mirror of
https://github.com/gnss-sdr/gnss-sdr
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First commit of the acquisition method based on the QuickSync algorithm.
Code developed by Damian Miralles.
This commit is contained in:
Carles Fernandez
parent
6967fc833e
commit
42ae5cbd88
1
AUTHORS
1
AUTHORS
@ -43,6 +43,7 @@ Mara Branzanti mara.branzanti@gmail.com Developer
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Marc Molina marc.molina.pena@gmail.com Developer
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Daniel Fehr daniel.co@bluewin.ch Developer
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Marc Sales marcsales92@gmail.com Developer
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Damian Miralles dmiralles2009@gmail.com Developer
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Leonardo Tonetto tonetto.dev@gmail.com Contributor
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Ignacio Paniego ignacio.paniego@gmail.com Web design
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Eva Puchol eva.puchol@gmail.com Web developer
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477
conf/gnss-sdr_acq_QuickSync.conf
Normal file
477
conf/gnss-sdr_acq_QuickSync.conf
Normal file
@ -0,0 +1,477 @@
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; You can define your own receiver and invoke it by doing
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; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
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;
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[GNSS-SDR]
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;######### GLOBAL OPTIONS ##################
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;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
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GNSS-SDR.internal_fs_hz=4000000
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;######### CONTROL_THREAD CONFIG ############
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ControlThread.wait_for_flowgraph=false
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;######### SIGNAL_SOURCE CONFIG ############
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;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] or [Rtlsdr_Signal_Source]
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SignalSource.implementation=File_Signal_Source
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;#filename: path to file with the captured GNSS signal samples to be processed
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SignalSource.filename=/home/dmiralles2009/Downloads/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
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;SignalSource.filename=/home/dmiralles2009/Downloads/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat
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;#item_type: Type and resolution for each of the signal samples.
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;#Use gr_complex for 32 bits float I/Q or short for I/Q interleaved short integer.
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;#If short is selected you should have to instantiate the Ishort_To_Complex data_type_adapter.
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SignalSource.item_type=short
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;#sampling_frequency: Original Signal sampling frequency in [Hz]
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SignalSource.sampling_frequency=4000000
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;#freq: RF front-end center frequency in [Hz]
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SignalSource.freq=1575420000
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;#gain: Front-end Gain in [dB]
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SignalSource.gain=60
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;#AGC_enabled: RTLSDR AGC enabled [true or false]
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SignalSource.AGC_enabled=true
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;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
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SignalSource.subdevice=B:0
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;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
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SignalSource.samples=0
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;#repeat: Repeat the processing file. Disable this option in this version
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SignalSource.repeat=false
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;#dump: Dump the Signal source data to a file. Disable this option in this version
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SignalSource.dump=false
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SignalSource.dump_filename=../data/signal_source.dat
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;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
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; it helps to not overload the CPU, but the processing time will be longer.
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SignalSource.enable_throttle_control=false
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;######### SIGNAL_CONDITIONER CONFIG ############
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;## It holds blocks to change data type, filter and resample input data.
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;#implementation: Use [Pass_Through] or [Signal_Conditioner]
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;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
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;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
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SignalConditioner.implementation=Signal_Conditioner
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;######### DATA_TYPE_ADAPTER CONFIG ############
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;## Changes the type of input data. Please disable it in this version.
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;#implementation: Use [Ishort_To_Complex] or [Pass_Through]
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DataTypeAdapter.implementation=Ishort_To_Complex
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;#dump: Dump the filtered data to a file.
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DataTypeAdapter.dump=false
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;#dump_filename: Log path and filename.
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DataTypeAdapter.dump_filename=../data/data_type_adapter.dat
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;######### INPUT_FILTER CONFIG ############
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;## Filter the input data. Can be combined with frequency translation for IF signals
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;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
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;#[Pass_Through] disables this block
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;#[Fir_Filter] enables a FIR Filter
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;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
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;InputFilter.implementation=Fir_Filter
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;InputFilter.implementation=Freq_Xlating_Fir_Filter
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InputFilter.implementation=Pass_Through
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;#dump: Dump the filtered data to a file.
