCH_COMMAND ""
BUILD_COMMAND ${VOLK_GNSSSDR_BUILD_COMMAND} volk_gnsssdr_profile BUILD_COMMAND ${READ_ENVIRO} ${VOLK_GNSSSDR_BUILD_COMMAND} volk_gnsssdr_profile
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}volk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX} BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}volk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX}
${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install/bin/volk_gnsssdr_profile ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install/bin/volk_gnsssdr_profile
INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install
@ -820,9 +823,9 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
# Ensure that aclocal and libtool are present # Ensure that aclocal and libtool are present
if(OS_IS_LINUX) if(OS_IS_LINUX)
if(EXISTS "/usr/bin/libtoolize") if(EXISTS "/usr/bin/libtoolize")
if(EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.11" OR EXISTS "/usr/bin/aclocal-1.10") if(EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.13" OR EXISTS "/usr/bin/aclocal-1.11" OR EXISTS "/usr/bin/aclocal-1.10")
# Everything ok, we can move on # Everything ok, we can move on
else(EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.11" OR EXISTS "/usr/bin/aclocal-1.10") else(EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.13" OR EXISTS "/usr/bin/aclocal-1.11" OR EXISTS "/usr/bin/aclocal-1.10")
message(" aclocal has not been found.") message(" aclocal has not been found.")
message(" You can try to install it by typing:") message(" You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat") if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
@ -833,7 +836,7 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
message(" sudo apt-get install automake") message(" sudo apt-get install automake")
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat") endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(FATAL_ERROR "aclocal is required to build glog from source") message(FATAL_ERROR "aclocal is required to build glog from source")
endif(EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.11" OR EXISTS "/usr/bin/aclocal-1.10") endif(EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.13" OR EXISTS "/usr/bin/aclocal-1.11" OR EXISTS "/usr/bin/aclocal-1.10")
else(EXISTS "/usr/bin/libtoolize") else(EXISTS "/usr/bin/libtoolize")
message(" libtool has not been found.") message(" libtool has not been found.")
message(" You can try to install it by typing:") message(" You can try to install it by typing:")
@ -1092,10 +1095,43 @@ endif(NOT GNUTLS_OPENSSL_LIBRARY)
# Matio - https://github.com/tbeu/matio # Matio - https://github.com/tbeu/matio
######################################################################## ########################################################################
find_package(MATIO) find_package(MATIO)
if(NOT MATIO_FOUND) if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERSION})
if(MATIO_FOUND)
message(STATUS " Matio installed version (${MATIO_VERSION_STRING}) is too old (>= ${GNSSSDR_MATIO_MIN_VERSION} is required).")
endif(MATIO_FOUND)
message(STATUS " Matio will be downloaded and built automatically")
message(STATUS " when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'. ")
find_package(ZLIB) find_package(ZLIB)
if(ZLIB_FOUND) if(ZLIB_FOUND)
get_filename_component(ZLIB_BASE_DIR ${ZLIB_INCLUDE_DIRS} DIRECTORY) get_filename_component(ZLIB_BASE_DIR ${ZLIB_INCLUDE_DIRS} DIRECTORY)
if(OS_IS_LINUX)
if(NOT EXISTS "/usr/bin/libtoolize")
message(" libtool has not been found.")
message(" You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo yum groupinstall 'Development Tools'")
elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
message(" sudo zypper install libtoool")
else(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo apt-get install libtool")
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(FATAL_ERROR "libtool is required to build matio from source")
endif(NOT EXISTS "/usr/bin/libtoolize")
if(EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.13" OR EXISTS "/usr/bin/aclocal-1.11" OR EXISTS "/usr/bin/aclocal-1.10")
message(STATUS "Automake found.")
else(EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.13" OR EXISTS "/usr/bin/aclocal-1.11" OR EXISTS "/usr/bin/aclocal-1.10")
message(" aclocal has not been found.")
message(" You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo yum groupinstall 'Development Tools'")
elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
message(" sudo zypper install automake")
else(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo apt-get install automake")
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(FATAL_ERROR "aclocal is required to build matio from source")
endif(EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.13" OR EXISTS "/usr/bin/aclocal-1.11" OR EXISTS "/usr/bin/aclocal-1.10")
endif(OS_IS_LINUX)
find_package(HDF5) find_package(HDF5)
if(HDF5_FOUND) if(HDF5_FOUND)
list(GET HDF5_LIBRARIES 0 HDF5_FIRST_DIR) list(GET HDF5_LIBRARIES 0 HDF5_FIRST_DIR)
@ -1112,7 +1148,7 @@ if(NOT MATIO_FOUND)
if(CMAKE_VERSION VERSION_LESS 3.2) if(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add( ExternalProject_Add(
matio-${GNSSSDR_MATIO_LOCAL_VERSION} matio-${GNSSSDR_MATIO_LOCAL_VERSION}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/mati PREFIX ${CMAKE_CURRENT_BINARY_DIR}/matio
GIT_REPOSITORY https://github.com/tbeu/matio GIT_REPOSITORY https://github.com/tbeu/matio
GIT_TAG v${GNSSSDR_MATIO_LOCAL_VERSION} GIT_TAG v${GNSSSDR_MATIO_LOCAL_VERSION}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION} SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}
@ -1152,7 +1188,7 @@ if(NOT MATIO_FOUND)
else(ZLIB_FOUND) else(ZLIB_FOUND)
message(FATAL_ERROR "*** The zlib library is required to build gnss-sdr") message(FATAL_ERROR "*** The zlib library is required to build gnss-sdr")
endif(ZLIB_FOUND) endif(ZLIB_FOUND)
endif(NOT MATIO_FOUND) endif(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERSION})
@ -1225,9 +1261,9 @@ else(DOXYGEN_FOUND)
message(STATUS " Get it from http://www.stack.nl/~dimitri/doxygen/index.html") message(STATUS " Get it from http://www.stack.nl/~dimitri/doxygen/index.html")
if(OS_IS_LINUX) if(OS_IS_LINUX)
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat") if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" or simply by doing 'sudo yum install doxygen-latex'.") message(STATUS " or simply by doing 'sudo yum install doxygen-latex'.")
else(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat") else(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" or simply by doing 'sudo apt-get install doxygen-latex'.") message(STATUS " or simply by doing 'sudo apt-get install doxygen-latex'.")
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat") endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
endif(OS_IS_LINUX) endif(OS_IS_LINUX)
if(OS_IS_MACOSX) if(OS_IS_MACOSX)

2
CONTRIBUTING.md
View File

@ -128,6 +128,8 @@ $ git pull --rebase upstream next
### How to submit a pull request ### How to submit a pull request
Before submitting you code, please be sure to [apply clang-format](http://gnss-sdr.org/coding-style/#use-tools-for-automated-code-formatting).
When the contribution is ready, you can [submit a pull When the contribution is ready, you can [submit a pull
request](https://github.com/gnss-sdr/gnss-sdr/compare/). Head to your request](https://github.com/gnss-sdr/gnss-sdr/compare/). Head to your
GitHub repository, switch to your `my_feature` branch, and click the GitHub repository, switch to your `my_feature` branch, and click the

86
README.md
View File

@ -31,8 +31,7 @@ This section describes how to set up the compilation environment in GNU/Linux or
GNU/Linux GNU/Linux
---------- ----------
* Tested distributions: Ubuntu 14.04 LTS and [above](http://packages.ubuntu.com/search?keywords=gnss-sdr), Debian 8.0 "jessie" and [above](https://packages.debian.org/search?searchon=names&keywords=gnss-sdr), Linaro 15.03 * Tested distributions: Ubuntu 14.04 LTS and above; Debian 8.0 "jessie" and above; Fedora 26 and above; CentOS 7; Arch Linux.
* Known to work but not continually tested: Arch Linux, Fedora, and openSUSE
* Supported microprocessor architectures: * Supported microprocessor architectures:
* i386: Intel x86 instruction set (32-bit microprocessors). * i386: Intel x86 instruction set (32-bit microprocessors).
* amd64: also known as x86-64, the 64-bit version of the x86 instruction set, originally created by AMD and implemented by AMD, Intel, VIA and others. * amd64: also known as x86-64, the 64-bit version of the x86 instruction set, originally created by AMD and implemented by AMD, Intel, VIA and others.
@ -53,34 +52,71 @@ Before building GNSS-SDR, you need to install all the required dependencies. The
### Alternative 1: Install dependencies using software packages ### Alternative 1: Install dependencies using software packages
If you want to start building and running GNSS-SDR as quick and easy as possible, the best option is to install all the required dependencies as binary packages. If you are using Debian 8, Ubuntu 14.10 or above, this can be done by copying and pasting the following line in a terminal: If you want to start building and running GNSS-SDR as quick and easy as possible, the best option is to install all the required dependencies as binary packages.
#### Debian / Ubuntu
If you are using Debian 8, Ubuntu 14.10 or above, this can be done by copying and pasting the following line in a terminal:
~~~~~~ ~~~~~~
$ sudo apt-get install build-essential cmake git libboost-dev libboost-date-time-dev \ $ sudo apt-get install build-essential cmake git libboost-dev libboost-date-time-dev \
libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev \ libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev \
libboost-serialization-dev libboost-program-options-dev libboost-test-dev \ libboost-serialization-dev liblog4cpp5-dev libuhd-dev gnuradio-dev gr-osmosdr \
liblog4cpp5-dev libuhd-dev gnuradio-dev gr-osmosdr libblas-dev liblapack-dev \ libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev \
libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev libgtest-dev \ libgnutls-openssl-dev python-mako python-six libmatio-dev googletest
python-mako python-six libmatio-dev
~~~~~~ ~~~~~~
Alternatively, and starting from Ubuntu 16.04 LTS, you can install all the required dependencies by adding the line Please note that `googletest` was named `libgtest-dev` in distributions older than Debian 9 "stretch" and Ubuntu 17.04 "zesty".
**Note for Ubuntu 14.04 LTS "trusty" users:** you will need to build from source and install GNU Radio manually, as explained below, since GNSS-SDR requires `gnuradio-dev` >= 3.7.3, and Ubuntu 14.04 came with 3.7.2. Install all the packages above BUT EXCEPT `libuhd-dev`, `gnuradio-dev` and `gr-osmosdr` (and remove them if they are already installed in your machine), and install those dependencies using PyBOMBS. The same applies to `libmatio-dev`: Ubuntu 14.04 came with 1.5.2 and the minimum required version is 1.5.3. Please do not install the `libmatio-dev` package and install `libtool`, `automake` and `libhdf5-dev` instead. A recent version of the library will be downloaded and built automatically if CMake does not find it installed.
**Note for Debian 8 "jessie" users:** please see the note about `libmatio-dev` above. Install `libtool`, `automake` and `libhdf5-dev` instead.
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
#### Fedora
If you are using Fedora 26 or above, the required software dependencies can be installed by doing:
~~~~~~ ~~~~~~
deb-src http://us.archive.ubuntu.com/ubuntu/ xenial universe $ sudo yum install make automake gcc gcc-c++ kernel-devel cmake git boost-devel \
boost-date-time boost-system boost-filesystem boost-thread boost-chrono \
boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel \
blas-devel lapack-devel matio-devel armadillo-devel gflags-devel \
glog-devel openssl-devel python-mako python-six
~~~~~~ ~~~~~~
to your ```/etc/apt/sources.list``` file and doing: Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
#### CentOS
If you are using CentOS 7, you can install the dependencies via Extra Packages for Enterprise Linux ([EPEL](https://fedoraproject.org/wiki/EPEL)):
~~~~~~ ~~~~~~
$ sudo apt-get update $ sudo yum install wget
$ sudo apt-get build-dep gnss-sdr $ wget https://dl.fedoraproject.org/pub/epel/epel-release-latest-7.noarch.rpm
$ sudo rpm -Uvh epel-release-latest-7.noarch.rpm
$ sudo yum install make automake gcc gcc-c++ kernel-devel libtool \
hdf5-devel cmake git boost-devel boost-date-time boost-system \
boost-filesystem boost-thread boost-chrono boost-serialization \
log4cpp-devel gnuradio-devel gr-osmosdr-devel blas-devel lapack-devel \
armadillo-devel openssl-devel python-mako python-six
~~~~~~ ~~~~~~
Once you have installed these packages, you can jump directly to [how to download the source code and build GNSS-SDR](#download-and-build-linux). Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
Note for Ubuntu 14.04 LTS "trusty" users: you will need to build from source and install GNU Radio manually, as explained below, since GNSS-SDR requires gnuradio-dev >= 3.7.3, and Ubuntu 14.04 came with 3.7.2. Install all the packages above BUT EXCEPT ```libuhd-dev```, ```gnuradio-dev``` and ```gr-osmosdr``` (and remove them if they are already installed in your machine), and install those dependencies using PyBOMBS. #### Arch Linux
If you are using Arch Linux (with base-devel group installed):
~~~~~~
$ pacman -S cmake git boost boost-libs log4cpp libvolk gnuradio gnuradio-osmosdr \
blas lapack gflags google-glog gnutls openssl python2-mako python2-six \
libmatio gtest
~~~~~~
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
### Alternative 2: Install dependencies using PyBOMBS ### Alternative 2: Install dependencies using PyBOMBS
@ -208,11 +244,11 @@ changing `/home/username/googletest-release-1.8.0/googletest` by the actual dire
#### Install the [GnuTLS library](http://www.gnutls.org/ "GnuTLS's Homepage"): #### Install the [GnuTLS](http://www.gnutls.org/ "GnuTLS's Homepage") or [OpenSSL](https://www.openssl.org/ "OpenSSL's Homepage") libraries:
~~~~~~ ~~~~~~
$ sudo apt-get install libgnutls-openssl-dev # For Debian/Ubuntu/LinuxMint $ sudo apt-get install libgnutls-openssl-dev # For Debian/Ubuntu/LinuxMint
$ sudo yum install libgnutls-openssl-devel # For Fedora/CentOS/RHEL $ sudo yum install openssl-devel # For Fedora/CentOS/RHEL
~~~~~~ ~~~~~~
In case the GnuTLS library with openssl extensions package is not available in your GNU/Linux distribution, GNSS-SDR can also work well with OpenSSL. In case the GnuTLS library with openssl extensions package is not available in your GNU/Linux distribution, GNSS-SDR can also work well with OpenSSL.
@ -877,7 +913,7 @@ SignalSource.dump1=false
***Example: OsmoSDR-compatible Signal Source*** ***Example: OsmoSDR-compatible Signal Source***
[OsmoSDR](http://sdr.osmocom.org/trac) is a small form-factor, inexpensive software defined radio project. It provides a driver for several front-ends, such as [RTL-based dongles](http://sdr.osmocom.org/trac/wiki/rtl-sdr), HackRF, bladeRF, etc. Note that not all the OsmoSDR-compatible devices can work as radio frequency front-ends for proper GNSS signal reception, please check the specifications. For suitable RF front-ends, you can use: [OsmoSDR](http://sdr.osmocom.org/trac) is a small form-factor, inexpensive software defined radio project. It provides a driver for several front-ends, such as [RTL-based dongles](https://www.rtl-sdr.com/tag/v3/), [HackRF](https://greatscottgadgets.com/hackrf/), [bladeRF](https://www.nuand.com/), [LimeSDR](https://myriadrf.org/projects/limesdr/), [etc](https://github.com/osmocom/gr-osmosdr/blob/master/README). Note that not all the OsmoSDR-compatible devices can work as radio frequency front-ends for proper GNSS signal reception, please check the specifications. For suitable RF front-ends, you can use:
~~~~~~ ~~~~~~
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
@ -891,6 +927,20 @@ SignalSource.enable_throttle_control=false
SignalSource.osmosdr_args=hackrf,bias=1 SignalSource.osmosdr_args=hackrf,bias=1
~~~~~~ ~~~~~~
For [RTL-SDR Blog V3](https://www.rtl-sdr.com/tag/v3/) dongles, the arguments are:
~~~~~~
SignalSource.osmosdr_args=rtl,bias=1
~~~~~~
and for [LimeSDR](https://myriadrf.org/projects/limesdr/):
~~~~~~
SignalSource.osmosdr_args=driver=lime,soapy=0
~~~~~~
In case of using a Zarlink's RTL2832 based DVB-T receiver, you can even use the ```rtl_tcp``` I/Q server in order to use the USB dongle remotely. In a terminal, type: In case of using a Zarlink's RTL2832 based DVB-T receiver, you can even use the ```rtl_tcp``` I/Q server in order to use the USB dongle remotely. In a terminal, type:
~~~~~~ ~~~~~~
@ -1350,7 +1400,7 @@ Ok, now what?
In order to start using GNSS-SDR, you may want to populate ```gnss-sdr/data``` folder (or anywhere else on your system) with raw data files. By "raw data" we mean the output of a Radio Frequency front-end's Analog-to-Digital converter. GNSS-SDR needs signal samples already in baseband or in passband, at a suitable intemediate frequency (on the order of MHz). Prepare your configuration file, and then you are ready for running ```gnss-sdr --config_file=your_configuration.conf```, and seeing how the file is processed. In order to start using GNSS-SDR, you may want to populate ```gnss-sdr/data``` folder (or anywhere else on your system) with raw data files. By "raw data" we mean the output of a Radio Frequency front-end's Analog-to-Digital converter. GNSS-SDR needs signal samples already in baseband or in passband, at a suitable intemediate frequency (on the order of MHz). Prepare your configuration file, and then you are ready for running ```gnss-sdr --config_file=your_configuration.conf```, and seeing how the file is processed.
Another interesting option is working in real-time with a RF front-end. We provide drivers for UHD-compatible hardware such as the [USRP family](http://www.ettus.com/product), for OsmoSDR and other front-ends (HackRF, bladeRF), for the GN3S v2 USB dongle and for some DVB-T USB dongles. Start with a low number of channels and then increase it in order to test how many channels your processor can handle in real-time. Another interesting option is working in real-time with a RF front-end. We provide drivers for UHD-compatible hardware such as the [USRP family](http://www.ettus.com/product), for OsmoSDR and other front-ends (HackRF, bladeRF, LimeSDR), for the GN3S v2 USB dongle and for some DVB-T USB dongles. Start with a low number of channels and then increase it in order to test how many channels your processor can handle in real-time.
You can find more information at the [GNSS-SDR Documentation page](http://gnss-sdr.org/docs/) or directly asking to the [GNSS-SDR Developers mailing list](http://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers). You can find more information at the [GNSS-SDR Documentation page](http://gnss-sdr.org/docs/) or directly asking to the [GNSS-SDR Developers mailing list](http://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers).

6
cmake/Modules/FindGFlags.cmake
View File

@ -74,7 +74,11 @@ IF(GFlags_ROOT_DIR)
SET(GFlags_LIBRARY_DIRS ${GFlags_ROOT_DIR}) SET(GFlags_LIBRARY_DIRS ${GFlags_ROOT_DIR})
FIND_LIBRARY(GFlags_lib gflags ${GFlags_LIBRARY_DIRS}) FIND_LIBRARY(GFlags_lib gflags ${GFlags_LIBRARY_DIRS})
if(EXISTS ${GFlags_INCLUDE_DIRS}/gflags/gflags_gflags.h)
set(GFLAGS_GREATER_20 TRUE)
else(EXISTS ${GFlags_INCLUDE_DIRS}/gflags/gflags_gflags.h)
set(GFLAGS_GREATER_20 FALSE)
endif(EXISTS ${GFlags_INCLUDE_DIRS}/gflags/gflags_gflags.h)
# set up include and link directory # set up include and link directory
include_directories(${GFlags_INCLUDE_DIRS}) include_directories(${GFlags_INCLUDE_DIRS})
link_directories(${GFlags_LIBRARY_DIRS}) link_directories(${GFlags_LIBRARY_DIRS})

13
cmake/Modules/FindGnuradio.cmake
View File

@ -164,4 +164,17 @@ if(NOT PC_GNURADIO_RUNTIME_VERSION)
if(GNURADIO_VERSION_GREATER_THAN_373) if(GNURADIO_VERSION_GREATER_THAN_373)
set(PC_GNURADIO_RUNTIME_VERSION "3.7.4+") set(PC_GNURADIO_RUNTIME_VERSION "3.7.4+")
endif(GNURADIO_VERSION_GREATER_THAN_373) endif(GNURADIO_VERSION_GREATER_THAN_373)
find_file(GNURADIO_VERSION_GREATER_THAN_38
NAMES gnuradio/filter/mmse_resampler_cc.h
HINTS $ENV{GNURADIO_RUNTIME_DIR}/include
${CMAKE_INSTALL_PREFIX}/include
${GNURADIO_INSTALL_PREFIX}/include
PATHS /usr/local/include
/usr/include
${GNURADIO_INSTALL_PREFIX}/include
)
if(GNURADIO_VERSION_GREATER_THAN_38)
set(PC_GNURADIO_RUNTIME_VERSION "3.8.0+")
endif(GNURADIO_VERSION_GREATER_THAN_38)
endif(NOT PC_GNURADIO_RUNTIME_VERSION) endif(NOT PC_GNURADIO_RUNTIME_VERSION)

37
conf/front-end-cal.conf
View File

@ -42,16 +42,12 @@ GNSS-SDR.SUPL_CI=40184
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=Osmosdr_Signal_Source SignalSource.implementation=Osmosdr_Signal_Source
;#freq: RF front-end center frequency in [Hz] ;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000 SignalSource.freq=1575420000
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=2000000 SignalSource.sampling_frequency=2000000
;#gain: Front-end Gain in [dB] ;#gain: Front-end Gain in [dB]
SignalSource.gain=40 SignalSource.gain=40
SignalSource.rf_gain=40 SignalSource.rf_gain=40
@ -91,7 +87,7 @@ SignalSource.dump_filename=../data/signal_source.dat
SignalConditioner.implementation=Pass_Through SignalConditioner.implementation=Pass_Through
;######### DATA_TYPE_ADAPTER CONFIG ############ ;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version. ;## Changes the type of input data.
;#implementation: Use [Ishort_To_Complex] or [Pass_Through] ;#implementation: Use [Ishort_To_Complex] or [Pass_Through]
DataTypeAdapter.implementation=Pass_Through DataTypeAdapter.implementation=Pass_Through
;#dump: Dump the filtered data to a file. ;#dump: Dump the filtered data to a file.
@ -109,20 +105,15 @@ DataTypeAdapter.dump_filename=../data/data_type_adapter.dat
InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -172,6 +163,12 @@ InputFilter.IF=0
InputFilter.decimation_factor=1 InputFilter.decimation_factor=1
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
;## Resamples the input data. ;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler] ;#implementation: Use [Pass_Through] or [Direct_Resampler]
@ -179,11 +176,7 @@ InputFilter.decimation_factor=1
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition.dump=false
;#filename: Log path and filename
Acquisition.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition.item_type=gr_complex Acquisition.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
@ -200,4 +193,8 @@ Acquisition.doppler_min=-100000
Acquisition.doppler_step=500 Acquisition.doppler_step=500
;#maximum dwells ;#maximum dwells
Acquisition.max_dwells=15 Acquisition.max_dwells=15
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition.dump=false
;#filename: Log path and filename
Acquisition.dump_filename=./acq_dump.dat

126
conf/gnss-sdr.conf
View File

@ -25,32 +25,18 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
SignalSource.item_type=ishort SignalSource.item_type=ishort
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=4000000 SignalSource.sampling_frequency=4000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file. ;#repeat: Repeat the processing file.
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -82,15 +68,10 @@ DataTypeAdapter.implementation=Ishort_To_Complex
;InputFilter.implementation=Freq_Xlating_Fir_Filter ;InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.implementation=Pass_Through InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of GNU Radio's function: gr_remez. ;#These options are based on parameters of GNU Radio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, the desired response on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
@ -142,31 +123,31 @@ InputFilter.grid_density=16
InputFilter.sampling_frequency=4000000 InputFilter.sampling_frequency=4000000
InputFilter.IF=0 InputFilter.IF=0
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
;## Resamples the input data. ;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler] ;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation ;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation
;Resampler.implementation=Direct_Resampler ;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;#item_type: Type and resolution for each of the signal samples.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=2000000
;#dump: Dump the resampled data to a file. ;#dump: Dump the resampled data to a file.
Resampler.dump=false Resampler.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=2000000
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS L1 C/A satellite channels. ;#count: Number of available GPS L1 C/A satellite channels.
@ -194,19 +175,13 @@ Channel.signal=1C
;Channel1.satellite=18 ;Channel1.satellite=18
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1C.threshold=0.005 Acquisition_1C.threshold=0.005
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -219,46 +194,41 @@ Acquisition_1C.doppler_min=-10000
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
;#maximum dwells ;#maximum dwells
Acquisition_1C.max_dwells=5 Acquisition_1C.max_dwells=5
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm:
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=45.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=3.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_ Tracking_1C.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=45.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=3.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -266,42 +236,30 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation: ;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.AR_GPS=PPP-AR ; options: OFF, Continuous, Instantaneous, Fix-and-Hold, PPP-AR PVT.AR_GPS=PPP-AR ; options: OFF, Continuous, Instantaneous, Fix-and-Hold, PPP-AR
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=10 PVT.output_rate_ms=10
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms <= display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms <= display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
PVT.positioning_mode=PPP_Static PVT.positioning_mode=PPP_Static
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=true
;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4
;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default)
PVT.flag_rtcm_server=true
;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_rtcm_tty_port=false
;#rtcm_dump_devname: serial device descriptor for RTCM logging
PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats.
PVT.dump_filename=./PVT PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=true
;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4
;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default)
PVT.flag_rtcm_server=true
;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_rtcm_tty_port=false
;#rtcm_dump_devname: serial device descriptor for RTCM logging
PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false

4
conf/gnss-sdr_GPS_L1_CA_ibyte.conf
View File

@ -1,14 +1,12 @@
[GNSS-SDR] [GNSS-SDR]
;######### GLOBAL OPTIONS ################## ;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_hz=6625000 GNSS-SDR.internal_fs_sps=6625000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
SignalSource.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE SignalSource.filename=/archive/NT1065_L1_20160923_fs6625e6_if60e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource.item_type=ibyte SignalSource.item_type=ibyte
SignalSource.sampling_frequency=6625000
;SignalSource.freq=0
;SignalSource.samples=66250000 ;SignalSource.samples=66250000
SignalSource.samples=0 SignalSource.samples=0
SignalSource.dump=false; SignalSource.dump=false;

12
conf/gnss-sdr_GPS_L1_GN3S_realtime.conf
View File

@ -10,7 +10,7 @@ GNSS-SDR.internal_fs_sps=2727933.33 ; 8183800/3
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation:
;#Notes for GN3S source: ;#Notes for GN3S source:
; - The front-end sampling frequency is fixed to 8.1838 MSPS (8183800 Hz). ; - The front-end sampling frequency is fixed to 8.1838 MSPS (8183800 Hz).
; - The baseband signal is shifted to an IF of 38400 Hz. It should be corrected with the signal conditioner block ; - The baseband signal is shifted to an IF of 38400 Hz. It should be corrected with the signal conditioner block
@ -66,25 +66,25 @@ Channels.in_acquisition=1
Channel.signal=1C Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.dump=false Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.threshold=0.008 Acquisition_1C.threshold=0.008
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
Tracking_1C.if=0 Tracking_1C.if=0
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=45.0; Tracking_1C.pll_bw_hz=45.0;
Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3; Tracking_1C.order=3;
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder

108
conf/gnss-sdr_GPS_L1_LimeSDR.conf Normal file
View File

@ -0,0 +1,108 @@
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_sps=2000000
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=Osmosdr_Signal_Source
SignalSource.item_type=gr_complex
SignalSource.sampling_frequency=2000000
;# LimeSDR RX1 antennas: NONE,LNAH,LNAL,LNAW
SignalSource.antenna=LNAW
SignalSource.freq=1575420000
SignalSource.gain=40
SignalSource.rf_gain=40
SignalSource.if_gain=30
SignalSource.AGC_enabled=false
SignalSource.samples=0
SignalSource.repeat=false
;# Next line enables the LimeSDR
SignalSource.osmosdr_args=driver=lime,soapy=0
SignalSource.enable_throttle_control=false
SignalSource.dump=false
SignalSource.dump_filename=./signal_source.dat
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
DataTypeAdapter.implementation=Pass_Through
;######### INPUT_FILTER CONFIG ############
InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.decimation_factor=1
InputFilter.input_item_type=gr_complex
InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float
InputFilter.number_of_taps=5
InputFilter.number_of_bands=2
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.85
InputFilter.band2_begin=0.9
InputFilter.band2_end=1.0
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
InputFilter.filter_type=bandpass
InputFilter.grid_density=16
InputFilter.dump=false
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############
Resampler.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=8
Channels.in_acquisition=1
Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1
Acquisition_1C.threshold=0.015
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_min=-10000
Acquisition_1C.doppler_step=500
Acquisition_1C.max_dwells=15
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.if=0
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5;
Tracking_1C.dump=false
Tracking_1C.dump_filename=./tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.iono_model=Broadcast
PVT.trop_model=Saastamoinen
PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.rtcm_tcp_port=2101
PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=2

126
conf/gnss-sdr_GPS_L1_SPIR.conf
View File

@ -11,30 +11,18 @@ GNSS-SDR.internal_fs_sps=4000000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Spir_File_Signal_Source SignalSource.implementation=Spir_File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/dtalogger/signals/spir/data/20Secs/20Secs_L1.dat ; <- PUT YOUR FILE HERE SignalSource.filename=/dtalogger/signals/spir/data/20Secs/20Secs_L1.dat ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=int SignalSource.item_type=int
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=80000000 SignalSource.sampling_frequency=80000000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -49,7 +37,7 @@ SignalSource.enable_throttle_control=false
SignalConditioner.implementation=Signal_Conditioner SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############ ;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version. ;## Changes the type of input data.
;#implementation: [Pass_Through] disables this block ;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Pass_Through DataTypeAdapter.implementation=Pass_Through
DataTypeAdapter.item_type=float DataTypeAdapter.item_type=float
@ -74,12 +62,13 @@ InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=float InputFilter.input_item_type=float
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -131,27 +120,22 @@ InputFilter.decimation_factor=20
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
;## Resamples the input data. ;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler] ;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
;Resampler.implementation=Direct_Resampler ;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=80000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;#dump: Dump the resamplered data to a file. ;#dump: Dump the resamplered data to a file.
Resampler.dump=false Resampler.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=80000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels. ;#count: Number of available GPS satellite channels.
@ -189,19 +173,13 @@ Channel.signal=1C
;Channel3.satellite=19 ;Channel3.satellite=19
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
_1C Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1C.threshold=0.005 Acquisition_1C.threshold=0.005
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -214,95 +192,65 @@ Acquisition_1C.doppler_min=-10000
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
;#maximum dwells ;#maximum dwells
Acquisition_1C.max_dwells=5 Acquisition_1C.max_dwells=5
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;######### ACQUISITION CHANNELS CONFIG ######
;######### ACQUISITION CH 0 CONFIG ############
;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false
;Acquisition0.repeat_satellite = true
;Acquisition1.repeat_satellite = true
;Acquisition2.repeat_satellite = true
;Acquisition3.repeat_satellite = true
;#cboc: Only for [Galileo_E1_PCPS_Ambiguous_Acquisition]. This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false].
;#Use only if GNSS-SDR.internal_fs_sps is greater than or equal to 6138000
Acquisition0.cboc=false
;######### ACQUISITION CH 1 CONFIG ############
Acquisition1.cboc=false
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=20.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_ Tracking_1C.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=20.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version. ;#implementation: Position Velocity and Time (PVT) implementation algorithm
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1 ms) [ms]
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=500 PVT.output_rate_ms=500
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
;# RINEX, KML, and NMEA output configuration ;# RINEX, KML, and NMEA output configuration
;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=true;
;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=true;
;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false

120
conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
View File

@ -26,39 +26,28 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
; # implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ; # implementation:
SignalSource.implementation=UHD_Signal_Source SignalSource.implementation=UHD_Signal_Source
; # When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...) ; # When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...)
SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HERE SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HERE
; # item_type: Type and resolution for each of the signal samples.
; # item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
;SignalSource.item_type=gr_complex ;SignalSource.item_type=gr_complex
SignalSource.item_type=cshort SignalSource.item_type=cshort
; # sampling_frequency: Original Signal sampling frequency in samples per second
; # sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=4000000 SignalSource.sampling_frequency=4000000
; # freq: RF front-end center frequency in [Hz] ; # freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000 SignalSource.freq=1575420000
; # gain: Front-end Gain in [dB] ; # gain: Front-end Gain in [dB]
SignalSource.gain=40 SignalSource.gain=40
; # subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0) ; # subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
SignalSource.subdevice=A:0 SignalSource.subdevice=A:0
; # samples: Number of samples to be processed. Notice that 0 indicates the entire file. ; # samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
; # repeat: Repeat the processing file.
; # repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
; # dump: Dump the Signal source data to a file.
; # dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -74,7 +63,7 @@ SignalConditioner.implementation=Signal_Conditioner
;SignalConditioner.implementation=Pass_Through ;SignalConditioner.implementation=Pass_Through
;######### DATA_TYPE_ADAPTER CONFIG ############ ;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version. ;## Changes the type of input data.
;#implementation: [Pass_Through] disables this block ;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Pass_Through DataTypeAdapter.implementation=Pass_Through
DataTypeAdapter.item_type=cshort DataTypeAdapter.item_type=cshort
@ -92,20 +81,15 @@ InputFilter.implementation=Fir_Filter
;InputFilter.implementation=Freq_Xlating_Fir_Filter ;InputFilter.implementation=Freq_Xlating_Fir_Filter
;InputFilter.implementation=Pass_Through ;InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=cshort InputFilter.input_item_type=cshort
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -152,31 +136,31 @@ InputFilter.grid_density=16
InputFilter.sampling_frequency=4000000 InputFilter.sampling_frequency=4000000
InputFilter.IF=0 InputFilter.IF=0
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
;## Resamples the input data. ;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler] ;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
;Resampler.implementation=Direct_Resampler ;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;#item_type: Type and resolution for each of the signal samples.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;#dump: Dump the resampled data to a file. ;#dump: Dump the resampled data to a file.
Resampler.dump=false Resampler.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels. ;#count: Number of available GPS satellite channels.
@ -223,19 +207,13 @@ Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined. ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_1C.threshold=0.01 Acquisition_1C.threshold=0.01
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -249,54 +227,42 @@ maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisiti
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;######### ACQUISITION CHANNELS CONFIG ###### ;#filename: Log path and filename
;#The following options are specific to each channel and overwrite the generic options Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=30.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=4.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=./tracking_ch_ Tracking_1C.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=30.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=4.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -304,34 +270,24 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation: ;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=true PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

120
conf/gnss-sdr_GPS_L1_USRP_realtime.conf
View File

@ -25,39 +25,27 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=UHD_Signal_Source SignalSource.implementation=UHD_Signal_Source
;#When left empty, the device discovery routines will search all available transports on the system (ethernet, usb...) ;#When left empty, the device discovery routines will search all available transports on the system (ethernet, usb...)
;SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HERE ;SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HERE
;#item_type: Type and resolution for each of the signal samples.
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=2000000 SignalSource.sampling_frequency=2000000
;#freq: RF front-end center frequency in [Hz] ;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000 SignalSource.freq=1575420000
;#gain: Front-end Gain in [dB] ;#gain: Front-end Gain in [dB]
SignalSource.gain=60 SignalSource.gain=60
;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0) ;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
SignalSource.subdevice=A:0 SignalSource.subdevice=A:0
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file.
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -89,20 +77,15 @@ DataTypeAdapter.implementation=Pass_Through
;InputFilter.implementation=Freq_Xlating_Fir_Filter ;InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.implementation=Pass_Through InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -149,31 +132,31 @@ InputFilter.grid_density=16
InputFilter.sampling_frequency=2000000 InputFilter.sampling_frequency=2000000
InputFilter.IF=0 InputFilter.IF=0
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
;## Resamples the input data. ;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler] ;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
;Resampler.implementation=Direct_Resampler ;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=8000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=2000000
;#dump: Dump the resamplered data to a file. ;#dump: Dump the resamplered data to a file.
Resampler.dump=false Resampler.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=8000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=2000000
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels. ;#count: Number of available GPS satellite channels.
@ -186,9 +169,11 @@ Channels.in_acquisition=1
;#signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;#if the option is disabled by default is assigned "1C" GPS L1 C/A ;#if the option is disabled by default is assigned "1C" GPS L1 C/A
Channel.signal=1C Channel.signal=1C
@ -212,18 +197,13 @@ Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined. ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_1C.threshold=0.01 Acquisition_1C.threshold=0.01
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -237,54 +217,43 @@ maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisiti
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;######### ACQUISITION CHANNELS CONFIG ###### ;#filename: Log path and filename
;#The following options are specific to each channel and overwrite the generic options Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=30.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=4.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]
Tracking_1C.early_late_space_chips=0.5;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=./tracking_ch_ Tracking_1C.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=30.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=4.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]
Tracking_1C.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -292,35 +261,24 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation: ;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=true PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

117
conf/gnss-sdr_GPS_L1_acq_QuickSync.conf
View File

@ -11,36 +11,16 @@ GNSS-SDR.internal_fs_sps=4000000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] or [Rtlsdr_Signal_Source]
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples.
;#Use gr_complex for 32 bits float I/Q or short for I/Q interleaved short integer.
;#If short is selected you should have to instantiate the Ishort_To_Complex data_type_adapter.
SignalSource.item_type=ishort SignalSource.item_type=ishort
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=4000000 SignalSource.sampling_frequency=4000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -75,20 +55,15 @@ DataTypeAdapter.dump_filename=../data/data_type_adapter.dat
;InputFilter.implementation=Freq_Xlating_Fir_Filter ;InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.implementation=Pass_Through InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -136,6 +111,11 @@ InputFilter.grid_density=16
InputFilter.sampling_frequency=4000000 InputFilter.sampling_frequency=4000000
InputFilter.IF=0 InputFilter.IF=0
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
@ -146,21 +126,17 @@ InputFilter.IF=0
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
;Resampler.implementation=Direct_Resampler ;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;#item_type: Type and resolution for each of the signal samples.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;#dump: Dump the resamplered data to a file. ;#dump: Dump the resamplered data to a file.
Resampler.dump=false Resampler.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available satellite channels. ;#count: Number of available satellite channels.
@ -195,22 +171,20 @@ Channel4.satellite=32
Channel4.repeat_satellite=false Channel4.repeat_satellite=false
;######### ACQUISITION GLOBAL CONFIG ############_1C ;######### ACQUISITION GLOBAL CONFIG ############_1C
Acquisition_1C.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=true
;#filename: Log path and filename
;Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.coherent-integration_time_ms=4 Acquisition_1C.coherent-integration_time_ms=4
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=true
;#filename: Log path and filename
;Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition
;######### ACQUISITION CHANNELS CONFIG ###### ;######### ACQUISITION CHANNELS CONFIG ######
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition Acquisition_1C.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1C.threshold=0.4 Acquisition_1C.threshold=0.4
@ -222,45 +196,36 @@ Acquisition_1C.doppler_step=250
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=50.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=4.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=./tracking_ch_ Tracking_1C.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=50.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=4.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;######### TELEMETRY DECODER CONFIG ############ ;######### TELEMETRY DECODER CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A. ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A.
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -268,26 +233,20 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation: ;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1 ms) [ms]
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100; PVT.output_rate_ms=100;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500; PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
PVT.flag_nmea_tty_port=true PVT.flag_nmea_tty_port=true
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

110
conf/gnss-sdr_GPS_L1_bladeRF.conf Normal file
View File

@ -0,0 +1,110 @@
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_sps=2000000
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=Osmosdr_Signal_Source
SignalSource.item_type=gr_complex
SignalSource.sampling_frequency=2000000
SignalSource.freq=1575420000
;# RF Gain: LNA Gain {0, 3, 6}
SignalSource.gain=6
;# IF Gain: N/A
SignalSource.rf_gain=40
;# BB Gain: RX VGA1 + VGA2 [5, 60]
SignalSource.if_gain=48
SignalSource.AGC_enabled=false
SignalSource.samples=0
SignalSource.repeat=false
;# Next line enables the bladeRF
SignalSource.osmosdr_args=bladerf=0
SignalSource.enable_throttle_control=false
SignalSource.dump=false
SignalSource.dump_filename=./signal_source.dat
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
DataTypeAdapter.implementation=Pass_Through
;######### INPUT_FILTER CONFIG ############
InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.decimation_factor=1
InputFilter.input_item_type=gr_complex
InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float
InputFilter.number_of_taps=5
InputFilter.number_of_bands=2
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.85
InputFilter.band2_begin=0.9
InputFilter.band2_end=1.0
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
InputFilter.filter_type=bandpass
InputFilter.grid_density=16
InputFilter.dump=false
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############
Resampler.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=8
Channels.in_acquisition=1
Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1
Acquisition_1C.threshold=0.015
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_min=-10000
Acquisition_1C.doppler_step=500
Acquisition_1C.max_dwells=15
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.if=0
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5;
Tracking_1C.dump=false
Tracking_1C.dump_filename=./tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############
#Observables.implementation=GPS_L1_CA_Observables
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.iono_model=Broadcast
PVT.trop_model=Saastamoinen
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.rtcm_tcp_port=2101
PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=2

8
conf/gnss-sdr_GPS_L1_fmcomms2_realtime.conf
View File

@ -86,18 +86,18 @@ Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.dump=false Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_1C.threshold=0.015 Acquisition_1C.threshold=0.015
;Acquisition_1C.pfa=0.0001 ;Acquisition_1C.pfa=0.0001
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_min=-10000 Acquisition_1C.doppler_min=-10000
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
Acquisition_1C.max_dwells=15 Acquisition_1C.max_dwells=15
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
@ -111,11 +111,13 @@ Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3; Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5; Tracking_1C.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1; TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=false Observables.dump=false

25
conf/gnss-sdr_GPS_L1_gr_complex.conf
View File

@ -14,11 +14,8 @@ SignalSource.implementation=File_Signal_Source
SignalSource.filename=/home/javier/gnss/gnss-simulator/build/signal_out.bin ; <- PUT YOUR FILE HERE SignalSource.filename=/home/javier/gnss/gnss-simulator/build/signal_out.bin ; <- PUT YOUR FILE HERE
SignalSource.item_type=byte SignalSource.item_type=byte
SignalSource.sampling_frequency=2600000 SignalSource.sampling_frequency=2600000
SignalSource.freq=1575420000
SignalSource.samples=0 SignalSource.samples=0
SignalSource.repeat=false SignalSource.repeat=false
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -26,13 +23,21 @@ SignalSource.enable_throttle_control=false
SignalConditioner.implementation=Signal_Conditioner SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############ ;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version. ;## Changes the type of input data.
;#implementation: [Pass_Through] disables this block ;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Ibyte_To_Complex DataTypeAdapter.implementation=Ibyte_To_Complex
DataTypeAdapter.dump=false DataTypeAdapter.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
DataTypeAdapter.dump_filename=../data/DataTypeAdapter.dat DataTypeAdapter.dump_filename=../data/DataTypeAdapter.dat
InputFilter.implementation=Pass_Through
InputFilter.input_item_type=gr_complex
InputFilter.output_item_type=gr_complex
Resampler.implementation=Pass_Through
Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=5 Channels_1C.count=5
Channels.in_acquisition=1 Channels.in_acquisition=1
@ -40,32 +45,34 @@ Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.dump=false Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.threshold=0.05 Acquisition_1C.threshold=0.05
;Acquisition_1C.pfa=0.01 ;Acquisition_1C.pfa=0.01
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=250 Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
Tracking_1C.if=0 Tracking_1C.if=0
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=25.0; Tracking_1C.pll_bw_hz=25.0;
Tracking_1C.dll_bw_hz=1.0; Tracking_1C.dll_bw_hz=1.0;
Tracking_1C.order=3; Tracking_1C.order=3;
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_c
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=false Observables.dump=false

11
conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf
View File

@ -13,8 +13,6 @@ GNSS-SDR.internal_fs_sps=4000000
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
SignalSource.filename=/datalogger/signals/Agilent/New York/4msps.dat ; <- PUT YOUR FILE HERE SignalSource.filename=/datalogger/signals/Agilent/New York/4msps.dat ; <- PUT YOUR FILE HERE
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
SignalSource.sampling_frequency=4000000
SignalSource.freq=1575420000
SignalSource.samples=250000000 SignalSource.samples=250000000
SignalSource.repeat=false SignalSource.repeat=false
SignalSource.dump=false SignalSource.dump=false
@ -33,16 +31,17 @@ Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.dump=false Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.threshold=0.005 Acquisition_1C.threshold=0.005
;Acquisition_1C.pfa=0.01 ;Acquisition_1C.pfa=0.01
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking_GPU Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking_GPU
@ -54,10 +53,12 @@ Tracking_1C.pll_bw_hz=45.0;
Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3; Tracking_1C.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=false Observables.dump=false

11
conf/gnss-sdr_GPS_L1_ishort.conf
View File

@ -16,7 +16,6 @@ SignalSource.implementation=File_Signal_Source
SignalSource.filename=/archive/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ;/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE SignalSource.filename=/archive/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ;/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
SignalSource.item_type=ishort SignalSource.item_type=ishort
SignalSource.sampling_frequency=4000000 SignalSource.sampling_frequency=4000000
SignalSource.freq=1575420000
SignalSource.samples=0 SignalSource.samples=0
SignalSource.repeat=false SignalSource.repeat=false
SignalSource.dump=false SignalSource.dump=false
@ -45,16 +44,13 @@ Resampler.item_type=cshort
Channels_1C.count=8 Channels_1C.count=8
Channels.in_acquisition=1 Channels.in_acquisition=1
Channel.signal=1C Channel.signal=1C
;Channel.item_type=cshort
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.dump=false Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=cshort Acquisition_1C.item_type=cshort
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.threshold=0.008 Acquisition_1C.threshold=0.008
;Acquisition_1C.pfa=0.000001 ;Acquisition_1C.pfa=0.000001
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
@ -62,6 +58,9 @@ Acquisition_1C.doppler_step=250
Acquisition_1C.tong_init_val=2 Acquisition_1C.tong_init_val=2
Acquisition_1C.tong_max_val=10 Acquisition_1C.tong_max_val=10
Acquisition_1C.tong_max_dwells=20 Acquisition_1C.tong_max_dwells=20
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
@ -73,11 +72,13 @@ Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=4.0; Tracking_1C.dll_bw_hz=4.0;
Tracking_1C.order=3; Tracking_1C.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1; TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=false Observables.dump=false

27
conf/gnss-sdr_GPS_L1_nsr.conf
View File

@ -31,7 +31,6 @@ SignalSource.implementation=Nsr_File_Signal_Source
SignalSource.filename=/home/javier/Descargas/RoofTop_FE0_Band1.stream ; <- PUT YOUR FILE HERE SignalSource.filename=/home/javier/Descargas/RoofTop_FE0_Band1.stream ; <- PUT YOUR FILE HERE
SignalSource.item_type=byte SignalSource.item_type=byte
SignalSource.sampling_frequency=20480000 SignalSource.sampling_frequency=20480000
SignalSource.freq=1575420000
SignalSource.samples=0 SignalSource.samples=0
SignalSource.repeat=false SignalSource.repeat=false
SignalSource.dump=false SignalSource.dump=false
@ -89,71 +88,69 @@ Channels.in_acquisition=1
;######### GPS ACQUISITION CONFIG ############ ;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.dump=false Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.threshold=0.0075 Acquisition_1C.threshold=0.0075
;Acquisition_1C.pfa=0.01 ;Acquisition_1C.pfa=0.01
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_2S.dump=false Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.dump_filename=./acq_dump.dat
Acquisition_2S.item_type=gr_complex Acquisition_2S.item_type=gr_complex
Acquisition_2S.if=0 Acquisition_2S.if=0
Acquisition_2S.coherent_integration_time_ms=20 Acquisition_2S.coherent_integration_time_ms=20
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.threshold=0.00045 Acquisition_2S.threshold=0.00045
Acquisition_2S.doppler_max=5000 Acquisition_2S.doppler_max=5000
Acquisition_2S.doppler_step=100 Acquisition_2S.doppler_step=100
Acquisition_2S.bit_transition_flag=false Acquisition_2S.bit_transition_flag=false
Acquisition_2S.max_dwells=1 Acquisition_2S.max_dwells=1
Acquisition_2S.dump=false
Acquisition_2S.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
Tracking_1C.if=0 Tracking_1C.if=0
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=45.0; Tracking_1C.pll_bw_hz=45.0;
Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3; Tracking_1C.order=3;
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;######### GPS L2C GENERIC TRACKING CONFIG ############ ;######### GPS L2C GENERIC TRACKING CONFIG ############
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex Tracking_2S.item_type=gr_complex
Tracking_2S.if=0 Tracking_2S.if=0
Tracking_2S.dump=true
Tracking_2S.dump_filename=../data/epl_tracking_ch_
Tracking_2S.pll_bw_hz=1.5; Tracking_2S.pll_bw_hz=1.5;
Tracking_2S.dll_bw_hz=0.4; Tracking_2S.dll_bw_hz=0.4;
Tracking_2S.order=2; Tracking_2S.order=2;
Tracking_2S.early_late_space_chips=0.5; Tracking_2S.early_late_space_chips=0.5;
Tracking_2S.dump=true
Tracking_2S.dump_filename=../data/epl_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_2S.dump=false TelemetryDecoder_2S.dump=false
TelemetryDecoder_2S.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic

14
conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf
View File

@ -46,7 +46,6 @@ SignalSource.big_endian_bytes=false
; This setting specifies which of the three cases holds for this data file ; This setting specifies which of the three cases holds for this data file
SignalSource.sample_type=real SignalSource.sample_type=real
SignalSource.sampling_frequency=20480000 SignalSource.sampling_frequency=20480000
SignalSource.freq=1575420000
SignalSource.samples=0 SignalSource.samples=0
SignalSource.repeat=false SignalSource.repeat=false
SignalSource.dump=false SignalSource.dump=false
@ -102,37 +101,40 @@ Channel.signal=1C
;######### GPS ACQUISITION CONFIG ############ ;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.dump=false Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.threshold=0.0075 Acquisition_1C.threshold=0.0075
;Acquisition_1C.pfa=0.01 ;Acquisition_1C.pfa=0.01
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
Tracking_1C.if=0 Tracking_1C.if=0
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=45.0; Tracking_1C.pll_bw_hz=45.0;
Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3; Tracking_1C.order=3;
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=false Observables.dump=false
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic

54
conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf
View File

@ -25,42 +25,21 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
;#When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...)
