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bds_b3i: Fixes bug with D2 data decoding in pvt computation

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This commit is contained in:
Damian Miralles 2019-03-16 20:57:28 -05:00
parent 47d20e4021
commit 3f274e40d1
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GPG Key ID: 8A92BA854ED245E1
9 changed files with 106 additions and 32 deletions
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2
conf/gnss-sdr_BDS_B1I_byte.conf
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@ -89,7 +89,7 @@ Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
Tracking_B1.item_type=gr_complex
Tracking_B1.pll_bw_hz=25.0;
Tracking_B1.dll_bw_hz=2.50;
Tracking_B1.dump=true;
Tracking_B1.dump=false;
Tracking_B1.dump_filename=./epl_tracking_ch_

42
conf/gnss-sdr_BDS_B3I_byte.conf
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@ -16,7 +16,7 @@ ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/home/dmiralles/Documents/GNSS-Metadata-Standard/install/BdsB3IStr01.dat
SignalSource.filename=/home/dmiralles/Documents/gnss-metadata-standard/install/BdsB3IStr01.dat
SignalSource.item_type=byte
SignalSource.sampling_frequency=50000000
SignalSource.samples=0
@ -54,52 +54,46 @@ Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels_B3.count=13
Channels.in_acquisition=1
Channels_B3.count=10
Channels.in_acquisition=10
Channel.signal=B3
Channel0.satellite = 6;
Channel1.satellite = 7;
Channel2.satellite = 9;
Channel3.satellite = 16;
Channel4.satellite = 18;
Channel1.satellite = 23;
Channel2.satellite = 16;
Channel3.satellite = 18;
Channel4.satellite = 7;
Channel5.satellite = 1;
Channel6.satellite = 2;
Channel7.satellite = 3;
Channel8.satellite = 4;
Channel9.satellite = 5;
Channel10.satellite = 23;
Channel11.satellite = 25;
Channel12.satellite = 32;
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_B3.implementation=BEIDOU_B3I_PCPS_Acquisition
Acquisition_B3.item_type=gr_complex
Acquisition_B3.coherent_integration_time_ms=1
Acquisition_B3.max_dwells = 1
Acquisition_B3.threshold=0.00035
;Acquisition_B3.pfa=0.0000001;
Acquisition_B3.coherent_integration_time_ms=3
Acquisition_B3.max_dwells = 2
Acquisition_B3.threshold=0.0004
Acquisition_B3.doppler_max=10000
Acquisition_B3.doppler_step=50
Acquisition_B3.dump=true
Acquisition_B3.doppler_step=100
Acquisition_B3.dump=false
Acquisition_B3.dump_filename=./bds_acq
Acquisition_B3.blocking=false;
Acquisition_B3.use_CFAR_algorithm=true;
Acquisition_B3.bit_transition_flag = false;
;######### TRACKING GLOBAL CONFIG ############
Tracking_B3.implementation=BEIDOU_B3I_DLL_PLL_Tracking
Tracking_B3.item_type=gr_complex
Tracking_B3.pll_bw_hz=25.0;
Tracking_B3.dll_bw_hz=2.50;
Tracking_B3.dump=true;
Tracking_B3.pll_bw_hz=40.0;
Tracking_B3.dll_bw_hz=4.0;
Tracking_B3.pll_bw_narrow_hz=20.0;
Tracking_B3.dll_bw_narrow_hz=3.0;
Tracking_B3.dump=false;
Tracking_B3.dump_filename=./epl_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_B3.implementation=BEIDOU_B3I_Telemetry_Decoder
TelemetryDecoder_B3.dump=false
TelemetryDecoder_B3.dump=true
;######### OBSERVABLES CONFIG ############

9
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -1801,6 +1801,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
b_rinex_header_written = true; // do not write header anymore
}
break;
case 60: // BDS B1I only
if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
rp->rinex_obs_header(rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B3");
rp->rinex_nav_header(rp->navFile, d_pvt_solver->beidou_dnav_iono, d_pvt_solver->beidou_dnav_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
default:
break;