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InputFilter.dump=false
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;#dump_filename: Log path and filename.
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InputFilter.dump_filename=../data/input_filter.dat
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;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
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;#These options are based on parameters of gnuradio's function: gr_remez.
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;#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.
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;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
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InputFilter.input_item_type=gr_complex
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;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
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InputFilter.output_item_type=gr_complex
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;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
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InputFilter.taps_item_type=float
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;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
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InputFilter.number_of_taps=5
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;#number_of _bands: Number of frequency bands in the filter.
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InputFilter.number_of_bands=2
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;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
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;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
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;#The number of band_begin and band_end elements must match the number of bands
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#used for gps
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InputFilter.band1_begin=0.0
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;InputFilter.band1_end=0.8
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InputFilter.band1_end=0.85
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InputFilter.band2_begin=0.90
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InputFilter.band2_end=1.0
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#used for galileo
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InputFilter.band1_begin=0.0
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;InputFilter.band1_end=0.8
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InputFilter.band1_end=0.45
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InputFilter.band2_begin=0.55
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InputFilter.band2_end=1.0
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;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
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;#The number of ampl_begin and ampl_end elements must match the number of bands
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InputFilter.ampl1_begin=1.0
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InputFilter.ampl1_end=1.0
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InputFilter.ampl2_begin=0.0
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InputFilter.ampl2_end=0.0
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;#band_error: weighting applied to each band (usually 1).
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;#The number of band_error elements must match the number of bands
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InputFilter.band1_error=1.0
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InputFilter.band2_error=1.0
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;#filter_type: one of "bandpass", "hilbert" or "differentiator"
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InputFilter.filter_type=bandpass
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;#grid_density: determines how accurately the filter will be constructed.
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;The minimum value is 16; higher values are slower to compute the filter.
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InputFilter.grid_density=16
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;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
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;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
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InputFilter.sampling_frequency=4000000
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InputFilter.IF=0
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;######### RESAMPLER CONFIG ############
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;## Resamples the input data.
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;#implementation: Use [Pass_Through] or [Direct_Resampler]
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;#[Pass_Through] disables this block
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;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
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;Resampler.implementation=Direct_Resampler
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Resampler.implementation=Pass_Through
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;#dump: Dump the resamplered data to a file.
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Resampler.dump=false
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;#dump_filename: Log path and filename.
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Resampler.dump_filename=../data/resampler.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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Resampler.item_type=gr_complex
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;#sample_freq_in: the sample frequency of the input signal
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Resampler.sample_freq_in=4000000
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;#sample_freq_out: the desired sample frequency of the output signal
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Resampler.sample_freq_out=4000000
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;######### CHANNELS GLOBAL CONFIG ############
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;#count: Number of available satellite channels.
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Channels.count=4
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;#in_acquisition: Number of channels simultaneously acquiring
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Channels.in_acquisition=1
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;######### CHANNEL 0 CONFIG ############
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;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
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;#if the option is disabled by default is assigned GPS
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Channel.system = Galileo
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;Channel.system = GPS
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;#signal:
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;# "1C" GPS L1 C/A
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;# "1P" GPS L1 P
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;# "1W" GPS L1 Z-tracking and similar (AS on)
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;# "1Y" GPS L1 Y
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;# "1M" GPS L1 M
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;# "1N" GPS L1 codeless
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;# "2C" GPS L2 C/A
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;# "2D" GPS L2 L1(C/A)(P2-P1) semi-codeless
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;# "2S" GPS L2 L2C (M)
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;# "2L" GPS L2 L2C (L)
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;# "2X" GPS L2 L2C (ML)
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;# "2P" GPS L2 P
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;# "2W" GPS L2 Z-tracking and similar (AS on)
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;# "2Y" GPS L2 Y
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;# "2M" GPS GPS L2 M
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;# "2N" GPS L2 codeless
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;# "5I" GPS L5 I
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;# "5Q" GPS L5 Q
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;# "5X" GPS L5 IQ
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;# "1C" GLONASS G1 C/A