SignalSource.device_address=192.168.50.2
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/home/javier/signals/signal_source_int.dat SignalSource.filename=/home/javier/signals/signal_source_int.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=2000000 SignalSource.sampling_frequency=2000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#gain: Front-end Gain in [dB]
SignalSource.gain=40
;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
SignalSource.subdevice=A:0
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file. Disable this option in this version ;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version ;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false SignalSource.dump=false
SignalSource.dump_filename=dump.dat SignalSource.dump_filename=dump.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -100,12 +79,10 @@ Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.dump=false Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#use_CFAR_algorithm: If enabled, acquisition estimates the input signal power to implement CFAR detection algorithms ;#use_CFAR_algorithm: If enabled, acquisition estimates the input signal power to implement CFAR detection algorithms
;#notice that this affects the Acquisition threshold range! ;#notice that this affects the Acquisition threshold range!
Acquisition_1C.use_CFAR_algorithm=false; Acquisition_1C.use_CFAR_algorithm=false;
@ -114,50 +91,41 @@ Acquisition_1C.threshold=20
;Acquisition_1C.pfa=0.01 ;Acquisition_1C.pfa=0.01
Acquisition_1C.doppler_max=5000 Acquisition_1C.doppler_max=5000
Acquisition_1C.doppler_step=250 Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;# Extended correlation after telemetry bit synchronization ;# Extended correlation after telemetry bit synchronization
;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) ) ;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) )
;# Longer integration period require more stable front-end LO ;# Longer integration period require more stable front-end LO
Tracking_1C.extend_correlation_ms=10 Tracking_1C.extend_correlation_ms=10
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=35; Tracking_1C.pll_bw_hz=35;
Tracking_1C.pll_bw_narrow_hz=30; Tracking_1C.pll_bw_narrow_hz=30;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.dll_bw_narrow_hz=1.5; Tracking_1C.dll_bw_narrow_hz=1.5;
;#fll_bw_hz: FLL loop filter bandwidth [Hz] ;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking_1C.fll_bw_hz=2.0; Tracking_1C.fll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3; Tracking_1C.order=3;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=true Observables.dump=true

82
conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
View File

@ -27,44 +27,31 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] [Osmosdr_Signal_Source] ;#implementation
SignalSource.implementation=RtlTcp_Signal_Source SignalSource.implementation=RtlTcp_Signal_Source
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE ;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/ ; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
SignalSource.sampling_frequency=1200000 SignalSource.sampling_frequency=1200000
;#freq: RF front-end center frequency in [Hz] ;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000 SignalSource.freq=1575420000
;#gain: Front-end overall gain Gain in [dB] ;#gain: Front-end overall gain Gain in [dB]
SignalSource.gain=40 SignalSource.gain=40
;#rf_gain: Front-end RF stage gain in [dB] ;#rf_gain: Front-end RF stage gain in [dB]
SignalSource.rf_gain=40 SignalSource.rf_gain=40
;#rf_gain: Front-end IF stage gain in [dB] ;#rf_gain: Front-end IF stage gain in [dB]
SignalSource.if_gain=30 SignalSource.if_gain=30
;#AGC_enabled: Front-end AGC enabled or disabled ;#AGC_enabled: Front-end AGC enabled or disabled
SignalSource.AGC_enabled = false SignalSource.AGC_enabled = false
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file. Disable this option in this version ;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version ;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -78,6 +65,7 @@ SignalSource.port=1234
;# Set to true if I/Q samples come swapped ;# Set to true if I/Q samples come swapped
SignalSource.swap_iq=false SignalSource.swap_iq=false
;######### SIGNAL_CONDITIONER CONFIG ############ ;######### SIGNAL_CONDITIONER CONFIG ############
;## It holds blocks to change data type, filter and resample input data. ;## It holds blocks to change data type, filter and resample input data.
@ -87,7 +75,7 @@ SignalSource.swap_iq=false
SignalConditioner.implementation=Signal_Conditioner SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############ ;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version. ;## Changes the type of input data.
;#implementation: [Pass_Through] disables this block ;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Pass_Through DataTypeAdapter.implementation=Pass_Through
@ -109,12 +97,13 @@ InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -163,6 +152,7 @@ InputFilter.sampling_frequency=1200000
;# IF deviation due to front-end LO inaccuracies [HZ] ;# IF deviation due to front-end LO inaccuracies [HZ]
InputFilter.IF=80558 InputFilter.IF=80558
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
;## Resamples the input data. ;## Resamples the input data.
;# DISABLED IN THE RTL-SDR REALTIME ;# DISABLED IN THE RTL-SDR REALTIME
@ -170,6 +160,7 @@ InputFilter.IF=80558
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels. ;#count: Number of available GPS satellite channels.
Channels_1C.count=4 Channels_1C.count=4
@ -180,19 +171,14 @@ Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1C.threshold=0.015 Acquisition_1C.threshold=0.015
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -205,50 +191,42 @@ Acquisition_1C.doppler_min=-10000
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
;#maximum dwells ;#maximum dwells
Acquisition_1C.max_dwells=15 Acquisition_1C.max_dwells=15
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] [GPS_L1_CA_DLL_PLL_Optim_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=./tracking_ch_ Tracking_1C.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -259,31 +237,21 @@ PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=true PVT.dump=true
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

9
conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf
View File

@ -101,18 +101,18 @@ Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.dump=false Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_1C.threshold=0.015 Acquisition_1C.threshold=0.015
;Acquisition_1C.pfa=0.0001 ;Acquisition_1C.pfa=0.0001
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_min=-10000 Acquisition_1C.doppler_min=-10000
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
Acquisition_1C.max_dwells=15 Acquisition_1C.max_dwells=15
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
@ -126,10 +126,11 @@ Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3; Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5; Tracking_1C.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables

20
conf/gnss-sdr_GPS_L1_two_bits_cpx.conf
View File

@ -28,7 +28,6 @@ SignalSource.implementation=Two_Bit_Cpx_File_Signal_Source
SignalSource.filename=/datalogger/captures/ajith/test1_two_cpx_live.dat ; <- PUT YOUR FILE HERE SignalSource.filename=/datalogger/captures/ajith/test1_two_cpx_live.dat ; <- PUT YOUR FILE HERE
SignalSource.item_type=byte SignalSource.item_type=byte
SignalSource.sampling_frequency=19200000 SignalSource.sampling_frequency=19200000
SignalSource.freq=1575420000
SignalSource.samples=0 SignalSource.samples=0
SignalSource.repeat=false SignalSource.repeat=false
SignalSource.dump=false SignalSource.dump=false
@ -45,8 +44,6 @@ DataTypeAdapter.item_type=gr_complex
;######### INPUT_FILTER CONFIG ############ ;######### INPUT_FILTER CONFIG ############
InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.dump=false
InputFilter.dump_filename=../data/input_filter.dat
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float InputFilter.taps_item_type=float
@ -67,6 +64,9 @@ InputFilter.grid_density=16
InputFilter.sampling_frequency=19200000 InputFilter.sampling_frequency=19200000
InputFilter.IF=4024000 InputFilter.IF=4024000
InputFilter.decimation_factor=6 InputFilter.decimation_factor=6
InputFilter.dump=false
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
@ -82,35 +82,35 @@ Channel.signal=1C
;######### GPS ACQUISITION CONFIG ############ ;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.dump=false Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_1C.threshold=0.007 Acquisition_1C.threshold=0.007
;Acquisition_1C.pfa=0.0001 ;Acquisition_1C.pfa=0.0001
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_min=-10000 Acquisition_1C.doppler_min=-10000
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
Acquisition_1C.max_dwells=15 Acquisition_1C.max_dwells=15
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
Tracking_1C.if=0 Tracking_1C.if=0_
Tracking_1C.dump=true
Tracking_1C.dump_filename=./tracking_ch_
Tracking_1C.pll_bw_hz=40.0; Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=1.5; Tracking_1C.dll_bw_hz=1.5;
Tracking_1C.order=3; Tracking_1C.order=3;
Tracking_1C.dump=true
Tracking_1C.dump_filename=./tracking_ch
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables

36
conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf
View File

@ -55,21 +55,18 @@ DataTypeAdapter.item_type=gr_complex
InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -120,6 +117,12 @@ InputFilter.IF=-1600000
;# Decimation factor after the frequency tranaslating block ;# Decimation factor after the frequency tranaslating block
InputFilter.decimation_factor=1 InputFilter.decimation_factor=1
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
Resampler.dump=false Resampler.dump=false
@ -151,41 +154,44 @@ Channel7.signal=2S
;Channel11.signal=2S ;Channel11.signal=2S
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
;# GPS L2C M ;# GPS L2C M
Acquisition_2S.dump=false Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.dump_filename=./acq_dump.dat
Acquisition_2S.item_type=gr_complex Acquisition_2S.item_type=gr_complex
Acquisition_2S.if=0 Acquisition_2S.if=0
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.threshold=0.0013 Acquisition_2S.threshold=0.0013
;Acquisition_2S.pfa=0.001 ;Acquisition_2S.pfa=0.001
Acquisition_2S.doppler_max=10000 Acquisition_2S.doppler_max=10000
Acquisition_2S.doppler_min=-10000 Acquisition_2S.doppler_min=-10000
Acquisition_2S.doppler_step=100 Acquisition_2S.doppler_step=100
Acquisition_2S.max_dwells=1 Acquisition_2S.max_dwells=1
Acquisition_2S.dump=false
Acquisition_2S.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex Tracking_2S.item_type=gr_complex
Tracking_2S.if=0 Tracking_2S.if=0
Tracking_2S.dump=true
Tracking_2S.dump_filename=./tracking_ch_
Tracking_2S.pll_bw_hz=1.5; Tracking_2S.pll_bw_hz=1.5;
Tracking_2S.dll_bw_hz=0.3; Tracking_2S.dll_bw_hz=0.3;
Tracking_2S.order=3; Tracking_2S.order=3;
Tracking_2S.early_late_space_chips=0.5; Tracking_2S.early_late_space_chips=0.5;
Tracking_2S.dump=true
Tracking_2S.dump_filename=./tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_2S.dump=false TelemetryDecoder_2S.dump=false
;######### OBSERVABLES CONFIG ############. ;######### OBSERVABLES CONFIG ############.
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=false Observables.dump=false
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic

23
conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf
View File

@ -50,8 +50,6 @@ DataTypeAdapter.item_type=cshort
;######### INPUT_FILTER CONFIG ############ ;######### INPUT_FILTER CONFIG ############
InputFilter.implementation=Fir_Filter InputFilter.implementation=Fir_Filter
InputFilter.dump=false
InputFilter.dump_filename=../data/input_filter.dat
InputFilter.input_item_type=cshort InputFilter.input_item_type=cshort
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float InputFilter.taps_item_type=float
@ -76,6 +74,9 @@ InputFilter.grid_density=16
InputFilter.sampling_frequency=4000000 InputFilter.sampling_frequency=4000000
InputFilter.IF=0 InputFilter.IF=0
InputFilter.dump=false
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
Resampler.dump=false Resampler.dump=false
@ -106,42 +107,44 @@ Channel7.signal=2S
;Channel10.signal=2S ;Channel10.signal=2S
;Channel11.signal=2S ;Channel11.signal=2S
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
;# GPS L2C M ;# GPS L2C M
Acquisition_2S.dump=false Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.dump_filename=./acq_dump.dat
Acquisition_2S.item_type=gr_complex Acquisition_2S.item_type=gr_complex
Acquisition_2S.if=0 Acquisition_2S.if=0
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.threshold=0.0015 Acquisition_2S.threshold=0.0015
;Acquisition_2S.pfa=0.001 ;Acquisition_2S.pfa=0.001
Acquisition_2S.doppler_max=5000 Acquisition_2S.doppler_max=5000
Acquisition_2S.doppler_min=-5000 Acquisition_2S.doppler_min=-5000
Acquisition_2S.doppler_step=60 Acquisition_2S.doppler_step=60
Acquisition_2S.max_dwells=1 Acquisition_2S.max_dwells=1
Acquisition_2S.dump=false
Acquisition_2S.dump_filename=./acq_dump.dat
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex Tracking_2S.item_type=gr_complex
Tracking_2S.if=0 Tracking_2S.if=0
Tracking_2S.dump=true
Tracking_2S.dump_filename=./tracking_ch_
Tracking_2S.pll_bw_hz=2.0; Tracking_2S.pll_bw_hz=2.0;
Tracking_2S.dll_bw_hz=0.25; Tracking_2S.dll_bw_hz=0.25;
Tracking_2S.order=2; Tracking_2S.order=2;
Tracking_2S.early_late_space_chips=0.5; Tracking_2S.early_late_space_chips=0.5;
Tracking_2S.dump=true
Tracking_2S.dump_filename=./tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_2S.dump=true TelemetryDecoder_2S.dump=true
;######### OBSERVABLES CONFIG ############. ;######### OBSERVABLES CONFIG ############.
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=false Observables.dump=false
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
@ -149,7 +152,6 @@ PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100 PVT.output_rate_ms=100
PVT.display_rate_ms=500 PVT.display_rate_ms=500
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
@ -157,3 +159,4 @@ PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false PVT.dump=false
PVT.dump_filename=./PVT

21
conf/gnss-sdr_Galileo_E1_USRP_X300_realtime.conf
View File

@ -24,48 +24,55 @@ SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat SignalSource.dump_filename=../data/signal_source.dat
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############ ;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Pass_Through SignalConditioner.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ###### ;######### CHANNELS GLOBAL CONFIG ######
Channels_1B.count=4 Channels_1B.count=4
Channels.in_acquisition=1 Channels.in_acquisition=1
Channel.signal=1B Channel.signal=1B
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1B.dump=false Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.dump_filename=./acq_dump.dat
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
Acquisition_1B.if=0 Acquisition_1B.if=0
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;Acquisition_1B.threshold=1 ;Acquisition_1B.threshold=1
Acquisition_1B.pfa=0.000008 Acquisition_1B.pfa=0.000008
Acquisition_1B.doppler_max=6000 Acquisition_1B.doppler_max=6000
Acquisition_1B.doppler_step=250 Acquisition_1B.doppler_step=250
Acquisition_1B.cboc=false Acquisition_1B.cboc=false
Acquisition_1B.dump=false
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
Tracking_1B.if=0 Tracking_1B.if=0
Tracking_1B.dump=false
Tracking_1B.dump_filename=../data/veml_tracking_ch_
Tracking_1B.pll_bw_hz=20.0; Tracking_1B.pll_bw_hz=20.0;
Tracking_1B.dll_bw_hz=2.0; Tracking_1B.dll_bw_hz=2.0;
Tracking_1B.order=3; Tracking_1B.order=3;
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
Tracking_1B.dump=false
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### TELEMETRY DECODER CONFIG ############ ;######### TELEMETRY DECODER CONFIG ############
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=false Observables.dump=false
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
@ -73,11 +80,11 @@ PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100; PVT.output_rate_ms=100;
PVT.display_rate_ms=500; PVT.display_rate_ms=500;
PVT.dump=false
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea
PVT.flag_nmea_tty_port=true PVT.flag_nmea_tty_port=true
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=true PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false
PVT.dump_filename=./PVT

71
conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf
View File

@ -10,7 +10,7 @@ GNSS-SDR.internal_fs_sps=4000000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] or [Rtlsdr_Signal_Source] ;#implementation:
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
@ -21,22 +21,15 @@ SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SP
;#If ishort is selected you should have to instantiate the Ishort_To_Complex data_type_adapter. ;#If ishort is selected you should have to instantiate the Ishort_To_Complex data_type_adapter.
SignalSource.item_type=ishort SignalSource.item_type=ishort
;#sampling_frequency: Original Signal sampling frequency in [Hz] ;#sampling_frequency: Original Signal sampling frequency in samples per second
SignalSource.sampling_frequency=4000000 SignalSource.sampling_frequency=4000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file. Disable this option in this version ;#repeat: Repeat the processing file.
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -71,20 +64,15 @@ DataTypeAdapter.dump_filename=../data/data_type_adapter.dat
;InputFilter.implementation=Freq_Xlating_Fir_Filter ;InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.implementation=Pass_Through InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -116,7 +104,6 @@ InputFilter.band2_end=1.0
;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. ;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
;#The number of ampl_begin and ampl_end elements must match the number of bands ;#The number of ampl_begin and ampl_end elements must match the number of bands
InputFilter.ampl1_begin=1.0 InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0 InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0 InputFilter.ampl2_begin=0.0
@ -136,10 +123,14 @@ InputFilter.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation. ;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz ;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
InputFilter.sampling_frequency=4000000 InputFilter.sampling_frequency=4000000
InputFilter.IF=0 InputFilter.IF=0
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
@ -156,7 +147,7 @@ Resampler.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples.
Resampler.item_type=gr_complex Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal ;#sample_freq_in: the sample frequency of the input signal
@ -175,19 +166,13 @@ Channel.signal=1B
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.implementation=Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition
Acquisition_1B.dump=false ;#item_type: Type and resolution for each of the signal samples.
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.coherent_integration_time_ms=4 Acquisition_1B.coherent_integration_time_ms=4
Acquisition_1B.implementation=Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1B.threshold=0.05 Acquisition_1B.threshold=0.05
;#doppler_max: Maximum expected Doppler shift [Hz] ;#doppler_max: Maximum expected Doppler shift [Hz]
@ -196,39 +181,33 @@ Acquisition_1B.doppler_max=15000
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]; ;#sampled_ms: Signal block duration for the acquisition signal detection [ms];
Acquisition_1B.coherent_integration_time_ms=8 Acquisition_1B.coherent_integration_time_ms=8
Acquisition_1B.cboc=false Acquisition_1B.cboc=false
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation:
;#implementation: Selected tracking algorithm [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=20.0; Tracking_1B.pll_bw_hz=20.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0; Tracking_1B.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3; Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### TELEMETRY DECODER CONFIG ############ ;######### TELEMETRY DECODER CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A or [Galileo_E1B_Telemetry_Decoder] for Galileo E1B ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A or [Galileo_E1B_Telemetry_Decoder] for Galileo E1B

145
conf/gnss-sdr_Galileo_E1_ishort.conf
View File

@ -10,32 +10,17 @@ GNSS-SDR.internal_fs_sps=4000000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/Users/carlesfernandez/Documents/workspace/code2/trunk/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ;/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
SignalSource.item_type=ishort SignalSource.item_type=ishort
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=4000000 SignalSource.sampling_frequency=4000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -57,24 +42,18 @@ DataTypeAdapter.implementation=Ishort_To_Complex
;######### INPUT_FILTER CONFIG ############ ;######### INPUT_FILTER CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals ;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] ;#implementation:
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter ;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. ;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
;InputFilter.implementation=Fir_Filter ;InputFilter.implementation=Fir_Filter
;InputFilter.implementation=Freq_Xlating_Fir_Filter ;InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.implementation=Pass_Through InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of GNU Radio's function: gr_remez. ;#These options are based on parameters of GNU Radio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, the desired response on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
@ -125,7 +104,10 @@ InputFilter.grid_density=16
InputFilter.sampling_frequency=4000000 InputFilter.sampling_frequency=4000000
InputFilter.IF=0 InputFilter.IF=0
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
@ -136,21 +118,17 @@ InputFilter.IF=0
;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation ;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation
;Resampler.implementation=Direct_Resampler ;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;#item_type: Type and resolution for each of the signal samples.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;#dump: Dump the resampled data to a file. ;#dump: Dump the resampled data to a file.
Resampler.dump=false Resampler.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available Galileo satellite channels. ;#count: Number of available Galileo satellite channels.
@ -159,20 +137,15 @@ Channels_1B.count=8
Channels.in_acquisition=1 Channels.in_acquisition=1
Channel.signal=1B Channel.signal=1B
;######### ACQUISITION GLOBAL CONFIG ############
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1B.dump=false Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#filename: Log path and filename ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition_1B.threshold=0 ;Acquisition_1B.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -181,70 +154,59 @@ Acquisition_1B.pfa=0.000002
Acquisition_1B.doppler_max=15000 Acquisition_1B.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
;#cboc: Only for [Galileo_E1_PCPS_Ambiguous_Acquisition]. This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false].
;#Use only if GNSS-SDR.internal_fs_sps is greater than or equal to 6138000
Acquisition_1B.cboc=false
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;######### ACQUISITION CHANNELS CONFIG ###### ;######### ACQUISITION CHANNELS CONFIG ######
;######### ACQUISITION CH 0 CONFIG ############ ;######### ACQUISITION CH 0 CONFIG ############
;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false ;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false
;Acquisition_1B0.repeat_satellite = true ;Acquisition_1B0.repeat_satellite = true
;Acquisition_1B1.repeat_satellite = true ;Acquisition_1B1.repeat_satellite = true
;Acquisition_1B2.repeat_satellite = true ;Acquisition_1B2.repeat_satellite = true
;Acquisition_1B3.repeat_satellite = true ;Acquisition_1B3.repeat_satellite = true
;#cboc: Only for [Galileo_E1_PCPS_Ambiguous_Acquisition]. This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false].
;#Use only if GNSS-SDR.internal_fs_sps is greater than or equal to 6138000
Acquisition_1B.cboc=false
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking_1B.fll_bw_hz=10.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6;
Tracking_1B.track_pilot=true
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_ Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking_1B.fll_bw_hz=10.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6;
;######### TELEMETRY DECODER CONFIG ############ ;######### TELEMETRY DECODER CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A or [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -255,38 +217,27 @@ PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100; PVT.output_rate_ms=100;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500; PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=true; PVT.flag_nmea_tty_port=true
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default) ;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default)
PVT.flag_rtcm_server=true; PVT.flag_rtcm_server=true;
PVT.rtcm_tcp_port=2101 PVT.rtcm_tcp_port=2101
PVT.rtcm_MT1045_rate_ms=5000 PVT.rtcm_MT1045_rate_ms=5000
PVT.rtcm_MSM_rate_ms=1000 PVT.rtcm_MSM_rate_ms=1000
;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_rtcm_tty_port=false; PVT.flag_rtcm_tty_port=false;
;#rtcm_dump_devname: serial device descriptor for RTCM logging ;#rtcm_dump_devname: serial device descriptor for RTCM logging
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats.
PVT.dump_filename=./PVT

19
conf/gnss-sdr_Galileo_E1_nsr.conf
View File

@ -17,7 +17,6 @@ SignalSource.implementation=Nsr_File_Signal_Source
SignalSource.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE SignalSource.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE
SignalSource.item_type=byte SignalSource.item_type=byte
SignalSource.sampling_frequency=20480000 SignalSource.sampling_frequency=20480000
SignalSource.freq=1575420000
SignalSource.samples=0 ; 0 means the entire file SignalSource.samples=0 ; 0 means the entire file
SignalSource.repeat=false SignalSource.repeat=false
SignalSource.dump=false SignalSource.dump=false
@ -31,7 +30,6 @@ SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############ ;######### SIGNAL_CONDITIONER CONFIG ############
;## It holds blocks to change data type, filter and resample input data. ;## It holds blocks to change data type, filter and resample input data.
SignalConditioner.implementation=Signal_Conditioner SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############ ;######### DATA_TYPE_ADAPTER CONFIG ############
@ -40,8 +38,6 @@ DataTypeAdapter.item_type=float
;######### INPUT_FILTER CONFIG ############ ;######### INPUT_FILTER CONFIG ############
InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.dump=false
InputFilter.dump_filename=../data/input_filter.dat
InputFilter.input_item_type=float InputFilter.input_item_type=float
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float InputFilter.taps_item_type=float
@ -65,6 +61,8 @@ InputFilter.grid_density=16
InputFilter.sampling_frequency=20480000 InputFilter.sampling_frequency=20480000
InputFilter.IF=5499998.47412109 InputFilter.IF=5499998.47412109
InputFilter.decimation_factor=8 InputFilter.decimation_factor=8
InputFilter.dump=false
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
@ -78,33 +76,36 @@ Channel.signal=1B
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1B.dump=false Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.dump_filename=./acq_dump.dat
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
Acquisition_1B.if=0 Acquisition_1B.if=0
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.pfa=0.0000008 Acquisition_1B.pfa=0.0000008
Acquisition_1B.doppler_max=15000 Acquisition_1B.doppler_max=15000
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
Acquisition_1B.cboc=false ; This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false]. Use only if GNSS-SDR.internal_fs_sps is greater than or equal to 6138000 Acquisition_1B.cboc=false ; This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false]. Use only if GNSS-SDR.internal_fs_sps is greater than or equal to 6138000
Acquisition_1B.dump=false
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
Tracking_1B.if=0 Tracking_1B.if=0
Tracking_1B.dump=false
Tracking_1B.dump_filename=../data/veml_tracking_ch_
Tracking_1B.pll_bw_hz=20.0; Tracking_1B.pll_bw_hz=20.0;
Tracking_1B.dll_bw_hz=2.0; Tracking_1B.dll_bw_hz=2.0;
Tracking_1B.order=3; Tracking_1B.order=3;
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
Tracking_1B.dump=false
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### TELEMETRY DECODER CONFIG ############ ;######### TELEMETRY DECODER CONFIG ############
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=true Observables.dump=true

127
conf/gnss-sdr_Galileo_E5a.conf
View File

@ -25,32 +25,18 @@ GNSS-SDR.internal_fs_sps=32000000
;GNSS-SDR.SUPL_CI=0x31b0 ;GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/datalogger/signals/ifen/32MS_complex.dat ; <- PUT YOUR FILE HERE SignalSource.filename=/datalogger/signals/ifen/32MS_complex.dat ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples.
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=32000000 SignalSource.sampling_frequency=32000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1176450000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -73,7 +59,7 @@ DataTypeAdapter.implementation=Pass_Through
;######### INPUT_FILTER CONFIG ############ ;######### INPUT_FILTER CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals ;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] ;#implementation:
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter ;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. ;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
@ -82,20 +68,15 @@ DataTypeAdapter.implementation=Pass_Through
;InputFilter.implementation=Freq_Xlating_Fir_Filter ;InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.implementation=Pass_Through InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -142,6 +123,11 @@ InputFilter.grid_density=16
InputFilter.sampling_frequency=32000000 InputFilter.sampling_frequency=32000000
InputFilter.IF=0 InputFilter.IF=0
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
@ -152,21 +138,17 @@ InputFilter.IF=0
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
;Resampler.implementation=Direct_Resampler ;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;#item_type: Type and resolution for each of the signal samples.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=8000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;#dump: Dump the resamplered data to a file. ;#dump: Dump the resamplered data to a file.
Resampler.dump=false Resampler.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=8000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available satellite channels. ;#count: Number of available satellite channels.
@ -181,11 +163,9 @@ Channel.signal=5X
;#The following options are specific to each channel and overwrite the generic options ;#The following options are specific to each channel and overwrite the generic options
;######### CHANNEL 0 CONFIG ############ ;######### CHANNEL 0 CONFIG ############
;Channel0.signal=5X
Channel0.signal=5X
;#satellite: Satellite PRN ID for this channel. Disable this option to random search ;#satellite: Satellite PRN ID for this channel. Disable this option to random search
Channel0.satellite=19 ;Channel0.satellite=19
;Channel0.repeat_satellite=true ;Channel0.repeat_satellite=true
;######### CHANNEL 1 CONFIG ############ ;######### CHANNEL 1 CONFIG ############
@ -207,19 +187,13 @@ Channel0.satellite=19
;Channel3.satellite=20 ;Channel3.satellite=20
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_5X.dump=true
;#filename: Log path and filename
Acquisition_5X.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_5X.item_type=gr_complex Acquisition_5X.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_5X.if=0 Acquisition_5X.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_5X.coherent_integration_time_ms=1 Acquisition_5X.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
;#threshold: Acquisition threshold. It will be ignored if pfa is defined. ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_5X.threshold=0.001 Acquisition_5X.threshold=0.001
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -233,64 +207,53 @@ Acquisition_5X.doppler_step=250
Acquisition_5X.bit_transition_flag=false Acquisition_5X.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_5X.max_dwells=1 Acquisition_5X.max_dwells=1
;#CAF filter: **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz ;#CAF filter: **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
Acquisition_5X.CAF_window_hz=0 Acquisition_5X.CAF_window_hz=0
;#Zero_padding: **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. ;#Zero_padding: **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions.
;#If set to 1 it is ON, if set to 0 it is OFF. ;#If set to 1 it is ON, if set to 0 it is OFF.
Acquisition_5X.Zero_padding=0 Acquisition_5X.Zero_padding=0
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_5X.dump=true
;#filename: Log path and filename
Acquisition_5X.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm:
Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_5X.item_type=gr_complex Tracking_5X.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_5X.if=0 Tracking_5X.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_5X.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_5X.dump_filename=./tracking_ch_
;#pll_bw_hz_init: **Only for E5a** PLL loop filter bandwidth during initialization [Hz]
Tracking_5X.pll_bw_hz_init=20.0;
;#dll_bw_hz_init: **Only for E5a** DLL loop filter bandwidth during initialization [Hz]
Tracking_5X.dll_bw_hz_init=20.0;
;#dll_ti_ms: **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms] ;#dll_ti_ms: **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms]
;Tracking_5X.ti_ms=3; ;Tracking_5X.ti_ms=3;
Tracking_5X.ti_ms=1; Tracking_5X.ti_ms=1;
;#pll_bw_hz: PLL loop filter bandwidth during initialization [Hz]
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
;Tracking.pll_bw_hz=5.0;
Tracking_5X.pll_bw_hz=20.0; Tracking_5X.pll_bw_hz=20.0;
;#dll_bw_hz: DLL loop filter bandwidth during initialization [Hz]
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
;Tracking.dll_bw_hz=2.0;
Tracking_5X.dll_bw_hz=20.0; Tracking_5X.dll_bw_hz=20.0;
Tracking_5X.pll_bw_narrow_hz=2.0;
Tracking_5X.dll_bw_narrow_hz=5.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_5X.order=2; Tracking_5X.order=2;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_5X.early_late_space_chips=0.5; Tracking_5X.early_late_space_chips=0.5;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_5X.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_5X.dump_filename=./tracking_ch_
;######### TELEMETRY DECODER CONFIG ############ ;######### TELEMETRY DECODER CONFIG ############
;#implementation: ;#implementation:
TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder
TelemetryDecoder_5X.dump=false TelemetryDecoder_5X.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -298,34 +261,24 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: ;#implementation: Position Velocity and Time (PVT) implementation algorithm:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=true; PVT.flag_nmea_tty_port=true;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

29
conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf
View File

@ -28,7 +28,6 @@ SignalSource.implementation=File_Signal_Source
SignalSource.filename=/datalogger/signals/ifen/Galileo_E5ab_IFEN_CTTC_run1.dat ; <- PUT YOUR FILE HERE SignalSource.filename=/datalogger/signals/ifen/Galileo_E5ab_IFEN_CTTC_run1.dat ; <- PUT YOUR FILE HERE
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
SignalSource.sampling_frequency=50000000 SignalSource.sampling_frequency=50000000
SignalSource.freq=1176450000
SignalSource.samples=0 SignalSource.samples=0
SignalSource.repeat=false SignalSource.repeat=false
SignalSource.dump=false SignalSource.dump=false
@ -44,8 +43,6 @@ DataTypeAdapter.implementation=Pass_Through
;######### INPUT_FILTER CONFIG ############ ;######### INPUT_FILTER CONFIG ############
InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.dump=false
InputFilter.dump_filename=../data/input_filter.dat
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float InputFilter.taps_item_type=float
@ -66,6 +63,8 @@ InputFilter.grid_density=16
InputFilter.sampling_frequency=50000000 InputFilter.sampling_frequency=50000000
InputFilter.IF=-15345000 InputFilter.IF=-15345000
InputFilter.decimation_factor=1 InputFilter.decimation_factor=1
InputFilter.dump=false
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
@ -89,23 +88,21 @@ Channel0.satellite=19
;######### CHANNEL 1 CONFIG ############ ;######### CHANNEL 1 CONFIG ############
Channel1.signal=5X Channel1.signal=5X
Channel1.satellite=12 ;Channel1.satellite=12
;######### CHANNEL 2 CONFIG ############ ;######### CHANNEL 2 CONFIG ############
Channel2.signal=5X Channel2.signal=5X
Channel2.satellite=11 ;Channel2.satellite=11
;######### CHANNEL 3 CONFIG ############ ;######### CHANNEL 3 CONFIG ############
Channel3.signal=5X Channel3.signal=5X
Channel3.satellite=20 ;Channel3.satellite=20
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_5X.dump=false Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
Acquisition_5X.dump_filename=./acq_dump.dat
Acquisition_5X.item_type=gr_complex Acquisition_5X.item_type=gr_complex
Acquisition_5X.if=0 Acquisition_5X.if=0
Acquisition_5X.coherent_integration_time_ms=1 Acquisition_5X.coherent_integration_time_ms=1
Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
Acquisition_5X.threshold=0.002 Acquisition_5X.threshold=0.002
Acquisition_5X.doppler_max=10000 Acquisition_5X.doppler_max=10000
Acquisition_5X.doppler_step=250 Acquisition_5X.doppler_step=250
@ -113,26 +110,30 @@ Acquisition_5X.bit_transition_flag=false
Acquisition_5X.max_dwells=1 Acquisition_5X.max_dwells=1
Acquisition_5X.CAF_window_hz=0 ; **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz Acquisition_5X.CAF_window_hz=0 ; **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
Acquisition_5X.Zero_padding=0 ; **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF. Acquisition_5X.Zero_padding=0 ; **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF.
Acquisition_5X.dump=false
Acquisition_5X.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking
Tracking_5X.item_type=gr_complex Tracking_5X.item_type=gr_complex
Tracking_5X.if=0 Tracking_5X.if=0
Tracking_5X.dump=false
Tracking_5X.dump_filename=./tracking_ch_
Tracking_5X.pll_bw_hz_init=20.0; **Only for E5a** PLL loop filter bandwidth during initialization [Hz]
Tracking_5X.dll_bw_hz_init=20.0; **Only for E5a** DLL loop filter bandwidth during initialization [Hz]
Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms]
Tracking_5X.pll_bw_hz=20.0; Tracking_5X.pll_bw_hz=20.0;
Tracking_5X.dll_bw_hz=20.0; Tracking_5X.dll_bw_hz=20.0;
Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms]
Tracking_5X.pll_bw_narrow_hz=20.0;
Tracking_5X.dll_bw_narrow_hz=20.0;
Tracking_5X.order=2; Tracking_5X.order=2;
Tracking_5X.early_late_space_chips=0.5; Tracking_5X.early_late_space_chips=0.5;
Tracking_5X.dump=false
Tracking_5X.dump_filename=./tracking_ch_
;######### TELEMETRY DECODER CONFIG ############ ;######### TELEMETRY DECODER CONFIG ############
TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder
TelemetryDecoder_5X.dump=false TelemetryDecoder_5X.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=false Observables.dump=false

140
conf/gnss-sdr_Hybrid_byte.conf
View File

@ -11,32 +11,17 @@ GNSS-SDR.internal_fs_sps=20000000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/datalogger/signals/Fraunhofer/L125_III1b_210s_L1.bin ; <- PUT YOUR FILE HERE SignalSource.filename=/datalogger/signals/Fraunhofer/L125_III1b_210s_L1.bin ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples..
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte SignalSource.item_type=byte
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=20000000 SignalSource.sampling_frequency=20000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -51,14 +36,12 @@ SignalSource.enable_throttle_control=false
SignalConditioner.implementation=Signal_Conditioner SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############ ;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version. ;## Changes the type of input data.
;#implementation: [Pass_Through] disables this block ;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Ibyte_To_Complex DataTypeAdapter.implementation=Ibyte_To_Complex
;######### INPUT_FILTER CONFIG ############ ;######### INPUT_FILTER CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals ;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter ;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. ;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
@ -67,20 +50,15 @@ DataTypeAdapter.implementation=Ibyte_To_Complex
;InputFilter.implementation=Freq_Xlating_Fir_Filter ;InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.implementation=Pass_Through InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples..
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -126,32 +104,30 @@ InputFilter.grid_density=16
InputFilter.sampling_frequency=20000000 InputFilter.sampling_frequency=20000000
InputFilter.IF=0 InputFilter.IF=0
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
;## Resamples the input data. ;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler] ;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
;Resampler.implementation=Direct_Resampler ;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;#item_type: Type and resolution for each of the signal samples.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=20000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=20000000
;#dump: Dump the resamplered data to a file. ;#dump: Dump the resamplered data to a file.
Resampler.dump=false Resampler.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=20000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=20000000
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels. ;#count: Number of available GPS satellite channels.
@ -181,19 +157,13 @@ Channel15.signal=1B
;######### GPS ACQUISITION CONFIG ############ ;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1C.threshold=0.0060 Acquisition_1C.threshold=0.0060
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -202,22 +172,20 @@ Acquisition_1C.threshold=0.0060
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;######### GALILEO ACQUISITION CONFIG ############ ;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition_1B.threshold=0 ;Acquisition_1B.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -226,83 +194,69 @@ Acquisition_1B.pfa=0.0000008
Acquisition_1B.doppler_max=15000 Acquisition_1B.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=45.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=4.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_ Tracking_1C.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=45.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=4.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;######### TRACKING GALILEO CONFIG ############ ;######### TRACKING GALILEO CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0; Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0; Tracking_1B.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3; Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=4;
;######### TELEMETRY DECODER GALILEO CONFIG ############ ;######### TELEMETRY DECODER GALILEO CONFIG ############
;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -310,23 +264,17 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation: ;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100; PVT.output_rate_ms=100;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500; PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT PVT.dump_filename=./PVT

112
conf/gnss-sdr_Hybrid_byte_sim.conf
View File

@ -12,33 +12,22 @@ GNSS-SDR.internal_fs_sps=2600000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
;#SignalSource.filename=/home/javier/Descargas/rtlsdr_tcxo_l1/rtlsdr_tcxo_l1.bin ; <- PUT YOUR FILE HERE ;#SignalSource.filename=/home/javier/Descargas/rtlsdr_tcxo_l1/rtlsdr_tcxo_l1.bin ; <- PUT YOUR FILE HERE
SignalSource.filename=/Users/carlesfernandez/git/cttc/build/signal_out.bin ; <- PUT YOUR FILE HERE SignalSource.filename=/Users/carlesfernandez/git/cttc/build/signal_out.bin ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples.
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte SignalSource.item_type=byte
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=4000000 SignalSource.sampling_frequency=4000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file.
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -80,12 +69,13 @@ InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -136,10 +126,10 @@ InputFilter.IF=0
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
;## Resamples the input data. ;## Resamples the input data.
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
Resampler.item_type = gr_complex; Resampler.item_type = gr_complex;
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels. ;#count: Number of available GPS satellite channels.
Channels_1C.count=11 Channels_1C.count=11
@ -148,10 +138,6 @@ Channels_1B.count=0
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1 Channels.in_acquisition=1
;#IMPORTANT: When cshort is used as input type for Acq and Trk, please set the Channel type to cshort here
;#item_type: Type and resolution for each of the signal samples.
Channel.item_type=gr_complex
;#signal: ;#signal:
;#if the option is disabled by default is assigned "1C" GPS L1 C/A ;#if the option is disabled by default is assigned "1C" GPS L1 C/A
Channel1.signal=1C Channel1.signal=1C
@ -172,19 +158,14 @@ Channel15.signal=1B
;######### GPS ACQUISITION CONFIG ############ ;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#use_CFAR_algorithm: If enabled, acquisition estimates the input signal power to implement CFAR detection algorithms ;#use_CFAR_algorithm: If enabled, acquisition estimates the input signal power to implement CFAR detection algorithms
;#notice that this affects the Acquisition threshold range! ;#notice that this affects the Acquisition threshold range!
Acquisition_1C.use_CFAR_algorithm=false; Acquisition_1C.use_CFAR_algorithm=false;
@ -196,22 +177,20 @@ Acquisition_1C.threshold=15
Acquisition_1C.doppler_max=6000 Acquisition_1C.doppler_max=6000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1C.doppler_step=100 Acquisition_1C.doppler_step=100
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;######### GALILEO ACQUISITION CONFIG ############ ;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition_1B.threshold=0 ;Acquisition_1B.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -220,108 +199,85 @@ Acquisition_1B.pfa=0.0000008
Acquisition_1B.doppler_max=15000 Acquisition_1B.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=20.0; Tracking_1C.pll_bw_hz=20.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=1.5; Tracking_1C.dll_bw_hz=1.5;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3; Tracking_1C.order=3;
;######### TRACKING GALILEO CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking] ;######### TRACKING GALILEO CONFIG ############
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_ Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0; Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0; Tracking_1B.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3; Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### TELEMETRY DECODER GALILEO CONFIG ############ ;######### TELEMETRY DECODER GALILEO CONFIG ############
;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
TelemetryDecoder_1B.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100; PVT.output_rate_ms=100;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500; PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT PVT.dump_filename=./PVT

130
conf/gnss-sdr_Hybrid_gr_complex.conf
View File

@ -10,32 +10,18 @@
GNSS-SDR.internal_fs_sps=4092000 GNSS-SDR.internal_fs_sps=4092000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/datalogger/signals/sim/GPS_sim1.dat ; <- PUT YOUR FILE HERE SignalSource.filename=/datalogger/signals/sim/GPS_sim1.dat ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples.
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=4092000 SignalSource.sampling_frequency=4092000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -64,22 +50,15 @@ DataTypeAdapter.item_type=gr_complex
InputFilter.implementation=Pass_Through InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#reponse given a set of band edges, the desired reponse on those bands, ;#the desired response on those bands, and the weight given to the error in those bands.
;#and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -131,15 +110,21 @@ InputFilter.IF=5499998.47412109
;# Decimation factor after the frequency tranaslating block ;# Decimation factor after the frequency tranaslating block
InputFilter.decimation_factor=8 InputFilter.decimation_factor=8
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
;## Resamples the input data. ;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler] ;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels. ;#count: Number of available GPS satellite channels.
Channels_1C.count=1 Channels_1C.count=1
@ -174,19 +159,13 @@ Channel15.signal=1B
;######### GPS ACQUISITION CONFIG ############ ;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.use_CFAR_algorithm=false; Acquisition_1C.use_CFAR_algorithm=false;
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1C.threshold=30 Acquisition_1C.threshold=30
@ -196,22 +175,20 @@ Acquisition_1C.threshold=30
Acquisition_1C.doppler_max=5000 Acquisition_1C.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1C.doppler_step=100 Acquisition_1C.doppler_step=100
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;######### GALILEO ACQUISITION CONFIG ############ ;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition_1B.threshold=0 ;Acquisition_1B.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -220,98 +197,79 @@ Acquisition_1B.pfa=0.0000002
Acquisition_1B.doppler_max=15000 Acquisition_1B.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;# Extended correlation after telemetry bit synchronization ;# Extended correlation after telemetry bit synchronization
;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) ) ;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) )
;# Longer integration period require more stable front-end LO ;# Longer integration period require more stable front-end LO
Tracking_1C.extend_correlation_ms=10 Tracking_1C.extend_correlation_ms=10
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40; Tracking_1C.pll_bw_hz=40;
Tracking_1C.pll_bw_narrow_hz=25; Tracking_1C.pll_bw_narrow_hz=25;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.dll_bw_narrow_hz=2.0; Tracking_1C.dll_bw_narrow_hz=2.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz] ;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking_1C.fll_bw_hz=2.0; Tracking_1C.fll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3; Tracking_1C.order=3;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;######### TRACKING GALILEO CONFIG ############ ;######### TRACKING GALILEO CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0; Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0; Tracking_1B.dll_bw_hz=2.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz] ;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking_1B.fll_bw_hz=10.0; Tracking_1B.fll_bw_hz=10.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3; Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=4;
;######### TELEMETRY DECODER GALILEO CONFIG ############ ;######### TELEMETRY DECODER GALILEO CONFIG ############
;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -319,23 +277,17 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation: ;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=10; PVT.output_rate_ms=10;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500; PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT PVT.dump_filename=./PVT

138
conf/gnss-sdr_Hybrid_ishort.conf
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@ -26,32 +26,18 @@ GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
SignalSource.item_type=ishort SignalSource.item_type=ishort
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=4000000 SignalSource.sampling_frequency=4000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -82,20 +68,15 @@ DataTypeAdapter.implementation=Ishort_To_Complex
;InputFilter.implementation=Freq_Xlating_Fir_Filter ;InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.implementation=Pass_Through InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -142,31 +123,31 @@ InputFilter.grid_density=16
InputFilter.sampling_frequency=4000000 InputFilter.sampling_frequency=4000000
InputFilter.IF=0 InputFilter.IF=0
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
;## Resamples the input data. ;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler] ;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
;Resampler.implementation=Direct_Resampler ;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;#item_type: Type and resolution for each of the signal samples.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signalq
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;#dump: Dump the resamplered data to a file. ;#dump: Dump the resamplered data to a file.
Resampler.dump=false Resampler.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signalq
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels. ;#count: Number of available GPS satellite channels.
