bds_b3i: Fixes bug with D2 data decoding in pvt computation

conf/gnss-sdr_BDS_B1I_byte.conf

@@ -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_
 
 

conf/gnss-sdr_BDS_B3I_byte.conf

@@ -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_B3.count=10
-Channels.in_acquisition=1
+Channels.in_acquisition=10
 Channel.signal=B3
 
 Channel0.satellite = 6;
-Channel1.satellite = 7;
+Channel1.satellite = 23;
-Channel2.satellite = 9;
+Channel2.satellite = 16;
-Channel3.satellite = 16;
+Channel3.satellite = 18;
-Channel4.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.coherent_integration_time_ms=3
-Acquisition_B3.max_dwells = 1
+Acquisition_B3.max_dwells = 2
-Acquisition_B3.threshold=0.00035
+Acquisition_B3.threshold=0.0004
-;Acquisition_B3.pfa=0.0000001;
 Acquisition_B3.doppler_max=10000
-Acquisition_B3.doppler_step=50
+Acquisition_B3.doppler_step=100
-Acquisition_B3.dump=true
+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.pll_bw_hz=40.0;
-Tracking_B3.dll_bw_hz=2.50;
+Tracking_B3.dll_bw_hz=4.0;
-Tracking_B3.dump=true;
+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 ############

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc

@@ -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;

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -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;
                     }
 

src/algorithms/PVT/libs/rtklib_solver.h

@@ -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;

src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc

@@ -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)
                 {

src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc

@@ -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);
     	}
 }
 

src/utils/matlab/gps_l1_ca_telemetry_plot_sample.m

@@ -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');

src/utils/matlab/libs/gps_l1_ca_read_telemetry_dump.m

@@ -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);