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;# "1P" GLONASS G1 P
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;# "2C" GLONASS G2 C/A (Glonass M)
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;# "2P" GLONASS G2 P
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;# "1A" GALILEO E1 A (PRS)
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;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
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;# "1C" GALILEO E1 C (no data)
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;# "1X" GALILEO E1 BC
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;# "1Z" GALILEO E1 ABC
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;# "5I" GALILEO E5a I (F/NAV OS)
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;# "5Q" GALILEO E5a Q (no data)
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;# "5X" GALILEO E5a IQ
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;# "7I" GALILEO E5b I
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;# "7Q" GALILEO E5b Q
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;# "7X" GALILEO E5b IQ
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;# "8I" GALILEO E5 I
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;# "8Q" GALILEO E5 Q
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;# "8X" GALILEO E5 IQ
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;# "6A" GALILEO E6 A
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;# "6B" GALILEO E6 B
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;# "6C" GALILEO E6 C
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;# "6X" GALILEO E6 BC
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;# "6Z" GALILEO E6 ABC
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;# "1C" SBAS L1 C/A
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;# "5I" SBAS L5 I
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;# "5Q" SBAS L5 Q
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;# "5X" SBAS L5 IQ
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;# "2I" COMPASS E2 I
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;# "2Q" COMPASS E2 Q
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;# "2X" COMPASS E2 IQ
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;# "7I" COMPASS E5b I
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;# "7Q" COMPASS E5b Q
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;# "7X" COMPASS E5b IQ
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;# "6I" COMPASS E6 I
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;# "6Q" COMPASS E6 Q
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;# "6X" COMPASS E6 IQ
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;#if the option is disabled by default is assigned "1C" GPS L1 C/A
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;#satellite: Satellite PRN ID for this channel. Disable this option to random search
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;######### CHANNEL 0 CONFIG ############
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;### Uncoment these lines for GPS Systems
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;Channel0.system=GPS
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;Channel0.signal=1C
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;Channel0.satellite=11
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;Channel0.repeat_satellite=true
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;### Uncoment these lines for Galileo Systems
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Channel0.system=Galileo
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Channel0.signal=1B
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Channel0.satellite=20
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Channel0.repeat_satellite=true
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;######### CHANNEL 1 CONFIG ############
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;### Uncoment these lines for GPS Systems
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;Channel1.system=GPS
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;Channel1.signal=1C
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;Channel1.satellite=1
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;Channel1.repeat_satellite=true
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;### Uncoment these lines for Galileo Systems
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Channel1.system=Galileo
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Channel1.signal=1B
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Channel1.satellite=12
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Channel1.repeat_satellite=true
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;######### CHANNEL 2 CONFIG ############
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;### Uncoment these lines for GPS Systems
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;Channel2.system=GPS
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;Channel2.signal=1C
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;Channel2.satellite=17
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;Channel2.repeat_satellite=true
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;### Uncoment these lines for Galileo Systems
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Channel2.system=Galileo
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Channel2.signal=1B
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Channel2.satellite=11
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Channel2.repeat_satellite=true
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;######### CHANNEL 3 CONFIG ############
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;### Uncoment these lines for GPS Systems
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;Channel3.system=GPS
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;Channel3.signal=1C
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;Channel3.satellite=20
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;Channel3.repeat_satellite=false
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;### Uncoment these lines for Galileo Systems
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Channel3.system=Galileo
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Channel3.signal=1B
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Channel3.satellite=19
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Channel3.repeat_satellite=true
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;######### ACQUISITION GLOBAL CONFIG ############
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;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
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Acquisition.dump=false
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;#filename: Log path and filename
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Acquisition.dump_filename=./acq_dump.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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Acquisition.item_type=gr_complex
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;#if: Signal intermediate frequency in [Hz]
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Acquisition.if=0
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;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
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;Acquisition.coherent_integration_time_ms=4
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Acquisition.repeat_satellite=true
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;######### ACQUISITION CHANNELS CONFIG ######
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;######### ACQUISITION CONFIG PARAMETERS ############
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;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition]
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;Acquisition0.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition
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;Acquisition0.implementation=Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition
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;#threshold: Acquisition threshold
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;Acquisition0.threshold=0.010
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;#doppler_max: Maximum expected Doppler shift [Hz]
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;Acquisition0.doppler_max=10000
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;#doppler_max: Doppler step in the grid search [Hz]
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;Acquisition0.doppler_step=250
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;#repeat_satellite: Use only jointly with the satellte PRN ID option.