@ -191,21 +172,14 @@ Channel6.signal=1B
Channel7.signal=1B Channel7.signal=1B
;######### GPS ACQUISITION CONFIG ############ ;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel:
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1C.threshold=0.0075 Acquisition_1C.threshold=0.0075
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -214,22 +188,21 @@ Acquisition_1C.threshold=0.0075
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;######### GALILEO ACQUISITION CONFIG ############ ;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: ;#implementation: Acquisition algorithm selection for this channel:
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition_1B.threshold=0 ;Acquisition_1B.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -239,84 +212,69 @@ Acquisition_1B.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
Acquisition_1B.cboc=false; Acquisition_1B.cboc=false;
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=50.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=5.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_ Tracking_1C.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=50.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=5.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;######### TRACKING GALILEO CONFIG ############ ;######### TRACKING GALILEO CONFIG ############
;#implementation: Selected tracking algorithm:
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=20.0; Tracking_1B.pll_bw_hz=20.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0; Tracking_1B.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3; Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=4;
;######### TELEMETRY DECODER GALILEO CONFIG ############ ;######### TELEMETRY DECODER GALILEO CONFIG ############
;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false TelemetryDecoder_1B.dump=false
TelemetryDecoder_1B.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -324,20 +282,13 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation: ;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100; PVT.output_rate_ms=100;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500; PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
PVT.flag_rtcm_server=true PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
@ -346,6 +297,7 @@ PVT.rtcm_MT1045_rate_ms=5000 ; Period (in ms) of Galileo ephemeris messages. 0 m
PVT.rtcm_MT1045_rate_ms=5000 ; Period (in ms) of GPS ephemeris messages. 0 mutes this message PVT.rtcm_MT1045_rate_ms=5000 ; Period (in ms) of GPS ephemeris messages. 0 mutes this message
PVT.rtcm_MT1097_rate_ms=1000 ; Period (in ms) of Galileo observables. 0 mutes this message PVT.rtcm_MT1097_rate_ms=1000 ; Period (in ms) of Galileo observables. 0 mutes this message
PVT.rtcm_MT1077_rate_ms=1000 ; Period (in ms) of GPS observables. 0 mutes this message PVT.rtcm_MT1077_rate_ms=1000 ; Period (in ms) of GPS observables. 0 mutes this message
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT PVT.dump_filename=./PVT

134
conf/gnss-sdr_Hybrid_nsr.conf
View File

@ -13,33 +13,21 @@ GNSS-SDR.internal_fs_sps=2560000
;GNSS-SDR.internal_fs_sps=5120000 ;GNSS-SDR.internal_fs_sps=5120000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Nsr_File_Signal_Source SignalSource.implementation=Nsr_File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/media/javier/SISTEMA/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE SignalSource.filename=/media/javier/SISTEMA/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte SignalSource.item_type=byte
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=20480000 SignalSource.sampling_frequency=20480000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file.
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -68,22 +56,15 @@ DataTypeAdapter.item_type=float
InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#reponse given a set of band edges, the desired reponse on those bands, ;#the desired response on those bands, and the weight given to the error in those bands.
;#and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=float InputFilter.input_item_type=float
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -135,6 +116,12 @@ InputFilter.IF=5499998.47412109
;# Decimation factor after the frequency tranaslating block ;# Decimation factor after the frequency tranaslating block
InputFilter.decimation_factor=8 InputFilter.decimation_factor=8
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############ ;######### RESAMPLER CONFIG ############
;## Resamples the input data. ;## Resamples the input data.
@ -154,9 +141,11 @@ Channels.in_acquisition=1
;#signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;#if the option is disabled by default is assigned "1C" GPS L1 C/A ;#if the option is disabled by default is assigned "1C" GPS L1 C/A
Channel0.signal=1C Channel0.signal=1C
@ -178,19 +167,13 @@ Channel15.signal=1B
;######### GPS ACQUISITION CONFIG ############ ;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1C.threshold=0.0075 Acquisition_1C.threshold=0.0075
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -199,22 +182,21 @@ Acquisition_1C.threshold=0.0075
Acquisition_1C.doppler_max=5000 Acquisition_1C.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1C.doppler_step=250 Acquisition_1C.doppler_step=250
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;######### GALILEO ACQUISITION CONFIG ############ ;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition_1B.threshold=0 ;Acquisition_1B.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -223,118 +205,92 @@ Acquisition_1B.pfa=0.0000002
Acquisition_1B.doppler_max=15000 Acquisition_1B.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;# Extended correlation after telemetry bit synchronization ;# Extended correlation after telemetry bit synchronization
;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) ) ;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) )
;# Longer integration period require more stable front-end LO ;# Longer integration period require more stable front-end LO
Tracking_1C.extend_correlation_ms=1 Tracking_1C.extend_correlation_ms=1
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40; Tracking_1C.pll_bw_hz=40;
Tracking_1C.pll_bw_narrow_hz=20; Tracking_1C.pll_bw_narrow_hz=20;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.dll_bw_narrow_hz=1.0; Tracking_1C.dll_bw_narrow_hz=1.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3; Tracking_1C.order=3;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;######### TRACKING GALILEO CONFIG ############ ;######### TRACKING GALILEO CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0; Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0; Tracking_1B.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3; Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=4;
;######### TELEMETRY DECODER GALILEO CONFIG ############ ;######### TELEMETRY DECODER GALILEO CONFIG ############
;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false TelemetryDecoder_1B.dump=false
TelemetryDecoder_1B_factor=4;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm.
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=10; PVT.output_rate_ms=10;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500; PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT PVT.dump_filename=./PVT

120
conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf
View File

@ -11,34 +11,18 @@ GNSS-SDR.internal_fs_sps=20000000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
;SignalSource.filename=/home/javier/signals/L125_III1b_210s_L1_2msps.bin ; <- PUT YOUR FILE HERE SignalSource.filename=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s_L1.bin ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples.
SignalSource.filename=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s_L1.bin
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte SignalSource.item_type=byte
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=20000000 SignalSource.sampling_frequency=20000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -53,7 +37,7 @@ SignalSource.enable_throttle_control=false
SignalConditioner.implementation=Signal_Conditioner SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############ ;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version. ;## Changes the type of input data.
;#implementation: [Pass_Through] disables this block ;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Ibyte_To_Complex DataTypeAdapter.implementation=Ibyte_To_Complex
@ -68,7 +52,7 @@ InputFilter.implementation=Pass_Through
;#implementation: Use [Pass_Through] or [Direct_Resampler] ;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation ;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation
;Resampler.implementation=Direct_Resampler ;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
@ -101,19 +85,13 @@ Channel15.signal=1B
;######### GPS ACQUISITION CONFIG ############ ;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.use_CFAR_algorithm=false; Acquisition_1C.use_CFAR_algorithm=false;
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1C.threshold=18 Acquisition_1C.threshold=18
@ -121,22 +99,20 @@ Acquisition_1C.threshold=18
Acquisition_1C.doppler_max=5000 Acquisition_1C.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;######### GALILEO ACQUISITION CONFIG ############ ;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=../data/acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.acquire_pilot=true Acquisition_1B.acquire_pilot=true
Acquisition_1B.use_CFAR_algorithm=false Acquisition_1B.use_CFAR_algorithm=false
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
@ -146,100 +122,78 @@ Acquisition_1B.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
Acquisition_1B.bit_transition_flag=true Acquisition_1B.bit_transition_flag=true
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=../data/acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=30.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_ Tracking_1C.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=30.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;######### TRACKING GALILEO CONFIG ############ ;######### TRACKING GALILEO CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
Tracking_1B.track_pilot=true Tracking_1B.track_pilot=true
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=4.0; Tracking_1B.pll_bw_hz=4.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=0.5; Tracking_1B.dll_bw_hz=0.5;
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_narrow_hz=2.0; Tracking_1B.pll_bw_narrow_hz=2.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_narrow_hz=0.25; Tracking_1B.dll_bw_narrow_hz=0.25;
Tracking_1B.extend_correlation_symbols=4; Tracking_1B.extend_correlation_symbols=4;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3; Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_narrow_chips=0.06; Tracking_1B.early_late_space_narrow_chips=0.06;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_narrow_chips=0.25; Tracking_1B.very_early_late_space_narrow_chips=0.25;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=4;
;######### TELEMETRY DECODER GALILEO CONFIG ############ ;######### TELEMETRY DECODER GALILEO CONFIG ############
;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -247,23 +201,17 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation: ;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100; PVT.output_rate_ms=100;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500; PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT PVT.dump_filename=./PVT

129
conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf
View File

@ -7,46 +7,33 @@
;######### GLOBAL OPTIONS ################## ;######### GLOBAL OPTIONS ##################
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz]. ;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
GNSS-SDR.internal_fs_hz=5456000 GNSS-SDR.internal_fs_sps=5456000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Labsat_Signal_Source SignalSource.implementation=Labsat_Signal_Source
SignalSource.selected_channel=1 SignalSource.selected_channel=1
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
;# Labsat sile source automatically increments the file name when the signal is splitted in several files ;# Labsat sile source automatically increments the file name when the signal is split in several files
;# the adapter adds "_0000.LS3" to this base path and filename. Next file will be "_0001.LS3" and so on ;# the adapter adds "_0000.LS3" to this base path and filename. Next file will be "_0001.LS3" and so on
;# in this example, the first file complete path will be ../signals/GPS_025_0000.LS3 ;# in this example, the first file complete path will be ../signals/GPS_025_0000.LS3
SignalSource.filename=../signals/GPS_025 ; <- PUT YOUR FILE HERE SignalSource.filename=../signals/GPS_025 ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=16368000 SignalSource.sampling_frequency=16368000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0 SignalSource.samples=0
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;#dump: Dump the Signal source data to a file.
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############ ;######### SIGNAL_CONDITIONER CONFIG ############
;## It holds blocks to change data type, filter and resample input data. ;## It holds blocks to change data type, filter and resample input data.
@ -64,10 +51,9 @@ DataTypeAdapter.item_type=gr_complex
;######### INPUT_FILTER CONFIG ############ ;######### INPUT_FILTER CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals ;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] ;#implementation
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation ;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation
;# that shifts IF down to zero Hz. ;# that shifts IF down to zero Hz.
InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file. ;#dump: Dump the filtered data to a file.
@ -78,14 +64,13 @@ InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#reponse given a set of band edges, the desired reponse on those bands, ;#the desired response on those bands, and the weight given to the error in those bands.
;#and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter.input_item_type=gr_complex InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter.output_item_type=gr_complex InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -167,19 +152,13 @@ Channel15.signal=1B
;######### GPS ACQUISITION CONFIG ############ ;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.use_CFAR_algorithm=false; Acquisition_1C.use_CFAR_algorithm=false;
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1C.threshold=22 Acquisition_1C.threshold=22
@ -187,22 +166,19 @@ Acquisition_1C.threshold=22
Acquisition_1C.doppler_max=5000 Acquisition_1C.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1C.doppler_step=250 Acquisition_1C.doppler_step=250
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;######### GALILEO ACQUISITION CONFIG ############ ;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=../data/acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.acquire_pilot=true Acquisition_1B.acquire_pilot=true
Acquisition_1B.use_CFAR_algorithm=false Acquisition_1B.use_CFAR_algorithm=false
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
@ -212,79 +188,59 @@ Acquisition_1B.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
Acquisition_1B.bit_transition_flag=true Acquisition_1B.bit_transition_flag=true
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=../data/acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=true Tracking_1C.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_ Tracking_1C.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;######### TRACKING GALILEO CONFIG ############ ;######### TRACKING GALILEO CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
Tracking_1B.track_pilot=true Tracking_1B.track_pilot=true
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=7.5; Tracking_1B.pll_bw_hz=7.5;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=0.5; Tracking_1B.dll_bw_hz=0.5;
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_narrow_hz=2.5; Tracking_1B.pll_bw_narrow_hz=2.5;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_narrow_hz=0.25; Tracking_1B.dll_bw_narrow_hz=0.25;
Tracking_1B.extend_correlation_symbols=4; Tracking_1B.extend_correlation_symbols=4;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3; Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_narrow_chips=0.15; Tracking_1B.early_late_space_narrow_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_narrow_chips=0.30; Tracking_1B.very_early_late_space_narrow_chips=0.30;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
@ -297,13 +253,12 @@ TelemetryDecoder_1C.dump=false
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -311,23 +266,17 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation: ;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100; PVT.output_rate_ms=100;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500; PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT PVT.dump_filename=./PVT

83
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf
View File

@ -24,29 +24,22 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Flexiband_Signal_Source SignalSource.implementation=Flexiband_Signal_Source
SignalSource.flag_read_file=true SignalSource.flag_read_file=true
SignalSource.signal_file=/datalogger/signals/Fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE SignalSource.signal_file=/datalogger/signals/Fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;# FPGA firmware file ;# FPGA firmware file
SignalSource.firmware_file=flexiband_III-1b.bit SignalSource.firmware_file=flexiband_III-1b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=1 SignalSource.RF_channels=1
;#frontend channels gain. Not usable yet! ;#frontend channels gain. Not usable yet!
SignalSource.gain1=0 SignalSource.gain1=0
SignalSource.gain2=0 SignalSource.gain2=0
SignalSource.gain3=0 SignalSource.gain3=0
;#frontend channels AGC ;#frontend channels AGC
SignalSource.AGC=true SignalSource.AGC=true
;# USB 3.0 packet buffer size (number of SuperSpeed packets) ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
SignalSource.usb_packet_buffer=128 SignalSource.usb_packet_buffer=128
@ -76,13 +69,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=gr_complex InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -156,10 +149,10 @@ InputFilter1.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter1.dump_filename=../data/input_filter.dat InputFilter1.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=gr_complex InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;######### RESAMPLER CONFIG 1 ############ ;######### RESAMPLER CONFIG 1 ############
@ -183,10 +176,10 @@ InputFilter2.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter.dat InputFilter2.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter2.input_item_type=gr_complex InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter2.output_item_type=gr_complex InputFilter2.output_item_type=gr_complex
;######### RESAMPLER CONFIG 2 ############ ;######### RESAMPLER CONFIG 2 ############
@ -219,19 +212,13 @@ Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.use_CFAR_algorithm=false; Acquisition_1C.use_CFAR_algorithm=false;
;#threshold: Acquisition threshold. It will be ignored if pfa is defined. ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_1C.threshold=15 Acquisition_1C.threshold=15
@ -247,91 +234,71 @@ Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;######### ACQUISITION CHANNELS CONFIG ###### ;#filename: Log path and filename
;#The following options are specific to each channel and overwrite the generic options Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.extend_correlation_ms=10 Tracking_1C.extend_correlation_ms=10
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0; Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.pll_bw_narrow_hz=35; Tracking_1C.pll_bw_narrow_hz=35;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.dll_bw_narrow_hz=2.0; Tracking_1C.dll_bw_narrow_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3; Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5; Tracking_1C.early_late_space_chips=0.5;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=true PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

86
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf
View File

@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Flexiband_Signal_Source SignalSource.implementation=Flexiband_Signal_Source
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
@ -74,13 +74,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=gr_complex InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -153,10 +153,10 @@ InputFilter1.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter1.dump_filename=../data/input_filter.dat InputFilter1.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=gr_complex InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;######### RESAMPLER CONFIG 1 ############ ;######### RESAMPLER CONFIG 1 ############
@ -180,10 +180,10 @@ InputFilter2.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter.dat InputFilter2.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter2.input_item_type=gr_complex InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter2.output_item_type=gr_complex InputFilter2.output_item_type=gr_complex
;######### RESAMPLER CONFIG 2 ############ ;######### RESAMPLER CONFIG 2 ############
@ -197,12 +197,13 @@ Channels_1C.count=8
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1 Channels.in_acquisition=1
;#signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;# CHANNEL CONNECTION ;# CHANNEL CONNECTION
Channel0.RF_channel_ID=0 Channel0.RF_channel_ID=0
@ -231,19 +232,13 @@ Channel7.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined. ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_1C.threshold=0.012 Acquisition_1C.threshold=0.012
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -258,89 +253,66 @@ Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;######### ACQUISITION CHANNELS CONFIG ###### ;#filename: Log path and filename
;#The following options are specific to each channel and overwrite the generic options Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=3.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=./tracking_ch_ Tracking_1C.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=3.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=true PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

95
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf
View File

@ -25,26 +25,20 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Flexiband_Signal_Source SignalSource.implementation=Flexiband_Signal_Source
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;# FPGA firmware file ;# FPGA firmware file
SignalSource.firmware_file=flexiband_III-1b.bit SignalSource.firmware_file=flexiband_III-1b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=1 SignalSource.RF_channels=1
;#frontend channels gain. Not usable yet! ;#frontend channels gain. Not usable yet!
SignalSource.gain1=0 SignalSource.gain1=0
SignalSource.gain2=0 SignalSource.gain2=0
SignalSource.gain3=0 SignalSource.gain3=0
;#frontend channels AGC ;#frontend channels AGC
SignalSource.AGC=true SignalSource.AGC=true
;# USB 3.0 packet buffer size (number of SuperSpeed packets) ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
SignalSource.usb_packet_buffer=128 SignalSource.usb_packet_buffer=128
@ -74,13 +68,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=gr_complex InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -153,10 +147,10 @@ InputFilter1.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter1.dump_filename=../data/input_filter.dat InputFilter1.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=gr_complex InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;######### RESAMPLER CONFIG 1 ############ ;######### RESAMPLER CONFIG 1 ############
@ -180,10 +174,10 @@ InputFilter2.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter.dat InputFilter2.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter2.input_item_type=gr_complex InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter2.output_item_type=gr_complex InputFilter2.output_item_type=gr_complex
;######### RESAMPLER CONFIG 2 ############ ;######### RESAMPLER CONFIG 2 ############
@ -196,12 +190,13 @@ Channels_1C.count=8
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1 Channels.in_acquisition=1
;#signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;# CHANNEL CONNECTION ;# CHANNEL CONNECTION
Channel0.RF_channel_ID=0 Channel0.RF_channel_ID=0
@ -224,24 +219,15 @@ Channel5.signal=1C
Channel6.signal=1C Channel6.signal=1C
Channel7.signal=1C Channel7.signal=1C
;######### SPECIFIC CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined. ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_1C.threshold=0.012 Acquisition_1C.threshold=0.012
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -256,87 +242,66 @@ Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;######### ACQUISITION CHANNELS CONFIG ###### ;#filename: Log path and filename
;#The following options are specific to each channel and overwrite the generic options Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=3.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=./tracking_ch_ Tracking_1C.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=3.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=true PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

98
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf
View File

@ -25,26 +25,20 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Flexiband_Signal_Source SignalSource.implementation=Flexiband_Signal_Source
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;# FPGA firmware file ;# FPGA firmware file
SignalSource.firmware_file=flexiband_II-3b.bit SignalSource.firmware_file=flexiband_II-3b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=1 SignalSource.RF_channels=1
;#frontend channels gain. Not usable yet! ;#frontend channels gain. Not usable yet!
SignalSource.gain1=0 SignalSource.gain1=0
SignalSource.gain2=0 SignalSource.gain2=0
SignalSource.gain3=0 SignalSource.gain3=0
;#frontend channels AGC ;#frontend channels AGC
SignalSource.AGC=true SignalSource.AGC=true
;# USB 3.0 packet buffer size (number of SuperSpeed packets) ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
SignalSource.usb_packet_buffer=128 SignalSource.usb_packet_buffer=128
@ -74,16 +68,16 @@ InputFilter0.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=gr_complex InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter.
InputFilter0.taps_item_type=float InputFilter0.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time ;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
@ -123,8 +117,6 @@ InputFilter0.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation. ;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz ;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter0.sampling_frequency=40000000 InputFilter0.sampling_frequency=40000000
;# IF deviation due to front-end LO inaccuracies [HZ] ;# IF deviation due to front-end LO inaccuracies [HZ]
InputFilter0.IF=-205000 InputFilter0.IF=-205000
@ -153,10 +145,10 @@ InputFilter1.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter1.dump_filename=../data/input_filter.dat InputFilter1.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=gr_complex InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;######### RESAMPLER CONFIG 1 ############ ;######### RESAMPLER CONFIG 1 ############
@ -180,10 +172,10 @@ InputFilter2.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter.dat InputFilter2.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter2.input_item_type=gr_complex InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter2.output_item_type=gr_complex InputFilter2.output_item_type=gr_complex
;######### RESAMPLER CONFIG 2 ############ ;######### RESAMPLER CONFIG 2 ############
@ -197,11 +189,13 @@ Channels_1C.count=8
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1 Channels.in_acquisition=1
;# signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;# CHANNEL CONNECTION ;# CHANNEL CONNECTION
Channel0.RF_channel_ID=0 Channel0.RF_channel_ID=0
@ -225,24 +219,15 @@ Channel6.signal=1C
Channel7.signal=1C Channel7.signal=1C
;######### SPECIFIC CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined. ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_1C.threshold=0.012 Acquisition_1C.threshold=0.012
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -257,54 +242,43 @@ Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;######### ACQUISITION CHANNELS CONFIG ###### ;#filename: Log path and filename
;#The following options are specific to each channel and overwrite the generic options Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=3.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=./tracking_ch_ Tracking_1C.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=3.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -312,34 +286,24 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation: ;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=true PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

93
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf
View File

@ -25,26 +25,20 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Flexiband_Signal_Source SignalSource.implementation=Flexiband_Signal_Source
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;# FPGA firmware file ;# FPGA firmware file
SignalSource.firmware_file=flexiband_I-1b.bit SignalSource.firmware_file=flexiband_I-1b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=1 SignalSource.RF_channels=1
;#frontend channels gain. Not usable yet! ;#frontend channels gain. Not usable yet!
SignalSource.gain1=0 SignalSource.gain1=0
SignalSource.gain2=0 SignalSource.gain2=0
SignalSource.gain3=0 SignalSource.gain3=0
;#frontend channels AGC ;#frontend channels AGC
SignalSource.AGC=true SignalSource.AGC=true
;# USB 3.0 packet buffer size (number of SuperSpeed packets) ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
SignalSource.usb_packet_buffer=128 SignalSource.usb_packet_buffer=128
@ -74,13 +68,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=gr_complex InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -153,10 +147,10 @@ InputFilter1.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter1.dump_filename=../data/input_filter.dat InputFilter1.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=gr_complex InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;######### RESAMPLER CONFIG 1 ############ ;######### RESAMPLER CONFIG 1 ############
@ -180,10 +174,10 @@ InputFilter2.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter.dat InputFilter2.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter2.input_item_type=gr_complex InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter2.output_item_type=gr_complex InputFilter2.output_item_type=gr_complex
;######### RESAMPLER CONFIG 2 ############ ;######### RESAMPLER CONFIG 2 ############
@ -199,9 +193,11 @@ Channels.in_acquisition=1
;#signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;# CHANNEL CONNECTION ;# CHANNEL CONNECTION
Channel0.RF_channel_ID=0 Channel0.RF_channel_ID=0
@ -220,24 +216,15 @@ Channel1.signal=1C
Channel2.signal=1C Channel2.signal=1C
Channel3.signal=1C Channel3.signal=1C
;######### SPECIFIC CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined. ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_1C.threshold=0.011 Acquisition_1C.threshold=0.011
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -252,89 +239,65 @@ Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;######### ACQUISITION CHANNELS CONFIG ###### ;#filename: Log path and filename
;#The following options are specific to each channel and overwrite the generic options Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=3.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=./tracking_ch_ Tracking_1C.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=3.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=true PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
PVT.dump_filename=./PVT

93
conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf
View File

@ -25,26 +25,20 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Flexiband_Signal_Source SignalSource.implementation=Flexiband_Signal_Source
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;# FPGA firmware file ;# FPGA firmware file
SignalSource.firmware_file=flexiband_III-1b.bit SignalSource.firmware_file=flexiband_III-1b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=2 SignalSource.RF_channels=2
;#frontend channels gain. Not usable yet! ;#frontend channels gain. Not usable yet!
SignalSource.gain1=0 SignalSource.gain1=0
SignalSource.gain2=0 SignalSource.gain2=0
SignalSource.gain3=0 SignalSource.gain3=0
;#frontend channels AGC ;#frontend channels AGC
SignalSource.AGC=true SignalSource.AGC=true
;# USB 3.0 packet buffer size (number of SuperSpeed packets) ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
SignalSource.usb_packet_buffer=128 SignalSource.usb_packet_buffer=128
@ -78,13 +72,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=gr_complex InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -172,13 +166,13 @@ InputFilter1.dump_filename=../data/input_filter_ch1.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=gr_complex InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -254,10 +248,10 @@ InputFilter2.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter.dat InputFilter2.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter2.input_item_type=gr_complex InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter2.output_item_type=gr_complex InputFilter2.output_item_type=gr_complex
;######### RESAMPLER CONFIG 2 ############ ;######### RESAMPLER CONFIG 2 ############
@ -273,12 +267,13 @@ Channels_2S.count=8
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1 Channels.in_acquisition=1
;#signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;# CHANNEL CONNECTION ;# CHANNEL CONNECTION
@ -359,19 +354,13 @@ Channel15.signal=2S
;######### SPECIFIC CHANNELS CONFIG ###### ;######### SPECIFIC CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options ;#The following options are specific to each channel and overwrite the generic options
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined. ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_1C.threshold=0.008 Acquisition_1C.threshold=0.008
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -386,112 +375,92 @@ Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;######### ACQUISITION CHANNELS CONFIG ###### ;#filename: Log path and filename
;#The following options are specific to each channel and overwrite the generic options Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
Tracking_1C.if=0 Tracking_1C.if=0
Tracking_1C.dump=true
Tracking_1C.dump_filename=./tracking_ch_
Tracking_1C.pll_bw_hz=40.0; Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=3.0; Tracking_1C.dll_bw_hz=3.0;
Tracking_1C.order=3; Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5; Tracking_1C.early_late_space_chips=0.5;
Tracking_1C.dump=true
Tracking_1C.dump_filename=./tracking_ch_
;# GPS L2C M ;# GPS L2C M
Acquisition_2S.dump=false Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.dump_filename=./acq_dump.dat
Acquisition_2S.item_type=gr_complex Acquisition_2S.item_type=gr_complex
Acquisition_2S.if=0 Acquisition_2S.if=0
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.threshold=0.0005 Acquisition_2S.threshold=0.0005
;Acquisition_2S.pfa=0.001 ;Acquisition_2S.pfa=0.001
Acquisition_2S.doppler_max=5000 Acquisition_2S.doppler_max=5000
Acquisition_2S.doppler_min=-5000 Acquisition_2S.doppler_min=-5000
Acquisition_2S.doppler_step=30 Acquisition_2S.doppler_step=30
Acquisition_2S.max_dwells=1 Acquisition_2S.max_dwells=1
Acquisition_2S.dump=false
Acquisition_2S.dump_filename=./acq_dump.dat
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex Tracking_2S.item_type=gr_complex
Tracking_2S.if=0 Tracking_2S.if=0
Tracking_2S.dump=true
Tracking_2S.dump_filename=./tracking_ch_
Tracking_2S.pll_bw_hz=1.5; Tracking_2S.pll_bw_hz=1.5;
Tracking_2S.dll_bw_hz=0.3; Tracking_2S.dll_bw_hz=0.3;
Tracking_2S.order=3; Tracking_2S.order=3;
Tracking_2S.early_late_space_chips=0.5; Tracking_2S.early_late_space_chips=0.5;
Tracking_2S.dump=true
Tracking_2S.dump_filename=./tracking_ch_
;######### TELEMETRY DECODER GPS L1 CONFIG ############ ;######### TELEMETRY DECODER GPS L1 CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=20;
;######### TELEMETRY DECODER GPS L2 CONFIG ############ ;######### TELEMETRY DECODER GPS L2 CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L2 M ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L2 M
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_2S.dump=false TelemetryDecoder_2S.dump=false
TelemetryDecoder_2S.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#averaging_depth: Number of PVT observations in the moving average algorithm ;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=10 PVT.averaging_depth=10
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false] ;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=true PVT.flag_averaging=true
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

114
conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf
View File

@ -25,7 +25,7 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Flexiband_Signal_Source SignalSource.implementation=Flexiband_Signal_Source
SignalSource.flag_read_file=true SignalSource.flag_read_file=true
@ -81,13 +81,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=gr_complex InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -175,13 +175,13 @@ InputFilter1.dump_filename=../data/input_filter_ch1.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=gr_complex InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -257,10 +257,10 @@ InputFilter2.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter.dat InputFilter2.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter2.input_item_type=gr_complex InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter2.output_item_type=gr_complex InputFilter2.output_item_type=gr_complex
;######### RESAMPLER CONFIG 2 ############ ;######### RESAMPLER CONFIG 2 ############
@ -278,9 +278,11 @@ Channels.in_acquisition=1
;#signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;# CHANNEL CONNECTION ;# CHANNEL CONNECTION
@ -305,19 +307,13 @@ Channel15.RF_channel_ID=1
;######### SPECIFIC CHANNELS CONFIG ###### ;######### SPECIFIC CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options ;#The following options are specific to each channel and overwrite the generic options
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples..
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined. ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_1C.threshold=0.008 Acquisition_1C.threshold=0.008
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -332,16 +328,13 @@ Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;######### ACQUISITION CHANNELS CONFIG ###### ;#filename: Log path and filename
;#The following options are specific to each channel and overwrite the generic options Acquisition_1C.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
Tracking_1C.if=0 Tracking_1C.if=0
@ -353,44 +346,37 @@ Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5; Tracking_1C.early_late_space_chips=0.5;
;# GPS L2C M ;# GPS L2C M
Acquisition_2S.dump=false Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.dump_filename=./acq_dump.dat
Acquisition_2S.item_type=gr_complex Acquisition_2S.item_type=gr_complex
Acquisition_2S.if=0 Acquisition_2S.if=0
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.threshold=0.0005 Acquisition_2S.threshold=0.0005
;Acquisition_2S.pfa=0.001 ;Acquisition_2S.pfa=0.001
Acquisition_2S.doppler_max=5000 Acquisition_2S.doppler_max=5000
Acquisition_2S.doppler_min=-5000 Acquisition_2S.doppler_min=-5000
Acquisition_2S.doppler_step=30 Acquisition_2S.doppler_step=30
Acquisition_2S.max_dwells=1 Acquisition_2S.max_dwells=1
Acquisition_2S.dump=false
Acquisition_2S.dump_filename=./acq_dump.dat
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex Tracking_2S.item_type=gr_complex
Tracking_2S.if=0 Tracking_2S.if=0
Tracking_2S.dump=true
Tracking_2S.dump_filename=../data/epl_tracking_ch_
Tracking_2S.pll_bw_hz=1.5; Tracking_2S.pll_bw_hz=1.5;
Tracking_2S.dll_bw_hz=0.3; Tracking_2S.dll_bw_hz=0.3;
Tracking_2S.order=3; Tracking_2S.order=3;
Tracking_2S.early_late_space_chips=0.5; Tracking_2S.early_late_space_chips=0.5;
Tracking_2S.dump=true
Tracking_2S.dump_filename=../data/epl_tracking_ch_
;# GALILEO E1B ;# GALILEO E1B
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#item_type: Type and resolution for each of the signal samples.
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition_1B.threshold=0 ;Acquisition_1B.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -399,100 +385,80 @@ Acquisition_1B.pfa=0.0000005
Acquisition_1B.doppler_max=5000 Acquisition_1B.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=./veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0; Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0; Tracking_1B.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3; Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=./veml_tracking_ch_
;######### TELEMETRY DECODER GPS L1 CONFIG ############ ;######### TELEMETRY DECODER GPS L1 CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=20;
;######### TELEMETRY DECODER GPS L2 CONFIG ############ ;######### TELEMETRY DECODER GPS L2 CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L2 M ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L2 M
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_2S.dump=false TelemetryDecoder_2S.dump=false
TelemetryDecoder_2S.decimation_factor=1;
;######### TELEMETRY DECODER GALILEO E1B CONFIG ############ ;######### TELEMETRY DECODER GALILEO E1B CONFIG ############
;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false TelemetryDecoder_1B.dump=false
TelemetryDecoder_1B.decimation_factor=5;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=100 PVT.display_rate_ms=100
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

101
conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf
View File

@ -25,21 +25,16 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=UHD_Signal_Source SignalSource.implementation=UHD_Signal_Source
;#When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...) ;#When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...)
SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HERE SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HERE
;#item_type: Type and resolution for each of the signal samples.
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;#RF_channels: Number of RF channels present in the frontend device (i.e. USRP with two frontends) ;#RF_channels: Number of RF channels present in the frontend device (i.e. USRP with two frontends)
SignalSource.RF_channels=2 SignalSource.RF_channels=2
;#sampling_frequency: Original Signal sampling frequency in [Hz] ;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=4000000 SignalSource.sampling_frequency=4000000
;#subdevice: UHD subdevice specification (for USRP dual frontend use A:0 or B:0 or A:0 B:0) ;#subdevice: UHD subdevice specification (for USRP dual frontend use A:0 or B:0 or A:0 B:0)
SignalSource.subdevice=A:0 B:0 SignalSource.subdevice=A:0 B:0
@ -55,10 +50,6 @@ SignalSource.gain0=50
;#samples: Number of samples to be processed. Notice that 0 indicates no limit ;#samples: Number of samples to be processed. Notice that 0 indicates no limit
SignalSource.samples0=0 SignalSource.samples0=0
;#dump: Dump the Signal source RF channel data to a file. Disable this option in this version
SignalSource.dump0=false
SignalSource.dump_filename0=../data/signal_source0.dat
;## RF CHANNEL 1 ## ;## RF CHANNEL 1 ##
;#freq: RF front-end center frequency in [Hz] ;#freq: RF front-end center frequency in [Hz]
@ -70,11 +61,6 @@ SignalSource.gain1=50
;#samples: Number of samples to be processed. Notice that 0 indicates no limit ;#samples: Number of samples to be processed. Notice that 0 indicates no limit
SignalSource.samples1=0 SignalSource.samples1=0
;#dump: Dump the Signal source RF channel data to a file. Disable this option in this version
SignalSource.dump1=false
SignalSource.dump_filename1=../data/signal_source1.dat
;######### SIGNAL_CONDITIONER 0 CONFIG ############ ;######### SIGNAL_CONDITIONER 0 CONFIG ############
;## It holds blocks to change data type, filter and resample input data. ;## It holds blocks to change data type, filter and resample input data.
@ -107,14 +93,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#reponse given a set of band edges, the desired reponse on those bands, ;#the desired response on those bands, and the weight given to the error in those bands.
;#and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=gr_complex InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -199,14 +184,13 @@ InputFilter1.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#reponse given a set of band edges, the desired reponse on those bands, ;#the desired response on those bands, and the weight given to the error in those bands.
;#and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=gr_complex InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -276,9 +260,11 @@ Channels.in_acquisition=1
;#signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;# CHANNEL CONNECTION ;# CHANNEL CONNECTION
Channel0.RF_channel_ID=0 Channel0.RF_channel_ID=0
@ -299,19 +285,14 @@ Channel3.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false ;#item_type: Type and resolution for each of the signal samples.
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined. ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition_1C.threshold=0.01 Acquisition_1C.threshold=0.01
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -326,87 +307,65 @@ Acquisition_1C.doppler_step=500
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
Acquisition_1C.dump=false
;#filename: Log path and filename
;######### ACQUISITION CHANNELS CONFIG ###### Acquisition_1C.dump_filename=./acq_dump.dat
;#The following options are specific to each channel and overwrite the generic options
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=4.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=./tracking_ch_ Tracking_1C.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=40.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=4.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking_1C.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500 PVT.display_rate_ms=500
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=true PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

125
conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf
View File

@ -25,29 +25,22 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Flexiband_Signal_Source SignalSource.implementation=Flexiband_Signal_Source
SignalSource.flag_read_file=true SignalSource.flag_read_file=true
SignalSource.signal_file=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE SignalSource.signal_file=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;# FPGA firmware file ;# FPGA firmware file
SignalSource.firmware_file=flexiband_III-1b.bit SignalSource.firmware_file=flexiband_III-1b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=1 SignalSource.RF_channels=1
;#frontend channels gain. Not usable yet! ;#frontend channels gain. Not usable yet!
SignalSource.gain1=0 SignalSource.gain1=0
SignalSource.gain2=0 SignalSource.gain2=0
SignalSource.gain3=0 SignalSource.gain3=0
;#frontend channels AGC ;#frontend channels AGC
SignalSource.AGC=true SignalSource.AGC=true
;# USB 3.0 packet buffer size (number of SuperSpeed packets) ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
SignalSource.usb_packet_buffer=128 SignalSource.usb_packet_buffer=128
@ -81,13 +74,13 @@ InputFilter0.dump_filename=../data/input_filter_ch0.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=gr_complex InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -130,11 +123,7 @@ InputFilter0.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation. ;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz ;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter0.sampling_frequency=20000000 InputFilter0.sampling_frequency=20000000
;# IF deviation due to front-end LO inaccuracies [HZ]
;#InputFilter0.IF=-205000
InputFilter0.IF=0 InputFilter0.IF=0
;# Decimation factor after the frequency tranaslating block ;# Decimation factor after the frequency tranaslating block
@ -174,13 +163,13 @@ InputFilter1.dump_filename=../data/input_filter_ch1.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=gr_complex InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -222,9 +211,6 @@ InputFilter1.filter_type=bandpass
InputFilter1.grid_density=16 InputFilter1.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation. ;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter1.sampling_frequency=20000000 InputFilter1.sampling_frequency=20000000
;# IF deviation due to front-end LO inaccuracies [HZ] ;# IF deviation due to front-end LO inaccuracies [HZ]
InputFilter1.IF=0 InputFilter1.IF=0
@ -261,10 +247,10 @@ InputFilter2.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter_ch2.dat InputFilter2.dump_filename=../data/input_filter_ch2.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter2.input_item_type=gr_complex InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples..
InputFilter2.output_item_type=gr_complex InputFilter2.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -306,9 +292,6 @@ InputFilter2.filter_type=bandpass
InputFilter2.grid_density=16 InputFilter2.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation. ;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter2.sampling_frequency=40000000 InputFilter2.sampling_frequency=40000000
;# IF deviation due to front-end LO inaccuracies [HZ] ;# IF deviation due to front-end LO inaccuracies [HZ]
InputFilter2.IF=0 InputFilter2.IF=0
@ -334,11 +317,13 @@ Channels_5X.count=0
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1 Channels.in_acquisition=1
;# signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;# CHANNEL NUMBERING ORDER: GPS L1 C/A, GPS L2 L2C (M), GALILEO E1 B, GALILEO E5a ;# CHANNEL NUMBERING ORDER: GPS L1 C/A, GPS L2 L2C (M), GALILEO E1 B, GALILEO E5a
;# CHANNEL CONNECTION ;# CHANNEL CONNECTION
@ -388,31 +373,26 @@ Channel39.RF_channel_ID=2
;#The following options are specific to each channel and overwrite the generic options ;#The following options are specific to each channel and overwrite the generic options
;# GPS L1 CA ;# GPS L1 CA
Acquisition_1C.dump=false Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.threshold=0.005 Acquisition_1C.threshold=0.005
Acquisition_1C.doppler_max=5000 Acquisition_1C.doppler_max=5000
Acquisition_1C.doppler_step=250 Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;# Galileo E1 ;# Galileo E1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.dump=false ;#item_type: Type and resolution for each of the signal samples.
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition_1B.threshold=0 ;Acquisition_1B.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -421,29 +401,31 @@ Acquisition_1B.pfa=0.0000002
Acquisition_1B.doppler_max=5000 Acquisition_1B.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;# GPS L2C M ;# GPS L2C M
Acquisition_2S.dump=false Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.dump_filename=./acq_dump.dat
Acquisition_2S.item_type=gr_complex Acquisition_2S.item_type=gr_complex
Acquisition_2S.if=0 Acquisition_2S.if=0
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.threshold=0.00074 Acquisition_2S.threshold=0.00074
;Acquisition_2S.pfa=0.001 ;Acquisition_2S.pfa=0.001
Acquisition_2S.doppler_max=5000 Acquisition_2S.doppler_max=5000
Acquisition_2S.doppler_min=-5000 Acquisition_2S.doppler_min=-5000
Acquisition_2S.doppler_step=60 Acquisition_2S.doppler_step=60
Acquisition_2S.max_dwells=1 Acquisition_2S.max_dwells=1
Acquisition_2S.dump=false
Acquisition_2S.dump_filename=./acq_dump.dat
;# GALILEO E5a ;# GALILEO E5a
Acquisition_5X.dump=false Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
Acquisition_5X.dump_filename=./acq_dump.dat
Acquisition_5X.item_type=gr_complex Acquisition_5X.item_type=gr_complex
Acquisition_5X.if=0 Acquisition_5X.if=0
Acquisition_5X.coherent_integration_time_ms=1 Acquisition_5X.coherent_integration_time_ms=1
Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
Acquisition_5X.threshold=0.009 Acquisition_5X.threshold=0.009
Acquisition_5X.doppler_max=5000 Acquisition_5X.doppler_max=5000
Acquisition_5X.doppler_step=125 Acquisition_5X.doppler_step=125
@ -451,32 +433,29 @@ Acquisition_5X.bit_transition_flag=false
Acquisition_5X.max_dwells=1 Acquisition_5X.max_dwells=1
Acquisition_5X.CAF_window_hz=0 ; **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz Acquisition_5X.CAF_window_hz=0 ; **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
Acquisition_5X.Zero_padding=0 ; **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF. Acquisition_5X.Zero_padding=0 ; **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF.
Acquisition_5X.dump=false
Acquisition_5X.dump_filename=./acq_dump.dat
;######### TRACKING CONFIG ############ ;######### TRACKING CONFIG ############
;######### GPS L1 C/A GENERIC TRACKING CONFIG ############ ;######### GPS L1 C/A GENERIC TRACKING CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
Tracking_1C.if=0 Tracking_1C.if=0
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=40.0; Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=3.0; Tracking_1C.dll_bw_hz=3.0;
Tracking_1C.order=3; Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5; Tracking_1C.early_late_space_chips=0.5;
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;######### GALILEO E1 TRK CONFIG ############ ;######### GALILEO E1 TRK CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0; Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
@ -487,24 +466,28 @@ Tracking_1B.order=3;
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### GPS L2C GENERIC TRACKING CONFIG ############ ;######### GPS L2C GENERIC TRACKING CONFIG ############
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex Tracking_2S.item_type=gr_complex
Tracking_2S.if=0 Tracking_2S.if=0
Tracking_2S.dump=false
Tracking_2S.dump_filename=./tracking_ch_
Tracking_2S.pll_bw_hz=2.0; Tracking_2S.pll_bw_hz=2.0;
Tracking_2S.dll_bw_hz=0.25; Tracking_2S.dll_bw_hz=0.25;
Tracking_2S.order=2; Tracking_2S.order=2;
Tracking_2S.early_late_space_chips=0.5; Tracking_2S.early_late_space_chips=0.5;
Tracking_2S.dump=false
Tracking_2S.dump_filename=./tracking_ch_
;######### GALILEO E5 TRK CONFIG ############ ;######### GALILEO E5 TRK CONFIG ############
Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking
Tracking_5X.item_type=gr_complex Tracking_5X.item_type=gr_complex
Tracking_5X.if=0 Tracking_5X.if=0
Tracking_5X.dump=false
Tracking_5X.dump_filename=./tracking_ch_
Tracking_5X.pll_bw_hz_init=20.0; **Only for E5a** PLL loop filter bandwidth during initialization [Hz] Tracking_5X.pll_bw_hz_init=20.0; **Only for E5a** PLL loop filter bandwidth during initialization [Hz]
Tracking_5X.dll_bw_hz_init=20.0; **Only for E5a** DLL loop filter bandwidth during initialization [Hz] Tracking_5X.dll_bw_hz_init=20.0; **Only for E5a** DLL loop filter bandwidth during initialization [Hz]
Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms] Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms]
@ -512,6 +495,9 @@ Tracking_5X.pll_bw_hz=20.0;
Tracking_5X.dll_bw_hz=20.0; Tracking_5X.dll_bw_hz=20.0;
Tracking_5X.order=2; Tracking_5X.order=2;
Tracking_5X.early_late_space_chips=0.5; Tracking_5X.early_late_space_chips=0.5;
Tracking_5X.dump=false
Tracking_5X.dump_filename=./tracking_ch_
;######### TELEMETRY DECODER CONFIG ############ ;######### TELEMETRY DECODER CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
@ -526,8 +512,8 @@ TelemetryDecoder_2S.dump=false
TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder
TelemetryDecoder_5X.dump=false TelemetryDecoder_5X.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
@ -536,36 +522,25 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=100 PVT.display_rate_ms=100
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

79
conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf
View File

@ -25,29 +25,22 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Flexiband_Signal_Source SignalSource.implementation=Flexiband_Signal_Source
SignalSource.flag_read_file=true SignalSource.flag_read_file=true
SignalSource.signal_file=/home/javier/signals/20140923_20-24-17_L125_roof_210s.usb ; <- PUT YOUR FILE HERE SignalSource.signal_file=/home/javier/signals/20140923_20-24-17_L125_roof_210s.usb ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;# FPGA firmware file ;# FPGA firmware file
SignalSource.firmware_file=flexiband_III-1b.bit SignalSource.firmware_file=flexiband_III-1b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=2 SignalSource.RF_channels=2
;#frontend channels gain. Not usable yet! ;#frontend channels gain. Not usable yet!
SignalSource.gain1=0 SignalSource.gain1=0
SignalSource.gain2=0 SignalSource.gain2=0
SignalSource.gain3=0 SignalSource.gain3=0
;#frontend channels AGC ;#frontend channels AGC
SignalSource.AGC=true SignalSource.AGC=true
;# USB 3.0 packet buffer size (number of SuperSpeed packets) ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
SignalSource.usb_packet_buffer=128 SignalSource.usb_packet_buffer=128
@ -81,13 +74,13 @@ InputFilter0.dump_filename=../data/input_filter_ch0.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=gr_complex InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -173,13 +166,13 @@ InputFilter1.dump_filename=../data/input_filter_ch1.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=gr_complex InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -253,10 +246,10 @@ InputFilter2.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter.dat InputFilter2.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter2.input_item_type=gr_complex InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter2.output_item_type=gr_complex InputFilter2.output_item_type=gr_complex
;######### RESAMPLER CONFIG 2 ############ ;######### RESAMPLER CONFIG 2 ############
@ -274,11 +267,13 @@ Channels_2S.count=4
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1 Channels.in_acquisition=1
;# signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;# CHANNEL NUMBERING ORDER: GPS L1 C/A, GPS L2 L2C (M), GALILEO E1 B, GALILEO E5a ;# CHANNEL NUMBERING ORDER: GPS L1 C/A, GPS L2 L2C (M), GALILEO E1 B, GALILEO E5a
;# CHANNEL CONNECTION ;# CHANNEL CONNECTION
@ -304,108 +299,92 @@ Channel18.RF_channel_ID=1
Channel19.RF_channel_ID=1 Channel19.RF_channel_ID=1
;######### ACQUISITION GENERIC CONFIG ###### Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#The following options are specific to each channel and overwrite the generic options
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.threshold=0.005 Acquisition_1C.threshold=0.005
Acquisition_1C.doppler_max=5000 Acquisition_1C.doppler_max=5000
Acquisition_1C.doppler_step=250 Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;# GPS L2C M ;# GPS L2C M
Acquisition_2S.dump=false Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.dump_filename=./acq_dump.dat
Acquisition_2S.item_type=gr_complex Acquisition_2S.item_type=gr_complex
Acquisition_2S.if=0 Acquisition_2S.if=0
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.threshold=0.00074 Acquisition_2S.threshold=0.00074
;Acquisition_2S.pfa=0.001 ;Acquisition_2S.pfa=0.001
Acquisition_2S.doppler_max=5000 Acquisition_2S.doppler_max=5000
Acquisition_2S.doppler_min=-5000 Acquisition_2S.doppler_min=-5000
Acquisition_2S.doppler_step=60 Acquisition_2S.doppler_step=60
Acquisition_2S.max_dwells=1 Acquisition_2S.max_dwells=1
Acquisition_2S.dump=false
Acquisition_2S.dump_filename=./acq_dump.dat
;######### TRACKING CONFIG ############ ;######### TRACKING CONFIG ############
;######### GPS L1 C/A GENERIC TRACKING CONFIG ############ ;######### GPS L1 C/A GENERIC TRACKING CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
Tracking_1C.if=0 Tracking_1C.if=0
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=40.0; Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=3.0; Tracking_1C.dll_bw_hz=3.0;
Tracking_1C.order=3; Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5; Tracking_1C.early_late_space_chips=0.5;
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;######### GPS L2C GENERIC TRACKING CONFIG ############ ;######### GPS L2C GENERIC TRACKING CONFIG ############
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex Tracking_2S.item_type=gr_complex
Tracking_2S.if=0 Tracking_2S.if=0
Tracking_2S.dump=false
Tracking_2S.dump_filename=./tracking_ch_
Tracking_2S.pll_bw_hz=2.0; Tracking_2S.pll_bw_hz=2.0;
Tracking_2S.dll_bw_hz=0.25; Tracking_2S.dll_bw_hz=0.25;
Tracking_2S.order=2; Tracking_2S.order=2;
Tracking_2S.early_late_space_chips=0.5; Tracking_2S.early_late_space_chips=0.5;
Tracking_2S.dump=false
Tracking_2S.dump_filename=./tracking_ch_
;######### TELEMETRY DECODER CONFIG ############ ;######### TELEMETRY DECODER CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=20;
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_2S.dump=false TelemetryDecoder_2S.dump=false
TelemetryDecoder_2S.decimation_factor=1;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=true Observables.dump=true
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100 PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=100 PVT.display_rate_ms=100
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

116
conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf
View File

@ -25,29 +25,22 @@ GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0 GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource.implementation=Flexiband_Signal_Source SignalSource.implementation=Flexiband_Signal_Source
SignalSource.flag_read_file=true SignalSource.flag_read_file=true
SignalSource.signal_file=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE SignalSource.signal_file=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex SignalSource.item_type=gr_complex
;# FPGA firmware file ;# FPGA firmware file
SignalSource.firmware_file=flexiband_III-1b.bit SignalSource.firmware_file=flexiband_III-1b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file ;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=3 SignalSource.RF_channels=3
;#frontend channels gain. Not usable yet! ;#frontend channels gain. Not usable yet!