42
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -53,6 +53,7 @@
#include "rtklib_solver.h"
#include "Beidou_B1I.h"
#include "Beidou_B3I.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
@ -833,6 +834,47 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
}
}
// BeiDou B3
if (sig_ == "B3")
{
beidou_ephemeris_iter = beidou_dnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (beidou_ephemeris_iter != beidou_dnav_ephemeris_map.cend())
{
bool found_B1I_obs = false;
for (int i = 0; i < valid_obs; i++)
{
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS)))
{
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + 1356,
1); // Band 3 (L2/G2/B3)
found_B1I_obs = true;
break;
}
}
if (!found_B1I_obs)
{
// insert BeiDou B3I obs as new obs and also insert its ephemeris
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(beidou_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + 1356,
1); // Band 2 (L2/G2)
valid_obs++;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
break;
}

2
src/algorithms/PVT/libs/rtklib_solver.h
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@ -118,7 +118,7 @@ public:
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, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephemeris
std::map<int, Beidou_Dnav_Ephemeris> beidou_dnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
std::map<int, Beidou_Dnav_Ephemeris> beidou_dnav_ephemeris_map; //!< Map storing new BeiDou DNAV Ephmeris
Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono;

5
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
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@ -119,8 +119,8 @@ beidou_b1i_telemetry_decoder_gs::beidou_b1i_telemetry_decoder_gs(
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols + 1);
// Generic settings
d_sample_counter = 0;
d_stat = 0;
@ -351,6 +351,7 @@ void beidou_b1i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satell
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols + 1);
}
}
@ -576,6 +577,8 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
tmp_double = d_nav.d_SOW;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = static_cast<uint64_t>(d_required_symbols);
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
}
catch (const std::ifstream::failure &e)
{

1
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
View File

@ -353,6 +353,7 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satell
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols + 1);
}
}

30
src/utils/matlab/gps_l1_ca_telemetry_plot_sample.m
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@ -26,15 +26,37 @@
% -------------------------------------------------------------------------
%
%close all;
close all;clear;
samplingFreq = 25000000; %[Hz]
channels=[0:9];
path='/home/dmiralles/Documents/gnss-sdr/';
path='/home/dmiralles/Documents/gnss-sdr-bds_b1i_v2/';
addpath('libs/');
clear PRN_absolute_sample_start;
for N=1:1:length(channels)
telemetry_log_path=[path 'telemetry' num2str(channels(N)) '.dat'];
GNSS_telemetry(N)= gps_l1_ca_read_telemetry_dump(telemetry_log_path);
GNSS_telemetry_v2(N)= gps_l1_ca_read_telemetry_dump(telemetry_log_path);
end
%% Plotting values
%--- Plot results
figure;
plot(GNSS_telemetry_v2(6).tracking_sample_counter, ...
GNSS_telemetry_v2(6).tow_current_symbol_ms, 'b+');
hold on;
grid on;
plot(GNSS_telemetry_v2(1).tracking_sample_counter, ...
GNSS_telemetry_v2(1).tow_current_symbol_ms, 'ro');
xlabel('TRK Sampling Counter');
ylabel('Current Symbol TOW');
legend('BDS-1', 'BDS-6');
figure;
plot(GNSS_telemetry_v2(6).tracking_sample_counter, ...
GNSS_telemetry_v2(6).tow, 'b+');
hold on;
grid on;
plot(GNSS_telemetry_v2(1).tracking_sample_counter, ...
GNSS_telemetry_v2(1).tow, 'ro');
xlabel('TRK Sampling Counter');
ylabel('Decoded Nav TOW');
legend('BDS-1', 'BDS-6');

5
src/utils/matlab/libs/gps_l1_ca_read_telemetry_dump.m
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@ -32,7 +32,7 @@ function [telemetry] = gps_l1_ca_read_telemetry_dump (filename, count)
%%
m = nargchk (1,2,nargin);
num_double_vars=3;
num_double_vars=4;
double_size_bytes=8;
skip_bytes_each_read=double_size_bytes*num_double_vars;
bytes_shift=0;
@ -56,6 +56,9 @@ else
telemetry.tow = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
telemetry.required_symbols = fread (f, count, 'uint64',skip_bytes_each_read-double_size_bytes);
bytes_shift=bytes_shift+double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved
fclose (f);