SignalSource.gain1=0 SignalSource.gain1=0
SignalSource.gain2=0 SignalSource.gain2=0
SignalSource.gain3=0 SignalSource.gain3=0
;#frontend channels AGC ;#frontend channels AGC
SignalSource.AGC=true SignalSource.AGC=true
;# USB 3.0 packet buffer size (number of SuperSpeed packets) ;# USB 3.0 packet buffer size (number of SuperSpeed packets)
SignalSource.usb_packet_buffer=128 SignalSource.usb_packet_buffer=128
@ -81,13 +74,13 @@ InputFilter0.dump_filename=../data/input_filter_ch0.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse reaponse given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired reaponse on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=gr_complex InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -174,16 +167,16 @@ InputFilter1.dump_filename=../data/input_filter_ch1.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired reponse on those bands, and the weight given to the error in those bands. ;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=gr_complex InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter.
InputFilter1.taps_item_type=float InputFilter1.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time ;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
@ -261,10 +254,10 @@ InputFilter2.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter_ch2.dat InputFilter2.dump_filename=../data/input_filter_ch2.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter2.input_item_type=gr_complex InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter2.output_item_type=gr_complex InputFilter2.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -334,12 +327,13 @@ Channels_5X.count=10
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1 Channels.in_acquisition=1
;# signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# CHANNEL NUMBERING ORDER: GPS L1 C/A, GPS L2 L2C (M), GALILEO E1 B, GALILEO E5a ;# "L5" GPS L5
;# CHANNEL CONNECTION ;# CHANNEL CONNECTION
@ -388,31 +382,27 @@ Channel39.RF_channel_ID=2
;#The following options are specific to each channel and overwrite the generic options ;#The following options are specific to each channel and overwrite the generic options
;# GPS L1 CA ;# GPS L1 CA
Acquisition_1C.dump=false Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 Acquisition_1C.if=0
Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.threshold=0.005 Acquisition_1C.threshold=0.005
Acquisition_1C.doppler_max=5000 Acquisition_1C.doppler_max=5000
Acquisition_1C.doppler_step=250 Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false Acquisition_1C.bit_transition_flag=false
Acquisition_1C.max_dwells=1 Acquisition_1C.max_dwells=1
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;# Galileo E1 ;# Galileo E1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.dump=false ;#item_type: Type and resolution for each of the signal samples.
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition_1B.threshold=0 ;Acquisition_1B.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -421,29 +411,31 @@ Acquisition_1B.pfa=0.0000002
Acquisition_1B.doppler_max=5000 Acquisition_1B.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;# GPS L2C M ;# GPS L2C M
Acquisition_2S.dump=false Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.dump_filename=./acq_dump.dat
Acquisition_2S.item_type=gr_complex Acquisition_2S.item_type=gr_complex
Acquisition_2S.if=0 Acquisition_2S.if=0
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.threshold=0.00074 Acquisition_2S.threshold=0.00074
;Acquisition_2S.pfa=0.001 ;Acquisition_2S.pfa=0.001
Acquisition_2S.doppler_max=5000 Acquisition_2S.doppler_max=5000
Acquisition_2S.doppler_min=-5000 Acquisition_2S.doppler_min=-5000
Acquisition_2S.doppler_step=60 Acquisition_2S.doppler_step=60
Acquisition_2S.max_dwells=1 Acquisition_2S.max_dwells=1
Acquisition_2S.dump=false
Acquisition_2S.dump_filename=./acq_dump.dat
;# GALILEO E5a ;# GALILEO E5a
Acquisition_5X.dump=false Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
Acquisition_5X.dump_filename=./acq_dump.dat
Acquisition_5X.item_type=gr_complex Acquisition_5X.item_type=gr_complex
Acquisition_5X.if=0 Acquisition_5X.if=0
Acquisition_5X.coherent_integration_time_ms=1 Acquisition_5X.coherent_integration_time_ms=1
Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
Acquisition_5X.threshold=0.009 Acquisition_5X.threshold=0.009
Acquisition_5X.doppler_max=5000 Acquisition_5X.doppler_max=5000
Acquisition_5X.doppler_step=125 Acquisition_5X.doppler_step=125
@ -451,32 +443,28 @@ Acquisition_5X.bit_transition_flag=false
Acquisition_5X.max_dwells=1 Acquisition_5X.max_dwells=1
Acquisition_5X.CAF_window_hz=0 ; **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz Acquisition_5X.CAF_window_hz=0 ; **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
Acquisition_5X.Zero_padding=0 ; **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF. Acquisition_5X.Zero_padding=0 ; **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF.
Acquisition_5X.dump=false
Acquisition_5X.dump_filename=./acq_dump.dat
;######### TRACKING CONFIG ############ ;######### TRACKING CONFIG ############
;######### GPS L1 C/A GENERIC TRACKING CONFIG ############ ;######### GPS L1 C/A GENERIC TRACKING CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
Tracking_1C.if=0 Tracking_1C.if=0
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=35.0; Tracking_1C.pll_bw_hz=35.0;
Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3; Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5; Tracking_1C.early_late_space_chips=0.5;
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;######### GALILEO E1 TRK CONFIG ############ ;######### GALILEO E1 TRK CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0; Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
@ -487,24 +475,28 @@ Tracking_1B.order=3;
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### GPS L2C GENERIC TRACKING CONFIG ############ ;######### GPS L2C GENERIC TRACKING CONFIG ############
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex Tracking_2S.item_type=gr_complex
Tracking_2S.if=0 Tracking_2S.if=0
Tracking_2S.dump=false
Tracking_2S.dump_filename=./tracking_ch_
Tracking_2S.pll_bw_hz=2.0; Tracking_2S.pll_bw_hz=2.0;
Tracking_2S.dll_bw_hz=0.25; Tracking_2S.dll_bw_hz=0.25;
Tracking_2S.order=2; Tracking_2S.order=2;
Tracking_2S.early_late_space_chips=0.5; Tracking_2S.early_late_space_chips=0.5;
Tracking_2S.dump=false
Tracking_2S.dump_filename=./tracking_ch_
;######### GALILEO E5 TRK CONFIG ############ ;######### GALILEO E5 TRK CONFIG ############
Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking
Tracking_5X.item_type=gr_complex Tracking_5X.item_type=gr_complex
Tracking_5X.if=0 Tracking_5X.if=0
Tracking_5X.dump=false
Tracking_5X.dump_filename=./tracking_ch_
Tracking_5X.pll_bw_hz_init=20.0; **Only for E5a** PLL loop filter bandwidth during initialization [Hz] Tracking_5X.pll_bw_hz_init=20.0; **Only for E5a** PLL loop filter bandwidth during initialization [Hz]
Tracking_5X.dll_bw_hz_init=20.0; **Only for E5a** DLL loop filter bandwidth during initialization [Hz] Tracking_5X.dll_bw_hz_init=20.0; **Only for E5a** DLL loop filter bandwidth during initialization [Hz]
Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms] Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms]
@ -512,6 +504,9 @@ Tracking_5X.pll_bw_hz=20.0;
Tracking_5X.dll_bw_hz=20.0; Tracking_5X.dll_bw_hz=20.0;
Tracking_5X.order=2; Tracking_5X.order=2;
Tracking_5X.early_late_space_chips=0.5; Tracking_5X.early_late_space_chips=0.5;
Tracking_5X.dump=false
Tracking_5X.dump_filename=./tracking_ch_
;######### TELEMETRY DECODER CONFIG ############ ;######### TELEMETRY DECODER CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
@ -526,6 +521,7 @@ TelemetryDecoder_2S.dump=false
TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder
TelemetryDecoder_5X.dump=false TelemetryDecoder_5X.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
@ -538,34 +534,24 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation: ;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=10 PVT.output_rate_ms=10
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=100 PVT.display_rate_ms=100
;# KML, GeoJSON, NMEA and RTCM output configuration ;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename ;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false; PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging ;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4 PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT

134
conf/gnss-sdr_multisource_Hybrid_ishort.conf
View File

@ -14,61 +14,35 @@ Receiver.sources_count=2
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;######### SIGNAL_SOURCE 0 CONFIG ############ ;######### SIGNAL_SOURCE 0 CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource0.implementation=File_Signal_Source SignalSource0.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource0.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE SignalSource0.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
SignalSource0.item_type=ishort SignalSource0.item_type=ishort
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource0.sampling_frequency=4000000 SignalSource0.sampling_frequency=4000000
;#freq: RF front-end center frequency in [Hz]
SignalSource0.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource0.samples=0 SignalSource0.samples=0
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource0.dump=false
SignalSource0.dump_filename=../data/signal_source.dat
;######### SIGNAL_SOURCE 1 CONFIG ############ ;######### SIGNAL_SOURCE 1 CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource1.implementation=File_Signal_Source SignalSource1.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource1.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE SignalSource1.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
SignalSource1.item_type=ishort SignalSource1.item_type=ishort
;#sampling_frequency: Original Signal sampling frequency in [Hz] ;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource1.sampling_frequency=4000000 SignalSource1.sampling_frequency=4000000
;#freq: RF front-end center frequency in [Hz] ;#freq: RF front-end center frequency in [Hz]
SignalSource1.freq=1575420000 SignalSource1.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource1.samples=0 SignalSource1.samples=0
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource1.dump=false
SignalSource1.dump_filename=../data/signal_source.dat
;######### SIGNAL_CONDITIONER 0 CONFIG ############ ;######### SIGNAL_CONDITIONER 0 CONFIG ############
;## It holds blocks to change data type, filter and resample input data. ;## It holds blocks to change data type, filter and resample input data.
@ -101,12 +75,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of GNU Radio's function: gr_remez. ;#These options are based on parameters of GNU Radio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, the desired response on those bands, and the weight given to the error in those bands. ;;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=gr_complex InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -167,7 +142,7 @@ Resampler1.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Resampler1.dump_filename=../data/resampler.dat Resampler1.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples.
Resampler1.item_type=gr_complex Resampler1.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal ;#sample_freq_in: the sample frequency of the input signal
@ -185,7 +160,7 @@ Resampler1.sample_freq_out=4000000
SignalConditioner1.implementation=Signal_Conditioner SignalConditioner1.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER 1 CONFIG ############ ;######### DATA_TYPE_ADAPTER 1 CONFIG ############
;## Changes the type of input data. Please disable it in this version. ;## Changes the type of input data.
;#implementation: [Pass_Through] disables this block ;#implementation: [Pass_Through] disables this block
DataTypeAdapter1.implementation=Ishort_To_Complex DataTypeAdapter1.implementation=Ishort_To_Complex
@ -207,12 +182,13 @@ InputFilter1.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of GNU Radio's function: gr_remez. ;#These options are based on parameters of GNU Radio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, the desired response on those bands, and the weight given to the error in those bands. ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=gr_complex InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -273,7 +249,7 @@ Resampler1.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Resampler1.dump_filename=../data/resampler.dat Resampler1.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples.
Resampler1.item_type=gr_complex Resampler1.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal ;#sample_freq_in: the sample frequency of the input signal
@ -303,19 +279,13 @@ Channel.signal=1B
;######### GPS ACQUISITION CONFIG ############ ;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1C.threshold=0.0075 Acquisition_1C.threshold=0.0075
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -324,22 +294,20 @@ Acquisition_1C.threshold=0.0075
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;######### GALILEO ACQUISITION CONFIG ############ ;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition_1B.threshold=0 ;Acquisition_1B.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -348,70 +316,57 @@ Acquisition_1B.pfa=0.0000008
Acquisition_1B.doppler_max=15000 Acquisition_1B.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=45.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=4.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_ Tracking_1C.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=45.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=4.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;######### TRACKING GALILEO CONFIG ############ ;######### TRACKING GALILEO CONFIG ############
;#implementation: Selected tracking algorithm: [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0; Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0; Tracking_1B.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3; Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=4;
;######### TELEMETRY DECODER GALILEO CONFIG ############ ;######### TELEMETRY DECODER GALILEO CONFIG ############
;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
@ -422,10 +377,8 @@ TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: ;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
@ -433,19 +386,14 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation: ;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100; PVT.output_rate_ms=100;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500; PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT PVT.dump_filename=./PVT
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false

146
conf/gnss-sdr_multisource_Hybrid_nsr.conf
View File

@ -17,65 +17,35 @@ GNSS-SDR.internal_fs_sps=2560000
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. ;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer. ; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
;#repeat: Repeat the processing file.
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false SignalSource.repeat=false
;######### SIGNAL_SOURCE 0 CONFIG ############ ;######### SIGNAL_SOURCE 0 CONFIG ############
;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation
SignalSource0.implementation=Nsr_File_Signal_Source SignalSource0.implementation=Nsr_File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource0.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE SignalSource0.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource0.item_type=byte SignalSource0.item_type=byte
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource0.sampling_frequency=20480000 SignalSource0.sampling_frequency=20480000
;#freq: RF front-end center frequency in [Hz]
SignalSource0.freq=1575420000
;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
SignalSource0.subdevice=B:0
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource0.samples=0 SignalSource0.samples=0
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource0.dump=false
SignalSource0.dump_filename=../data/signal_source.dat
;######### SIGNAL_SOURCE 1 CONFIG ############ ;######### SIGNAL_SOURCE 1 CONFIG ############
;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) ;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource1.implementation=Nsr_File_Signal_Source SignalSource1.implementation=Nsr_File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource1.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream SignalSource1.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource1.item_type=byte SignalSource1.item_type=byte
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource1.sampling_frequency=20480000 SignalSource1.sampling_frequency=20480000
;#freq: RF front-end center frequency in [Hz]
SignalSource1.freq=1575420000
;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
SignalSource1.subdevice=B:0
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. ;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource1.samples=0 SignalSource1.samples=0
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource1.dump=false
SignalSource1.dump_filename=../data/signal_source.dat
;######### SIGNAL_CONDITIONER 0 CONFIG ############ ;######### SIGNAL_CONDITIONER 0 CONFIG ############
;## It holds blocks to change data type, filter and resample input data. ;## It holds blocks to change data type, filter and resample input data.
@ -108,14 +78,13 @@ InputFilter0.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#reponse given a set of band edges, the desired reponse on those bands, ;#the desired response on those bands, and the weight given to the error in those bands.
;#and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter0.input_item_type=float InputFilter0.input_item_type=float
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter0.output_item_type=gr_complex InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -206,14 +175,13 @@ InputFilter1.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. ;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez. ;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse ;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#reponse given a set of band edges, the desired reponse on those bands, ;#the desired response on those bands, and the weight given to the error in those bands.
;#and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. ;#input_item_type: Type and resolution for input signal samples.
InputFilter1.input_item_type=float InputFilter1.input_item_type=float
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. ;#outut_item_type: Type and resolution for output filtered signal samples.
InputFilter1.output_item_type=gr_complex InputFilter1.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. ;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
@ -284,9 +252,11 @@ Channels.in_acquisition=1
;#signal: ;#signal:
;# "1C" GPS L1 C/A ;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q ;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;# SOURCE CONNECTION ;# SOURCE CONNECTION
Channel0.RF_channel_ID=0 Channel0.RF_channel_ID=0
@ -328,19 +298,13 @@ Channel15.signal=1B
;######### GPS ACQUISITION CONFIG ############ ;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0 Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 Acquisition_1C.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_1C.threshold=0.0075 Acquisition_1C.threshold=0.0075
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -349,22 +313,20 @@ Acquisition_1C.threshold=0.0075
Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_max=10000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1C.doppler_step=500 Acquisition_1C.doppler_step=500
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;######### GALILEO ACQUISITION CONFIG ############ ;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#dump: Enable or disable the acquisition internal data file logging [true] or [false] ;#item_type: Type and resolution for each of the signal samples.
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0 Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4 Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition_1B.threshold=0 ;Acquisition_1B.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -373,105 +335,81 @@ Acquisition_1B.pfa=0.0000002
Acquisition_1B.doppler_max=15000 Acquisition_1B.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############ ;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1C.item_type=gr_complex Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0 Tracking_1C.if=0
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=45.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1C.dump=false Tracking_1C.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_ Tracking_1C.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=45.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
;######### TRACKING GALILEO CONFIG ############ ;######### TRACKING GALILEO CONFIG ############
;#implementation: Selected tracking algorithm: [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=gr_complex Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0 Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0; Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0; Tracking_1B.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3; Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.early_late_space_chips=0.15; Tracking_1B.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.very_early_late_space_chips=0.6;
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### TELEMETRY DECODER GALILEO CONFIG ############ ;######### TELEMETRY DECODER GALILEO CONFIG ############
;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B ;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
TelemetryDecoder_1B.decimation_factor=4;
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] ;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false Observables.dump=false
;#dump_filename: Log path and filename. ;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=10; PVT.output_rate_ms=10;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500; PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
PVT.flag_rtcm_server=false PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT PVT.dump_filename=./PVT
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false

5
docs/PULL_REQUEST_TEMPLATE.md
View File

@ -5,7 +5,8 @@ Before submitting your pull request, please make sure the following is done:
2. If you are a first-time contributor, after your pull request you will be asked to sign an Individual Contributor License Agreement ([CLA](https://en.wikipedia.org/wiki/Contributor_License_Agreement)) before your code gets accepted into `master`. This license is for your protection as a Contributor as well as for the protection of [CTTC](http://www.cttc.es/); it does not change your rights to use your own contributions for any other purpose. Except for the license granted therein to CTTC and recipients of software distributed by CTTC, you reserve all right, title, and interest in and to your contributions. The information you provide in that CLA will be maintained in accordance with [CTTC's privacy policy](http://www.cttc.es/privacy/). 2. If you are a first-time contributor, after your pull request you will be asked to sign an Individual Contributor License Agreement ([CLA](https://en.wikipedia.org/wiki/Contributor_License_Agreement)) before your code gets accepted into `master`. This license is for your protection as a Contributor as well as for the protection of [CTTC](http://www.cttc.es/); it does not change your rights to use your own contributions for any other purpose. Except for the license granted therein to CTTC and recipients of software distributed by CTTC, you reserve all right, title, and interest in and to your contributions. The information you provide in that CLA will be maintained in accordance with [CTTC's privacy policy](http://www.cttc.es/privacy/).
3. You have read the [Contributing Guidelines](https://github.com/gnss-sdr/gnss-sdr/blob/master/CONTRIBUTING.md). 3. You have read the [Contributing Guidelines](https://github.com/gnss-sdr/gnss-sdr/blob/master/CONTRIBUTING.md).
4. You have read the [coding style guide](http://gnss-sdr.org/coding-style/). 4. You have read the [coding style guide](http://gnss-sdr.org/coding-style/).
5. You have forked the [gnss-sdr upstream repository](https://github.com/gnss-sdr/gnss-sdr) and have created your branch from `next` (or any other currently living branch in the upstream repository). 5. Specifically, you have read [about clang-format](http://gnss-sdr.org/coding-style/#use-tools-for-automated-code-formatting) and you have applied it.
6. Please include a description of your changes here. 6. You have forked the [gnss-sdr upstream repository](https://github.com/gnss-sdr/gnss-sdr) and have created your branch from `next` (or any other currently living branch in the upstream repository).
7. Please include a description of your changes here.
**Please feel free to delete this line and the above text once you have read it and in case you want to go on with your pull request.** **Please feel free to delete this line and the above text once you have read it and in case you want to go on with your pull request.**

58
docs/manpage/gnss-sdr-manpage
View File

@ -1,28 +1,70 @@
.\" Manpage for gnss\-sdr. .\" Manpage for gnss\-sdr.
.\" Contact carles.fernandez@cttc.es to correct errors or typos. .\" Contact carles.fernandez@cttc.es to correct errors or typos.
.TH gnss\-sdr 1 "05 Feb 2017" "0.0.9" "gnss\-sdr man page" .TH gnss\-sdr 1 "24 Feb 2018" "0.0.9" "gnss\-sdr man page"
.SH NAME .SH NAME
\fBgnss\-sdr\fR \- GNSS Software Defined Receiver. \fBgnss\-sdr\fR \- GNSS Software Defined Receiver.
.SH SYNOPSIS .SH SYNOPSIS
\fBgnss\-sdr \-config_file=\fR\fI<path\-to\-configuration\-file>\fR [OPTION]... \fBgnss\-sdr \-c=\fR\fI<path\-to\-configuration\-file>\fR [OPTION]...
.SH DESCRIPTION .SH DESCRIPTION
\fBgnss\-sdr\fR is a Global Navigation Satellite Systems Software Defined Receiver written in C++. It implements all the signal processing chain, taking as input raw samples coming from the output of an Analog\-to\-Digital Converter, and processing them up to the computation of the Position\-Velocity\-Time solution, including the generation of code and phase measurements. \fBgnss\-sdr\fR is a Global Navigation Satellite Systems Software Defined Receiver written in C++. It implements all the signal processing chain, taking as input raw samples coming from the output of an Analog\-to\-Digital Converter, and processing them up to the computation of the Position\-Velocity\-Time solution, including the generation of code and phase measurements.
\.TP \.TP
\fBgnss\-sdr\fR is able to work with raw data files or, if there is computational power enough, in real time with suitable radio frequency front\-ends. The whole receiver is defined in a single configuration file, and therefore users can define theirs. \fBgnss\-sdr\fR is able to work with raw data files or, if there is computational power enough, in real time with suitable radio frequency front\-ends. The whole receiver is defined in a single configuration file, and therefore users can define theirs.
\.TP
There is some flexibility in how flags may be specified. The following examples are equivalent:
\.RS 8
\.TP
gnss\-sdr \-c=/home/user/rx.conf
\.TP
gnss\-sdr \-\-c=/home/user/rx.conf
\.TP
gnss\-sdr \-c /home/user/rx.conf
\.TP
gnss\-sdr \-\-c /home/user/rx.conf
\.RE
.SH OPTIONS .SH OPTIONS
\fBgnss\-sdr\fR takes the following options: \fBgnss\-sdr\fR takes the following options:
.TP .TP
\fB\-config_file=\fR\fI<path\-to\-configuration\-file>\fR Set the configuration file. \fB\-c=\fR\fI<path\-to\-configuration\-file>\fR or \fB\-config_file=\fR\fI<path\-to\-configuration\-file>\fR
Set the configuration file. This flag is mandatory.
.TP .TP
\fB\-signal_source=\fR\fI<path\-to\-raw\-signal\-file>\fR If defined, path to the file containing the signal samples (overrides the data file specified in the configuration file). \fB\-s=\fR\fI<path\-to\-raw\-signal\-file>\fR or \fB\-signal_source=\fR\fI<path\-to\-raw\-signal\-file>\fR
If defined, path to the file containing the signal samples (overrides the data file specified in the configuration file).
.TP .TP
\fB\-log_dir=\fR\fI<path\-to\-directory>\fR If defined, overrides the default directory where logs are saved. \fB\-log_dir=\fR\fI<path\-to\-directory>\fR
If defined, overrides the default directory where logs are saved.
.TP .TP
\fB\-RINEX_version=\fI<version>\fR Specifies the RINEX version (2.11 or 3.02). Default: "3.02". \fB\-doppler_max=\fR\fI<doppler_max>\fR
If defined, maximum Doppler value in the search grid, in Hz (overrides the configuration file).
.TP .TP
\fB\-version\fR Print program version and exit. \fB\-doppler_step=\fR\fI<doppler_step>\fR
If defined, sets the frequency step in the search grid, in Hz (overrides the configuration file).
.TP .TP
\fB\-help\fR Print all the available commandline flags and exit. \fB\-cn0_samples=\fR\fI<samples>\fR
Number of correlators outputs (one per integration time) used for CN0 estimation. It defaults to 20 outputs.
.TP
\fB\-cn0_min=\fR\fI<cn0_min>\fR
Minimum valid CN0 (in dB-Hz). It defaults to 25 dB-Hz.
.TP
\fB\-max_lock_fail=\fR\fI<max_lock_fail>\fR
Number of lock failures before dropping satellite. It defaults to 50 failures.
.TP
\fB\-carrier_lock_th=\fR\fI<carrier_lock_th>\fR
Carrier lock error threshold (in rad). It defaults to 0.85 rad (48.7 degrees).
.TP
\fB\-dll_bw_hz=\fR\fI<dll_bw_hz>\fR
If defined, bandwidth of the DLL low pass filter, in Hz (overrides the configuration file).
.TP
\fB\-pll_bw_hz=\fR\fI<pll_bw_hz>\fR
If defined, bandwidth of the PLL low pass filter, in Hz (overrides the configuration file).
.TP
\fB\-RINEX_version=\fI<version>\fR
If defined, specifies the RINEX version (2.11 or 3.02). Default: "3.02". Overrides the configuration file.
.TP
\fB\-version\fR
Print program version and exit.
.TP
\fB\-help\fR
Print all the available commandline flags and exit.
.SH SEE ALSO .SH SEE ALSO
.BR volk_gnsssdr_profile (1) .BR volk_gnsssdr_profile (1)
\.TP \.TP

1
src/algorithms/PVT/adapters/CMakeLists.txt
View File

@ -28,6 +28,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/gnuradio_blocks ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${ARMADILLO_INCLUDE_DIRS} ${ARMADILLO_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS} ${GLOG_INCLUDE_DIRS}

298
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -30,23 +30,23 @@
#include "rtklib_pvt.h" #include "rtklib_pvt.h"
#include <glog/logging.h> #include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include <boost/archive/xml_oarchive.hpp> #include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp> #include <boost/archive/xml_iarchive.hpp>
#include <boost/math/common_factor_rt.hpp> #include <boost/math/common_factor_rt.hpp>
#include <boost/serialization/map.hpp> #include <boost/serialization/map.hpp>
#include "configuration_interface.h" #include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
RtklibPvt::RtklibPvt(ConfigurationInterface* configuration, RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string role, std::string role,
unsigned int in_streams, unsigned int in_streams,
unsigned int out_streams) : unsigned int out_streams) : role_(role),
role_(role), in_streams_(in_streams),
in_streams_(in_streams), out_streams_(out_streams)
out_streams_(out_streams)
{ {
// dump parameters // dump parameters
std::string default_dump_filename = "./pvt.dat"; std::string default_dump_filename = "./pvt.dat";
@ -70,11 +70,30 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
// RINEX version // RINEX version
int rinex_version = configuration->property(role + ".rinex_version", 3); int rinex_version = configuration->property(role + ".rinex_version", 3);
if( (rinex_version < 2) || (rinex_version > 3) ) if (FLAGS_RINEX_version.compare("3.01") == 0)
{ {
//warn user and set the default
rinex_version = 3; rinex_version = 3;
} }
else if (FLAGS_RINEX_version.compare("3.02") == 0)
{
rinex_version = 3;
}
else if (FLAGS_RINEX_version.compare("3") == 0)
{
rinex_version = 3;
}
else if (FLAGS_RINEX_version.compare("2.11") == 0)
{
rinex_version = 2;
}
else if (FLAGS_RINEX_version.compare("2.10") == 0)
{
rinex_version = 2;
}
else if (FLAGS_RINEX_version.compare("2") == 0)
{
rinex_version = 2;
}
// RTCM Printer settings // RTCM Printer settings
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false); bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
@ -90,19 +109,19 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
std::map<int,int> rtcm_msg_rate_ms; std::map<int, int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms; rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms; rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms; rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
for (int k = 1071; k < 1078; k++) // All GPS MSM for (int k = 1071; k < 1078; k++) // All GPS MSM
{ {
rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms; rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
} }
for (int k = 1081; k < 1088; k++) // All GLONASS MSM for (int k = 1081; k < 1088; k++) // All GLONASS MSM
{ {
rtcm_msg_rate_ms[k] = rtcm_MT1087_rate_ms; rtcm_msg_rate_ms[k] = rtcm_MT1087_rate_ms;
} }
for (int k = 1091; k < 1098; k++) // All Galileo MSM for (int k = 1091; k < 1098; k++) // All Galileo MSM
{ {
rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms; rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
} }
@ -164,47 +183,47 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
// *******************WARNING!!!!!!!*********** // *******************WARNING!!!!!!!***********
// GPS L5 only configurable for single frequency, single system at the moment!!!!!! // GPS L5 only configurable for single frequency, single system at the moment!!!!!!
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 1; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 1;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 2; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 2;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 3; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 3;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 4; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 4;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 5; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 5;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 6; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 6;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 7; if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 7;
//if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8; //if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 9; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 9;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 10; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 10;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 11; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 11;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 12; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 12;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 14; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 14;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 15; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 15;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 17; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 17;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 18; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 18;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 21; if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 21;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 23; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 23;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2R_count != 0)) type_of_receiver = 24; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2R_count != 0)) type_of_receiver = 24;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_1G_count != 0)) type_of_receiver = 25; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_1G_count != 0)) type_of_receiver = 25;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 26; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 26;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 27; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 27;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 28; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 28;
//RTKLIB PVT solver options //RTKLIB PVT solver options
// Settings 1 // Settings 1
int positioning_mode = -1; int positioning_mode = -1;
std::string default_pos_mode("Single"); std::string default_pos_mode("Single");
std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */ std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if(positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE; if (positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
if(positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC; if (positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
if(positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA; if (positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
if(positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC; if (positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC;
if(positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA; if (positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA;
if( positioning_mode == -1 ) if (positioning_mode == -1)
{ {
//warn user and set the default //warn user and set the default
std::cout << "WARNING: Bad specification of positioning mode." << std::endl; std::cout << "WARNING: Bad specification of positioning mode." << std::endl;
@ -217,19 +236,19 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
int num_bands = 0; int num_bands = 0;
if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1; if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) ) num_bands = 2; if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0)) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2; if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3; if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3;
int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */ int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
if( (number_of_frequencies < 1) || (number_of_frequencies > 3) ) if ((number_of_frequencies < 1) || (number_of_frequencies > 3))
{ {
//warn user and set the default //warn user and set the default
number_of_frequencies = num_bands; number_of_frequencies = num_bands;
} }
double elevation_mask = configuration->property(role + ".elevation_mask", 15.0); double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
if( (elevation_mask < 0.0) || (elevation_mask > 90.0) ) if ((elevation_mask < 0.0) || (elevation_mask > 90.0))
{ {
//warn user and set the default //warn user and set the default
LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees"; LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
@ -237,7 +256,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
} }
int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */ int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */
if( (dynamics_model < 0) || (dynamics_model > 2) ) if ((dynamics_model < 0) || (dynamics_model > 2))
{ {
//warn user and set the default //warn user and set the default
LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)"; LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
@ -247,13 +266,13 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_iono_model("OFF"); std::string default_iono_model("OFF");
std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */ std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
int iono_model = -1; int iono_model = -1;
if(iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF; if (iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF;
if(iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC; if (iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC;
if(iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS; if (iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS;
if(iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC; if (iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC;
if(iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST; if (iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST;
if(iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC; if (iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC;
if( iono_model == -1 ) if (iono_model == -1)
{ {
//warn user and set the default //warn user and set the default
std::cout << "WARNING: Bad specification of ionospheric model." << std::endl; std::cout << "WARNING: Bad specification of ionospheric model." << std::endl;
@ -266,12 +285,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_trop_model("OFF"); std::string default_trop_model("OFF");
int trop_model = -1; int trop_model = -1;
std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */ std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if(trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF; if (trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF;
if(trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS; if (trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS;
if(trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS; if (trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS;
if(trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST; if (trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST;
if(trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG; if (trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG;
if( trop_model == -1 ) if (trop_model == -1)
{ {
//warn user and set the default //warn user and set the default
std::cout << "WARNING: Bad specification of tropospheric model." << std::endl; std::cout << "WARNING: Bad specification of tropospheric model." << std::endl;
@ -303,8 +322,8 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0)) nsys += SYS_GPS; if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0)) nsys += SYS_GPS;
if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL; if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
if ((glo_1G_count > 0)) nsys += SYS_GLO; if ((glo_1G_count > 0)) nsys += SYS_GLO;
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */ int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (navigation_system < 1) || (navigation_system > 255) ) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */ if ((navigation_system < 1) || (navigation_system > 255)) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
{ {
//warn user and set the default //warn user and set the default
LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)"; LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
@ -315,12 +334,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_gps_ar("Continuous"); std::string default_gps_ar("Continuous");
std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */ std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
int integer_ambiguity_resolution_gps = -1; int integer_ambiguity_resolution_gps = -1;
if(integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF; if (integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF;
if(integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT; if (integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT;
if(integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST; if (integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST;
if(integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD; if (integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
if(integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR; if (integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR;
if( integer_ambiguity_resolution_gps == -1 ) if (integer_ambiguity_resolution_gps == -1)
{ {
//warn user and set the default //warn user and set the default
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl; std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl;
@ -331,7 +350,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
} }
int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */ int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
if( (integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3) ) if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3))
{ {
//warn user and set the default //warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)"; LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
@ -339,7 +358,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
} }
int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */ int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */
if( (integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1) ) if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1))
{ {
//warn user and set the default //warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)"; LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
@ -349,13 +368,13 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test, double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test,
which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */ which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */
int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity. int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.
If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */ If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */
double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity. double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity.
If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */ If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */
int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value. */ int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value. */
double slip_threshold = configuration->property(role + ".slip_threshold", 0.05); /* set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs */ double slip_threshold = configuration->property(role + ".slip_threshold", 0.05); /* set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs */
@ -384,7 +403,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1); /* Set the process noise standard deviation of the receiver acceleration as double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1); /* Set the process noise standard deviation of the receiver acceleration as
the horizontal component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */ the horizontal component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as
the vertical component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */ the vertical component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
double sigma_pos = configuration->property(role + ".sigma_pos", 0.0); double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
@ -395,70 +414,71 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003); double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003);
double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003); double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003);
snrmask_t snrmask = { {}, {{},{}} }; snrmask_t snrmask = {{}, {{}, {}}};
prcopt_t rtklib_configuration_options = {positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */ prcopt_t rtklib_configuration_options = {
0, /* solution type (0:forward,1:backward,2:combined) */ positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/ 0, /* solution type (0:forward,1:backward,2:combined) */
navigation_system, /* navigation system */ number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
elevation_mask * D2R, /* elevation mask angle (degrees) */ navigation_system, /* navigation system */
snrmask, /* snrmask_t snrmask SNR mask */ elevation_mask * D2R, /* elevation mask angle (degrees) */
0, /* satellite ephemeris/clock (EPHOPT_XXX) */ snrmask, /* snrmask_t snrmask SNR mask */
integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */ 0, /* satellite ephemeris/clock (EPHOPT_XXX) */
integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */ integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */ integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
outage_reset_ambiguity, /* obs outage count to reset bias */ integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */
min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */ outage_reset_ambiguity, /* obs outage count to reset bias */
10, /* min fix count to hold ambiguity */ min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */
1, /* max iteration to resolve ambiguity */ 10, /* min fix count to hold ambiguity */
iono_model, /* ionosphere option (IONOOPT_XXX) */ 1, /* max iteration to resolve ambiguity */
trop_model, /* troposphere option (TROPOPT_XXX) */ iono_model, /* ionosphere option (IONOOPT_XXX) */
dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */ trop_model, /* troposphere option (TROPOPT_XXX) */
earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */ dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */
number_filter_iter, /* number of filter iteration */ earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
0, /* code smoothing window size (0:none) */ number_filter_iter, /* number of filter iteration */
0, /* interpolate reference obs (for post mission) */ 0, /* code smoothing window size (0:none) */
0, /* sbssat_t sbssat SBAS correction options */ 0, /* interpolate reference obs (for post mission) */
0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */ 0, /* sbssat_t sbssat SBAS correction options */
0, /* rover position for fixed mode */ 0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
0, /* base position for relative mode */ 0, /* rover position for fixed mode */
/* 0:pos in prcopt, 1:average of single pos, */ 0, /* base position for relative mode */
/* 2:read from file, 3:rinex header, 4:rtcm pos */ /* 0:pos in prcopt, 1:average of single pos, */
{code_phase_error_ratio_l1,code_phase_error_ratio_l2,code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */ /* 2:read from file, 3:rinex header, 4:rtcm pos */
{100.0,carrier_phase_error_factor_a,carrier_phase_error_factor_b,0.0,1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */ {code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
{bias_0,iono_0,trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/ {100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
{sigma_bias,sigma_iono,sigma_trop,sigma_acch,sigma_accv,sigma_pos}, /* prn[6] process-noise std */ {bias_0, iono_0, trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
5e-12, /* sclkstab: satellite clock stability (sec/sec) */ {sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos}, /* prn[6] process-noise std */
{min_ratio_to_fix_ambiguity,0.9999,0.25,0.1,0.05,0.0,0.0,0.0}, /* thresar[8]: AR validation threshold */ 5e-12, /* sclkstab: satellite clock stability (sec/sec) */
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */ {min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0}, /* thresar[8]: AR validation threshold */
0.0, /* elevation mask to hold ambiguity (deg) */ min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
slip_threshold, /* slip threshold of geometry-free phase (m) */ 0.0, /* elevation mask to hold ambiguity (deg) */
30.0, /* max difference of time (sec) */ slip_threshold, /* slip threshold of geometry-free phase (m) */
threshold_reject_innovation, /* reject threshold of innovation (m) */ 30.0, /* max difference of time (sec) */
threshold_reject_gdop, /* reject threshold of gdop */ threshold_reject_innovation, /* reject threshold of innovation (m) */
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */ threshold_reject_gdop, /* reject threshold of gdop */
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */ {}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */ {}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
{"",""}, /* char anttype[2][MAXANT] antenna types {rover,base} */ {}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
{{},{}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */ {"", ""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */ {{}, {}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */ {}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
0, /* max averaging epoches */ {}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
0, /* initialize by restart */ 0, /* max averaging epoches */
1, /* output single by dgps/float/fix/ppp outage */ 0, /* initialize by restart */
{"",""}, /* char rnxopt[2][256] rinex options {rover,base} */ 1, /* output single by dgps/float/fix/ppp outage */
{sat_PCV,rec_PCV,phwindup,reject_GPS_IIA,raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */ {"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */
0, /* solution sync mode (0:off,1:on) */ {sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
{{},{}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */ 0, /* solution sync mode (0:off,1:on) */
{ {}, {{},{}}, {{},{}}, {}, {} }, /* exterr_t exterr extended receiver error model */ {{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
0, /* disable L2-AR */ {{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */ 0, /* disable L2-AR */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
}; };
rtkinit(&rtk, &rtklib_configuration_options); rtkinit(&rtk, &rtklib_configuration_options);
// make PVT object // make PVT object
pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk); pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")"; DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
} }
@ -466,7 +486,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
bool RtklibPvt::save_assistance_to_XML() bool RtklibPvt::save_assistance_to_XML()
{ {
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_; LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map(); std::map<int, Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
if (eph_map.size() > 0) if (eph_map.size() > 0)
{ {
@ -478,12 +498,12 @@ bool RtklibPvt::save_assistance_to_XML()
ofs.close(); ofs.close();
LOG(INFO) << "Saved GPS L1 Ephemeris map data"; LOG(INFO) << "Saved GPS L1 Ephemeris map data";
} }
catch (const std::exception & e) catch (const std::exception& e)
{ {
LOG(WARNING) << e.what(); LOG(WARNING) << e.what();
return false; return false;
} }
return true; // return variable (true == succeeded) return true; // return variable (true == succeeded)
} }
else else
{ {
@ -502,7 +522,9 @@ RtklibPvt::~RtklibPvt()
void RtklibPvt::connect(gr::top_block_sptr top_block) void RtklibPvt::connect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
// Nothing to connect internally // Nothing to connect internally
DLOG(INFO) << "nothing to connect internally"; DLOG(INFO) << "nothing to connect internally";
} }
@ -510,7 +532,9 @@ void RtklibPvt::connect(gr::top_block_sptr top_block)
void RtklibPvt::disconnect(gr::top_block_sptr top_block) void RtklibPvt::disconnect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect // Nothing to disconnect
} }
@ -523,5 +547,5 @@ gr::basic_block_sptr RtklibPvt::get_left_block()
gr::basic_block_sptr RtklibPvt::get_right_block() gr::basic_block_sptr RtklibPvt::get_right_block()
{ {
return pvt_; // this is a sink, nothing downstream return pvt_; // this is a sink, nothing downstream
} }

9
src/algorithms/PVT/adapters/rtklib_pvt.h
View File

@ -29,13 +29,12 @@
*/ */
#ifndef GNSS_SDR_RTKLIB_PVT_H_ #ifndef GNSS_SDR_RTKLIB_PVT_H_
#define GNSS_SDR_RTKLIB_PVT_H_ #define GNSS_SDR_RTKLIB_PVT_H_
#include <string>
#include "pvt_interface.h" #include "pvt_interface.h"
#include "rtklib_pvt_cc.h" #include "rtklib_pvt_cc.h"
#include <string>
class ConfigurationInterface; class ConfigurationInterface;
@ -47,9 +46,9 @@ class RtklibPvt : public PvtInterface
{ {
public: public:
RtklibPvt(ConfigurationInterface* configuration, RtklibPvt(ConfigurationInterface* configuration,
std::string role, std::string role,
unsigned int in_streams, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
virtual ~RtklibPvt(); virtual ~RtklibPvt();

700
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

File diff suppressed because it is too large Load Diff

142
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -31,20 +31,21 @@
#ifndef GNSS_SDR_RTKLIB_PVT_CC_H #ifndef GNSS_SDR_RTKLIB_PVT_CC_H
#define GNSS_SDR_RTKLIB_PVT_CC_H #define GNSS_SDR_RTKLIB_PVT_CC_H
#include <chrono>
#include <fstream>
#include <utility>
#include <string>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <gnuradio/sync_block.h>
#include "nmea_printer.h" #include "nmea_printer.h"
#include "kml_printer.h" #include "kml_printer.h"
#include "geojson_printer.h" #include "geojson_printer.h"
#include "rinex_printer.h" #include "rinex_printer.h"
#include "rtcm_printer.h" #include "rtcm_printer.h"
#include "rtklib_solver.h" #include "rtklib_solver.h"
#include <gnuradio/sync_block.h>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <chrono>
#include <fstream>
#include <utility>
#include <string>
class rtklib_pvt_cc; class rtklib_pvt_cc;
@ -52,22 +53,22 @@ class rtklib_pvt_cc;
typedef boost::shared_ptr<rtklib_pvt_cc> rtklib_pvt_cc_sptr; typedef boost::shared_ptr<rtklib_pvt_cc> rtklib_pvt_cc_sptr;
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels, rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
bool dump, bool dump,
std::string dump_filename, std::string dump_filename,
int output_rate_ms, int output_rate_ms,
int display_rate_ms, int display_rate_ms,
bool flag_nmea_tty_port, bool flag_nmea_tty_port,
std::string nmea_dump_filename, std::string nmea_dump_filename,
std::string nmea_dump_devname, std::string nmea_dump_devname,
int rinex_version, int rinex_version,
bool flag_rtcm_server, bool flag_rtcm_server,
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms, std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname, std::string rtcm_dump_devname,
const unsigned int type_of_receiver, const unsigned int type_of_receiver,
rtk_t & rtk); rtk_t& rtk);
/*! /*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals * \brief This class implements a block that computes the PVT solution with Galileo E1 signals
@ -76,22 +77,22 @@ class rtklib_pvt_cc : public gr::sync_block
{ {
private: private:
friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels, friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
bool dump, bool dump,
std::string dump_filename, std::string dump_filename,
int output_rate_ms, int output_rate_ms,
int display_rate_ms, int display_rate_ms,
bool flag_nmea_tty_port, bool flag_nmea_tty_port,
std::string nmea_dump_filename, std::string nmea_dump_filename,
std::string nmea_dump_devname, std::string nmea_dump_devname,
int rinex_version, int rinex_version,
bool flag_rtcm_server, bool flag_rtcm_server,
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms, std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname, std::string rtcm_dump_devname,
const unsigned int type_of_receiver, const unsigned int type_of_receiver,
rtk_t & rtk); rtk_t& rtk);
void msg_handler_telemetry(pmt::pmt_t msg); void msg_handler_telemetry(pmt::pmt_t msg);
@ -100,15 +101,15 @@ private:
bool b_rinex_header_updated; bool b_rinex_header_updated;
double d_rinex_version; double d_rinex_version;
bool b_rtcm_writing_started; bool b_rtcm_writing_started;
int d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris int d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris
int d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits) int d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits)
int d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits) int d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits)
int d_rtcm_MT1077_rate_ms; //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular int d_rtcm_MT1077_rate_ms; //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular
int d_rtcm_MT1087_rate_ms; //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system int d_rtcm_MT1087_rate_ms; //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
int d_rtcm_MT1097_rate_ms; //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system int d_rtcm_MT1097_rate_ms; //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
int d_rtcm_MSM_rate_ms; int d_rtcm_MSM_rate_ms;
int d_last_status_print_seg; //for status printer int d_last_status_print_seg; //for status printer
unsigned int d_nchannels; unsigned int d_nchannels;
std::string d_dump_filename; std::string d_dump_filename;
@ -135,16 +136,17 @@ private:
double last_RINEX_nav_output_time; double last_RINEX_nav_output_time;
std::shared_ptr<rtklib_solver> d_ls_pvt; std::shared_ptr<rtklib_solver> d_ls_pvt;
std::map<int,Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
bool observables_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b); bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);
unsigned int type_of_rx; unsigned int type_of_rx;
bool first_fix; bool first_fix;
key_t sysv_msg_key; key_t sysv_msg_key;
int sysv_msqid; int sysv_msqid;
typedef struct { typedef struct
long mtype;//required by sys v message {
long mtype; //required by sys v message
double ttff; double ttff;
} ttff_msgbuf; } ttff_msgbuf;
bool send_sys_v_ttff_msg(ttff_msgbuf ttff); bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
@ -152,33 +154,33 @@ private:
public: public:
rtklib_pvt_cc(unsigned int nchannels, rtklib_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename, bool dump, std::string dump_filename,
int output_rate_ms, int output_rate_ms,
int display_rate_ms, int display_rate_ms,
bool flag_nmea_tty_port, bool flag_nmea_tty_port,
std::string nmea_dump_filename, std::string nmea_dump_filename,
std::string nmea_dump_devname, std::string nmea_dump_devname,
int rinex_version, int rinex_version,
bool flag_rtcm_server, bool flag_rtcm_server,
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms, std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname, std::string rtcm_dump_devname,
const unsigned int type_of_receiver, const unsigned int type_of_receiver,
rtk_t & rtk); rtk_t& rtk);
/*! /*!
* \brief Get latest set of GPS L1 ephemeris from PVT block * \brief Get latest set of GPS L1 ephemeris from PVT block
* *
* It is used to save the assistance data at the receiver shutdown * It is used to save the assistance data at the receiver shutdown
*/ */
std::map<int,Gps_Ephemeris> get_GPS_L1_ephemeris_map(); std::map<int, Gps_Ephemeris> get_GPS_L1_ephemeris_map();
~rtklib_pvt_cc(); //!< Default destructor ~rtklib_pvt_cc(); //!< Default destructor
int work (int noutput_items, gr_vector_const_void_star &input_items, int work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); //!< PVT Signal Processing gr_vector_void_star& output_items); //!< PVT Signal Processing
}; };
#endif #endif

5
src/algorithms/PVT/libs/CMakeLists.txt
View File

@ -36,24 +36,25 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces ${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver ${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/adapters ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${Boost_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS} ${ARMADILLO_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS} ${GFlags_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS} ${GLOG_INCLUDE_DIRS}
) )
file(GLOB PVT_LIB_HEADERS "*.h") file(GLOB PVT_LIB_HEADERS "*.h")
list(SORT PVT_LIB_HEADERS) list(SORT PVT_LIB_HEADERS)
add_library(pvt_lib ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS}) add_library(pvt_lib ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS})
source_group(Headers FILES ${PVT_LIB_HEADERS}) source_group(Headers FILES ${PVT_LIB_HEADERS})
add_dependencies(pvt_lib rtklib_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE}) add_dependencies(pvt_lib rtklib_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE})
target_link_libraries( target_link_libraries(
pvt_lib pvt_lib
rtklib_lib rtklib_lib
gnss_sdr_flags
${Boost_LIBRARIES} ${Boost_LIBRARIES}
${GFlags_LIBS}
${GLOG_LIBRARIES} ${GLOG_LIBRARIES}
${ARMADILLO_LIBRARIES} ${ARMADILLO_LIBRARIES}
${BLAS} ${BLAS}

23
src/algorithms/PVT/libs/geojson_printer.cc
View File

@ -31,10 +31,11 @@
#include "geojson_printer.h" #include "geojson_printer.h"
#include <iomanip>
#include <sstream>
#include <boost/date_time/posix_time/posix_time.hpp> #include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h> #include <glog/logging.h>
#include <iomanip>
#include <sstream>
GeoJSON_Printer::GeoJSON_Printer() GeoJSON_Printer::GeoJSON_Printer()
{ {
@ -42,7 +43,7 @@ GeoJSON_Printer::GeoJSON_Printer()
} }
GeoJSON_Printer::~GeoJSON_Printer () GeoJSON_Printer::~GeoJSON_Printer()
{ {
GeoJSON_Printer::close_file(); GeoJSON_Printer::close_file();
} }
@ -59,37 +60,37 @@ bool GeoJSON_Printer::set_headers(std::string filename, bool time_tag_name)
const int year = timeinfo.tm_year - 100; const int year = timeinfo.tm_year - 100;
strm0 << year; strm0 << year;
const int month = timeinfo.tm_mon + 1; const int month = timeinfo.tm_mon + 1;
if(month < 10) if (month < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << month; strm0 << month;
const int day = timeinfo.tm_mday; const int day = timeinfo.tm_mday;
if(day < 10) if (day < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << day << "_"; strm0 << day << "_";
const int hour = timeinfo.tm_hour; const int hour = timeinfo.tm_hour;
if(hour < 10) if (hour < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << hour; strm0 << hour;
const int min = timeinfo.tm_min; const int min = timeinfo.tm_min;
if(min < 10) if (min < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << min; strm0 << min;
const int sec = timeinfo.tm_sec; const int sec = timeinfo.tm_sec;
if(sec < 10) if (sec < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << sec; strm0 << sec;
filename_ = filename + "_" + strm0.str() + ".geojson"; filename_ = filename + "_" + strm0.str() + ".geojson";
} }
else else
{ {
@ -183,7 +184,7 @@ bool GeoJSON_Printer::close_file()
// if nothing is written, erase the file // if nothing is written, erase the file
if (first_pos == true) if (first_pos == true)
{ {
if(remove(filename_.c_str()) != 0) LOG(INFO) << "Error deleting temporary file"; if (remove(filename_.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
} }
return true; return true;
@ -193,5 +194,3 @@ bool GeoJSON_Printer::close_file()
return false; return false;
} }
} }

3
src/algorithms/PVT/libs/geojson_printer.h
View File

@ -33,10 +33,10 @@
#ifndef GNSS_SDR_GEOJSON_PRINTER_H_ #ifndef GNSS_SDR_GEOJSON_PRINTER_H_
#define GNSS_SDR_GEOJSON_PRINTER_H_ #define GNSS_SDR_GEOJSON_PRINTER_H_
#include "pvt_solution.h"
#include <fstream> #include <fstream>
#include <memory> #include <memory>
#include <string> #include <string>
#include "pvt_solution.h"
/*! /*!
@ -50,6 +50,7 @@ private:
std::ofstream geojson_file; std::ofstream geojson_file;
bool first_pos; bool first_pos;
std::string filename_; std::string filename_;
public: public:
GeoJSON_Printer(); GeoJSON_Printer();
~GeoJSON_Printer(); ~GeoJSON_Printer();

387
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
View File

@ -30,10 +30,10 @@
*/ */
#include "hybrid_ls_pvt.h" #include "hybrid_ls_pvt.h"
#include <glog/logging.h>
#include "Galileo_E1.h" #include "Galileo_E1.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "GPS_L2C.h" #include "GPS_L2C.h"
#include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
@ -49,21 +49,21 @@ hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag
this->set_averaging_flag(false); this->set_averaging_flag(false);
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
{
if (d_dump_file.is_open() == false)
{ {
try if (d_dump_file.is_open() == false)
{ {
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit); try
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); {
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str(); d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
} d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
catch (const std::ifstream::failure &e) LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
{ }
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what(); catch (const std::ifstream::failure& e)
} {
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
}
}
} }
}
} }
@ -72,27 +72,27 @@ hybrid_ls_pvt::~hybrid_ls_pvt()
if (d_dump_file.is_open() == true) if (d_dump_file.is_open() == true)
{ {
try try
{ {
d_dump_file.close(); d_dump_file.close();
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what(); LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
} }
} }
} }
bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging) bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging)
{ {
std::map<int,Gnss_Synchro>::iterator gnss_observables_iter; std::map<int, Gnss_Synchro>::iterator gnss_observables_iter;
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter; std::map<int, Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter; std::map<int, Gps_Ephemeris>::iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter; std::map<int, Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter;
arma::vec W; // channels weight vector arma::vec W; // channels weight vector
arma::vec obs; // pseudoranges observation vector arma::vec obs; // pseudoranges observation vector
arma::mat satpos; // satellite positions matrix arma::mat satpos; // satellite positions matrix
int Galileo_week_number = 0; int Galileo_week_number = 0;
int GPS_week = 0; int GPS_week = 0;
@ -109,188 +109,188 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// ******************************************************************************** // ********************************************************************************
// ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) **** // ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) ****
// ******************************************************************************** // ********************************************************************************
int valid_obs = 0; //valid observations counter int valid_obs = 0; //valid observations counter
for(gnss_observables_iter = gnss_observables_map.begin(); for (gnss_observables_iter = gnss_observables_map.begin();
gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter != gnss_observables_map.end();
gnss_observables_iter++) gnss_observables_iter++)
{ {
switch(gnss_observables_iter->second.System) switch (gnss_observables_iter->second.System)
{
case 'E':
{ {
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key case 'E':
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); {
if (galileo_ephemeris_iter != galileo_ephemeris_map.end()) // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
{ galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
/*! if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
{
/*!
* \todo Place here the satellite CN0 (power level, or weight factor) * \todo Place here the satellite CN0 (power level, or weight factor)
*/ */
W.resize(valid_obs + 1, 1); W.resize(valid_obs + 1, 1);
W(valid_obs) = 1; W(valid_obs) = 1;
// COMMON RX TIME PVT ALGORITHM // COMMON RX TIME PVT ALGORITHM
double Rx_time = hybrid_current_time; double Rx_time = hybrid_current_time;
double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GALILEO_C_m_s; double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GALILEO_C_m_s;
// 2- compute the clock drift using the clock model (broadcast) for this SV // 2- compute the clock drift using the clock model (broadcast) for this SV
SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time); SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time);
// 3- compute the current ECEF position for this SV using corrected TX time // 3- compute the current ECEF position for this SV using corrected TX time
TX_time_corrected_s = Tx_time - SV_clock_bias_s; TX_time_corrected_s = Tx_time - SV_clock_bias_s;
galileo_ephemeris_iter->second.satellitePosition(TX_time_corrected_s); galileo_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
//store satellite positions in a matrix //store satellite positions in a matrix
satpos.resize(3, valid_obs + 1); satpos.resize(3, valid_obs + 1);
satpos(0, valid_obs) = galileo_ephemeris_iter->second.d_satpos_X; satpos(0, valid_obs) = galileo_ephemeris_iter->second.d_satpos_X;
satpos(1, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Y; satpos(1, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Y;
satpos(2, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Z; satpos(2, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Z;
// 4- fill the observations vector with the corrected observables // 4- fill the observations vector with the corrected observables
obs.resize(valid_obs + 1, 1); obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s - this->get_time_offset_s() * GALILEO_C_m_s; obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s - this->get_time_offset_s() * GALILEO_C_m_s;
this->set_visible_satellites_ID(valid_obs, galileo_ephemeris_iter->second.i_satellite_PRN); this->set_visible_satellites_ID(valid_obs, galileo_ephemeris_iter->second.i_satellite_PRN);
this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz); this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST
GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time); GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time);
// SV ECEF DEBUG OUTPUT // SV ECEF DEBUG OUTPUT
DLOG(INFO) << "ECEF satellite SV ID=" << galileo_ephemeris_iter->second.i_satellite_PRN DLOG(INFO) << "ECEF satellite SV ID=" << galileo_ephemeris_iter->second.i_satellite_PRN
<< " X=" << galileo_ephemeris_iter->second.d_satpos_X << " X=" << galileo_ephemeris_iter->second.d_satpos_X
<< " [m] Y=" << galileo_ephemeris_iter->second.d_satpos_Y << " [m] Y=" << galileo_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << galileo_ephemeris_iter->second.d_satpos_Z << " [m] Z=" << galileo_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs=" << obs(valid_obs) << " [m]"; << " [m] PR_obs=" << obs(valid_obs) << " [m]";
valid_obs++; valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
break; break;
} }
case 'G': case 'G':
{ {
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
if(sig_.compare("1C") == 0) if (sig_.compare("1C") == 0)
{ {
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.end()) if (gps_ephemeris_iter != gps_ephemeris_map.end())
{ {
/*! /*!
* \todo Place here the satellite CN0 (power level, or weight factor) * \todo Place here the satellite CN0 (power level, or weight factor)
*/ */
W.resize(valid_obs + 1, 1); W.resize(valid_obs + 1, 1);
W(valid_obs) = 1; W(valid_obs) = 1;
// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files) // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
// first estimate of transmit time // first estimate of transmit time
double Rx_time = hybrid_current_time; double Rx_time = hybrid_current_time;
double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s; double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s;
// 2- compute the clock drift using the clock model (broadcast) for this SV, not including relativistic effect // 2- compute the clock drift using the clock model (broadcast) for this SV, not including relativistic effect
SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time); //- gps_ephemeris_iter->second.d_TGD; SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time); //- gps_ephemeris_iter->second.d_TGD;
// 3- compute the current ECEF position for this SV using corrected TX time and obtain clock bias including relativistic effect // 3- compute the current ECEF position for this SV using corrected TX time and obtain clock bias including relativistic effect
TX_time_corrected_s = Tx_time - SV_clock_bias_s; TX_time_corrected_s = Tx_time - SV_clock_bias_s;
double dtr = gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s); double dtr = gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
//store satellite positions in a matrix //store satellite positions in a matrix
satpos.resize(3, valid_obs + 1); satpos.resize(3, valid_obs + 1);
satpos(0, valid_obs) = gps_ephemeris_iter->second.d_satpos_X; satpos(0, valid_obs) = gps_ephemeris_iter->second.d_satpos_X;
satpos(1, valid_obs) = gps_ephemeris_iter->second.d_satpos_Y; satpos(1, valid_obs) = gps_ephemeris_iter->second.d_satpos_Y;
satpos(2, valid_obs) = gps_ephemeris_iter->second.d_satpos_Z; satpos(2, valid_obs) = gps_ephemeris_iter->second.d_satpos_Z;
// 4- fill the observations vector with the corrected pseudoranges // 4- fill the observations vector with the corrected pseudoranges
// compute code bias: TGD for single frequency // compute code bias: TGD for single frequency
// See IS-GPS-200E section 20.3.3.3.3.2 // See IS-GPS-200E section 20.3.3.3.3.2
double sqrt_Gamma=GPS_L1_FREQ_HZ/GPS_L2_FREQ_HZ; double sqrt_Gamma = GPS_L1_FREQ_HZ / GPS_L2_FREQ_HZ;
double Gamma=sqrt_Gamma*sqrt_Gamma; double Gamma = sqrt_Gamma * sqrt_Gamma;
double P1_P2=(1.0-Gamma)*(gps_ephemeris_iter->second.d_TGD* GPS_C_m_s); double P1_P2 = (1.0 - Gamma) * (gps_ephemeris_iter->second.d_TGD * GPS_C_m_s);
double Code_bias_m= P1_P2/(1.0-Gamma); double Code_bias_m = P1_P2 / (1.0 - Gamma);
obs.resize(valid_obs + 1, 1); obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s-Code_bias_m-this->get_time_offset_s() * GPS_C_m_s; obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s - Code_bias_m - this->get_time_offset_s() * GPS_C_m_s;
this->set_visible_satellites_ID(valid_obs, gps_ephemeris_iter->second.i_satellite_PRN); this->set_visible_satellites_ID(valid_obs, gps_ephemeris_iter->second.i_satellite_PRN);
this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz); this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
// SV ECEF DEBUG OUTPUT // SV ECEF DEBUG OUTPUT
LOG(INFO) << "(new)ECEF GPS L1 CA satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN LOG(INFO) << "(new)ECEF GPS L1 CA satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
<< " TX Time corrected="<<TX_time_corrected_s << " X=" << gps_ephemeris_iter->second.d_satpos_X << " TX Time corrected=" << TX_time_corrected_s << " X=" << gps_ephemeris_iter->second.d_satpos_X
<< " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y << " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z << " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs=" << obs(valid_obs) << " [m]"; << " [m] PR_obs=" << obs(valid_obs) << " [m]";
valid_obs++; valid_obs++;
// compute the UTC time for this SV (just to print the associated 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; GPS_week = gps_ephemeris_iter->second.i_GPS_week;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
} }
} }
if(sig_.compare("2S") == 0) if (sig_.compare("2S") == 0)
{ {
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end()) if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
{ {
/*! /*!
* \todo Place here the satellite CN0 (power level, or weight factor) * \todo Place here the satellite CN0 (power level, or weight factor)
*/ */
W.resize(valid_obs + 1, 1); W.resize(valid_obs + 1, 1);
W(valid_obs) = 1; W(valid_obs) = 1;
// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files) // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
// first estimate of transmit time // first estimate of transmit time
double Rx_time = hybrid_current_time; double Rx_time = hybrid_current_time;
double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s; double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s;
// 2- compute the clock drift using the clock model (broadcast) for this SV // 2- compute the clock drift using the clock model (broadcast) for this SV
SV_clock_bias_s = gps_cnav_ephemeris_iter->second.sv_clock_drift(Tx_time); SV_clock_bias_s = gps_cnav_ephemeris_iter->second.sv_clock_drift(Tx_time);
// 3- compute the current ECEF position for this SV using corrected TX time // 3- compute the current ECEF position for this SV using corrected TX time
TX_time_corrected_s = Tx_time - SV_clock_bias_s; TX_time_corrected_s = Tx_time - SV_clock_bias_s;
//std::cout<<"TX time["<<gps_cnav_ephemeris_iter->second.i_satellite_PRN<<"]="<<TX_time_corrected_s<<std::endl; //std::cout<<"TX time["<<gps_cnav_ephemeris_iter->second.i_satellite_PRN<<"]="<<TX_time_corrected_s<<std::endl;
double dtr = gps_cnav_ephemeris_iter->second.satellitePosition(TX_time_corrected_s); double dtr = gps_cnav_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
//store satellite positions in a matrix //store satellite positions in a matrix
satpos.resize(3, valid_obs + 1); satpos.resize(3, valid_obs + 1);
satpos(0, valid_obs) = gps_cnav_ephemeris_iter->second.d_satpos_X; satpos(0, valid_obs) = gps_cnav_ephemeris_iter->second.d_satpos_X;
satpos(1, valid_obs) = gps_cnav_ephemeris_iter->second.d_satpos_Y; satpos(1, valid_obs) = gps_cnav_ephemeris_iter->second.d_satpos_Y;
satpos(2, valid_obs) = gps_cnav_ephemeris_iter->second.d_satpos_Z; satpos(2, valid_obs) = gps_cnav_ephemeris_iter->second.d_satpos_Z;
// 4- fill the observations vector with the corrected observables // 4- fill the observations vector with the corrected observables
obs.resize(valid_obs + 1, 1); obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr*GPS_C_m_s + SV_clock_bias_s * GPS_C_m_s; obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s + SV_clock_bias_s * GPS_C_m_s;
this->set_visible_satellites_ID(valid_obs, gps_cnav_ephemeris_iter->second.i_satellite_PRN); this->set_visible_satellites_ID(valid_obs, gps_cnav_ephemeris_iter->second.i_satellite_PRN);
this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz); this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week; GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week;
GPS_week=GPS_week%1024; //Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV) GPS_week = GPS_week % 1024; //Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV)
// SV ECEF DEBUG OUTPUT // SV ECEF DEBUG OUTPUT
LOG(INFO) << "(new)ECEF GPS L2M satellite SV ID=" << gps_cnav_ephemeris_iter->second.i_satellite_PRN LOG(INFO) << "(new)ECEF GPS L2M satellite SV ID=" << gps_cnav_ephemeris_iter->second.i_satellite_PRN
<< " TX Time corrected="<<TX_time_corrected_s << " TX Time corrected=" << TX_time_corrected_s
<< " X=" << gps_cnav_ephemeris_iter->second.d_satpos_X << " X=" << gps_cnav_ephemeris_iter->second.d_satpos_X
<< " [m] Y=" << gps_cnav_ephemeris_iter->second.d_satpos_Y << " [m] Y=" << gps_cnav_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << gps_cnav_ephemeris_iter->second.d_satpos_Z << " [m] Z=" << gps_cnav_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs=" << obs(valid_obs) << " [m]"; << " [m] PR_obs=" << obs(valid_obs) << " [m]";
valid_obs++; valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
break;
}
default:
DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break; break;
} }
default :
DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break;
}
} }
// ******************************************************************************** // ********************************************************************************
@ -300,35 +300,35 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
LOG(INFO) << "HYBRID PVT: valid observations=" << valid_obs; LOG(INFO) << "HYBRID PVT: valid observations=" << valid_obs;
if(valid_obs >= 4) if (valid_obs >= 4)
{ {
arma::vec rx_position_and_time; arma::vec rx_position_and_time;
DLOG(INFO) << "satpos=" << satpos; DLOG(INFO) << "satpos=" << satpos;
DLOG(INFO) << "obs=" << obs; DLOG(INFO) << "obs=" << obs;
DLOG(INFO) << "W=" << W; DLOG(INFO) << "W=" << W;
try try
{ {
// check if this is the initial position computation // check if this is the initial position computation
if (this->get_time_offset_s() == 0) if (this->get_time_offset_s() == 0)
{ {
// execute Bancroft's algorithm to estimate initial receiver position and time // execute Bancroft's algorithm to estimate initial receiver position and time
DLOG(INFO) << " Executing Bancroft algorithm..."; DLOG(INFO) << " Executing Bancroft algorithm...";
rx_position_and_time = bancroftPos(satpos.t(), obs); rx_position_and_time = bancroftPos(satpos.t(), obs);
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
this->set_time_offset_s(rx_position_and_time(3) / GPS_C_m_s); // save time for the next iteration [meters]->[seconds] this->set_time_offset_s(rx_position_and_time(3) / GPS_C_m_s); // save time for the next iteration [meters]->[seconds]
} }
// Execute WLS using previous position as the initialization point // Execute WLS using previous position as the initialization point
rx_position_and_time = leastSquarePos(satpos, obs, W); rx_position_and_time = leastSquarePos(satpos, obs, W);
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
this->set_time_offset_s(this->get_time_offset_s() + rx_position_and_time(3) / GPS_C_m_s); // accumulate the rx time error for the next iteration [meters]->[seconds] this->set_time_offset_s(this->get_time_offset_s() + rx_position_and_time(3) / GPS_C_m_s); // accumulate the rx time error for the next iteration [meters]->[seconds]
DLOG(INFO) << "Hybrid Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time; DLOG(INFO) << "Hybrid Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
DLOG(INFO) << "Accumulated rx clock error=" << this->get_time_offset_s() << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]"; DLOG(INFO) << "Accumulated rx clock error=" << this->get_time_offset_s() << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]";
// Compute GST and Gregorian time // Compute GST and Gregorian time
if( GST != 0.0) if (GST != 0.0)
{ {
utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number); utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
} }
@ -347,17 +347,18 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time) DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude() << " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude()
<< " [deg], Height= " << this->get_height() << " [m]" << " RX time offset= " << this->get_time_offset_s() << " [s]"; << " [deg], Height= " << this->get_height() << " [m]"
<< " RX time offset= " << this->get_time_offset_s() << " [s]";
// ###### Compute DOPs ######## // ###### Compute DOPs ########
hybrid_ls_pvt::compute_DOP(); hybrid_ls_pvt::compute_DOP();
// ######## LOG FILE ######### // ######## LOG FILE #########
if(d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
{ {
// MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file
try try
{ {
double tmp_double; double tmp_double;
// PVT GPS time // PVT GPS time
tmp_double = hybrid_current_time; tmp_double = hybrid_current_time;
@ -383,22 +384,22 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// GEO user position Height [m] // GEO user position Height [m]
tmp_double = this->get_height(); tmp_double = this->get_height();
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
} }
catch (const std::ifstream::failure& e) catch (const std::ifstream::failure& e)
{ {
LOG(WARNING) << "Exception writing PVT LS dump file " << e.what(); LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
} }
} }
// MOVING AVERAGE PVT // MOVING AVERAGE PVT
this->perform_pos_averaging(); this->perform_pos_averaging();
} }
catch(const std::exception & e) catch (const std::exception& e)
{ {
this->set_time_offset_s(0.0); //reset rx time estimation this->set_time_offset_s(0.0); //reset rx time estimation
LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what(); LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what();
this->set_valid_position(false); this->set_valid_position(false);
} }
} }
else else
{ {

20
src/algorithms/PVT/libs/hybrid_ls_pvt.h
View File

@ -32,16 +32,15 @@
#ifndef GNSS_SDR_HYBRID_LS_PVT_H_ #ifndef GNSS_SDR_HYBRID_LS_PVT_H_
#define GNSS_SDR_HYBRID_LS_PVT_H_ #define GNSS_SDR_HYBRID_LS_PVT_H_
#include <fstream>
#include <iostream>
#include <map>
#include <string>
#include "ls_pvt.h" #include "ls_pvt.h"
#include "galileo_navigation_message.h" #include "galileo_navigation_message.h"
#include "gps_navigation_message.h" #include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h" #include "gps_cnav_navigation_message.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include "rtklib_rtkcmn.h" #include "rtklib_rtkcmn.h"
#include <fstream>
#include <map>
#include <string>
/*! /*!
* \brief This class implements a simple PVT Least Squares solution * \brief This class implements a simple PVT Least Squares solution
@ -53,17 +52,18 @@ private:
bool d_flag_dump_enabled; bool d_flag_dump_enabled;
std::string d_dump_filename; std::string d_dump_filename;
std::ofstream d_dump_file; std::ofstream d_dump_file;
int d_nchannels; // Number of available channels for positioning int d_nchannels; // Number of available channels for positioning
double d_galileo_current_time; double d_galileo_current_time;
public: public:
hybrid_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file); hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file);
~hybrid_ls_pvt(); ~hybrid_ls_pvt();
bool get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging); bool get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging);
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map;
Galileo_Utc_Model galileo_utc_model; Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono; Galileo_Iono galileo_iono;

75
src/algorithms/PVT/libs/kml_printer.cc
View File

@ -30,13 +30,13 @@
*/ */
#include "kml_printer.h" #include "kml_printer.h"
#include <sstream>
#include <boost/date_time/posix_time/posix_time.hpp> #include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h> #include <glog/logging.h>
#include <sstream>
using google::LogMessage; using google::LogMessage;
bool Kml_Printer::set_headers(std::string filename, bool time_tag_name) bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
{ {
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time(); boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
tm timeinfo = boost::posix_time::to_tm(pt); tm timeinfo = boost::posix_time::to_tm(pt);
@ -47,37 +47,37 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
const int year = timeinfo.tm_year - 100; const int year = timeinfo.tm_year - 100;
strm0 << year; strm0 << year;
const int month = timeinfo.tm_mon + 1; const int month = timeinfo.tm_mon + 1;
if(month < 10) if (month < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << month; strm0 << month;
const int day = timeinfo.tm_mday; const int day = timeinfo.tm_mday;
if(day < 10) if (day < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << day << "_"; strm0 << day << "_";
const int hour = timeinfo.tm_hour; const int hour = timeinfo.tm_hour;
if(hour < 10) if (hour < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << hour; strm0 << hour;
const int min = timeinfo.tm_min; const int min = timeinfo.tm_min;
if(min < 10) if (min < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << min; strm0 << min;
const int sec = timeinfo.tm_sec; const int sec = timeinfo.tm_sec;
if(sec < 10) if (sec < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << sec; strm0 << sec;
kml_filename = filename + "_" + strm0.str() + ".kml"; kml_filename = filename + "_" + strm0.str() + ".kml";
} }
else else
{ {
@ -92,29 +92,29 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
kml_file.setf(kml_file.fixed, kml_file.floatfield); kml_file.setf(kml_file.fixed, kml_file.floatfield);
kml_file << std::setprecision(14); kml_file << std::setprecision(14);
kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
<< "<kml xmlns=\"http://www.opengis.net/kml/2.2\">" << std::endl << "<kml xmlns=\"http://www.opengis.net/kml/2.2\">" << std::endl
<< " <Document>" << std::endl << " <Document>" << std::endl
<< " <name>GNSS Track</name>" << std::endl << " <name>GNSS Track</name>" << std::endl
<< " <description>GNSS-SDR Receiver position log file created at " << pt << " <description>GNSS-SDR Receiver position log file created at " << pt
<< " </description>" << std::endl << " </description>" << std::endl
<< "<Style id=\"yellowLineGreenPoly\">" << std::endl << "<Style id=\"yellowLineGreenPoly\">" << std::endl
<< " <LineStyle>" << std::endl << " <LineStyle>" << std::endl
<< " <color>7f00ffff</color>" << std::endl << " <color>7f00ffff</color>" << std::endl
<< " <width>1</width>" << std::endl << " <width>1</width>" << std::endl
<< " </LineStyle>" << std::endl << " </LineStyle>" << std::endl
<< "<PolyStyle>" << std::endl << "<PolyStyle>" << std::endl
<< " <color>7f00ff00</color>" << std::endl << " <color>7f00ff00</color>" << std::endl
<< "</PolyStyle>" << std::endl << "</PolyStyle>" << std::endl
<< "</Style>" << std::endl << "</Style>" << std::endl
<< "<Placemark>" << std::endl << "<Placemark>" << std::endl
<< "<name>GNSS-SDR PVT</name>" << std::endl << "<name>GNSS-SDR PVT</name>" << std::endl
<< "<description>GNSS-SDR position log</description>" << std::endl << "<description>GNSS-SDR position log</description>" << std::endl
<< "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl << "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl
<< "<LineString>" << std::endl << "<LineString>" << std::endl
<< "<extrude>0</extrude>" << std::endl << "<extrude>0</extrude>" << std::endl
<< "<tessellate>1</tessellate>" << std::endl << "<tessellate>1</tessellate>" << std::endl
<< "<altitudeMode>absolute</altitudeMode>" << std::endl << "<altitudeMode>absolute</altitudeMode>" << std::endl
<< "<coordinates>" << std::endl; << "<coordinates>" << std::endl;
return true; return true;
} }
else else
@ -124,7 +124,6 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
} }
bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values) bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values)
{ {
double latitude; double latitude;
@ -164,7 +163,6 @@ bool Kml_Printer::close_file()
{ {
if (kml_file.is_open()) if (kml_file.is_open())
{ {
kml_file << "</coordinates>" << std::endl kml_file << "</coordinates>" << std::endl
<< "</LineString>" << std::endl << "</LineString>" << std::endl
<< "</Placemark>" << std::endl << "</Placemark>" << std::endl
@ -180,20 +178,17 @@ bool Kml_Printer::close_file()
} }
Kml_Printer::Kml_Printer()
Kml_Printer::Kml_Printer ()
{ {
positions_printed = false; positions_printed = false;
} }
Kml_Printer::~Kml_Printer()
Kml_Printer::~Kml_Printer ()
{ {
close_file(); close_file();
if(!positions_printed) if (!positions_printed)
{ {
if(remove(kml_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary KML file"; if (remove(kml_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary KML file";
} }
} }

5
src/algorithms/PVT/libs/kml_printer.h
View File

@ -33,11 +33,11 @@
#ifndef GNSS_SDR_KML_PRINTER_H_ #ifndef GNSS_SDR_KML_PRINTER_H_
#define GNSS_SDR_KML_PRINTER_H_ #define GNSS_SDR_KML_PRINTER_H_
#include <iostream> #include "pvt_solution.h"
#include <fstream> #include <fstream>
#include <memory> #include <memory>
#include <string> #include <string>
#include "pvt_solution.h"
/*! /*!
* \brief Prints PVT information to OGC KML format file (can be viewed with Google Earth) * \brief Prints PVT information to OGC KML format file (can be viewed with Google Earth)
@ -50,6 +50,7 @@ private:
std::ofstream kml_file; std::ofstream kml_file;
bool positions_printed; bool positions_printed;
std::string kml_filename; std::string kml_filename;
public: public:
Kml_Printer(); Kml_Printer();
~Kml_Printer(); ~Kml_Printer();

94
src/algorithms/PVT/libs/ls_pvt.cc
View File

@ -30,11 +30,10 @@
*/ */
#include "ls_pvt.h" #include "ls_pvt.h"
#include "GPS_L1_CA.h"
#include <glog/logging.h>
#include <exception> #include <exception>
#include <stdexcept> #include <stdexcept>
#include "GPS_L1_CA.h"
#include <gflags/gflags.h>
#include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
@ -42,7 +41,6 @@ using google::LogMessage;
Ls_Pvt::Ls_Pvt() : Pvt_Solution() Ls_Pvt::Ls_Pvt() : Pvt_Solution()
{ {
} }
arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs) arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
@ -71,7 +69,7 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
// 6995655.459 -23537808.269 -9927906.485 24222112.972 ]; // 6995655.459 -23537808.269 -9927906.485 24222112.972 ];
// Solution: 596902.683 -4847843.316 4088216.740 // Solution: 596902.683 -4847843.316 4088216.740
arma::vec pos = arma::zeros(4,1); arma::vec pos = arma::zeros(4, 1);
arma::mat B_pass = arma::zeros(obs.size(), 4); arma::mat B_pass = arma::zeros(obs.size(), 4);
B_pass.submat(0, 0, obs.size() - 1, 2) = satpos; B_pass.submat(0, 0, obs.size() - 1, 2) = satpos;
B_pass.col(3) = obs; B_pass.col(3) = obs;
@ -82,27 +80,27 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
for (int iter = 0; iter < 2; iter++) for (int iter = 0; iter < 2; iter++)
{ {
B = B_pass; B = B_pass;
int m = arma::size(B,0); int m = arma::size(B, 0);
for (int i = 0; i < m; i++) for (int i = 0; i < m; i++)
{ {
int x = B(i,0); int x = B(i, 0);
int y = B(i,1); int y = B(i, 1);
if (iter == 0) if (iter == 0)
{ {
traveltime = 0.072; traveltime = 0.072;
} }
else else
{ {
int z = B(i,2); int z = B(i, 2);
double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2)); double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2));
traveltime = sqrt(rho) / GPS_C_m_s; traveltime = sqrt(rho) / GPS_C_m_s;
} }
double angle = traveltime * 7.292115147e-5; double angle = traveltime * 7.292115147e-5;
double cosa = cos(angle); double cosa = cos(angle);
double sina = sin(angle); double sina = sin(angle);
B(i,0) = cosa * x + sina * y; B(i, 0) = cosa * x + sina * y;
B(i,1) = -sina * x + cosa * y; B(i, 1) = -sina * x + cosa * y;
}// % i-loop } // % i-loop
if (m > 3) if (m > 3)
{ {
@ -112,8 +110,8 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
{ {
BBB = arma::inv(B); BBB = arma::inv(B);
} }
arma::vec e = arma::ones(m,1); arma::vec e = arma::ones(m, 1);
arma::vec alpha = arma::zeros(m,1); arma::vec alpha = arma::zeros(m, 1);
for (int i = 0; i < m; i++) for (int i = 0; i < m; i++)
{ {
alpha(i) = lorentz(B.row(i).t(), B.row(i).t()) / 2.0; alpha(i) = lorentz(B.row(i).t(), B.row(i).t()) / 2.0;
@ -125,24 +123,24 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
double c = lorentz(BBBalpha, BBBalpha); double c = lorentz(BBBalpha, BBBalpha);
double root = sqrt(b * b - a * c); double root = sqrt(b * b - a * c);
arma::vec r = {(-b - root) / a, (-b + root) / a}; arma::vec r = {(-b - root) / a, (-b + root) / a};
arma::mat possible_pos = arma::zeros(4,2); arma::mat possible_pos = arma::zeros(4, 2);
for (int i = 0; i < 2; i++) for (int i = 0; i < 2; i++)
{ {
possible_pos.col(i) = r(i) * BBBe + BBBalpha; possible_pos.col(i) = r(i) * BBBe + BBBalpha;
possible_pos(3,i) = -possible_pos(3,i); possible_pos(3, i) = -possible_pos(3, i);
} }
arma::vec abs_omc = arma::zeros(2,1); arma::vec abs_omc = arma::zeros(2, 1);
for (int j = 0; j < m; j++) for (int j = 0; j < m; j++)
{ {
for (int i = 0; i < 2; i++) for (int i = 0; i < 2; i++)
{ {
double c_dt = possible_pos(3,i); double c_dt = possible_pos(3, i);
double calc = arma::norm(satpos.row(i).t() - possible_pos.col(i).rows(0,2)) + c_dt; double calc = arma::norm(satpos.row(i).t() - possible_pos.col(i).rows(0, 2)) + c_dt;
double omc = obs(j) - calc; double omc = obs(j) - calc;
abs_omc(i) = std::abs(omc); abs_omc(i) = std::abs(omc);
} }
} // % j-loop } // % j-loop
// discrimination between roots // discrimination between roots
if (abs_omc(0) > abs_omc(1)) if (abs_omc(0) > abs_omc(1))
@ -153,7 +151,7 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
{ {
pos = possible_pos.col(0); pos = possible_pos.col(0);
} }
} // % iter loop } // % iter loop
return pos; return pos;
} }
@ -168,11 +166,11 @@ double Ls_Pvt::lorentz(const arma::vec& x, const arma::vec& y)
// M = diag([1 1 1 -1]); // M = diag([1 1 1 -1]);
// p = x'*M*y; // p = x'*M*y;
return(x(0) * y(0) + x(1) * y(1) + x(2) * y(2) - x(3) * y(3)); return (x(0) * y(0) + x(1) * y(1) + x(2) * y(2) - x(3) * y(3));
} }
arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::vec & w_vec) arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs, const arma::vec& w_vec)
{ {
/* Computes the Least Squares Solution. /* Computes the Least Squares Solution.
* Inputs: * Inputs:
@ -186,14 +184,14 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
*/ */
//=== Initialization ======================================================= //=== Initialization =======================================================
int nmbOfIterations = 10; // TODO: include in config int nmbOfIterations = 10; // TODO: include in config
int nmbOfSatellites; int nmbOfSatellites;
nmbOfSatellites = satpos.n_cols; // Armadillo nmbOfSatellites = satpos.n_cols; // Armadillo
arma::mat w = arma::zeros(nmbOfSatellites, nmbOfSatellites); arma::mat w = arma::zeros(nmbOfSatellites, nmbOfSatellites);
w.diag() = w_vec; //diagonal weight matrix w.diag() = w_vec; //diagonal weight matrix
arma::vec rx_pos = this->get_rx_pos(); arma::vec rx_pos = this->get_rx_pos();
arma::vec pos = {rx_pos(0), rx_pos(1), rx_pos(2), 0}; // time error in METERS (time x speed) arma::vec pos = {rx_pos(0), rx_pos(1), rx_pos(2), 0}; // time error in METERS (time x speed)
arma::mat A; arma::mat A;
arma::mat omc; arma::mat omc;
A = arma::zeros(nmbOfSatellites, 4); A = arma::zeros(nmbOfSatellites, 4);
@ -216,31 +214,33 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
if (iter == 0) if (iter == 0)
{ {
//--- Initialize variables at the first iteration -------------- //--- Initialize variables at the first iteration --------------
Rot_X = X.col(i); //Armadillo Rot_X = X.col(i); //Armadillo
trop = 0.0; trop = 0.0;
} }
else else
{ {
//--- Update equations ----------------------------------------- //--- Update equations -----------------------------------------
rho2 = (X(0, i) - pos(0)) * rho2 = (X(0, i) - pos(0)) *
(X(0, i) - pos(0)) + (X(1, i) - pos(1)) * (X(0, i) - pos(0)) +
(X(1, i) - pos(1)) + (X(2, i) - pos(2)) * (X(1, i) - pos(1)) *
(X(2, i) - pos(2)); (X(1, i) - pos(1)) +
(X(2, i) - pos(2)) *
(X(2, i) - pos(2));
traveltime = sqrt(rho2) / GPS_C_m_s; traveltime = sqrt(rho2) / GPS_C_m_s;
//--- Correct satellite position (do to earth rotation) -------- //--- Correct satellite position (do to earth rotation) --------
Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo
//--- Find DOA and range of satellites //--- Find DOA and range of satellites
double * azim = 0; double* azim = 0;
double * elev = 0; double* elev = 0;
double * dist = 0; double* dist = 0;
Ls_Pvt::topocent(azim, elev, dist, pos.subvec(0,2), Rot_X - pos.subvec(0, 2)); Ls_Pvt::topocent(azim, elev, dist, pos.subvec(0, 2), Rot_X - pos.subvec(0, 2));
this->set_visible_satellites_Az(i, *azim); this->set_visible_satellites_Az(i, *azim);
this->set_visible_satellites_El(i, *elev); this->set_visible_satellites_El(i, *elev);
this->set_visible_satellites_Distance(i, *dist); this->set_visible_satellites_Distance(i, *dist);
if(traveltime < 0.1 && nmbOfSatellites > 3) if (traveltime < 0.1 && nmbOfSatellites > 3)
{ {
//--- Find receiver's height //--- Find receiver's height
Ls_Pvt::togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2)); Ls_Pvt::togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
@ -254,29 +254,29 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
{ {
//--- Find delay due to troposphere (in meters) //--- Find delay due to troposphere (in meters)
Ls_Pvt::tropo(&trop, sin(this->get_visible_satellites_El(i) * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0); Ls_Pvt::tropo(&trop, sin(this->get_visible_satellites_El(i) * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
if(trop > 5.0 ) trop = 0.0; //check for erratic values if (trop > 5.0) trop = 0.0; //check for erratic values
} }
} }
} }
//--- Apply the corrections ---------------------------------------- //--- Apply the corrections ----------------------------------------
omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0, 2), 2) - pos(3) - trop); // Armadillo omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0, 2), 2) - pos(3) - trop); // Armadillo
//--- Construct the A matrix --------------------------------------- //--- Construct the A matrix ---------------------------------------
//Armadillo //Armadillo
A(i,0) = (-(Rot_X(0) - pos(0))) / obs(i); A(i, 0) = (-(Rot_X(0) - pos(0))) / obs(i);
A(i,1) = (-(Rot_X(1) - pos(1))) / obs(i); A(i, 1) = (-(Rot_X(1) - pos(1))) / obs(i);
A(i,2) = (-(Rot_X(2) - pos(2))) / obs(i); A(i, 2) = (-(Rot_X(2) - pos(2))) / obs(i);
A(i,3) = 1.0; A(i, 3) = 1.0;
} }
//--- Find position update --------------------------------------------- //--- Find position update ---------------------------------------------
x = arma::solve(w*A, w*omc); // Armadillo x = arma::solve(w * A, w * omc); // Armadillo
//--- Apply position update -------------------------------------------- //--- Apply position update --------------------------------------------
pos = pos + x; pos = pos + x;
if (arma::norm(x,2) < 1e-4) if (arma::norm(x, 2) < 1e-4)
{ {
break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm) break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm)
} }
} }
@ -291,5 +291,3 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
} }
return pos; return pos;
} }

8
src/algorithms/PVT/libs/ls_pvt.h
View File

@ -45,20 +45,20 @@ private:
/*! /*!
* \brief Computes the Lorentz inner product between two vectors * \brief Computes the Lorentz inner product between two vectors
*/ */
double lorentz(const arma::vec & x,const arma::vec & y); double lorentz(const arma::vec& x, const arma::vec& y);
public: public:
Ls_Pvt(); Ls_Pvt();
/*! /*!
* \brief Computes the initial position solution based on the Bancroft algorithm * \brief Computes the initial position solution based on the Bancroft algorithm
*/ */
arma::vec bancroftPos(const arma::mat & satpos, const arma::vec & obs); arma::vec bancroftPos(const arma::mat& satpos, const arma::vec& obs);
/*! /*!
* \brief Computes the Weighted Least Squares position solution * \brief Computes the Weighted Least Squares position solution
*/ */
arma::vec leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::vec & w_vec); arma::vec leastSquarePos(const arma::mat& satpos, const arma::vec& obs, const arma::vec& w_vec);
}; };
#endif #endif

92
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -34,17 +34,14 @@
*/ */
#include "nmea_printer.h" #include "nmea_printer.h"
#include <fcntl.h>
#include <termios.h>
#include <boost/date_time/posix_time/posix_time.hpp> #include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h> #include <glog/logging.h>
#include <gflags/gflags.h> #include <fcntl.h>
#include <termios.h>
using google::LogMessage; using google::LogMessage;
//DEFINE_string(NMEA_version, "2.1", "Specifies the NMEA version (2.1)");
Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_tty_port, std::string nmea_dump_devname) Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_tty_port, std::string nmea_dump_devname)
{ {
@ -72,8 +69,6 @@ Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_tty_port, std::s
} }
Nmea_Printer::~Nmea_Printer() Nmea_Printer::~Nmea_Printer()
{ {
if (nmea_file_descriptor.is_open()) if (nmea_file_descriptor.is_open())
@ -84,9 +79,7 @@ Nmea_Printer::~Nmea_Printer()
} }
int Nmea_Printer::init_serial(std::string serial_device)
int Nmea_Printer::init_serial (std::string serial_device)
{ {
/*! /*!
* Opens the serial device and sets the default baud rate for a NMEA transmission (9600,8,N,1) * Opens the serial device and sets the default baud rate for a NMEA transmission (9600,8,N,1)
@ -100,12 +93,12 @@ int Nmea_Printer::init_serial (std::string serial_device)
long PARITY; long PARITY;
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY); fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) return fd; //failed to open TTY port if (fd == -1) return fd; //failed to open TTY port
if(fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O
tcgetattr(fd, &options); // read serial port options tcgetattr(fd, &options); // read serial port options
BAUD = B9600; BAUD = B9600;
//BAUD = B38400; //BAUD = B38400;
DATABITS = CS8; DATABITS = CS8;
STOPBITS = 0; STOPBITS = 0;
@ -123,8 +116,7 @@ int Nmea_Printer::init_serial (std::string serial_device)
} }
void Nmea_Printer::close_serial()
void Nmea_Printer::close_serial ()
{ {
if (nmea_dev_descriptor != -1) if (nmea_dev_descriptor != -1)
{ {
@ -157,7 +149,7 @@ bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<Pvt_Solution>& pvt_data
// write to log file // write to log file
try try
{ {
//GPRMC //GPRMC
nmea_file_descriptor << GPRMC; nmea_file_descriptor << GPRMC;
//GPGGA (Global Positioning System Fixed Data) //GPGGA (Global Positioning System Fixed Data)
@ -166,31 +158,32 @@ bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<Pvt_Solution>& pvt_data
nmea_file_descriptor << GPGSA; nmea_file_descriptor << GPGSA;
//GPGSV //GPGSV
nmea_file_descriptor << GPGSV; nmea_file_descriptor << GPGSV;
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
DLOG(INFO) << "NMEA printer can not write on output file" << nmea_filename.c_str();; DLOG(INFO) << "NMEA printer can not write on output file" << nmea_filename.c_str();
} ;
}
//write to serial device //write to serial device
if (nmea_dev_descriptor!=-1) if (nmea_dev_descriptor != -1)
{ {
if(write(nmea_dev_descriptor, GPRMC.c_str(), GPRMC.length()) == -1) if (write(nmea_dev_descriptor, GPRMC.c_str(), GPRMC.length()) == -1)
{ {
DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str(); DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str();
return false; return false;
} }
if(write(nmea_dev_descriptor, GPGGA.c_str(), GPGGA.length()) == -1) if (write(nmea_dev_descriptor, GPGGA.c_str(), GPGGA.length()) == -1)
{ {
DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str(); DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str();
return false; return false;
} }
if(write(nmea_dev_descriptor, GPGSA.c_str(), GPGSA.length()) == -1) if (write(nmea_dev_descriptor, GPGSA.c_str(), GPGSA.length()) == -1)
{ {
DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str(); DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str();
return false; return false;
} }
if(write(nmea_dev_descriptor, GPGSV.c_str(), GPGSV.length()) == -1) if (write(nmea_dev_descriptor, GPGSV.c_str(), GPGSV.length()) == -1)
{ {
DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str(); DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str();
return false; return false;
@ -200,7 +193,6 @@ bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<Pvt_Solution>& pvt_data
} }
char Nmea_Printer::checkSum(std::string sentence) char Nmea_Printer::checkSum(std::string sentence)
{ {
char check = 0; char check = 0;
@ -214,14 +206,13 @@ char Nmea_Printer::checkSum(std::string sentence)
} }
std::string Nmea_Printer::latitude_to_hm(double lat) std::string Nmea_Printer::latitude_to_hm(double lat)
{ {
bool north; bool north;
if (lat < 0.0) if (lat < 0.0)
{ {
north = false; north = false;
lat = -lat ; lat = -lat;
} }
else else
{ {
@ -230,7 +221,7 @@ std::string Nmea_Printer::latitude_to_hm(double lat)
int deg = static_cast<int>(lat); int deg = static_cast<int>(lat);
double mins = lat - static_cast<double>(deg); double mins = lat - static_cast<double>(deg);
mins *= 60.0 ; mins *= 60.0;
std::ostringstream out_string; std::ostringstream out_string;
out_string.setf(std::ios::fixed, std::ios::floatfield); out_string.setf(std::ios::fixed, std::ios::floatfield);
out_string.fill('0'); out_string.fill('0');
@ -253,14 +244,13 @@ std::string Nmea_Printer::latitude_to_hm(double lat)
} }
std::string Nmea_Printer::longitude_to_hm(double longitude) std::string Nmea_Printer::longitude_to_hm(double longitude)
{ {
bool east; bool east;
if (longitude < 0.0) if (longitude < 0.0)
{ {
east = false; east = false;
longitude = -longitude ; longitude = -longitude;
} }
else else
{ {
@ -268,7 +258,7 @@ std::string Nmea_Printer::longitude_to_hm(double longitude)
} }
int deg = static_cast<int>(longitude); int deg = static_cast<int>(longitude);
double mins = longitude - static_cast<double>(deg); double mins = longitude - static_cast<double>(deg);
mins *= 60.0 ; mins *= 60.0;
std::ostringstream out_string; std::ostringstream out_string;
out_string.setf(std::ios::fixed, std::ios::floatfield); out_string.setf(std::ios::fixed, std::ios::floatfield);
out_string.width(3); out_string.width(3);
@ -291,7 +281,6 @@ std::string Nmea_Printer::longitude_to_hm(double longitude)
} }
std::string Nmea_Printer::get_UTC_NMEA_time(boost::posix_time::ptime d_position_UTC_time) std::string Nmea_Printer::get_UTC_NMEA_time(boost::posix_time::ptime d_position_UTC_time)
{ {
//UTC Time: hhmmss.sss //UTC Time: hhmmss.sss
@ -306,37 +295,36 @@ std::string Nmea_Printer::get_UTC_NMEA_time(boost::posix_time::ptime d_position_
utc_hours = td.hours(); utc_hours = td.hours();
utc_mins = td.minutes(); utc_mins = td.minutes();
utc_seconds = td.seconds(); utc_seconds = td.seconds();
utc_milliseconds = td.total_milliseconds() - td.total_seconds()*1000; utc_milliseconds = td.total_milliseconds() - td.total_seconds() * 1000;
if (utc_hours < 10) sentence_str << "0"; // two digits for hours if (utc_hours < 10) sentence_str << "0"; // two digits for hours
sentence_str << utc_hours; sentence_str << utc_hours;
if (utc_mins < 10) sentence_str << "0"; // two digits for minutes if (utc_mins < 10) sentence_str << "0"; // two digits for minutes
sentence_str << utc_mins; sentence_str << utc_mins;
if (utc_seconds < 10) sentence_str << "0"; // two digits for seconds if (utc_seconds < 10) sentence_str << "0"; // two digits for seconds
sentence_str << utc_seconds; sentence_str << utc_seconds;
if (utc_milliseconds < 10) if (utc_milliseconds < 10)
{ {
sentence_str << ".00"; // three digits for ms sentence_str << ".00"; // three digits for ms
sentence_str << utc_milliseconds; sentence_str << utc_milliseconds;
} }
else if (utc_milliseconds < 100) else if (utc_milliseconds < 100)
{ {
sentence_str << ".0"; // three digits for ms sentence_str << ".0"; // three digits for ms
sentence_str << utc_milliseconds; sentence_str << utc_milliseconds;
} }
else else
{ {
sentence_str << "."; // three digits for ms sentence_str << "."; // three digits for ms
sentence_str << utc_milliseconds; sentence_str << utc_milliseconds;
} }
return sentence_str.str(); return sentence_str.str();
} }
std::string Nmea_Printer::get_GPRMC() std::string Nmea_Printer::get_GPRMC()
{ {
// Sample -> $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,*10 // Sample -> $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,*10
@ -438,7 +426,6 @@ std::string Nmea_Printer::get_GPRMC()
} }
std::string Nmea_Printer::get_GPGSA() std::string Nmea_Printer::get_GPGSA()
{ {
//$GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33 //$GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
@ -464,7 +451,7 @@ std::string Nmea_Printer::get_GPGSA()
// 1 fix not available // 1 fix not available
// 2 fix 2D // 2 fix 2D
// 3 fix 3D // 3 fix 3D
if (valid_fix==true) if (valid_fix == true)
{ {
sentence_str << ",3"; sentence_str << ",3";
} }
@ -474,7 +461,7 @@ std::string Nmea_Printer::get_GPGSA()
}; };
// Used satellites // Used satellites
for (int i=0; i<12; i++) for (int i = 0; i < 12; i++)
{ {
sentence_str << ","; sentence_str << ",";
if (i < n_sats_used) if (i < n_sats_used)
@ -493,7 +480,7 @@ std::string Nmea_Printer::get_GPGSA()
sentence_str.fill('0'); sentence_str.fill('0');
sentence_str << pdop; sentence_str << pdop;
//HDOP //HDOP
sentence_str<<","; sentence_str << ",";
sentence_str.setf(std::ios::fixed, std::ios::floatfield); sentence_str.setf(std::ios::fixed, std::ios::floatfield);
sentence_str.width(2); sentence_str.width(2);
sentence_str.precision(1); sentence_str.precision(1);
@ -523,8 +510,6 @@ std::string Nmea_Printer::get_GPGSA()
} }
std::string Nmea_Printer::get_GPGSV() std::string Nmea_Printer::get_GPGSV()
{ {
// GSV-GNSS Satellites in View // GSV-GNSS Satellites in View
@ -544,7 +529,7 @@ std::string Nmea_Printer::get_GPGSV()
// generate the frames // generate the frames
int current_satellite = 0; int current_satellite = 0;
for (int i=1; i<(n_frames+1); i++) for (int i = 1; i < (n_frames + 1); i++)
{ {
frame_str.str(""); frame_str.str("");
frame_str << sentence_header; frame_str << sentence_header;
@ -563,7 +548,7 @@ std::string Nmea_Printer::get_GPGSV()
frame_str << std::dec << n_sats_used; frame_str << std::dec << n_sats_used;
//satellites info //satellites info
for (int j=0; j<4; j++) for (int j = 0; j < 4; j++)
{ {
// write satellite info // write satellite info
frame_str << ","; frame_str << ",";
@ -613,14 +598,11 @@ std::string Nmea_Printer::get_GPGSV()
} }
std::string Nmea_Printer::get_GPGGA() std::string Nmea_Printer::get_GPGGA()
{ {
//boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time(); //boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time();
bool valid_fix = d_PVT_data->is_valid_position(); bool valid_fix = d_PVT_data->is_valid_position();
int n_channels = d_PVT_data->get_num_valid_observations();//d_nchannels int n_channels = d_PVT_data->get_num_valid_observations(); //d_nchannels
double hdop = d_PVT_data->get_HDOP(); double hdop = d_PVT_data->get_HDOP();
double MSL_altitude; double MSL_altitude;

20
src/algorithms/PVT/libs/nmea_printer.h
View File

@ -36,11 +36,9 @@
#ifndef GNSS_SDR_NMEA_PRINTER_H_ #ifndef GNSS_SDR_NMEA_PRINTER_H_
#define GNSS_SDR_NMEA_PRINTER_H_ #define GNSS_SDR_NMEA_PRINTER_H_
#include "pvt_solution.h"
#include <iostream>
#include <fstream> #include <fstream>
#include <string> #include <string>
#include "pvt_solution.h"
/*! /*!
@ -68,17 +66,17 @@ public:
~Nmea_Printer(); ~Nmea_Printer();
private: private:
std::string nmea_filename; // String with the NMEA log filename std::string nmea_filename; // String with the NMEA log filename
std::ofstream nmea_file_descriptor; // Output file stream for NMEA log file std::ofstream nmea_file_descriptor; // Output file stream for NMEA log file
std::string nmea_devname; std::string nmea_devname;
int nmea_dev_descriptor; // NMEA serial device descriptor (i.e. COM port) int nmea_dev_descriptor; // NMEA serial device descriptor (i.e. COM port)
std::shared_ptr<Pvt_Solution> d_PVT_data; std::shared_ptr<Pvt_Solution> d_PVT_data;
int init_serial(std::string serial_device); //serial port control int init_serial(std::string serial_device); //serial port control
void close_serial(); void close_serial();
std::string get_GPGGA(); // fix data std::string get_GPGGA(); // fix data
std::string get_GPGSV(); // satellite data std::string get_GPGSV(); // satellite data
std::string get_GPGSA(); // overall satellite reception data std::string get_GPGSA(); // overall satellite reception data
std::string get_GPRMC(); // minimum recommended data std::string get_GPRMC(); // minimum recommended data
std::string get_UTC_NMEA_time(boost::posix_time::ptime d_position_UTC_time); std::string get_UTC_NMEA_time(boost::posix_time::ptime d_position_UTC_time);
std::string longitude_to_hm(double longitude); std::string longitude_to_hm(double longitude);
std::string latitude_to_hm(double lat); std::string latitude_to_hm(double lat);

210
src/algorithms/PVT/libs/pvt_solution.cc
View File

@ -30,15 +30,13 @@
*/ */
#include "pvt_solution.h" #include "pvt_solution.h"
#include <exception>
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include <gflags/gflags.h>
#include <glog/logging.h> #include <glog/logging.h>
#include <exception>
using google::LogMessage; using google::LogMessage;
DEFINE_bool(tropo, true, "Apply tropospheric correction");
Pvt_Solution::Pvt_Solution() Pvt_Solution::Pvt_Solution()
{ {
@ -57,11 +55,11 @@ Pvt_Solution::Pvt_Solution()
b_valid_position = false; b_valid_position = false;
d_averaging_depth = 0; d_averaging_depth = 0;
d_valid_observations = 0; d_valid_observations = 0;
d_rx_pos = arma::zeros(3,1); d_rx_pos = arma::zeros(3, 1);
d_rx_dt_s = 0.0; d_rx_dt_s = 0.0;
} }
arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec & X_sat) arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec &X_sat)
{ {
/* /*
* Returns rotated satellite ECEF coordinates due to Earth * Returns rotated satellite ECEF coordinates due to Earth
@ -80,7 +78,7 @@ arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec
omegatau = OMEGA_EARTH_DOT * traveltime; omegatau = OMEGA_EARTH_DOT * traveltime;
//--- Build a rotation matrix ---------------------------------------------- //--- Build a rotation matrix ----------------------------------------------
arma::mat R3 = arma::zeros(3,3); arma::mat R3 = arma::zeros(3, 3);
R3(0, 0) = cos(omegatau); R3(0, 0) = cos(omegatau);
R3(0, 1) = sin(omegatau); R3(0, 1) = sin(omegatau);
R3(0, 2) = 0.0; R3(0, 2) = 0.0;
@ -114,7 +112,7 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0}; const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563}; const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563};
double lambda = atan2(Y, X); double lambda = atan2(Y, X);
double ex2 = (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1.0 - f[elipsoid_selection]) * (1.0 - f[elipsoid_selection])); double ex2 = (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1.0 - f[elipsoid_selection]) * (1.0 - f[elipsoid_selection]));
double c = a[elipsoid_selection] * sqrt(1.0 + ex2); double c = a[elipsoid_selection] * sqrt(1.0 + ex2);
double phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection])) * f[elipsoid_selection]))); double phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection])) * f[elipsoid_selection])));
@ -127,7 +125,7 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
{ {
oldh = h; oldh = h;
N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi))); N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h) )))); phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h)))));
h = sqrt(X * X + Y * Y) / cos(phi) - N; h = sqrt(X * X + Y * Y) / cos(phi) - N;
iterations = iterations + 1; iterations = iterations + 1;
if (iterations > 100) if (iterations > 100)
@ -184,7 +182,7 @@ int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, dou
} }
// first guess // first guess
double P = sqrt(X * X + Y * Y); // P is distance from spin axis double P = sqrt(X * X + Y * Y); // P is distance from spin axis
//direct calculation of longitude //direct calculation of longitude
if (P > 1.0E-20) if (P > 1.0E-20)
@ -202,12 +200,12 @@ int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, dou
*dlambda = *dlambda + 360.0; *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; double sinphi;
if (r > 1.0E-20) if (r > 1.0E-20)
{ {
sinphi = Z/r; sinphi = Z / r;
} }
else else
{ {
@ -223,7 +221,7 @@ int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, dou
return 1; return 1;
} }
*h = r - a * (1 - sinphi * sinphi/finv); *h = r - a * (1 - sinphi * sinphi / finv);
// iterate // iterate
double cosphi; double cosphi;
@ -246,7 +244,7 @@ int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, dou
// update height and latitude // update height and latitude
*h = *h + (sinphi * dZ + cosphi * dP); *h = *h + (sinphi * dZ + cosphi * dP);
*dphi = *dphi + (cosphi * dZ - sinphi * dP)/(N_phi + (*h)); *dphi = *dphi + (cosphi * dZ - sinphi * dP) / (N_phi + (*h));
// test for convergence // test for convergence
if ((dP * dP + dZ * dZ) < tolsq) if ((dP * dP + dZ * dZ) < tolsq)
@ -287,61 +285,66 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre 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 a_e = 6378.137; // semi-major axis of earth ellipsoid
const double b0 = 7.839257e-5; const double b0 = 7.839257e-5;
const double tlapse = -6.5; const double tlapse = -6.5;
const double em = -978.77 / (2.8704e6 * tlapse * 1.0e-5); const double em = -978.77 / (2.8704e6 * tlapse * 1.0e-5);
double tkhum = t_kel + tlapse * (hhum_km - htkel_km); double tkhum = t_kel + tlapse * (hhum_km - htkel_km);
double atkel = 7.5 * (tkhum - 273.15) / (237.3 + tkhum - 273.15); double atkel = 7.5 * (tkhum - 273.15) / (237.3 + tkhum - 273.15);
double e0 = 0.0611 * hum * pow(10, atkel); double e0 = 0.0611 * hum * pow(10, atkel);
double tksea = t_kel - tlapse * htkel_km; double tksea = t_kel - tlapse * htkel_km;
double tkelh = tksea + tlapse * hhum_km; double tkelh = tksea + tlapse * hhum_km;
double e0sea = e0 * pow((tksea / tkelh), (4 * em)); double e0sea = e0 * pow((tksea / tkelh), (4 * em));
double tkelp = tksea + tlapse * hp_km; double tkelp = tksea + tlapse * hp_km;
double psea = p_mb * pow((tksea / tkelp), em); double psea = p_mb * pow((tksea / tkelp), em);
if(sinel < 0) { sinel = 0.0; } if (sinel < 0)
{
sinel = 0.0;
}
double tropo_delay = 0.0; double tropo_delay = 0.0;
bool done = false; bool done = false;
double refsea = 77.624e-6 / tksea; double refsea = 77.624e-6 / tksea;
double htop = 1.1385e-5 / refsea; double htop = 1.1385e-5 / refsea;
refsea = refsea * psea; refsea = refsea * psea;
double ref = refsea * pow(((htop - hsta_km) / htop), 4); double ref = refsea * pow(((htop - hsta_km) / htop), 4);
double a; double a;
double b; double b;
double rtop; double rtop;
while(1) while (1)
{ {
rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2)); rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2));
// check to see if geometry is crazy // check to see if geometry is crazy
if(rtop < 0) { rtop = 0; } if (rtop < 0)
{
rtop = 0;
}
rtop = sqrt(rtop) - (a_e + hsta_km) * sinel; rtop = sqrt(rtop) - (a_e + hsta_km) * sinel;
a = -sinel / (htop - hsta_km); a = -sinel / (htop - hsta_km);
b = -b0 * (1 - pow(sinel,2)) / (htop - hsta_km); b = -b0 * (1 - pow(sinel, 2)) / (htop - hsta_km);
arma::vec rn = arma::vec(8); arma::vec rn = arma::vec(8);
rn.zeros(); rn.zeros();
for(int i = 0; i<8; i++) for (int i = 0; i < 8; i++)
{ {
rn(i) = pow(rtop, (i+1+1)); 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), 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(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}; pow(b, 2) * (6 * pow(a, 2) + 4 * b) * 1.428571e-1, 0, 0};
if(pow(b, 2) > 1.0e-35) if (pow(b, 2) > 1.0e-35)
{ {
alpha(6) = a * pow(b, 3) /2; alpha(6) = a * pow(b, 3) / 2;
alpha(7) = pow(b, 4) / 9; alpha(7) = pow(b, 4) / 9;
} }
@ -350,22 +353,22 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
dr = dr + aux_(0, 0); dr = dr + aux_(0, 0);
tropo_delay = tropo_delay + dr * ref * 1000; tropo_delay = tropo_delay + dr * ref * 1000;
if(done == true) if (done == true)
{ {
*ddr_m = tropo_delay; *ddr_m = tropo_delay;
break; break;
} }
done = true; done = true;
refsea = (371900.0e-6 / tksea - 12.92e-6) / tksea; refsea = (371900.0e-6 / tksea - 12.92e-6) / tksea;
htop = 1.1385e-5 * (1255 / tksea + 0.05) / refsea; htop = 1.1385e-5 * (1255 / tksea + 0.05) / refsea;
ref = refsea * e0sea * pow(((htop - hsta_km) / htop), 4); ref = refsea * e0sea * pow(((htop - hsta_km) / htop), 4);
} }
return 0; return 0;
} }
int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec & x, const arma::vec & dx) int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx)
{ {
/* Transformation of vector dx into topocentric coordinate /* Transformation of vector dx into topocentric coordinate
system with origin at x system with origin at x
@ -385,8 +388,8 @@ int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &
double phi; double phi;
double h; double h;
double dtr = GPS_PI / 180.0; double dtr = GPS_PI / 180.0;
double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84 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 finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84
// Transform x into geodetic coordinates // Transform x into geodetic coordinates
Pvt_Solution::togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2)); Pvt_Solution::togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2));
@ -396,19 +399,19 @@ int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &
double cb = cos(phi * dtr); double cb = cos(phi * dtr);
double sb = sin(phi * dtr); double sb = sin(phi * dtr);
arma::mat F = arma::zeros(3,3); arma::mat F = arma::zeros(3, 3);
F(0,0) = -sl; F(0, 0) = -sl;
F(0,1) = -sb * cl; F(0, 1) = -sb * cl;
F(0,2) = cb * cl; F(0, 2) = cb * cl;
F(1,0) = cl; F(1, 0) = cl;
F(1,1) = -sb * sl; F(1, 1) = -sb * sl;
F(1,2) = cb * sl; F(1, 2) = cb * sl;
F(2,0) = 0; F(2, 0) = 0;
F(2,1) = cb; F(2, 1) = cb;
F(2,2) = sb; F(2, 2) = sb;
arma::vec local_vector; arma::vec local_vector;
@ -442,47 +445,46 @@ int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &
} }
int Pvt_Solution::compute_DOP() int Pvt_Solution::compute_DOP()
{ {
// ###### Compute DOPs ######## // ###### Compute DOPs ########
// 1- Rotation matrix from ECEF coordinates to ENU coordinates // 1- Rotation matrix from ECEF coordinates to ENU coordinates
// ref: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates // ref: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates
arma::mat F = arma::zeros(3,3); arma::mat F = arma::zeros(3, 3);
F(0,0) = -sin(GPS_TWO_PI * (d_longitude_d/360.0)); F(0, 0) = -sin(GPS_TWO_PI * (d_longitude_d / 360.0));
F(0,1) = -sin(GPS_TWO_PI * (d_latitude_d/360.0)) * cos(GPS_TWO_PI * (d_longitude_d/360.0)); F(0, 1) = -sin(GPS_TWO_PI * (d_latitude_d / 360.0)) * cos(GPS_TWO_PI * (d_longitude_d / 360.0));
F(0,2) = cos(GPS_TWO_PI * (d_latitude_d/360.0)) * cos(GPS_TWO_PI * (d_longitude_d/360.0)); F(0, 2) = cos(GPS_TWO_PI * (d_latitude_d / 360.0)) * cos(GPS_TWO_PI * (d_longitude_d / 360.0));
F(1,0) = cos((GPS_TWO_PI * d_longitude_d)/360.0); F(1, 0) = cos((GPS_TWO_PI * d_longitude_d) / 360.0);
F(1,1) = -sin((GPS_TWO_PI * d_latitude_d)/360.0) * sin((GPS_TWO_PI * d_longitude_d)/360.0); F(1, 1) = -sin((GPS_TWO_PI * d_latitude_d) / 360.0) * sin((GPS_TWO_PI * d_longitude_d) / 360.0);
F(1,2) = cos((GPS_TWO_PI * d_latitude_d/360.0)) * sin((GPS_TWO_PI * d_longitude_d)/360.0); F(1, 2) = cos((GPS_TWO_PI * d_latitude_d / 360.0)) * sin((GPS_TWO_PI * d_longitude_d) / 360.0);
F(2,0) = 0; F(2, 0) = 0;
F(2,1) = cos((GPS_TWO_PI * d_latitude_d)/360.0); F(2, 1) = cos((GPS_TWO_PI * d_latitude_d) / 360.0);
F(2,2) = sin((GPS_TWO_PI * d_latitude_d/360.0)); F(2, 2) = sin((GPS_TWO_PI * d_latitude_d / 360.0));
// 2- Apply the rotation to the latest covariance matrix (available in ECEF from LS) // 2- Apply the rotation to the latest covariance matrix (available in ECEF from LS)
arma::mat Q_ECEF = d_Q.submat(0, 0, 2, 2); arma::mat Q_ECEF = d_Q.submat(0, 0, 2, 2);
arma::mat DOP_ENU = arma::zeros(3, 3); arma::mat DOP_ENU = arma::zeros(3, 3);
try try
{ {
DOP_ENU = arma::htrans(F) * Q_ECEF * F; DOP_ENU = arma::htrans(F) * Q_ECEF * F;
d_GDOP = sqrt(arma::trace(DOP_ENU)); // Geometric DOP d_GDOP = sqrt(arma::trace(DOP_ENU)); // Geometric DOP
d_PDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1) + DOP_ENU(2, 2));// PDOP d_PDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1) + DOP_ENU(2, 2)); // PDOP
d_HDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1)); // HDOP d_HDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1)); // HDOP
d_VDOP = sqrt(DOP_ENU(2, 2)); // VDOP d_VDOP = sqrt(DOP_ENU(2, 2)); // VDOP
d_TDOP = sqrt(d_Q(3, 3)); // TDOP d_TDOP = sqrt(d_Q(3, 3)); // TDOP
} }
catch(const std::exception & ex) catch (const std::exception &ex)
{ {
d_GDOP = -1; // Geometric DOP d_GDOP = -1; // Geometric DOP
d_PDOP = -1; // PDOP d_PDOP = -1; // PDOP
d_HDOP = -1; // HDOP d_HDOP = -1; // HDOP
d_VDOP = -1; // VDOP d_VDOP = -1; // VDOP
d_TDOP = -1; // TDOP d_TDOP = -1; // TDOP
} }
return 0; return 0;
} }
@ -523,7 +525,7 @@ void Pvt_Solution::perform_pos_averaging()
{ {
d_avg_latitude_d = d_avg_latitude_d + d_hist_latitude_d.at(i); d_avg_latitude_d = d_avg_latitude_d + d_hist_latitude_d.at(i);
d_avg_longitude_d = d_avg_longitude_d + d_hist_longitude_d.at(i); d_avg_longitude_d = d_avg_longitude_d + d_hist_longitude_d.at(i);
d_avg_height_m = d_avg_height_m + d_hist_height_m.at(i); d_avg_height_m = d_avg_height_m + d_hist_height_m.at(i);
} }
d_avg_latitude_d = d_avg_latitude_d / static_cast<double>(d_averaging_depth); d_avg_latitude_d = d_avg_latitude_d / static_cast<double>(d_averaging_depth);
d_avg_longitude_d = d_avg_longitude_d / static_cast<double>(d_averaging_depth); d_avg_longitude_d = d_avg_longitude_d / static_cast<double>(d_averaging_depth);
@ -616,7 +618,7 @@ void Pvt_Solution::set_valid_position(bool is_valid)
} }
void Pvt_Solution::set_rx_pos(const arma::vec & pos) void Pvt_Solution::set_rx_pos(const arma::vec &pos)
{ {
d_rx_pos = pos; d_rx_pos = pos;
d_latitude_d = d_rx_pos(0); d_latitude_d = d_rx_pos(0);
@ -637,7 +639,7 @@ boost::posix_time::ptime Pvt_Solution::get_position_UTC_time() const
} }
void Pvt_Solution::set_position_UTC_time(const boost::posix_time::ptime & pt) void Pvt_Solution::set_position_UTC_time(const boost::posix_time::ptime &pt)
{ {
d_position_UTC_time = pt; d_position_UTC_time = pt;
} }
@ -657,14 +659,14 @@ void Pvt_Solution::set_num_valid_observations(int num)
bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn) bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Setting sat ID to channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Setting sat ID to channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
} }
else else
{ {
if(prn >= PVT_MAX_PRN) if (prn >= PVT_MAX_PRN)
{ {
LOG(WARNING) << "Setting to channel " << index << " a PRN of " << prn << " (the maximum is " << PVT_MAX_PRN << ")"; LOG(WARNING) << "Setting to channel " << index << " a PRN of " << prn << " (the maximum is " << PVT_MAX_PRN << ")";
return false; return false;
@ -680,7 +682,7 @@ bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn)
unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat ID for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat ID for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0; return 0;
@ -694,21 +696,21 @@ unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const
bool Pvt_Solution::set_visible_satellites_El(size_t index, double el) bool Pvt_Solution::set_visible_satellites_El(size_t index, double el)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Setting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Setting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
} }
else else
{ {
if(el > 90.0) if (el > 90.0)
{ {
LOG(WARNING) << "Setting a sat elevation > 90 [degrees]. Saturating to 90"; LOG(WARNING) << "Setting a sat elevation > 90 [degrees]. Saturating to 90";
d_visible_satellites_El[index] = 90.0; d_visible_satellites_El[index] = 90.0;
} }
else else
{ {
if(el < -90.0) if (el < -90.0)
{ {
LOG(WARNING) << "Setting a sat elevation < -90 [degrees]. Saturating to -90"; LOG(WARNING) << "Setting a sat elevation < -90 [degrees]. Saturating to -90";
d_visible_satellites_El[index] = -90.0; d_visible_satellites_El[index] = -90.0;
@ -725,7 +727,7 @@ bool Pvt_Solution::set_visible_satellites_El(size_t index, double el)
double Pvt_Solution::get_visible_satellites_El(size_t index) const double Pvt_Solution::get_visible_satellites_El(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0; return 0.0;
@ -739,7 +741,7 @@ double Pvt_Solution::get_visible_satellites_El(size_t index) const
bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az) bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
@ -754,7 +756,7 @@ bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az)
double Pvt_Solution::get_visible_satellites_Az(size_t index) const double Pvt_Solution::get_visible_satellites_Az(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0; return 0.0;
@ -768,7 +770,7 @@ double Pvt_Solution::get_visible_satellites_Az(size_t index) const
bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist) bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Setting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Setting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
@ -783,7 +785,7 @@ bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist)
double Pvt_Solution::get_visible_satellites_Distance(size_t index) const double Pvt_Solution::get_visible_satellites_Distance(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0; return 0.0;
@ -797,7 +799,7 @@ double Pvt_Solution::get_visible_satellites_Distance(size_t index) const
bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0) bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Setting sat Cn0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Setting sat Cn0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
@ -812,7 +814,7 @@ bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0)
double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting received CN0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting received CN0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0; return 0.0;
@ -824,7 +826,7 @@ double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const
} }
void Pvt_Solution::set_Q(const arma::mat & Q) void Pvt_Solution::set_Q(const arma::mat &Q)
{ {
d_Q = Q; d_Q = Q;
} }

82
src/algorithms/PVT/libs/pvt_solution.h
View File

@ -33,9 +33,9 @@
#define GNSS_SDR_PVT_SOLUTION_H_ #define GNSS_SDR_PVT_SOLUTION_H_
#include <boost/date_time/posix_time/posix_time.hpp>
#include <deque> #include <deque>
#include <armadillo> #include <armadillo>
#include <boost/date_time/posix_time/posix_time.hpp>
const unsigned int PVT_MAX_CHANNELS = 90; const unsigned int PVT_MAX_CHANNELS = 90;
const unsigned int PVT_MAX_PRN = 127; // 126 is SBAS const unsigned int PVT_MAX_PRN = 127; // 126 is SBAS
@ -47,15 +47,15 @@ const unsigned int PVT_MAX_PRN = 127; // 126 is SBAS
class Pvt_Solution class Pvt_Solution
{ {
private: private:
double d_rx_dt_s; // RX time offset [s] double d_rx_dt_s; // RX time offset [s]
double d_latitude_d; // RX position Latitude WGS84 [deg] double d_latitude_d; // RX position Latitude WGS84 [deg]
double d_longitude_d; // RX position Longitude WGS84 [deg] double d_longitude_d; // RX position Longitude WGS84 [deg]
double d_height_m; // RX position height WGS84 [m] double d_height_m; // RX position height WGS84 [m]
double d_avg_latitude_d; // Averaged latitude in degrees double d_avg_latitude_d; // Averaged latitude in degrees
double d_avg_longitude_d; // Averaged longitude in degrees double d_avg_longitude_d; // Averaged longitude in degrees
double d_avg_height_m; // Averaged height [m] double d_avg_height_m; // Averaged height [m]
bool b_valid_position; bool b_valid_position;
@ -64,7 +64,7 @@ private:
std::deque<double> d_hist_height_m; std::deque<double> d_hist_height_m;
bool d_flag_averaging; bool d_flag_averaging;
int d_averaging_depth; // Length of averaging window int d_averaging_depth; // Length of averaging window
arma::vec d_rx_pos; arma::vec d_rx_pos;
boost::posix_time::ptime d_position_UTC_time; boost::posix_time::ptime d_position_UTC_time;
@ -77,11 +77,11 @@ private:
double d_VDOP; double d_VDOP;
double d_TDOP; double d_TDOP;
int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {}; // Array with the IDs of the valid satellites int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {}; // Array with the IDs of the valid satellites
double d_visible_satellites_El[PVT_MAX_CHANNELS] = {}; // Array with the LOS Elevation of the valid satellites double d_visible_satellites_El[PVT_MAX_CHANNELS] = {}; // Array with the LOS Elevation of the valid satellites
double d_visible_satellites_Az[PVT_MAX_CHANNELS] = {}; // Array with the LOS Azimuth of the valid satellites double d_visible_satellites_Az[PVT_MAX_CHANNELS] = {}; // Array with the LOS Azimuth of the valid satellites
double d_visible_satellites_Distance[PVT_MAX_CHANNELS] = {}; // Array with the LOS Distance of the valid satellites double d_visible_satellites_Distance[PVT_MAX_CHANNELS] = {}; // Array with the LOS Distance of the valid satellites
double d_visible_satellites_CN0_dB[PVT_MAX_CHANNELS] = {}; // Array with the IDs of the valid satellites double d_visible_satellites_CN0_dB[PVT_MAX_CHANNELS] = {}; // Array with the IDs of the valid satellites
public: public:
Pvt_Solution(); Pvt_Solution();
@ -89,22 +89,22 @@ public:
double get_time_offset_s() const; //!< Get RX time offset [s] double get_time_offset_s() const; //!< Get RX time offset [s]
void set_time_offset_s(double offset); //!< Set RX time offset [s] void set_time_offset_s(double offset); //!< Set RX time offset [s]
double get_latitude() const; //!< Get RX position Latitude WGS84 [deg] double get_latitude() const; //!< Get RX position Latitude WGS84 [deg]
double get_longitude() const; //!< Get RX position Longitude WGS84 [deg] double get_longitude() const; //!< Get RX position Longitude WGS84 [deg]
double get_height() const; //!< Get RX position height WGS84 [m] double get_height() const; //!< Get RX position height WGS84 [m]
double get_avg_latitude() const; //!< Get RX position averaged Latitude WGS84 [deg] double get_avg_latitude() const; //!< Get RX position averaged Latitude WGS84 [deg]
double get_avg_longitude() const; //!< Get RX position averaged Longitude WGS84 [deg] double get_avg_longitude() const; //!< Get RX position averaged Longitude WGS84 [deg]
double get_avg_height() const; //!< Get RX position averaged height WGS84 [m] double get_avg_height() const; //!< Get RX position averaged height WGS84 [m]
void set_rx_pos(const arma::vec & pos); //!< Set position: Latitude [deg], longitude [deg], height [m] void set_rx_pos(const arma::vec &pos); //!< Set position: Latitude [deg], longitude [deg], height [m]
arma::vec get_rx_pos() const; arma::vec get_rx_pos() const;
bool is_valid_position() const; bool is_valid_position() const;
void set_valid_position(bool is_valid); void set_valid_position(bool is_valid);
boost::posix_time::ptime get_position_UTC_time() const; boost::posix_time::ptime get_position_UTC_time() const;
void set_position_UTC_time(const boost::posix_time::ptime & pt); void set_position_UTC_time(const boost::posix_time::ptime &pt);
int get_num_valid_observations() const; //!< Get the number of valid pseudorange observations (valid satellites) int get_num_valid_observations() const; //!< Get the number of valid pseudorange observations (valid satellites)
void set_num_valid_observations(int num); //!< Set the number of valid pseudorange observations (valid satellites) void set_num_valid_observations(int num); //!< Set the number of valid pseudorange observations (valid satellites)
@ -112,27 +112,27 @@ public:
bool set_visible_satellites_ID(size_t index, unsigned int prn); //!< Set the ID of the visible satellite index channel bool set_visible_satellites_ID(size_t index, unsigned int prn); //!< Set the ID of the visible satellite index channel
unsigned int get_visible_satellites_ID(size_t index) const; //!< Get the ID of the visible satellite index channel unsigned int get_visible_satellites_ID(size_t index) const; //!< Get the ID of the visible satellite index channel
bool set_visible_satellites_El(size_t index, double el); //!< Set the LOS Elevation, in degrees, of the visible satellite index channel bool set_visible_satellites_El(size_t index, double el); //!< Set the LOS Elevation, in degrees, of the visible satellite index channel
double get_visible_satellites_El(size_t index) const; //!< Get the LOS Elevation, in degrees, of the visible satellite index channel double get_visible_satellites_El(size_t index) const; //!< Get the LOS Elevation, in degrees, of the visible satellite index channel
bool set_visible_satellites_Az(size_t index, double az); //!< Set the LOS Azimuth, in degrees, of the visible satellite index channel bool set_visible_satellites_Az(size_t index, double az); //!< Set the LOS Azimuth, in degrees, of the visible satellite index channel
double get_visible_satellites_Az(size_t index) const; //!< Get the LOS Azimuth, in degrees, of the visible satellite index channel double get_visible_satellites_Az(size_t index) const; //!< Get the LOS Azimuth, in degrees, of the visible satellite index channel
bool set_visible_satellites_Distance(size_t index, double dist); //!< Set the LOS Distance of the visible satellite index channel bool set_visible_satellites_Distance(size_t index, double dist); //!< Set the LOS Distance of the visible satellite index channel
double get_visible_satellites_Distance(size_t index) const; //!< Get the LOS Distance of the visible satellite index channel double get_visible_satellites_Distance(size_t index) const; //!< Get the LOS Distance of the visible satellite index channel
bool set_visible_satellites_CN0_dB(size_t index, double cn0); //!< Set the CN0 in dB of the visible satellite index channel bool set_visible_satellites_CN0_dB(size_t index, double cn0); //!< Set the CN0 in dB of the visible satellite index channel
double get_visible_satellites_CN0_dB(size_t index) const; //!< Get the CN0 in dB of the visible satellite index channel double get_visible_satellites_CN0_dB(size_t index) const; //!< Get the CN0 in dB of the visible satellite index channel
//averaging //averaging
void perform_pos_averaging(); void perform_pos_averaging();
void set_averaging_depth(int depth); //!< Set length of averaging window void set_averaging_depth(int depth); //!< Set length of averaging window
bool is_averaging() const; bool is_averaging() const;
void set_averaging_flag(bool flag); void set_averaging_flag(bool flag);
// DOP estimations // DOP estimations
void set_Q(const arma::mat & Q); void set_Q(const arma::mat &Q);
int compute_DOP(); //!< Compute Dilution Of Precision parameters int compute_DOP(); //!< Compute Dilution Of Precision parameters
double get_GDOP() const; double get_GDOP() const;
double get_PDOP() const; double get_PDOP() const;
@ -140,7 +140,7 @@ public:
double get_VDOP() const; double get_VDOP() const;
double get_TDOP() const; double get_TDOP() const;
arma::vec rotateSatellite(double traveltime, const arma::vec & X_sat); arma::vec rotateSatellite(double traveltime, const arma::vec &X_sat);
/*! /*!
* \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical * \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
@ -157,9 +157,9 @@ public:
* 4 - World Geodetic System 1984. * 4 - World Geodetic System 1984.
* *
*/ */
int cart2geo(double X, double Y, double Z, int elipsoid_selection); int cart2geo(double X, double Y, double Z, int elipsoid_selection);
/*! /*!
* \brief Transformation of vector dx into topocentric coordinate system with origin at x * \brief Transformation of vector dx into topocentric coordinate system with origin at x
* *
* \param[in] x Vector origin coordinates (in ECEF system [X; Y; Z;]) * \param[in] x Vector origin coordinates (in ECEF system [X; Y; Z;])
@ -171,9 +171,9 @@ public:
* *
* Based on a Matlab function by Kai Borre * Based on a Matlab function by Kai Borre
*/ */
int topocent(double *Az, double *El, double *D, const arma::vec & x, const arma::vec & dx); int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx);
/*! /*!
* \brief Subroutine to calculate geodetic coordinates latitude, longitude, * \brief Subroutine to calculate geodetic coordinates latitude, longitude,
* height given Cartesian coordinates X,Y,Z, and reference ellipsoid * height given Cartesian coordinates X,Y,Z, and reference ellipsoid
* values semi-major axis (a) and the inverse of flattening (finv). * values semi-major axis (a) and the inverse of flattening (finv).
@ -192,9 +192,9 @@ public:
* *
* Based in a Matlab function by Kai Borre * Based in a Matlab function by Kai Borre
*/ */
int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z); int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
/*! /*!
* \brief Tropospheric correction * \brief Tropospheric correction
* *
* \param[in] sinel - sin of elevation angle of satellite * \param[in] sinel - sin of elevation angle of satellite
@ -217,7 +217,7 @@ public:
* *
* Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre * Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre
*/ */
int 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); int 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);
}; };
#endif #endif

3400
src/algorithms/PVT/libs/rinex_printer.cc
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File diff suppressed because it is too large Load Diff

290
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -51,13 +51,6 @@
#ifndef GNSS_SDR_RINEX_PRINTER_H_ #ifndef GNSS_SDR_RINEX_PRINTER_H_
#define GNSS_SDR_RINEX_PRINTER_H_ #define GNSS_SDR_RINEX_PRINTER_H_
#include <string>
#include <fstream>
#include <iostream>
#include <sstream> // for stringstream
#include <iomanip> // for setprecision
#include <map>
#include <boost/date_time/posix_time/posix_time.hpp>
#include "gps_navigation_message.h" #include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h" #include "gps_cnav_navigation_message.h"
#include "galileo_navigation_message.h" #include "galileo_navigation_message.h"
@ -66,6 +59,12 @@
#include "Galileo_E1.h" #include "Galileo_E1.h"
#include "GLONASS_L1_CA.h" #include "GLONASS_L1_CA.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <string>
#include <fstream>
#include <sstream> // for stringstream
#include <iomanip> // for setprecision
#include <map>
class Sbas_Raw_Msg; class Sbas_Raw_Msg;
@ -86,122 +85,122 @@ public:
*/ */
~Rinex_Printer(); ~Rinex_Printer();
std::fstream obsFile ; //<! Output file stream for RINEX observation file std::fstream obsFile; //<! Output file stream for RINEX observation file
std::fstream navFile ; //<! Output file stream for RINEX navigation data file std::fstream navFile; //<! Output file stream for RINEX navigation data file
std::fstream sbsFile ; //<! Output file stream for RINEX SBAS raw data file std::fstream sbsFile; //<! Output file stream for RINEX SBAS raw data file
std::fstream navGalFile ; //<! Output file stream for RINEX Galileo navigation data file std::fstream navGalFile; //<! Output file stream for RINEX Galileo navigation data file
std::fstream navGloFile ; //<! Output file stream for RINEX GLONASS navigation data file std::fstream navGloFile; //<! Output file stream for RINEX GLONASS navigation data file
std::fstream navMixFile ; //<! Output file stream for RINEX Mixed navigation data file std::fstream navMixFile; //<! Output file stream for RINEX Mixed navigation data file
/*! /*!
* \brief Generates the GPS L1 C/A Navigation Data header * \brief Generates the GPS L1 C/A Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_Iono & iono, const Gps_Utc_Model & utc_model); void rinex_nav_header(std::fstream& out, const Gps_Iono& iono, const Gps_Utc_Model& utc_model);
/*! /*!
* \brief Generates the GPS L2C(M) Navigation Data header * \brief Generates the GPS L2C(M) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_CNAV_Iono & iono, const Gps_CNAV_Utc_Model & utc_model); void rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& iono, const Gps_CNAV_Utc_Model& utc_model);
/*! /*!
* \brief Generates the Galileo Navigation Data header * \brief Generates the Galileo Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Galileo_Iono & iono, const Galileo_Utc_Model & utc_model, const Galileo_Almanac & galileo_almanac); void rinex_nav_header(std::fstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac);
/*! /*!
* \brief Generates the Mixed (GPS/Galileo) Navigation Data header * \brief Generates the Mixed (GPS/Galileo) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac); void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac);
/*! /*!
* \brief Generates the GLONASS L1, L2 C/A Navigation Data header * \brief Generates the GLONASS L1, L2 C/A Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Ephemeris & glonass_gnav_eph); void rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& utc_model, const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
/*! /*!
* \brief Generates the Mixed (Galileo/GLONASS) Navigation Data header * \brief Generates the Mixed (Galileo/GLONASS) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void rinex_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
/*! /*!
* \brief Generates the Mixed (GPS L1 C/A/GLONASS L1, L2) Navigation Data header * \brief Generates the Mixed (GPS L1 C/A/GLONASS L1, L2) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
/*! /*!
* \brief Generates the Mixed (GPS L2C C/A/GLONASS L1, L2) Navigation Data header * \brief Generates the Mixed (GPS L2C C/A/GLONASS L1, L2) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_CNAV_Iono & gps_iono, const Gps_CNAV_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_iono, const Gps_CNAV_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
/*! /*!
* \brief Generates the GPS Observation data header * \brief Generates the GPS Observation data header
*/ */
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & eph, const double d_TOW_first_observation); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const double d_TOW_first_observation);
/*! /*!
* \brief Generates the GPS L2 Observation data header * \brief Generates the GPS L2 Observation data header
*/ */
void rinex_obs_header(std::fstream & out, const Gps_CNAV_Ephemeris & eph, const double d_TOW_first_observation); void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& eph, const double d_TOW_first_observation);
/*! /*!
* \brief Generates the dual frequency GPS L1 & L2 Observation data header * \brief Generates the dual frequency GPS L1 & L2 Observation data header
*/ */
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & eph, const Gps_CNAV_Ephemeris & eph_cnav, const double d_TOW_first_observation); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, const double d_TOW_first_observation);
/*! /*!
* \brief Generates the Galileo Observation data header. Example: bands("1B"), bands("1B 5X"), bands("5X"), ... Default: "1B". * \brief Generates the Galileo Observation data header. Example: bands("1B"), bands("1B 5X"), bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1B"); void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands = "1B");
/*! /*!
* \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & gps_eph, const Galileo_Ephemeris & galileo_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B"); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B");
/*! /*!
* \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C". * \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C".
*/ */
void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1G"); void rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands = "1G");
/*! /*!
* \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & gps_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1C"); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1C");
/*! /*!
* \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B", const std::string glo_bands = "1C"); void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B", const std::string glo_bands = "1C");
/*! /*!
* \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G". * \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G".
*/ */
void rinex_obs_header(std::fstream & out, const Gps_CNAV_Ephemeris & gps_cnav_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1G"); void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1G");
/*! /*!
* \brief Generates the SBAS raw data header * \brief Generates the SBAS raw data header
*/ */
void rinex_sbs_header(std::fstream & out); void rinex_sbs_header(std::fstream& out);
/*! /*!
* \brief Computes the UTC time and returns a boost::posix_time::ptime object * \brief Computes the UTC time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_UTC_time(const Gps_Navigation_Message & nav_msg); boost::posix_time::ptime compute_UTC_time(const Gps_Navigation_Message& nav_msg);
/*! /*!
* \brief Computes the GPS time and returns a boost::posix_time::ptime object * \brief Computes the GPS time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes the GPS time and returns a boost::posix_time::ptime object * \brief Computes the GPS time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes the Galileo time and returns a boost::posix_time::ptime object * \brief Computes the Galileo time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes the UTC Time and returns a boost::posix_time::ptime object * \brief Computes the UTC Time and returns a boost::posix_time::ptime object
@ -210,7 +209,7 @@ public:
* \param eph GLONASS GNAV Ephemeris object * \param eph GLONASS GNAV Ephemeris object
* \param obs_time Observation time in GPS seconds of week * \param obs_time Observation time in GPS seconds of week
*/ */
boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes number of leap seconds of GPS relative to UTC * \brief Computes number of leap seconds of GPS relative to UTC
@ -222,126 +221,126 @@ public:
/*! /*!
* \brief Writes data from the GPS L1 C/A navigation message into the RINEX file * \brief Writes data from the GPS L1 C/A navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the GPS L2 navigation message into the RINEX file * \brief Writes data from the GPS L2 navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_CNAV_Ephemeris> & eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_CNAV_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Galileo navigation message into the RINEX file * \brief Writes data from the Galileo navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Galileo_Ephemeris> & eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & gps_eph_map, const std::map<int, Galileo_Ephemeris> & galileo_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map);
/*! /*!
* \brief Writes data from the GLONASS GNAV navigation message into the RINEX file * \brief Writes data from the GLONASS GNAV navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Glonass_Gnav_Ephemeris> & eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Glonass_Gnav_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_CNAV_Ephemeris> & gps_cnav_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_CNAV_Ephemeris>& gps_cnav_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*! /*!
* \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file * \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Galileo_Ephemeris> & galileo_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& galileo_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*! /*!
* \brief Writes GPS L1 observables into the RINEX file * \brief Writes GPS L1 observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes GPS L2 observables into the RINEX file * \brief Writes GPS L2 observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes dual frequency GPS L1 and L2 observables into the RINEX file * \brief Writes dual frequency GPS L1 and L2 observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph, const Gps_CNAV_Ephemeris & eph_cnav, double obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void log_rinex_obs(std::fstream & out, const Galileo_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, const std::string galileo_bands = "1B"); void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables, const std::string galileo_bands = "1B");
/*! /*!
* \brief Writes Mixed GPS / Galileo observables into the RINEX file * \brief Writes Mixed GPS / Galileo observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & gps_eph, const Galileo_Ephemeris & galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, const std::string glonass_bands = "1C"); void log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables, const std::string glonass_bands = "1C");
/*! /*!
* \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file * \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & gps_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file * \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris & gps_cnav_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Mixed Galileo/GLONASS observables into the RINEX file * \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not. * \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
*/ */
void to_date_time(int gps_week, int gps_tow, int & year, int & month, int & day, int & hour, int & minute, int & second); void to_date_time(int gps_week, int gps_tow, int& year, int& month, int& day, int& hour, int& minute, int& second);
/*! /*!
* \brief Writes raw SBAS messages into the RINEX file * \brief Writes raw SBAS messages into the RINEX file
*/ */
//void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message); //void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message);
void update_nav_header(std::fstream & out, const Gps_Utc_Model & gps_utc, const Gps_Iono & gps_iono); void update_nav_header(std::fstream& out, const Gps_Utc_Model& gps_utc, const Gps_Iono& gps_iono);
void update_nav_header(std::fstream & out, const Gps_CNAV_Utc_Model & utc_model, const Gps_CNAV_Iono & iono); void update_nav_header(std::fstream& out, const Gps_CNAV_Utc_Model& utc_model, const Gps_CNAV_Iono& iono);
void update_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac); void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac);
void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & utc_model, const Galileo_Almanac & galileo_almanac); void update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac);
void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Gps_CNAV_Iono & gps_cnav_iono, const Gps_CNAV_Utc_Model & gps_cnav_utc, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_cnav_iono, const Gps_CNAV_Utc_Model& gps_cnav_utc, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_obs_header(std::fstream & out, const Gps_Utc_Model & utc_model); void update_obs_header(std::fstream& out, const Gps_Utc_Model& utc_model);
void update_obs_header(std::fstream & out, const Gps_CNAV_Utc_Model & utc_model); void update_obs_header(std::fstream& out, const Gps_CNAV_Utc_Model& utc_model);
void update_obs_header(std::fstream & out, const Galileo_Utc_Model & galileo_utc_model); void update_obs_header(std::fstream& out, const Galileo_Utc_Model& galileo_utc_model);
void update_obs_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model); void update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model);
std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass std::map<std::string, std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH std::map<std::string, std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors std::map<std::string, std::string> observationCode; //<! GNSS observation descriptors
std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01/3.02) std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01/3.02)
std::string navfilename; std::string navfilename;
std::string obsfilename; std::string obsfilename;
@ -351,8 +350,8 @@ public:
std::string navMixfilename; std::string navMixfilename;
private: private:
int version ; // RINEX version (2 for 2.10/2.11 and 3 for 3.01) int version; // RINEX version (2 for 2.10/2.11 and 3 for 3.01)
int numberTypesObservations; // Number of available types of observable in the system. Should be public? int numberTypesObservations; // Number of available types of observable in the system. Should be public?
/* /*
* Generation of RINEX signal strength indicators * Generation of RINEX signal strength indicators
*/ */
@ -384,7 +383,7 @@ private:
/* /*
* Checks that the line is 80 characters length * Checks that the line is 80 characters length
*/ */
void lengthCheck(const std::string & line); void lengthCheck(const std::string& line);
double fake_cnav_iode; double fake_cnav_iode;
@ -401,9 +400,9 @@ private:
* \param[in] length new desired length of string. * \param[in] length new desired length of string.
* \param[in] pad character to pad string with (blank by default). * \param[in] pad character to pad string with (blank by default).
* \return a reference to \a s. */ * \return a reference to \a s. */
inline std::string & leftJustify(std::string & s, inline std::string& leftJustify(std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad = ' '); const char pad = ' ');
/* /*
* If the string is bigger than length, truncate it from the right. * If the string is bigger than length, truncate it from the right.
@ -418,11 +417,12 @@ private:
* \param[in] length new desired length of string. * \param[in] length new desired length of string.
* \param[in] pad character to pad string with (blank by default). * \param[in] pad character to pad string with (blank by default).
* \return a reference to \a s. */ * \return a reference to \a s. */
inline std::string leftJustify(const std::string & s, inline std::string leftJustify(const std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad = ' ') const char pad = ' ')
{ {
std::string t(s); return leftJustify(t, length, pad); std::string t(s);
return leftJustify(t, length, pad);
} }
@ -432,9 +432,9 @@ private:
* requested length (\a length), it is padded on the left with * requested length (\a length), it is padded on the left with
* the pad character (\a pad). The default pad * the pad character (\a pad). The default pad
* character is a blank. */ * character is a blank. */
inline std::string & rightJustify(std::string & s, inline std::string& rightJustify(std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad = ' '); const char pad = ' ');
/* /*
* Right-justifies the receiver in a string of the specified * Right-justifies the receiver in a string of the specified
@ -442,11 +442,12 @@ private:
* requested length (\a length), it is padded on the left with * requested length (\a length), it is padded on the left with
* the pad character (\a pad). The default pad * the pad character (\a pad). The default pad
* character is a blank.*/ * character is a blank.*/
inline std::string rightJustify(const std::string & s, inline std::string rightJustify(const std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad = ' ') const char pad = ' ')
{ {
std::string t(s); return rightJustify(t, length, pad); std::string t(s);
return rightJustify(t, length, pad);
} }
@ -460,11 +461,11 @@ private:
* exponentials above three characters in length. If false, it removes * exponentials above three characters in length. If false, it removes
* that check. * that check.
*/ */
inline std::string doub2sci(const double & d, inline std::string doub2sci(const double& d,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
const bool showSign = true, const bool showSign = true,
const bool checkSwitch = true); const bool checkSwitch = true);
/* /*
@ -481,11 +482,11 @@ private:
* produce an exponential with an E instead of a D, and always have a leading * produce an exponential with an E instead of a D, and always have a leading
* zero. For example -> 0.87654E-0004 or -0.1234E00005. * zero. For example -> 0.87654E-0004 or -0.1234E00005.
*/ */
inline std::string & sci2for(std::string & aStr, inline std::string& sci2for(std::string& aStr,
const std::string::size_type startPos = 0, const std::string::size_type startPos = 0,
const std::string::size_type length = std::string::npos, const std::string::size_type length = std::string::npos,
const std::string::size_type expLen = 3, const std::string::size_type expLen = 3,
const bool checkSwitch = true); const bool checkSwitch = true);
/* /*
@ -500,10 +501,10 @@ private:
* that check. * that check.
* @return a string containing \a d in FORTRAN notation. * @return a string containing \a d in FORTRAN notation.
*/ */
inline std::string doub2for(const double & d, inline std::string doub2for(const double& d,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
const bool checkSwitch = true); const bool checkSwitch = true);
/* /*
@ -511,7 +512,7 @@ private:
* @param s string containing a number. * @param s string containing a number.
* @return double representation of string. * @return double representation of string.
*/ */
inline double asDouble(const std::string & s) inline double asDouble(const std::string& s)
{ {
return strtod(s.c_str(), 0); return strtod(s.c_str(), 0);
} }
@ -524,7 +525,7 @@ private:
* @param s string containing a number. * @param s string containing a number.
* @return long integer representation of string. * @return long integer representation of string.
*/ */
inline long asInt(const std::string & s) inline long asInt(const std::string& s)
{ {
return strtol(s.c_str(), 0, 10); return strtol(s.c_str(), 0, 10);
} }
@ -537,7 +538,7 @@ private:
* @return string representation of \a x. * @return string representation of \a x.
*/ */
inline std::string asString(const double x, inline std::string asString(const double x,
const std::string::size_type precision = 17); const std::string::size_type precision = 17);
/* /*
@ -547,7 +548,7 @@ private:
* @return string representation of \a x. * @return string representation of \a x.
*/ */
inline std::string asString(const long double x, inline std::string asString(const long double x,
const std::string::size_type precision = 21); const std::string::size_type precision = 21);
/* /*
@ -556,26 +557,26 @@ private:
* @param x object to turn into a string. * @param x object to turn into a string.
* @return string representation of \a x. * @return string representation of \a x.
*/ */
template <class X> inline std::string asString(const X x); template <class X>
inline std::string asString(const X x);
inline std::string asFixWidthString(const int x, const int width, char fill_digit); inline std::string asFixWidthString(const int x, const int width, char fill_digit);
}; };
// Implementation of inline functions (modified versions from GPSTk http://www.gpstk.org) // Implementation of inline functions (modified versions from GPSTk http://www.gpstk.org)
inline std::string & Rinex_Printer::leftJustify(std::string & s, inline std::string& Rinex_Printer::leftJustify(std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad) const char pad)
{ {
if(length < s.length()) if (length < s.length())
{ {
s = s.substr(0, length); s = s.substr(0, length);
} }
else else
{ {
s.append(length-s.length(), pad); s.append(length - s.length(), pad);
} }
return s; return s;
} }
@ -583,13 +584,13 @@ inline std::string & Rinex_Printer::leftJustify(std::string & s,
// if the string is bigger than length, truncate it from the left. // if the string is bigger than length, truncate it from the left.
// otherwise, add pad characters to its left. // otherwise, add pad characters to its left.
inline std::string & Rinex_Printer::rightJustify(std::string & s, inline std::string& Rinex_Printer::rightJustify(std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad) const char pad)
{ {
if(length < s.length()) if (length < s.length())
{ {
s = s.substr(s.length()-length, std::string::npos); s = s.substr(s.length() - length, std::string::npos);
} }
else else
{ {
@ -599,11 +600,10 @@ inline std::string & Rinex_Printer::rightJustify(std::string & s,
} }
inline std::string Rinex_Printer::doub2for(const double& d,
inline std::string Rinex_Printer::doub2for(const double & d, const std::string::size_type length,
const std::string::size_type length, const std::string::size_type expLen,
const std::string::size_type expLen, const bool checkSwitch)
const bool checkSwitch)
{ {
short exponentLength = expLen; short exponentLength = expLen;
@ -618,11 +618,11 @@ inline std::string Rinex_Printer::doub2for(const double & d,
} }
inline std::string Rinex_Printer::doub2sci(const double & d, inline std::string Rinex_Printer::doub2sci(const double& d,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
const bool showSign, const bool showSign,
const bool checkSwitch) const bool checkSwitch)
{ {
std::string toReturn; std::string toReturn;
short exponentLength = expLen; short exponentLength = expLen;
@ -649,11 +649,11 @@ inline std::string Rinex_Printer::doub2sci(const double & d,
} }
inline std::string & Rinex_Printer::sci2for(std::string & aStr, inline std::string& Rinex_Printer::sci2for(std::string& aStr,
const std::string::size_type startPos, const std::string::size_type startPos,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
const bool checkSwitch) const bool checkSwitch)
{ {
std::string::size_type idx = aStr.find('.', startPos); std::string::size_type idx = aStr.find('.', startPos);
int expAdd = 0; int expAdd = 0;
@ -661,7 +661,7 @@ inline std::string & Rinex_Printer::sci2for(std::string & aStr,
long iexp; long iexp;
//If checkSwitch is false, always redo the exponential. Otherwise, //If checkSwitch is false, always redo the exponential. Otherwise,
//set it to false. //set it to false.
bool redoexp =! checkSwitch; bool redoexp = !checkSwitch;
// Check for decimal place within specified boundaries // Check for decimal place within specified boundaries
if ((idx <= 0) || (idx >= (startPos + length - expLen - 1))) if ((idx <= 0) || (idx >= (startPos + length - expLen - 1)))
@ -713,11 +713,11 @@ inline std::string & Rinex_Printer::sci2for(std::string & aStr,
if (iexp < 0) if (iexp < 0)
{ {
aStr += "-"; aStr += "-";
iexp -= iexp*2; iexp -= iexp * 2;
} }
else else
aStr += "+"; aStr += "+";
aStr += Rinex_Printer::rightJustify(asString(iexp),expLen,'0'); aStr += Rinex_Printer::rightJustify(asString(iexp), expLen, '0');
} }
// if the number is positive, append a space // if the number is positive, append a space
@ -737,11 +737,10 @@ inline std::string & Rinex_Printer::sci2for(std::string & aStr,
} // end sci2for } // end sci2for
inline std::string asString(const long double x, const std::string::size_type precision) inline std::string asString(const long double x, const std::string::size_type precision)
{ {
std::ostringstream ss; std::ostringstream ss;
ss << std::fixed << std::setprecision(precision) << x ; ss << std::fixed << std::setprecision(precision) << x;
return ss.str(); return ss.str();
} }
@ -762,7 +761,7 @@ inline std::string Rinex_Printer::asFixWidthString(const int x, const int width,
} }
inline long asInt(const std::string & s) inline long asInt(const std::string& s)
{ {
return strtol(s.c_str(), 0, 10); return strtol(s.c_str(), 0, 10);
} }
@ -772,16 +771,17 @@ inline int Rinex_Printer::toInt(std::string bitString, int sLength)
{ {
int tempInt; int tempInt;
int num = 0; int num = 0;
for(int i = 0; i < sLength; i++) for (int i = 0; i < sLength; i++)
{ {
tempInt = bitString[i]-'0'; tempInt = bitString[i] - '0';
num |= (1 << (sLength - 1 - i)) * tempInt; num |= (1 << (sLength - 1 - i)) * tempInt;
} }
return num; return num;
} }
template<class X> inline std::string Rinex_Printer::asString(const X x) template <class X>
inline std::string Rinex_Printer::asString(const X x)
{ {
std::ostringstream ss; std::ostringstream ss;
ss << x; ss << x;

127
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -32,13 +32,12 @@
*/ */
#include "rtcm_printer.h" #include "rtcm_printer.h"
#include <iostream> #include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h>
#include <iomanip> #include <iomanip>
#include <fcntl.h> // for O_RDWR #include <fcntl.h> // for O_RDWR
#include <termios.h> // for tcgetattr #include <termios.h> // for tcgetattr
#include <boost/date_time/posix_time/posix_time.hpp>
#include <gflags/gflags.h>
#include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
@ -54,37 +53,37 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool fla
const int year = timeinfo.tm_year - 100; const int year = timeinfo.tm_year - 100;
strm0 << year; strm0 << year;
const int month = timeinfo.tm_mon + 1; const int month = timeinfo.tm_mon + 1;
if(month < 10) if (month < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << month; strm0 << month;
const int day = timeinfo.tm_mday; const int day = timeinfo.tm_mday;
if(day < 10) if (day < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << day << "_"; strm0 << day << "_";
const int hour = timeinfo.tm_hour; const int hour = timeinfo.tm_hour;
if(hour < 10) if (hour < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << hour; strm0 << hour;
const int min = timeinfo.tm_min; const int min = timeinfo.tm_min;
if(min < 10) if (min < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << min; strm0 << min;
const int sec = timeinfo.tm_sec; const int sec = timeinfo.tm_sec;
if(sec < 10) if (sec < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << sec; strm0 << sec;
rtcm_filename = filename + "_" + strm0.str() + ".rtcm"; rtcm_filename = filename + "_" + strm0.str() + ".rtcm";
} }
else else
{ {
@ -116,7 +115,7 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool fla
rtcm = std::make_shared<Rtcm>(port); rtcm = std::make_shared<Rtcm>(port);
if(flag_rtcm_server) if (flag_rtcm_server)
{ {
rtcm->run_server(); rtcm->run_server();
} }
@ -125,20 +124,20 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool fla
Rtcm_Printer::~Rtcm_Printer() Rtcm_Printer::~Rtcm_Printer()
{ {
if(rtcm->is_server_running()) if (rtcm->is_server_running())
{ {
try try
{ {
rtcm->stop_server(); rtcm->stop_server();
} }
catch(const boost::exception & e) catch (const boost::exception& e)
{ {
LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e); LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e);
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
LOG(WARNING) << "STD exception: " << ex.what(); LOG(WARNING) << "STD exception: " << ex.what();
} }
} }
if (rtcm_file_descriptor.is_open()) if (rtcm_file_descriptor.is_open())
{ {
@ -147,14 +146,14 @@ Rtcm_Printer::~Rtcm_Printer()
rtcm_file_descriptor.close(); rtcm_file_descriptor.close();
if (pos == 0) if (pos == 0)
{ {
if(remove(rtcm_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary RTCM file"; if (remove(rtcm_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary RTCM file";
} }
} }
close_serial(); close_serial();
} }
bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, observables, station_id); std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1001); Rtcm_Printer::Print_Message(m1001);
@ -162,7 +161,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_ti
} }
bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1002 = rtcm->print_MT1002(gps_eph, obs_time, observables, station_id); std::string m1002 = rtcm->print_MT1002(gps_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1002); Rtcm_Printer::Print_Message(m1002);
@ -170,7 +169,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_ti
} }
bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1003 = rtcm->print_MT1003(gps_eph, cnav_eph, obs_time, observables, station_id); std::string m1003 = rtcm->print_MT1003(gps_eph, cnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1003); Rtcm_Printer::Print_Message(m1003);
@ -178,7 +177,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNA
} }
bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1003 = rtcm->print_MT1004(gps_eph, cnav_eph, obs_time, observables, station_id); std::string m1003 = rtcm->print_MT1004(gps_eph, cnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1003); Rtcm_Printer::Print_Message(m1003);
@ -186,7 +185,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNA
} }
bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1009 = rtcm->print_MT1009(glonass_gnav_eph, obs_time, observables, station_id); std::string m1009 = rtcm->print_MT1009(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1009); Rtcm_Printer::Print_Message(m1009);
@ -194,7 +193,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1010 = rtcm->print_MT1010(glonass_gnav_eph, obs_time, observables, station_id); std::string m1010 = rtcm->print_MT1010(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1010); Rtcm_Printer::Print_Message(m1010);
@ -202,7 +201,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1011 = rtcm->print_MT1011(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id); std::string m1011 = rtcm->print_MT1011(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1011); Rtcm_Printer::Print_Message(m1011);
@ -210,7 +209,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1012 = rtcm->print_MT1012(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id); std::string m1012 = rtcm->print_MT1012(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1012); Rtcm_Printer::Print_Message(m1012);
@ -218,7 +217,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph) bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph)
{ {
std::string m1019 = rtcm->print_MT1019(gps_eph); std::string m1019 = rtcm->print_MT1019(gps_eph);
Rtcm_Printer::Print_Message(m1019); Rtcm_Printer::Print_Message(m1019);
@ -226,7 +225,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph)
} }
bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model) bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model)
{ {
std::string m1020 = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model); std::string m1020 = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model);
Rtcm_Printer::Print_Message(m1020); Rtcm_Printer::Print_Message(m1020);
@ -234,7 +233,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav
} }
bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph) bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph)
{ {
std::string m1045 = rtcm->print_MT1045(gal_eph); std::string m1045 = rtcm->print_MT1045(gal_eph);
Rtcm_Printer::Print_Message(m1045); Rtcm_Printer::Print_Message(m1045);
@ -242,44 +241,44 @@ bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph)
} }
bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris & gps_eph, bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris& gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph, const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Galileo_Ephemeris & gal_eph, const Galileo_Ephemeris& gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph, const Glonass_Gnav_Ephemeris& glo_gnav_eph,
double obs_time, double obs_time,
const std::map<int, Gnss_Synchro> & observables, const std::map<int, Gnss_Synchro>& observables,
unsigned int clock_steering_indicator, unsigned int clock_steering_indicator,
unsigned int external_clock_indicator, unsigned int external_clock_indicator,
int smooth_int, int smooth_int,
bool divergence_free, bool divergence_free,
bool more_messages) bool more_messages)
{ {
std::string msm; std::string msm;
if(msm_number == 1) if (msm_number == 1)
{ {
msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 2) else if (msm_number == 2)
{ {
msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 3) else if (msm_number == 3)
{ {
msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 4) else if (msm_number == 4)
{ {
msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 5) else if (msm_number == 5)
{ {
msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 6) else if (msm_number == 6)
{ {
msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 7) else if (msm_number == 7)
{ {
msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
@ -309,10 +308,10 @@ int Rtcm_Printer::init_serial(std::string serial_device)
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY); fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) return fd; // failed to open TTY port if (fd == -1) return fd; // failed to open TTY port
if(fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O
tcgetattr(fd, &options); // read serial port options tcgetattr(fd, &options); // read serial port options
BAUD = B9600; BAUD = B9600;
//BAUD = B38400; //BAUD = B38400;
DATABITS = CS8; DATABITS = CS8;
STOPBITS = 0; STOPBITS = 0;
@ -339,23 +338,23 @@ void Rtcm_Printer::close_serial()
} }
bool Rtcm_Printer::Print_Message(const std::string & message) bool Rtcm_Printer::Print_Message(const std::string& message)
{ {
//write to file //write to file
try try
{ {
rtcm_file_descriptor << message << std::endl; rtcm_file_descriptor << message << std::endl;
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
DLOG(INFO) << "RTCM printer cannot write on the output file " << rtcm_filename.c_str(); DLOG(INFO) << "RTCM printer cannot write on the output file " << rtcm_filename.c_str();
return false; return false;
} }
//write to serial device //write to serial device
if (rtcm_dev_descriptor != -1) if (rtcm_dev_descriptor != -1)
{ {
if(write(rtcm_dev_descriptor, message.c_str(), message.length()) == -1) if (write(rtcm_dev_descriptor, message.c_str(), message.length()) == -1)
{ {
DLOG(INFO) << "RTCM printer cannot write on serial device " << rtcm_devname.c_str(); DLOG(INFO) << "RTCM printer cannot write on serial device " << rtcm_devname.c_str();
std::cout << "RTCM printer cannot write on serial device " << rtcm_devname.c_str() << std::endl; std::cout << "RTCM printer cannot write on serial device " << rtcm_devname.c_str() << std::endl;
@ -373,25 +372,25 @@ std::string Rtcm_Printer::print_MT1005_test()
} }
unsigned int Rtcm_Printer::lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro) unsigned int Rtcm_Printer::lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }
unsigned int Rtcm_Printer::lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro) unsigned int Rtcm_Printer::lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }
unsigned int Rtcm_Printer::lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro) unsigned int Rtcm_Printer::lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }
unsigned int Rtcm_Printer::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro) unsigned int Rtcm_Printer::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }

72
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -34,10 +34,10 @@
#ifndef GNSS_SDR_RTCM_PRINTER_H_ #ifndef GNSS_SDR_RTCM_PRINTER_H_
#define GNSS_SDR_RTCM_PRINTER_H_ #define GNSS_SDR_RTCM_PRINTER_H_
#include <fstream> // std::ofstream
#include <iostream> // std::cout
#include <memory> // std::shared_ptr
#include "rtcm.h" #include "rtcm.h"
#include <fstream> // std::ofstream
#include <memory> // std::shared_ptr
/*! /*!
* \brief This class provides a implementation of a subset of the RTCM Standard 10403.2 messages * \brief This class provides a implementation of a subset of the RTCM Standard 10403.2 messages
@ -55,10 +55,10 @@ public:
*/ */
~Rtcm_Printer(); ~Rtcm_Printer();
bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints L1-Only GLONASS RTK Observables * \brief Prints L1-Only GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred. * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
@ -68,7 +68,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints Extended L1-Only GLONASS RTK Observables * \brief Prints Extended L1-Only GLONASS RTK Observables
* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases. * \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
@ -78,7 +78,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints L1&L2 GLONASS RTK Observables * \brief Prints L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
@ -89,7 +89,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints Extended L1&L2 GLONASS RTK Observables * \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found. * \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
@ -100,10 +100,10 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes. bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
/*! /*!
* \brief Prints GLONASS GNAV Ephemeris * \brief Prints GLONASS GNAV Ephemeris
* \details This GLONASS message should be broadcast every 2 minutes * \details This GLONASS message should be broadcast every 2 minutes
@ -112,25 +112,25 @@ public:
* \param utc_model GLONASS GNAV Clock Information broadcast in string 5 * \param utc_model GLONASS GNAV Clock Information broadcast in string 5
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glo_gnav_eph, const Glonass_Gnav_Utc_Model & utc_model); bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glo_gnav_eph, const Glonass_Gnav_Utc_Model& utc_model);
bool Print_Rtcm_MSM(unsigned int msm_number, bool Print_Rtcm_MSM(unsigned int msm_number,
const Gps_Ephemeris & gps_eph, const Gps_Ephemeris& gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph, const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Galileo_Ephemeris & gal_eph, const Galileo_Ephemeris& gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph, const Glonass_Gnav_Ephemeris& glo_gnav_eph,
double obs_time, double obs_time,
const std::map<int, Gnss_Synchro> & observables, const std::map<int, Gnss_Synchro>& observables,
unsigned int clock_steering_indicator, unsigned int clock_steering_indicator,
unsigned int external_clock_indicator, unsigned int external_clock_indicator,
int smooth_int, int smooth_int,
bool divergence_free, bool divergence_free,
bool more_messages); bool more_messages);
std::string print_MT1005_test(); //<! For testing purposes std::string print_MT1005_test(); //<! For testing purposes
unsigned int lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
unsigned int lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
unsigned int lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
/*! /*!
* \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris * \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris
* \note Code added as part of GSoC 2017 program * \note Code added as part of GSoC 2017 program
@ -139,19 +139,19 @@ public:
* \params observables Set of observables as defined by the platform * \params observables Set of observables as defined by the platform
* \return locked time during logging process * \return locked time during logging process
*/ */
unsigned int lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
private: private:
std::string rtcm_filename; // String with the RTCM log filename std::string rtcm_filename; // String with the RTCM log filename
std::ofstream rtcm_file_descriptor; // Output file stream for RTCM log file std::ofstream rtcm_file_descriptor; // Output file stream for RTCM log file
std::string rtcm_devname; std::string rtcm_devname;
unsigned short port; unsigned short port;
unsigned short station_id; unsigned short station_id;
int rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port) int rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
int init_serial (std::string serial_device); //serial port control int init_serial(std::string serial_device); //serial port control
void close_serial (); void close_serial();
std::shared_ptr<Rtcm> rtcm; std::shared_ptr<Rtcm> rtcm;
bool Print_Message(const std::string & message); bool Print_Message(const std::string& message);
}; };
#endif #endif

541
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -52,16 +52,16 @@
* -----------------------------------------------------------------------*/ * -----------------------------------------------------------------------*/
#include "rtklib_solver.h" #include "rtklib_solver.h"
#include <glog/logging.h>
#include "rtklib_conversions.h" #include "rtklib_conversions.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "Galileo_E1.h" #include "Galileo_E1.h"
#include "GLONASS_L1_CA.h" #include "GLONASS_L1_CA.h"
#include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t & rtk) rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk)
{ {
// init empty ephemeris for all the available GNSS channels // init empty ephemeris for all the available GNSS channels
d_nchannels = nchannels; d_nchannels = nchannels;
@ -71,7 +71,7 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
this->set_averaging_flag(false); this->set_averaging_flag(false);
rtk_ = rtk; rtk_ = rtk;
pvt_sol = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 }; pvt_sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
@ -79,15 +79,15 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
if (d_dump_file.is_open() == false) if (d_dump_file.is_open() == false)
{ {
try try
{ {
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str(); LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure& e)
{ {
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what(); LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
} }
} }
} }
} }
@ -98,24 +98,24 @@ rtklib_solver::~rtklib_solver()
if (d_dump_file.is_open() == true) if (d_dump_file.is_open() == true)
{ {
try try
{ {
d_dump_file.close(); d_dump_file.close();
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what(); LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
} }
} }
} }
bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_map, double Rx_time, bool flag_averaging) bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, double Rx_time, bool flag_averaging)
{ {
std::map<int,Gnss_Synchro>::const_iterator gnss_observables_iter; std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter; std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter; std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter; std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter; std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model; const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model;
this->set_averaging_flag(flag_averaging); this->set_averaging_flag(flag_averaging);
@ -123,283 +123,280 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
// ******************************************************************************** // ********************************************************************************
// ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************ // ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************
// ******************************************************************************** // ********************************************************************************
int valid_obs = 0; //valid observations counter int valid_obs = 0; //valid observations counter
int glo_valid_obs = 0; //GLONASS L1/L2 valid observations counter int glo_valid_obs = 0; //GLONASS L1/L2 valid observations counter
obsd_t obs_data[MAXOBS]; obsd_t obs_data[MAXOBS];
eph_t eph_data[MAXOBS]; eph_t eph_data[MAXOBS];
geph_t geph_data[MAXOBS]; geph_t geph_data[MAXOBS];
for(gnss_observables_iter = gnss_observables_map.cbegin(); for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter != gnss_observables_map.cend();
gnss_observables_iter++) gnss_observables_iter++)
{ {
switch(gnss_observables_iter->second.System) switch (gnss_observables_iter->second.System)
{
case 'E':
{ {
std::string sig_(gnss_observables_iter->second.Signal); case 'E':
// Galileo E1 {
if(sig_.compare("1B") == 0) std::string sig_(gnss_observables_iter->second.Signal);
{ // Galileo E1
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key if (sig_.compare("1B") == 0)
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); {
if (galileo_ephemeris_iter != galileo_ephemeris_map.cend()) // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
{ galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
//convert ephemeris from GNSS-SDR class to RTKLIB structure if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second); {
//convert observation from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
0); 0);
valid_obs++; valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
// Galileo E5 // Galileo E5
if(sig_.compare("5X") == 0) if (sig_.compare("5X") == 0)
{ {
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != galileo_ephemeris_map.cend()) if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
{ {
bool found_E1_obs = false; bool found_E1_obs = false;
for (int i = 0; i < valid_obs; i++) for (int i = 0; i < valid_obs; i++)
{ {
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO))) if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
{ {
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
2);//Band 3 (L5/E5) 2); //Band 3 (L5/E5)
found_E1_obs = true; found_E1_obs = true;
break; break;
} }
} }
if (!found_E1_obs) if (!found_E1_obs)
{ {
//insert Galileo E5 obs as new obs and also insert its ephemeris //insert Galileo E5 obs as new obs and also insert its ephemeris
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE); unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0,0}, '0', '0', {}, {}, obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_}, {default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}}; {}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
2); //Band 3 (L5/E5) 2); //Band 3 (L5/E5)
valid_obs++; valid_obs++;
} }
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
break; break;
} }
case 'G': case 'G':
{ {
// GPS L1 // GPS L1
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
if(sig_.compare("1C") == 0) if (sig_.compare("1C") == 0)
{ {
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.cend()) if (gps_ephemeris_iter != gps_ephemeris_map.cend())
{ {
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_ephemeris_iter->second.i_GPS_week, gps_ephemeris_iter->second.i_GPS_week,
0); 0);
valid_obs++; valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
} }
} }
//GPS L2 //GPS L2
if(sig_.compare("2S") == 0) if (sig_.compare("2S") == 0)
{ {
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend()) if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
{ {
// 1. Find the same satellite in GPS L1 band // 1. Find the same satellite in GPS L1 band
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.cend()) if (gps_ephemeris_iter != gps_ephemeris_map.cend())
{ {
// 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris // 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris
// (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure // (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure
for (int i = 0; i < valid_obs; i++) for (int i = 0; i < valid_obs; i++)
{ {
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN)) if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{ {
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i+glo_valid_obs], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2) 1); //Band 2 (L2)
break; break;
} }
} }
} }
else else
{ {
// 3. If not found, insert the GPS L2 ephemeris and the observation // 3. If not found, insert the GPS L2 ephemeris and the observation
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE); unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0,0}, '0', '0', {}, {}, obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_}, {default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}}; {}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2) 1); //Band 2 (L2)
valid_obs++; valid_obs++;
} }
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
//GPS L5 //GPS L5
if(sig_.compare("L5") == 0) if (sig_.compare("L5") == 0)
{ {
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend()) if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
{ {
// 1. Find the same satellite in GPS L1 band // 1. Find the same satellite in GPS L1 band
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.cend()) if (gps_ephemeris_iter != gps_ephemeris_map.cend())
{ {
// 2. If found, replace the existing GPS L1 ephemeris with the GPS L5 ephemeris // 2. If found, replace the existing GPS L1 ephemeris with the GPS L5 ephemeris
// (more precise!), and attach the L5 observation to the L1 observation in RTKLIB structure // (more precise!), and attach the L5 observation to the L1 observation in RTKLIB structure
for (int i = 0; i < valid_obs; i++) for (int i = 0; i < valid_obs; i++)
{ {
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN)) if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{ {
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
2);//Band 3 (L5) 2); //Band 3 (L5)
break; break;
} }
} }
} }
else else
{ {
// 3. If not found, insert the GPS L5 ephemeris and the observation // 3. If not found, insert the GPS L5 ephemeris and the observation
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE); unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0,0}, '0', '0', {}, {}, obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_}, {default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}}; {}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
2);//Band 3 (L5) 2); //Band 3 (L5)
valid_obs++; valid_obs++;
} }
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
break; break;
} }
case 'R': //TODO This should be using rtk lib nomenclature case 'R': //TODO This should be using rtk lib nomenclature
{ {
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1 // GLONASS GNAV L1
if(sig_.compare("1G") == 0) if (sig_.compare("1G") == 0)
{ {
// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key // 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend()) if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
{ {
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc); geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
0);//Band 0 (L1) 0); //Band 0 (L1)
glo_valid_obs++; glo_valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
}
} // GLONASS GNAV L2
// GLONASS GNAV L2 if (sig_.compare("2G") == 0)
if(sig_.compare("2G") == 0) {
{ // 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key
// 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend()) {
{ bool found_L1_obs = false;
bool found_L1_obs = false; for (int i = 0; i < glo_valid_obs; i++)
for (int i = 0; i < glo_valid_obs; i++) {
{ if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS)))
if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS))) {
{ obs_data[i + valid_obs] = insert_obs_to_rtklib(obs_data[i + valid_obs],
obs_data[i+valid_obs] = insert_obs_to_rtklib(obs_data[i+valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1);//Band 1 (L2) 1); //Band 1 (L2)
found_L1_obs = true; found_L1_obs = true;
break; break;
} }
} }
if (!found_L1_obs) if (!found_L1_obs)
{ {
//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris //insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc); geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0, 0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1); //Band 1 (L2) 1); //Band 1 (L2)
glo_valid_obs++; glo_valid_obs++;
} }
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
}
break;
} }
default:
DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break; break;
} }
default :
DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break;
}
} }
// ********************************************************************** // **********************************************************************
@ -425,15 +422,16 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data); result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);
if(result == 0) if (result == 0)
{ {
LOG(INFO) << "RTKLIB rtkpos error";
DLOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf; DLOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;
this->set_time_offset_s(0.0); //reset rx time estimation this->set_time_offset_s(0.0); //reset rx time estimation
this->set_num_valid_observations(0); this->set_num_valid_observations(0);
} }
else else
{ {
this->set_num_valid_observations(rtk_.sol.ns); //record the number of valid satellites used by the PVT solver this->set_num_valid_observations(rtk_.sol.ns); //record the number of valid satellites used by the PVT solver
pvt_sol = rtk_.sol; pvt_sol = rtk_.sol;
this->set_valid_position(true); this->set_valid_position(true);
arma::vec rx_position_and_time(4); arma::vec rx_position_and_time(4);
@ -441,9 +439,9 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
rx_position_and_time(1) = pvt_sol.rr[1]; rx_position_and_time(1) = pvt_sol.rr[1];
rx_position_and_time(2) = pvt_sol.rr[2]; rx_position_and_time(2) = pvt_sol.rr[2];
rx_position_and_time(3) = pvt_sol.dtr[0]; rx_position_and_time(3) = pvt_sol.dtr[0];
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
double offset_s = this->get_time_offset_s(); double offset_s = this->get_time_offset_s();
this->set_time_offset_s(offset_s + (rx_position_and_time(3) / GPS_C_m_s)); // accumulate the rx time error for the next iteration [meters]->[seconds] this->set_time_offset_s(offset_s + (rx_position_and_time(3) / GPS_C_m_s)); // accumulate the rx time error for the next iteration [meters]->[seconds]
DLOG(INFO) << "RTKLIB Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time; DLOG(INFO) << "RTKLIB Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
boost::posix_time::ptime p_time; boost::posix_time::ptime p_time;
@ -455,14 +453,15 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time) DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude() << " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude()
<< " [deg], Height= " << this->get_height() << " [m]" << " RX time offset= " << this->get_time_offset_s() << " [s]"; << " [deg], Height= " << this->get_height() << " [m]"
<< " RX time offset= " << this->get_time_offset_s() << " [s]";
// ######## LOG FILE ######### // ######## LOG FILE #########
if(d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
{ {
// MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file
try try
{ {
double tmp_double; double tmp_double;
// PVT GPS time // PVT GPS time
tmp_double = Rx_time; tmp_double = Rx_time;
@ -488,13 +487,13 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
// GEO user position Height [m] // GEO user position Height [m]
tmp_double = this->get_height(); tmp_double = this->get_height();
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
} }
catch (const std::ifstream::failure& e) catch (const std::ifstream::failure& e)
{ {
LOG(WARNING) << "Exception writing PVT LS dump file " << e.what(); LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
} }
} }
} }
} }
return this->is_valid_position(); return this->is_valid_position();
} }

25
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -54,10 +54,7 @@
#ifndef GNSS_SDR_RTKLIB_SOLVER_H_ #ifndef GNSS_SDR_RTKLIB_SOLVER_H_
#define GNSS_SDR_RTKLIB_SOLVER_H_ #define GNSS_SDR_RTKLIB_SOLVER_H_
#include <fstream>
#include <iostream>
#include <map>
#include <string>
#include "rtklib_rtkpos.h" #include "rtklib_rtkpos.h"
#include "galileo_navigation_message.h" #include "galileo_navigation_message.h"
#include "gps_navigation_message.h" #include "gps_navigation_message.h"
@ -65,6 +62,10 @@
#include "glonass_gnav_navigation_message.h" #include "glonass_gnav_navigation_message.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include "pvt_solution.h" #include "pvt_solution.h"
#include <fstream>
#include <map>
#include <string>
/*! /*!
* \brief This class implements a simple PVT Least Squares solution * \brief This class implements a simple PVT Least Squares solution
@ -79,15 +80,15 @@ private:
bool d_flag_dump_enabled; bool d_flag_dump_enabled;
int d_nchannels; // Number of available channels for positioning int d_nchannels; // Number of available channels for positioning
public: public:
rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t & rtk); rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk);
~rtklib_solver(); ~rtklib_solver();
bool get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_map, double Rx_time, bool flag_averaging); bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, double Rx_time, bool flag_averaging);
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
Galileo_Utc_Model galileo_utc_model; Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono; Galileo_Iono galileo_iono;
@ -99,8 +100,8 @@ public:
Gps_CNAV_Iono gps_cnav_iono; Gps_CNAV_Iono gps_cnav_iono;
Gps_CNAV_Utc_Model gps_cnav_utc_model; Gps_CNAV_Utc_Model gps_cnav_utc_model;
Glonass_Gnav_Utc_Model glonass_gnav_utc_model; //!< Map storing GLONASS GNAV UTC Model Glonass_Gnav_Utc_Model glonass_gnav_utc_model; //!< Map storing GLONASS GNAV UTC Model
Glonass_Gnav_Almanac glonass_gnav_almanac; //!< Map storing GLONASS GNAV Almanac Model Glonass_Gnav_Almanac glonass_gnav_almanac; //!< Map storing GLONASS GNAV Almanac Model
int count_valid_position; int count_valid_position;
}; };

4
src/algorithms/acquisition/adapters/CMakeLists.txt
View File

@ -31,6 +31,7 @@ set(ACQ_ADAPTER_SOURCES
galileo_e1_pcps_tong_ambiguous_acquisition.cc galileo_e1_pcps_tong_ambiguous_acquisition.cc
galileo_e1_pcps_8ms_ambiguous_acquisition.cc galileo_e1_pcps_8ms_ambiguous_acquisition.cc
galileo_e5a_noncoherent_iq_acquisition_caf.cc galileo_e5a_noncoherent_iq_acquisition_caf.cc
galileo_e5a_pcps_acquisition.cc
glonass_l1_ca_pcps_acquisition.cc glonass_l1_ca_pcps_acquisition.cc
) )
@ -53,6 +54,7 @@ include_directories(
${Boost_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS} ${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS} ${GFlags_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS} ${GNURADIO_RUNTIME_INCLUDE_DIRS}
${GNURADIO_BLOCKS_INCLUDE_DIRS} ${GNURADIO_BLOCKS_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS} ${VOLK_GNSSSDR_INCLUDE_DIRS}
@ -62,5 +64,5 @@ file(GLOB ACQ_ADAPTER_HEADERS "*.h")
list(SORT ACQ_ADAPTER_HEADERS) list(SORT ACQ_ADAPTER_HEADERS)
add_library(acq_adapters ${ACQ_ADAPTER_SOURCES} ${ACQ_ADAPTER_HEADERS}) add_library(acq_adapters ${ACQ_ADAPTER_SOURCES} ${ACQ_ADAPTER_HEADERS})
source_group(Headers FILES ${ACQ_ADAPTER_HEADERS}) source_group(Headers FILES ${ACQ_ADAPTER_HEADERS})
target_link_libraries(acq_adapters gnss_sp_libs acq_gr_blocks ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES}) target_link_libraries(acq_adapters gnss_sp_libs gnss_sdr_flags acq_gr_blocks ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES})

53
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
View File

@ -36,13 +36,13 @@
#include "galileo_e1_signal_processing.h" #include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h" #include "Galileo_E1.h"
#include "configuration_interface.h" #include "configuration_interface.h"
#include "gnss_sdr_flags.h"
using google::LogMessage; using google::LogMessage;
GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition( GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -51,13 +51,14 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", item_type_ = configuration_->property(role + ".item_type",
default_item_type); default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000); long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -71,13 +72,11 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
dump_filename_ = configuration_->property(role + ".dump_filename", dump_filename_ = configuration_->property(role + ".dump_filename",
default_dump_filename); default_dump_filename);
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = round( code_length_ = round(
fs_in_ fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4); vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
@ -89,13 +88,13 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = galileo_pcps_8ms_make_acquisition_cc(sampled_ms_, max_dwells_, acquisition_cc_ = galileo_pcps_8ms_make_acquisition_cc(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, samples_per_ms, code_length_, doppler_max_, if_, fs_in_, samples_per_ms, code_length_,
dump_, dump_filename_); dump_, dump_filename_);
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_); stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" DLOG(INFO) << "stream_to_vector("
<< stream_to_vector_->unique_id() << ")"; << stream_to_vector_->unique_id() << ")";
DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id()
<< ")"; << ")";
} }
else else
{ {
@ -128,11 +127,11 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_channel(unsigned int channel)
void GalileoE1Pcps8msAmbiguousAcquisition::set_threshold(float threshold) void GalileoE1Pcps8msAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); 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) pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -172,7 +171,7 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_doppler_step(unsigned int doppler
void GalileoE1Pcps8msAmbiguousAcquisition::set_gnss_synchro( void GalileoE1Pcps8msAmbiguousAcquisition::set_gnss_synchro(
Gnss_Synchro* gnss_synchro) Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
@ -207,18 +206,17 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_local_code()
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
std::complex<float> * code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal, galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
for (unsigned int i = 0; i < sampled_ms_/4; i++) for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_cc_->set_local_code(code_); acquisition_cc_->set_local_code(code_);
@ -246,12 +244,12 @@ float GalileoE1Pcps8msAmbiguousAcquisition::calculate_threshold(float pfa)
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_*frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa,exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -285,4 +283,3 @@ gr::basic_block_sptr GalileoE1Pcps8msAmbiguousAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

10
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h
View File

@ -45,12 +45,12 @@ class ConfigurationInterface;
* \brief Adapts a PCPS 8ms acquisition block to an * \brief Adapts a PCPS 8ms acquisition block to an
* AcquisitionInterface for Galileo E1 Signals * AcquisitionInterface for Galileo E1 Signals
*/ */
class GalileoE1Pcps8msAmbiguousAcquisition: public AcquisitionInterface class GalileoE1Pcps8msAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1Pcps8msAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1Pcps8msAmbiguousAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, std::string role, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
virtual ~GalileoE1Pcps8msAmbiguousAcquisition(); virtual ~GalileoE1Pcps8msAmbiguousAcquisition();
@ -142,8 +142,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

176
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@ -30,19 +30,20 @@
*/ */
#include "galileo_e1_pcps_ambiguous_acquisition.h" #include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "configuration_interface.h"
#include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h"
#include "gnss_sdr_flags.h"
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp> #include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h> #include <glog/logging.h>
#include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h"
#include "configuration_interface.h"
using google::LogMessage; using google::LogMessage;
GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition( GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -58,6 +59,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -69,8 +71,8 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
} }
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
acquire_pilot_ = configuration_->property(role + ".acquire_pilot", false); //will be true in future versions acquire_pilot_ = configuration_->property(role + ".acquire_pilot", false); //will be true in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
@ -81,31 +83,26 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
int samples_per_ms = round(code_length_ / 4.0); int samples_per_ms = round(code_length_ / 4.0);
vector_length_ = sampled_ms_ * samples_per_ms; vector_length_ = sampled_ms_ * samples_per_ms;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
acquisition_sc_ = pcps_make_acquisition_sc(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, samples_per_ms, code_length_,
bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_,
dump_filename_);
DLOG(INFO) << "acquisition(" << acquisition_sc_->unique_id() << ")";
} }
else else
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_make_acquisition_cc(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, samples_per_ms, code_length_,
bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_,
dump_filename_);
DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
} }
acquisition_ = pcps_make_acquisition(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, samples_per_ms, code_length_,
bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_,
dump_filename_, item_size_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_); stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")"; DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
@ -132,24 +129,17 @@ GalileoE1PcpsAmbiguousAcquisition::~GalileoE1PcpsAmbiguousAcquisition()
void GalileoE1PcpsAmbiguousAcquisition::set_channel(unsigned int channel) void GalileoE1PcpsAmbiguousAcquisition::set_channel(unsigned int channel)
{ {
channel_ = channel; channel_ = channel;
if (item_type_.compare("cshort") == 0) acquisition_->set_channel(channel_);
{
acquisition_sc_->set_channel(channel_);
}
else
{
acquisition_cc_->set_channel(channel_);
}
} }
void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold) void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); 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) pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -160,14 +150,7 @@ void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold)
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("cshort") == 0) acquisition_->set_threshold(threshold_);
{
acquisition_sc_->set_threshold(threshold_);
}
else
{
acquisition_cc_->set_threshold(threshold_);
}
} }
@ -175,14 +158,7 @@ void GalileoE1PcpsAmbiguousAcquisition::set_doppler_max(unsigned int doppler_max
{ {
doppler_max_ = doppler_max; doppler_max_ = doppler_max;
if (item_type_.compare("cshort") == 0) acquisition_->set_doppler_max(doppler_max_);
{
acquisition_sc_->set_doppler_max(doppler_max_);
}
else
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
} }
@ -190,14 +166,7 @@ void GalileoE1PcpsAmbiguousAcquisition::set_doppler_step(unsigned int doppler_st
{ {
doppler_step_ = doppler_step; doppler_step_ = doppler_step;
if (item_type_.compare("cshort") == 0) acquisition_->set_doppler_step(doppler_step_);
{
acquisition_sc_->set_doppler_step(doppler_step_);
}
else
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
} }
@ -205,41 +174,19 @@ void GalileoE1PcpsAmbiguousAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_sync
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
if (item_type_.compare("cshort") == 0) acquisition_->set_gnss_synchro(gnss_synchro_);
{
acquisition_sc_->set_gnss_synchro(gnss_synchro_);
}
else
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
} }
signed int GalileoE1PcpsAmbiguousAcquisition::mag() signed int GalileoE1PcpsAmbiguousAcquisition::mag()
{ {
if (item_type_.compare("cshort") == 0) return acquisition_->mag();
{
return acquisition_sc_->mag();
}
else
{
return acquisition_cc_->mag();
}
} }
void GalileoE1PcpsAmbiguousAcquisition::init() void GalileoE1PcpsAmbiguousAcquisition::init()
{ {
if (item_type_.compare("cshort") == 0) acquisition_->init();
{
acquisition_sc_->init();
}
else
{
acquisition_cc_->init();
}
//set_local_code(); //set_local_code();
} }
@ -247,66 +194,43 @@ void GalileoE1PcpsAmbiguousAcquisition::init()
void GalileoE1PcpsAmbiguousAcquisition::set_local_code() void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
std::complex<float> * code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
if (acquire_pilot_ == true) if (acquire_pilot_ == true)
{ {
//set local signal generator to Galileo E1 pilot component (1C) //set local signal generator to Galileo E1 pilot component (1C)
char pilot_signal[3] = "1C"; char pilot_signal[3] = "1C";
galileo_e1_code_gen_complex_sampled(code, pilot_signal, galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
} }
else else
{ {
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal, galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
} }
for (unsigned int i = 0; i < sampled_ms_ / 4; i++) for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{ {
memcpy(&(code_[i*code_length_]), code, sizeof(gr_complex)*code_length_); memcpy(&(code_[i * code_length_]), code, sizeof(gr_complex) * code_length_);
}
if (item_type_.compare("cshort") == 0)
{
acquisition_sc_->set_local_code(code_);
}
else
{
acquisition_cc_->set_local_code(code_);
} }
acquisition_->set_local_code(code_);
delete[] code; delete[] code;
} }
void GalileoE1PcpsAmbiguousAcquisition::reset() void GalileoE1PcpsAmbiguousAcquisition::reset()
{ {
if (item_type_.compare("cshort") == 0) acquisition_->set_active(true);
{
acquisition_sc_->set_active(true);
}
else
{
acquisition_cc_->set_active(true);
}
} }
void GalileoE1PcpsAmbiguousAcquisition::set_state(int state) void GalileoE1PcpsAmbiguousAcquisition::set_state(int state)
{ {
if (item_type_.compare("cshort") == 0) acquisition_->set_state(state);
{
acquisition_sc_->set_state(state);
}
else
{
acquisition_cc_->set_state(state);
}
} }
@ -318,14 +242,14 @@ float GalileoE1PcpsAmbiguousAcquisition::calculate_threshold(float pfa)
frequency_bins++; frequency_bins++;
} }
DLOG(INFO) <<"Channel "<<channel_<<" Pfa = "<< pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa,exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -335,18 +259,18 @@ void GalileoE1PcpsAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_, 0);
} }
else if (item_type_.compare("cshort") == 0) else if (item_type_.compare("cshort") == 0)
{ {
top_block->connect(stream_to_vector_, 0, acquisition_sc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_, 0);
} }
else if (item_type_.compare("cbyte") == 0) else if (item_type_.compare("cbyte") == 0)
{ {
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0); top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1); top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0); top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_, 0);
} }
else else
{ {
@ -359,11 +283,11 @@ void GalileoE1PcpsAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
} }
else if (item_type_.compare("cshort") == 0) else if (item_type_.compare("cshort") == 0)
{ {
top_block->disconnect(stream_to_vector_, 0, acquisition_sc_, 0); top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
} }
else if (item_type_.compare("cbyte") == 0) else if (item_type_.compare("cbyte") == 0)
{ {
@ -372,7 +296,7 @@ void GalileoE1PcpsAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0); top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1); top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0); top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
} }
else else
{ {
@ -405,13 +329,5 @@ gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_left_block()
gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_right_block() gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_right_block()
{ {
if (item_type_.compare("cshort") == 0) return acquisition_;
{
return acquisition_sc_;
}
else
{
return acquisition_cc_;
}
} }

24
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
View File

@ -32,15 +32,14 @@
#ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_H_ #ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_H_
#define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_H_ #define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_H_
#include <string> #include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h> #include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h> #include <gnuradio/blocks/float_to_complex.h>
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "pcps_acquisition_cc.h"
#include "pcps_acquisition_sc.h"
#include "complex_byte_to_float_x2.h"
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
class ConfigurationInterface; class ConfigurationInterface;
@ -49,12 +48,12 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an * \brief This class adapts a PCPS acquisition block to an
* AcquisitionInterface for Galileo E1 Signals * AcquisitionInterface for Galileo E1 Signals
*/ */
class GalileoE1PcpsAmbiguousAcquisition: public AcquisitionInterface class GalileoE1PcpsAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1PcpsAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1PcpsAmbiguousAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, std::string role, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
virtual ~GalileoE1PcpsAmbiguousAcquisition(); virtual ~GalileoE1PcpsAmbiguousAcquisition();
@ -135,8 +134,7 @@ public:
private: private:
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
pcps_acquisition_cc_sptr acquisition_cc_; pcps_acquisition_sptr acquisition_;
pcps_acquisition_sc_sptr acquisition_sc_;
gr::blocks::stream_to_vector::sptr stream_to_vector_; gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_; gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_; complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
@ -158,8 +156,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

45
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
View File

@ -36,13 +36,13 @@
#include "galileo_e1_signal_processing.h" #include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h" #include "Galileo_E1.h"
#include "configuration_interface.h" #include "configuration_interface.h"
#include "gnss_sdr_flags.h"
using google::LogMessage; using google::LogMessage;
GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition( GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -57,46 +57,45 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
{ {
sampled_ms_ = static_cast<int>(sampled_ms_ / 4) * 4; sampled_ms_ = static_cast<int>(sampled_ms_ / 4) * 4;
LOG(WARNING) << "coherent_integration_time should be multiple of " LOG(WARNING) << "coherent_integration_time should be multiple of "
<< "Galileo code length (4 ms). coherent_integration_time = " << "Galileo code length (4 ms). coherent_integration_time = "
<< sampled_ms_ << " ms will be used."; << sampled_ms_ << " ms will be used.";
} }
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
dump_filename_ = configuration_->property(role + ".dump_filename", dump_filename_ = configuration_->property(role + ".dump_filename",
default_dump_filename); default_dump_filename);
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = round( code_length_ = round(
fs_in_ fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4); vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
int samples_per_ms = code_length_ / 4; int samples_per_ms = code_length_ / 4;
code_data_ = new gr_complex[vector_length_]; code_data_ = new gr_complex[vector_length_];
code_pilot_ = new gr_complex[vector_length_]; code_pilot_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_cccwsr_make_acquisition_cc(sampled_ms_, max_dwells_, acquisition_cc_ = pcps_cccwsr_make_acquisition_cc(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, samples_per_ms, code_length_, doppler_max_, if_, fs_in_, samples_per_ms, code_length_,
dump_, dump_filename_); dump_, dump_filename_);
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_); stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" DLOG(INFO) << "stream_to_vector("
<< stream_to_vector_->unique_id() << ")"; << stream_to_vector_->unique_id() << ")";
DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id()
<< ")"; << ")";
} }
else else
{ {
@ -145,7 +144,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_threshold(float threshold)
threshold_ = threshold; threshold_ = threshold;
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -175,7 +174,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_doppler_step(unsigned int dopp
} }
void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_gnss_synchro( void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_gnss_synchro(
Gnss_Synchro* gnss_synchro) Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
@ -210,20 +209,19 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_local_code()
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
char signal[3]; char signal[3];
strcpy(signal, "1B"); strcpy(signal, "1B");
galileo_e1_code_gen_complex_sampled(code_data_, signal, galileo_e1_code_gen_complex_sampled(code_data_, signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
strcpy(signal, "1C"); strcpy(signal, "1C");
galileo_e1_code_gen_complex_sampled(code_pilot_, signal, galileo_e1_code_gen_complex_sampled(code_pilot_, signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
acquisition_cc_->set_local_code(code_data_, code_pilot_); acquisition_cc_->set_local_code(code_data_, code_pilot_);
} }
@ -244,10 +242,11 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_state(int state)
} }
float GalileoE1PcpsCccwsrAmbiguousAcquisition::calculate_threshold(float pfa) float GalileoE1PcpsCccwsrAmbiguousAcquisition::calculate_threshold(float pfa)
{ {
if(pfa){ /* Not implemented*/}; if (pfa)
{ /* Not implemented*/
};
return 0.0; return 0.0;
} }
@ -258,7 +257,6 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::connect(gr::top_block_sptr top_blo
{ {
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
} }
} }
@ -281,4 +279,3 @@ gr::basic_block_sptr GalileoE1PcpsCccwsrAmbiguousAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

12
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h
View File

@ -45,12 +45,12 @@ class ConfigurationInterface;
* \brief Adapts a PCPS CCCWSR acquisition block to an AcquisitionInterface * \brief Adapts a PCPS CCCWSR acquisition block to an AcquisitionInterface
* for Galileo E1 Signals * for Galileo E1 Signals
*/ */
class GalileoE1PcpsCccwsrAmbiguousAcquisition: public AcquisitionInterface class GalileoE1PcpsCccwsrAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1PcpsCccwsrAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1PcpsCccwsrAmbiguousAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, std::string role, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
virtual ~GalileoE1PcpsCccwsrAmbiguousAcquisition(); virtual ~GalileoE1PcpsCccwsrAmbiguousAcquisition();
@ -145,9 +145,9 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_data_; std::complex<float>* code_data_;
std::complex<float> * code_pilot_; std::complex<float>* code_pilot_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

122
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
View File

@ -36,13 +36,13 @@
#include "galileo_e1_signal_processing.h" #include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h" #include "Galileo_E1.h"
#include "configuration_interface.h" #include "configuration_interface.h"
#include "gnss_sdr_flags.h"
using google::LogMessage; using google::LogMessage;
GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition( GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -51,20 +51,19 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", item_type_ = configuration_->property(role + ".item_type",
default_item_type); default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000); long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 8); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 8);
/*--- Find number of samples per spreading code (4 ms) -----------------*/ /*--- Find number of samples per spreading code (4 ms) -----------------*/
code_length_ = round( code_length_ = round(
fs_in_ fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
int samples_per_ms = round(code_length_ / 4.0); int samples_per_ms = round(code_length_ / 4.0);
@ -77,24 +76,23 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
//folding_factor_ = static_cast<unsigned int>(ceil(sqrt(log2(code_length_)))); //folding_factor_ = static_cast<unsigned int>(ceil(sqrt(log2(code_length_))));
folding_factor_ = configuration_->property(role + ".folding_factor", 2); folding_factor_ = configuration_->property(role + ".folding_factor", 2);
if (sampled_ms_ % (folding_factor_*4) != 0) if (sampled_ms_ % (folding_factor_ * 4) != 0)
{ {
LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time" LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time"
<< " multiple of "<<(folding_factor_*4)<<"ms, Value entered " << " multiple of " << (folding_factor_ * 4) << "ms, Value entered "
<<sampled_ms_<<" ms"; << sampled_ms_ << " ms";
if(sampled_ms_ < (folding_factor_*4)) if (sampled_ms_ < (folding_factor_ * 4))
{ {
sampled_ms_ = static_cast<int>(folding_factor_ * 4); sampled_ms_ = static_cast<int>(folding_factor_ * 4);
} }
else else
{ {
sampled_ms_ = static_cast<int>(sampled_ms_/(folding_factor_*4)) * (folding_factor_*4); sampled_ms_ = static_cast<int>(sampled_ms_ / (folding_factor_ * 4)) * (folding_factor_ * 4);
} }
LOG(WARNING) << "coherent_integration_time should be multiple of " LOG(WARNING) << "coherent_integration_time should be multiple of "
<< "Galileo code length (4 ms). coherent_integration_time = " << "Galileo code length (4 ms). coherent_integration_time = "
<< sampled_ms_ << " ms will be used."; << sampled_ms_ << " ms will be used.";
} }
// vector_length_ = (sampled_ms_/folding_factor_) * code_length_; // vector_length_ = (sampled_ms_/folding_factor_) * code_length_;
vector_length_ = sampled_ms_ * samples_per_ms; vector_length_ = sampled_ms_ * samples_per_ms;
@ -110,27 +108,27 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
} }
dump_filename_ = configuration_->property(role + ".dump_filename", dump_filename_ = configuration_->property(role + ".dump_filename",
default_dump_filename); default_dump_filename);
code_ = new gr_complex[code_length_]; code_ = new gr_complex[code_length_];
LOG(INFO) << "Vector Length: " << vector_length_ LOG(INFO) << "Vector Length: " << vector_length_
<< ", Samples per ms: " << samples_per_ms << ", Samples per ms: " << samples_per_ms
<< ", Folding factor: " << folding_factor_ << ", Folding factor: " << folding_factor_
<< ", Sampled ms: " << sampled_ms_ << ", Sampled ms: " << sampled_ms_
<< ", Code Length: " << code_length_; << ", Code Length: " << code_length_;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_, acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_,
sampled_ms_, max_dwells_, doppler_max_, if_, fs_in_, sampled_ms_, max_dwells_, doppler_max_, if_, fs_in_,
samples_per_ms, code_length_, bit_transition_flag_, samples_per_ms, code_length_, bit_transition_flag_,
dump_, dump_filename_); dump_, dump_filename_);
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_,
vector_length_); vector_length_);
DLOG(INFO) << "stream_to_vector_quicksync(" DLOG(INFO) << "stream_to_vector_quicksync("
<< stream_to_vector_->unique_id() << ")"; << stream_to_vector_->unique_id() << ")";
DLOG(INFO) << "acquisition_quicksync(" << acquisition_cc_->unique_id() DLOG(INFO) << "acquisition_quicksync(" << acquisition_cc_->unique_id()
<< ")"; << ")";
} }
else else
{ {
@ -151,8 +149,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::~GalileoE1PcpsQuickSyncAmbiguousAcqu
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channel)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channel)
{ {
channel_ = channel; channel_ = channel;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
@ -162,15 +159,13 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channel)
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
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) pfa = configuration_->property(role_+".pfa", 0.0); if (pfa == 0.0)
if(pfa==0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -179,7 +174,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa); threshold_ = calculate_threshold(pfa);
} }
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -188,8 +183,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int doppler_max)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int doppler_max)
{ {
doppler_max_ = doppler_max; doppler_max_ = doppler_max;
@ -200,8 +194,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int doppler
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
{ {
doppler_step_ = doppler_step; doppler_step_ = doppler_step;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
@ -210,9 +203,8 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int dopple
} }
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_gnss_synchro(
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_gnss_synchro( Gnss_Synchro* gnss_synchro)
Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
@ -236,36 +228,33 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::mag()
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::init()
GalileoE1PcpsQuickSyncAmbiguousAcquisition::init()
{ {
acquisition_cc_->init(); acquisition_cc_->init();
//set_local_code(); //set_local_code();
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
std::complex<float> * code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal, galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
for (unsigned int i = 0; i < (sampled_ms_/(folding_factor_*4)); i++) for (unsigned int i = 0; i < (sampled_ms_ / (folding_factor_ * 4)); i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
// memcpy(code_, code,sizeof(gr_complex)*code_length_); // memcpy(code_, code,sizeof(gr_complex)*code_length_);
acquisition_cc_->set_local_code(code_); acquisition_cc_->set_local_code(code_);
delete[] code; delete[] code;
@ -274,8 +263,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -286,13 +274,12 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_state(int state) void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_state(int state)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
acquisition_cc_->set_state(state); acquisition_cc_->set_state(state);
} }
} }
float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa) float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa)
{ {
unsigned int frequency_bins = 0; unsigned int frequency_bins = 0;
@ -307,15 +294,14 @@ float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa)
double exponent = 1.0 / static_cast<double>(ncells); double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_); double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -324,8 +310,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -344,4 +329,3 @@ gr::basic_block_sptr GalileoE1PcpsQuickSyncAmbiguousAcquisition::get_right_block
{ {
return acquisition_cc_; return acquisition_cc_;
} }

10
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h
View File

@ -45,12 +45,12 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an * \brief This class adapts a PCPS acquisition block to an
* AcquisitionInterface for Galileo E1 Signals * AcquisitionInterface for Galileo E1 Signals
*/ */
class GalileoE1PcpsQuickSyncAmbiguousAcquisition: public AcquisitionInterface class GalileoE1PcpsQuickSyncAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1PcpsQuickSyncAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1PcpsQuickSyncAmbiguousAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, std::string role, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
virtual ~GalileoE1PcpsQuickSyncAmbiguousAcquisition(); virtual ~GalileoE1PcpsQuickSyncAmbiguousAcquisition();
@ -149,8 +149,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

59
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
View File

@ -36,13 +36,13 @@
#include "galileo_e1_signal_processing.h" #include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h" #include "Galileo_E1.h"
#include "configuration_interface.h" #include "configuration_interface.h"
#include "gnss_sdr_flags.h"
using google::LogMessage; using google::LogMessage;
GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition( GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -51,21 +51,22 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", item_type_ = configuration_->property(role + ".item_type",
default_item_type); default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000); long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
{ {
sampled_ms_ = static_cast<int>(sampled_ms_ / 4) * 4; sampled_ms_ = static_cast<int>(sampled_ms_ / 4) * 4;
LOG(WARNING) << "coherent_integration_time should be multiple of " LOG(WARNING) << "coherent_integration_time should be multiple of "
<< "Galileo code length (4 ms). coherent_integration_time = " << "Galileo code length (4 ms). coherent_integration_time = "
<< sampled_ms_ << " ms will be used."; << sampled_ms_ << " ms will be used.";
} }
tong_init_val_ = configuration->property(role + ".tong_init_val", 1); tong_init_val_ = configuration->property(role + ".tong_init_val", 1);
@ -73,14 +74,12 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
tong_max_dwells_ = configuration->property(role + ".tong_max_dwells", tong_max_val_ + 1); tong_max_dwells_ = configuration->property(role + ".tong_max_dwells", tong_max_val_ + 1);
dump_filename_ = configuration_->property(role + ".dump_filename", dump_filename_ = configuration_->property(role + ".dump_filename",
default_dump_filename); default_dump_filename);
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = round( code_length_ = round(
fs_in_ fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4); vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
@ -92,14 +91,14 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_tong_make_acquisition_cc(sampled_ms_, doppler_max_, acquisition_cc_ = pcps_tong_make_acquisition_cc(sampled_ms_, doppler_max_,
if_, fs_in_, samples_per_ms, code_length_, tong_init_val_, if_, fs_in_, samples_per_ms, code_length_, tong_init_val_,
tong_max_val_, tong_max_dwells_, dump_, dump_filename_); tong_max_val_, tong_max_dwells_, dump_, dump_filename_);
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_); stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" DLOG(INFO) << "stream_to_vector("
<< stream_to_vector_->unique_id() << ")"; << stream_to_vector_->unique_id() << ")";
DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id()
<< ")"; << ")";
} }
else else
{ {
@ -132,12 +131,11 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_channel(unsigned int channel)
void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold) void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
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) pfa = configuration_->property(role_+".pfa", 0.0); if (pfa == 0.0)
if(pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -146,7 +144,7 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa); threshold_ = calculate_threshold(pfa);
} }
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -173,12 +171,11 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_doppler_step(unsigned int dopple
{ {
acquisition_cc_->set_doppler_step(doppler_step_); acquisition_cc_->set_doppler_step(doppler_step_);
} }
} }
void GalileoE1PcpsTongAmbiguousAcquisition::set_gnss_synchro( void GalileoE1PcpsTongAmbiguousAcquisition::set_gnss_synchro(
Gnss_Synchro* gnss_synchro) Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
@ -213,18 +210,17 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_local_code()
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
std::complex<float> * code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal, galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
for (unsigned int i = 0; i < sampled_ms_/4; i++) for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_cc_->set_local_code(code_); acquisition_cc_->set_local_code(code_);
@ -260,10 +256,10 @@ float GalileoE1PcpsTongAmbiguousAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0-pfa,exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -297,4 +293,3 @@ gr::basic_block_sptr GalileoE1PcpsTongAmbiguousAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

10
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h
View File

@ -45,12 +45,12 @@ class ConfigurationInterface;
* \brief Adapts a PCPS Tong acquisition block to an AcquisitionInterface * \brief Adapts a PCPS Tong acquisition block to an AcquisitionInterface
* for Galileo E1 Signals * for Galileo E1 Signals
*/ */
class GalileoE1PcpsTongAmbiguousAcquisition: public AcquisitionInterface class GalileoE1PcpsTongAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1PcpsTongAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1PcpsTongAmbiguousAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, std::string role, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
virtual ~GalileoE1PcpsTongAmbiguousAcquisition(); virtual ~GalileoE1PcpsTongAmbiguousAcquisition();
@ -149,8 +149,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

70
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
View File

@ -42,13 +42,13 @@
#include "galileo_e5_signal_processing.h" #include "galileo_e5_signal_processing.h"
#include "Galileo_E5a.h" #include "Galileo_E5a.h"
#include "configuration_interface.h" #include "configuration_interface.h"
#include "gnss_sdr_flags.h"
using google::LogMessage; using google::LogMessage;
GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf( GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -63,8 +63,9 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
CAF_window_hz_ = configuration_->property(role + ".CAF_window_hz",0); if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
Zero_padding = configuration_->property(role + ".Zero_padding",0); CAF_window_hz_ = configuration_->property(role + ".CAF_window_hz", 0);
Zero_padding = configuration_->property(role + ".Zero_padding", 0);
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
if (sampled_ms_ > 3) if (sampled_ms_ > 3)
{ {
@ -88,8 +89,8 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
codeI_= new gr_complex[vector_length_]; codeI_ = new gr_complex[vector_length_];
codeQ_= new gr_complex[vector_length_]; codeQ_ = new gr_complex[vector_length_];
both_signal_components = false; both_signal_components = false;
std::string sig_ = configuration_->property("Channel.signal", std::string("5X")); std::string sig_ = configuration_->property("Channel.signal", std::string("5X"));
@ -101,13 +102,13 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(sampled_ms_, max_dwells_, acquisition_cc_ = galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, code_length_, code_length_, bit_transition_flag_, doppler_max_, if_, fs_in_, code_length_, code_length_, bit_transition_flag_,
dump_, dump_filename_, both_signal_components, CAF_window_hz_,Zero_padding); dump_, dump_filename_, both_signal_components, CAF_window_hz_, Zero_padding);
} }
else else
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type_ << " unknown acquisition item type"; LOG(WARNING) << item_type_ << " unknown acquisition item type";
} }
channel_ = 0; channel_ = 0;
@ -136,12 +137,11 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_channel(unsigned int channel)
void GalileoE5aNoncoherentIQAcquisitionCaf::set_threshold(float threshold) void GalileoE5aNoncoherentIQAcquisitionCaf::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
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) pfa = configuration_->property(role_ + ".pfa", 0.0); if (pfa == 0.0)
if(pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -181,7 +181,7 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_doppler_step(unsigned int dopple
void GalileoE5aNoncoherentIQAcquisitionCaf::set_gnss_synchro( void GalileoE5aNoncoherentIQAcquisitionCaf::set_gnss_synchro(
Gnss_Synchro* gnss_synchro) Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
@ -221,31 +221,31 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X') if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{ {
char a[3]; char a[3];
strcpy(a,"5I"); strcpy(a, "5I");
galileo_e5_a_code_gen_complex_sampled(codeI, a, galileo_e5_a_code_gen_complex_sampled(codeI, a,
gnss_synchro_->PRN, fs_in_, 0); gnss_synchro_->PRN, fs_in_, 0);
strcpy(a,"5Q"); strcpy(a, "5Q");
galileo_e5_a_code_gen_complex_sampled(codeQ, a, galileo_e5_a_code_gen_complex_sampled(codeQ, a,
gnss_synchro_->PRN, fs_in_, 0); gnss_synchro_->PRN, fs_in_, 0);
} }
else else
{ {
galileo_e5_a_code_gen_complex_sampled(codeI, gnss_synchro_->Signal, galileo_e5_a_code_gen_complex_sampled(codeI, gnss_synchro_->Signal,
gnss_synchro_->PRN, fs_in_, 0); gnss_synchro_->PRN, fs_in_, 0);
} }
// WARNING: 3ms are coherently integrated. Secondary sequence (1,1,1) // WARNING: 3ms are coherently integrated. Secondary sequence (1,1,1)
// is generated, and modulated in the 'block'. // is generated, and modulated in the 'block'.
if (Zero_padding == 0) // if no zero_padding if (Zero_padding == 0) // if no zero_padding
{ {
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(codeI_[i*code_length_]), codeI, memcpy(&(codeI_[i * code_length_]), codeI,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X') if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{ {
memcpy(&(codeQ_[i*code_length_]), codeQ, memcpy(&(codeQ_[i * code_length_]), codeQ,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
} }
} }
@ -253,20 +253,18 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
{ {
// 1ms code + 1ms zero padding // 1ms code + 1ms zero padding
memcpy(&(codeI_[0]), codeI, memcpy(&(codeI_[0]), codeI,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X') if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{ {
memcpy(&(codeQ_[0]), codeQ, memcpy(&(codeQ_[0]), codeQ,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
} }
acquisition_cc_->set_local_code(codeI_,codeQ_); acquisition_cc_->set_local_code(codeI_, codeQ_);
delete[] codeI; delete[] codeI;
delete[] codeQ; delete[] codeQ;
} }
} }
@ -292,8 +290,8 @@ float GalileoE5aNoncoherentIQAcquisitionCaf::calculate_threshold(float pfa)
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -307,14 +305,18 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_state(int state)
void GalileoE5aNoncoherentIQAcquisitionCaf::connect(gr::top_block_sptr top_block) void GalileoE5aNoncoherentIQAcquisitionCaf::connect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
// Nothing to connect internally // Nothing to connect internally
} }
void GalileoE5aNoncoherentIQAcquisitionCaf::disconnect(gr::top_block_sptr top_block) void GalileoE5aNoncoherentIQAcquisitionCaf::disconnect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect internally // Nothing to disconnect internally
} }

12
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h
View File

@ -45,12 +45,12 @@
class ConfigurationInterface; class ConfigurationInterface;
class GalileoE5aNoncoherentIQAcquisitionCaf: public AcquisitionInterface class GalileoE5aNoncoherentIQAcquisitionCaf : public AcquisitionInterface
{ {
public: public:
GalileoE5aNoncoherentIQAcquisitionCaf(ConfigurationInterface* configuration, GalileoE5aNoncoherentIQAcquisitionCaf(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, std::string role, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
virtual ~GalileoE5aNoncoherentIQAcquisitionCaf(); virtual ~GalileoE5aNoncoherentIQAcquisitionCaf();
@ -151,10 +151,10 @@ private:
std::string dump_filename_; std::string dump_filename_;
int Zero_padding; int Zero_padding;
int CAF_window_hz_; int CAF_window_hz_;
std::complex<float> * codeI_; std::complex<float>* codeI_;
std::complex<float> * codeQ_; std::complex<float>* codeQ_;
bool both_signal_components; bool both_signal_components;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

280
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc Normal file
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@ -0,0 +1,280 @@
/*!
* \file galileo_e5a_pcps_acquisition.cc
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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_e5a_pcps_acquisition.h"
#include "configuration_interface.h"
#include "galileo_e5_signal_processing.h"
#include "Galileo_E5a.h"
#include "gnss_sdr_flags.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr_complex.h>
using google::LogMessage;
GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
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);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_pilot_ = configuration_->property(role + ".acquire_pilot", false);
acq_iq_ = configuration_->property(role + ".acquire_iq", false);
if (acq_iq_)
{
acq_pilot_ = false;
}
dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
use_CFAR_ = configuration_->property(role + ".use_CFAR_algorithm", false);
blocking_ = configuration_->property(role + ".blocking", true);
//--- Find number of samples per spreading code (1ms)-------------------------
code_length_ = round(static_cast<double>(fs_in_) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * sampled_ms_;
code_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
}
else if (item_type_.compare("cshort") == 0)
{
item_size_ = sizeof(lv_16sc_t);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type_ << " unknown acquisition item type";
}
acquisition_ = pcps_make_acquisition(sampled_ms_, max_dwells_, doppler_max_, 0, fs_in_,
code_length_, code_length_, bit_transition_flag_, use_CFAR_, dump_, blocking_,
dump_filename_, item_size_);
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
}
GalileoE5aPcpsAcquisition::~GalileoE5aPcpsAcquisition()
{
delete[] code_;
}
void GalileoE5aPcpsAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
acquisition_->set_channel(channel_);
}
void GalileoE5aPcpsAcquisition::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_;
acquisition_->set_threshold(threshold_);
}
void GalileoE5aPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
acquisition_->set_doppler_max(doppler_max_);
}
void GalileoE5aPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
acquisition_->set_doppler_step(doppler_step_);
}
void GalileoE5aPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
acquisition_->set_gnss_synchro(gnss_synchro_);
}
signed int GalileoE5aPcpsAcquisition::mag()
{
return acquisition_->mag();
}
void GalileoE5aPcpsAcquisition::init()
{
acquisition_->init();
}
void GalileoE5aPcpsAcquisition::set_local_code()
{
gr_complex* code = new gr_complex[code_length_];
char signal_[3];
if (acq_iq_)
{
strcpy(signal_, "5X");
}
else if (acq_pilot_)
{
strcpy(signal_, "5Q");
}
else
{
strcpy(signal_, "5I");
}
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(code_ + (i * code_length_), code, sizeof(gr_complex) * code_length_);
}
acquisition_->set_local_code(code_);
delete[] code;
}
void GalileoE5aPcpsAcquisition::reset()
{
acquisition_->set_active(true);
}
float GalileoE5aPcpsAcquisition::calculate_threshold(float pfa)
{
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{
frequency_bins++;
}
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
void GalileoE5aPcpsAcquisition::set_state(int state)
{
acquisition_->set_state(state);
}
void GalileoE5aPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
}
else if (item_type_.compare("cshort") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
}
}
void GalileoE5aPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
}
else if (item_type_.compare("cshort") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
}
}
gr::basic_block_sptr GalileoE5aPcpsAcquisition::get_left_block()
{
return stream_to_vector_;
}
gr::basic_block_sptr GalileoE5aPcpsAcquisition::get_right_block()
{
return acquisition_;
}

170
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h Normal file
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@ -0,0 +1,170 @@
/*!
* \file galileo_e5a_pcps_acquisition.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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 GALILEO_E5A_PCPS_ACQUISITION_H_
#define GALILEO_E5A_PCPS_ACQUISITION_H_
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <string>
class ConfigurationInterface;
class GalileoE5aPcpsAcquisition : public AcquisitionInterface
{
public:
GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE5aPcpsAcquisition();
inline std::string role() override
{
return role_;
}
inline std::string implementation() override
{
return "Galileo_E5a_Pcps_Acquisition";
}
inline size_t item_size() override
{
return item_size_;
}
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
/*!
* \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) override;
/*!
* \brief Set acquisition channel unique ID
*/
void set_channel(unsigned int channel) override;
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
void set_threshold(float threshold) override;
/*!
* \brief Set maximum Doppler off grid search
*/
void set_doppler_max(unsigned int doppler_max) override;
/*!
* \brief Set Doppler steps for the grid search
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Initializes acquisition algorithm.
*/
void init() override;
/*!
* \brief Sets local Galileo E5a code for PCPS acquisition algorithm.
*/
void set_local_code() override;
/*!
* \brief Returns the maximum peak of grid search
*/
signed int mag() override;
/*!
* \brief Restart acquisition algorithm
*/
void reset() override;
/*!
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state);
private:
float calculate_threshold(float pfa);
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
size_t item_size_;
std::string item_type_;
std::string dump_filename_;
std::string role_;
bool bit_transition_flag_;
bool dump_;
bool acq_pilot_;
bool use_CFAR_;
bool blocking_;
bool acq_iq_;
unsigned int vector_length_;
unsigned int code_length_;
unsigned int channel_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
unsigned int in_streams_;
unsigned int out_streams_;
long fs_in_;
float threshold_;
/*
std::complex<float>* codeI_;
std::complex<float>* codeQ_;
*/
gr_complex* code_;
Gnss_Synchro* gnss_synchro_;
};
#endif /* GALILEO_E5A_PCPS_ACQUISITION_H_ */

160
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
View File

@ -32,19 +32,19 @@
*/ */
#include "glonass_l1_ca_pcps_acquisition.h" #include "glonass_l1_ca_pcps_acquisition.h"
#include <boost/math/distributions/exponential.hpp> #include "configuration_interface.h"
#include <glog/logging.h>
#include "glonass_l1_signal_processing.h" #include "glonass_l1_signal_processing.h"
#include "GLONASS_L1_CA.h" #include "GLONASS_L1_CA.h"
#include "configuration_interface.h" #include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition( GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -60,10 +60,11 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
@ -74,30 +75,25 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
acquisition_sc_ = pcps_make_acquisition_sc(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, code_length_, code_length_,
bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, dump_filename_);
DLOG(INFO) << "acquisition(" << acquisition_sc_->unique_id() << ")";
} }
else else
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_make_acquisition_cc(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, code_length_, code_length_,
bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, dump_filename_);
DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
} }
acquisition_ = pcps_make_acquisition(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, code_length_, code_length_,
bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, dump_filename_, item_size_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_); stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")"; DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
@ -124,14 +120,7 @@ GlonassL1CaPcpsAcquisition::~GlonassL1CaPcpsAcquisition()
void GlonassL1CaPcpsAcquisition::set_channel(unsigned int channel) void GlonassL1CaPcpsAcquisition::set_channel(unsigned int channel)
{ {
channel_ = channel; channel_ = channel;
if (item_type_.compare("cshort") == 0) acquisition_->set_channel(channel_);
{
acquisition_sc_->set_channel(channel_);
}
else
{
acquisition_cc_->set_channel(channel_);
}
} }
@ -139,7 +128,7 @@ void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + ".pfa", 0.0); float pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -150,15 +139,7 @@ void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
acquisition_->set_threshold(threshold_);
if (item_type_.compare("cshort") == 0)
{
acquisition_sc_->set_threshold(threshold_);
}
else
{
acquisition_cc_->set_threshold(threshold_);
}
} }
@ -166,14 +147,7 @@ void GlonassL1CaPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
{ {
doppler_max_ = doppler_max; doppler_max_ = doppler_max;
if (item_type_.compare("cshort") == 0) acquisition_->set_doppler_max(doppler_max_);
{
acquisition_sc_->set_doppler_max(doppler_max_);
}
else
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
} }
@ -181,14 +155,7 @@ void GlonassL1CaPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
{ {
doppler_step_ = doppler_step; doppler_step_ = doppler_step;
if (item_type_.compare("cshort") == 0) acquisition_->set_doppler_step(doppler_step_);
{
acquisition_sc_->set_doppler_step(doppler_step_);
}
else
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
} }
@ -196,40 +163,19 @@ void GlonassL1CaPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
if (item_type_.compare("cshort") == 0) acquisition_->set_gnss_synchro(gnss_synchro_);
{
acquisition_sc_->set_gnss_synchro(gnss_synchro_);
}
else
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
} }
signed int GlonassL1CaPcpsAcquisition::mag() signed int GlonassL1CaPcpsAcquisition::mag()
{ {
if (item_type_.compare("cshort") == 0) return acquisition_->mag();
{
return acquisition_sc_->mag();
}
else
{
return acquisition_cc_->mag();
}
} }
void GlonassL1CaPcpsAcquisition::init() void GlonassL1CaPcpsAcquisition::init()
{ {
if (item_type_.compare("cshort") == 0) acquisition_->init();
{
acquisition_sc_->init();
}
else
{
acquisition_cc_->init();
}
set_local_code(); set_local_code();
} }
@ -237,53 +183,30 @@ void GlonassL1CaPcpsAcquisition::init()
void GlonassL1CaPcpsAcquisition::set_local_code() void GlonassL1CaPcpsAcquisition::set_local_code()
{ {
std::complex<float>* code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
glonass_l1_ca_code_gen_complex_sampled(code,/* gnss_synchro_->PRN,*/ fs_in_, 0); glonass_l1_ca_code_gen_complex_sampled(code, /* gnss_synchro_->PRN,*/ fs_in_, 0);
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
}
if (item_type_.compare("cshort") == 0)
{
acquisition_sc_->set_local_code(code_);
}
else
{
acquisition_cc_->set_local_code(code_);
} }
acquisition_->set_local_code(code_);
delete[] code; delete[] code;
} }
void GlonassL1CaPcpsAcquisition::reset() void GlonassL1CaPcpsAcquisition::reset()
{ {
if (item_type_.compare("cshort") == 0) acquisition_->set_active(true);
{
acquisition_sc_->set_active(true);
}
else
{
acquisition_cc_->set_active(true);
}
} }
void GlonassL1CaPcpsAcquisition::set_state(int state) void GlonassL1CaPcpsAcquisition::set_state(int state)
{ {
if (item_type_.compare("cshort") == 0) acquisition_->set_state(state);
{
acquisition_sc_->set_state(state);
}
else
{
acquisition_cc_->set_state(state);
}
} }
@ -298,15 +221,15 @@ float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
} }
*/ */
frequency_bins = (2*doppler_max_ + doppler_step_)/doppler_step_; frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(vector_length_); double lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -316,18 +239,18 @@ void GlonassL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_, 0);
} }
else if (item_type_.compare("cshort") == 0) else if (item_type_.compare("cshort") == 0)
{ {
top_block->connect(stream_to_vector_, 0, acquisition_sc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_, 0);
} }
else if (item_type_.compare("cbyte") == 0) else if (item_type_.compare("cbyte") == 0)
{ {
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0); top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1); top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0); top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_, 0);
} }
else else
{ {
@ -340,11 +263,11 @@ void GlonassL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
} }
else if (item_type_.compare("cshort") == 0) else if (item_type_.compare("cshort") == 0)
{ {
top_block->disconnect(stream_to_vector_, 0, acquisition_sc_, 0); top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
} }
else if (item_type_.compare("cbyte") == 0) else if (item_type_.compare("cbyte") == 0)
{ {
@ -353,7 +276,7 @@ void GlonassL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0); top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1); top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0); top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
} }
else else
{ {
@ -386,12 +309,5 @@ gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_left_block()
gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_right_block() gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_right_block()
{ {
if (item_type_.compare("cshort") == 0) return acquisition_;
{
return acquisition_sc_;
}
else
{
return acquisition_cc_;
}
} }

27
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
View File

@ -34,17 +34,13 @@
#ifndef GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_ #ifndef GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
#define GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_ #define GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
#include <string> #include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h> #include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h> #include <gnuradio/blocks/float_to_complex.h>
#include "gnss_synchro.h" #include <string>
#include "acquisition_interface.h"
#include "pcps_acquisition_cc.h"
#include "pcps_acquisition_sc.h"
#include "complex_byte_to_float_x2.h"
#include <volk_gnsssdr/volk_gnsssdr.h>
class ConfigurationInterface; class ConfigurationInterface;
@ -52,12 +48,12 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals * for GPS L1 C/A signals
*/ */
class GlonassL1CaPcpsAcquisition: public AcquisitionInterface class GlonassL1CaPcpsAcquisition : public AcquisitionInterface
{ {
public: public:
GlonassL1CaPcpsAcquisition(ConfigurationInterface* configuration, GlonassL1CaPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, std::string role, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
virtual ~GlonassL1CaPcpsAcquisition(); virtual ~GlonassL1CaPcpsAcquisition();
@ -138,8 +134,7 @@ public:
private: private:
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
pcps_acquisition_cc_sptr acquisition_cc_; pcps_acquisition_sptr acquisition_;
pcps_acquisition_sc_sptr acquisition_sc_;
gr::blocks::stream_to_vector::sptr stream_to_vector_; gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_; gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_; complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
@ -160,8 +155,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

157
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -34,19 +34,19 @@
*/ */
#include "gps_l1_ca_pcps_acquisition.h" #include "gps_l1_ca_pcps_acquisition.h"
#include <boost/math/distributions/exponential.hpp> #include "configuration_interface.h"
#include <glog/logging.h>
#include "gps_sdr_signal_processing.h" #include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "configuration_interface.h" #include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition( GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -61,10 +61,11 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
@ -75,29 +76,25 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
acquisition_sc_ = pcps_make_acquisition_sc(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, code_length_, code_length_,
bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, dump_filename_);
DLOG(INFO) << "acquisition(" << acquisition_sc_->unique_id() << ")";
} }
else else
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_make_acquisition_cc(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, code_length_, code_length_,
bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, dump_filename_);
DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
} }
acquisition_ = pcps_make_acquisition(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, code_length_, code_length_,
bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, dump_filename_, item_size_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_); stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")"; DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
@ -124,14 +121,7 @@ GpsL1CaPcpsAcquisition::~GpsL1CaPcpsAcquisition()
void GpsL1CaPcpsAcquisition::set_channel(unsigned int channel) void GpsL1CaPcpsAcquisition::set_channel(unsigned int channel)
{ {
channel_ = channel; channel_ = channel;
if (item_type_.compare("cshort") == 0) acquisition_->set_channel(channel_);
{
acquisition_sc_->set_channel(channel_);
}
else
{
acquisition_cc_->set_channel(channel_);
}
} }
@ -139,7 +129,7 @@ void GpsL1CaPcpsAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + ".pfa", 0.0); float pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -150,15 +140,7 @@ void GpsL1CaPcpsAcquisition::set_threshold(float threshold)
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
acquisition_->set_threshold(threshold_);
if (item_type_.compare("cshort") == 0)
{
acquisition_sc_->set_threshold(threshold_);
}
else
{
acquisition_cc_->set_threshold(threshold_);
}
} }
@ -166,14 +148,7 @@ void GpsL1CaPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
{ {
doppler_max_ = doppler_max; doppler_max_ = doppler_max;
if (item_type_.compare("cshort") == 0) acquisition_->set_doppler_max(doppler_max_);
{
acquisition_sc_->set_doppler_max(doppler_max_);
}
else
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
} }
@ -181,14 +156,7 @@ void GpsL1CaPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
{ {
doppler_step_ = doppler_step; doppler_step_ = doppler_step;
if (item_type_.compare("cshort") == 0) acquisition_->set_doppler_step(doppler_step_);
{
acquisition_sc_->set_doppler_step(doppler_step_);
}
else
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
} }
@ -196,41 +164,19 @@ void GpsL1CaPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
if (item_type_.compare("cshort") == 0) acquisition_->set_gnss_synchro(gnss_synchro_);
{
acquisition_sc_->set_gnss_synchro(gnss_synchro_);
}
else
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
} }
signed int GpsL1CaPcpsAcquisition::mag() signed int GpsL1CaPcpsAcquisition::mag()
{ {
if (item_type_.compare("cshort") == 0) return acquisition_->mag();
{
return acquisition_sc_->mag();
}
else
{
return acquisition_cc_->mag();
}
} }
void GpsL1CaPcpsAcquisition::init() void GpsL1CaPcpsAcquisition::init()
{ {
if (item_type_.compare("cshort") == 0) acquisition_->init();
{
acquisition_sc_->init();
}
else
{
acquisition_cc_->init();
}
//set_local_code(); //set_local_code();
} }
@ -243,50 +189,27 @@ void GpsL1CaPcpsAcquisition::set_local_code()
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
}
if (item_type_.compare("cshort") == 0)
{
acquisition_sc_->set_local_code(code_);
}
else
{
acquisition_cc_->set_local_code(code_);
} }
acquisition_->set_local_code(code_);
delete[] code; delete[] code;
} }
void GpsL1CaPcpsAcquisition::reset() void GpsL1CaPcpsAcquisition::reset()
{ {
if (item_type_.compare("cshort") == 0) acquisition_->set_active(true);
{
acquisition_sc_->set_active(true);
}
else
{
acquisition_cc_->set_active(true);
}
} }
void GpsL1CaPcpsAcquisition::set_state(int state) void GpsL1CaPcpsAcquisition::set_state(int state)
{ {
if (item_type_.compare("cshort") == 0) acquisition_->set_state(state);
{
acquisition_sc_->set_state(state);
}
else
{
acquisition_cc_->set_state(state);
}
} }
float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa) float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold //Calculate the threshold
@ -300,8 +223,8 @@ float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa)
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -311,18 +234,18 @@ void GpsL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_, 0);
} }
else if (item_type_.compare("cshort") == 0) else if (item_type_.compare("cshort") == 0)
{ {
top_block->connect(stream_to_vector_, 0, acquisition_sc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_, 0);
} }
else if (item_type_.compare("cbyte") == 0) else if (item_type_.compare("cbyte") == 0)
{ {
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0); top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1); top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0); top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_, 0);
} }
else else
{ {
@ -335,11 +258,11 @@ void GpsL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
} }
else if (item_type_.compare("cshort") == 0) else if (item_type_.compare("cshort") == 0)
{ {
top_block->disconnect(stream_to_vector_, 0, acquisition_sc_, 0); top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
} }
else if (item_type_.compare("cbyte") == 0) else if (item_type_.compare("cbyte") == 0)
{ {
@ -348,7 +271,7 @@ void GpsL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0); top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1); top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0); top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
} }
else else
{ {
@ -381,13 +304,5 @@ gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_left_block()
gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_right_block() gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_right_block()
{ {
if (item_type_.compare("cshort") == 0) return acquisition_;
{
return acquisition_sc_;
}
else
{
return acquisition_cc_;
}
} }

25
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -36,16 +36,14 @@
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_ #ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_
#define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_ #define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_
#include <string> #include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h> #include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h> #include <gnuradio/blocks/float_to_complex.h>
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "pcps_acquisition_cc.h"
#include "pcps_acquisition_sc.h"
#include "complex_byte_to_float_x2.h"
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
class ConfigurationInterface; class ConfigurationInterface;
@ -54,12 +52,12 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals * for GPS L1 C/A signals
*/ */
class GpsL1CaPcpsAcquisition: public AcquisitionInterface class GpsL1CaPcpsAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsAcquisition(ConfigurationInterface* configuration, GpsL1CaPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, std::string role, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
virtual ~GpsL1CaPcpsAcquisition(); virtual ~GpsL1CaPcpsAcquisition();
@ -140,8 +138,7 @@ public:
private: private:
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
pcps_acquisition_cc_sptr acquisition_cc_; pcps_acquisition_sptr acquisition_;
pcps_acquisition_sc_sptr acquisition_sc_;
gr::blocks::stream_to_vector::sptr stream_to_vector_; gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_; gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_; complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
@ -162,8 +159,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

31
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
View File

@ -37,13 +37,13 @@
#include "gps_sdr_signal_processing.h" #include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "configuration_interface.h" #include "configuration_interface.h"
#include "gnss_sdr_flags.h"
using google::LogMessage; using google::LogMessage;
GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler( GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat"; std::string default_dump_filename = "./data/acquisition.dat";
@ -57,22 +57,22 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
dump_ = configuration->property(role + ".dump", false); dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
doppler_min_ = configuration->property(role + ".doppler_min", -5000); if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
doppler_min_ = configuration->property(role + ".doppler_min", -doppler_max_);
sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1);
max_dwells_= configuration->property(role + ".max_dwells", 1); max_dwells_ = configuration->property(role + ".max_dwells", 1);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
vector_length_ = round(fs_in_ vector_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_make_acquisition_fine_doppler_cc(max_dwells_,sampled_ms_, acquisition_cc_ = pcps_make_acquisition_fine_doppler_cc(max_dwells_, sampled_ms_,
doppler_max_, doppler_min_, if_, fs_in_, vector_length_, doppler_max_, doppler_min_, if_, fs_in_, vector_length_,
dump_, dump_filename_); dump_, dump_filename_);
} }
else else
{ {
@ -130,7 +130,7 @@ void GpsL1CaPcpsAcquisitionFineDoppler::set_gnss_synchro(Gnss_Synchro* gnss_sync
signed int GpsL1CaPcpsAcquisitionFineDoppler::mag() signed int GpsL1CaPcpsAcquisitionFineDoppler::mag()
{ {
return acquisition_cc_->mag(); return acquisition_cc_->mag();
} }
@ -156,14 +156,18 @@ void GpsL1CaPcpsAcquisitionFineDoppler::reset()
void GpsL1CaPcpsAcquisitionFineDoppler::connect(boost::shared_ptr<gr::top_block> top_block) void GpsL1CaPcpsAcquisitionFineDoppler::connect(boost::shared_ptr<gr::top_block> top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator //nothing to disconnect, now the tracking uses gr_sync_decimator
} }
void GpsL1CaPcpsAcquisitionFineDoppler::disconnect(boost::shared_ptr<gr::top_block> top_block) void GpsL1CaPcpsAcquisitionFineDoppler::disconnect(boost::shared_ptr<gr::top_block> top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator //nothing to disconnect, now the tracking uses gr_sync_decimator
} }
@ -178,4 +182,3 @@ boost::shared_ptr<gr::basic_block> GpsL1CaPcpsAcquisitionFineDoppler::get_right_
{ {
return acquisition_cc_; return acquisition_cc_;
} }

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