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;######### ACQUISITION CH 0 CONFIG ############
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;### Uncoment these lines for GPS Systems
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;Acquisition0.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition
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;Acquisition0.threshold=0.010
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;Acquisition0.doppler_step=250
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;Acquisition0.doppler_max=10000
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;Acquisition0.coherent_integration_time_ms=4
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;### Uncoment these lines for Galileo Systems
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Acquisition0.implementation=Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition
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Acquisition0.doppler_step=62
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Acquisition0.threshold=0.002
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Acquisition0.doppler_max=10000
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Acquisition0.coherent_integration_time_ms=16
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;######### ACQUISITION CH 1 CONFIG ############
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;### Uncoment these lines for GPS Systems
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;Acquisition1.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition
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;Acquisition1.threshold=0.010
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;Acquisition1.doppler_step=250
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;Acquisition1.doppler_max=10000
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;Acquisition1.coherent_integration_time_ms=4
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;### Uncoment these lines for Galileo Systems
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Acquisition1.implementation=Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition
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Acquisition1.doppler_step=62
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Acquisition1.threshold=0.002
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Acquisition1.doppler_max=10000
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Acquisition1.coherent_integration_time_ms=16
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;######### ACQUISITION CH 2 CONFIG ############
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;### Uncoment these lines for GPS Systems
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;Acquisition2.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition
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;Acquisition2.threshold=0.002
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;Acquisition2.doppler_max=10000
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;Acquisition2.doppler_step=250
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;Acquisition2.coherent_integration_time_ms=4
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;### Uncoment these lines for Galileo Systems
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Acquisition2.implementation=Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition
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Acquisition2.threshold=0.6
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Acquisition2.doppler_max=10000
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Acquisition2.doppler_step=62
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Acquisition2.coherent_integration_time_ms=16
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;######### ACQUISITION CH 3 CONFIG ############
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;### Uncoment these lines for GPS Systems
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;Acquisition3.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition
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;Acquisition3.threshold=0.002
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;Acquisition3.doppler_max=10000
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;Acquisition3.doppler_step=250
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;Acquisition3.coherent_integration_time_ms=4
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;### Uncoment these lines for Galileo Systems
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Acquisition3.implementation=Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition
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Acquisition3.threshold=0.8
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Acquisition3.doppler_max=10000
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Acquisition3.doppler_step=62
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Acquisition3.coherent_integration_time_ms=16
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;######### TRACKING GLOBAL CONFIG ############
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|
||||
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
|
||||
Tracking.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking
|
||||
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
|
||||
Tracking.item_type=gr_complex
|
||||
|
||||
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
|
||||
Tracking.if=0
|
||||
|
||||
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
|
||||
Tracking.dump=false
|
||||
|
||||
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
|
||||
Tracking.dump_filename=./tracking_ch_
|
||||
|
||||
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
|
||||
Tracking.pll_bw_hz=50.0;
|
||||
|
||||
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
|
||||
Tracking.dll_bw_hz=4.0;
|
||||
|
||||
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
|
||||
Tracking.fll_bw_hz=10.0;
|
||||
|
||||
;#order: PLL/DLL loop filter order [2] or [3]
|
||||
Tracking.order=3;
|
||||
|
||||
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
|
||||
Tracking.early_late_space_chips=0.5;
|
||||
|
||||
;######### TELEMETRY DECODER CONFIG ############
|
||||
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A.
|
||||
TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder
|
||||
TelemetryDecoder.dump=false
|
||||
|
||||
;######### OBSERVABLES CONFIG ############
|
||||
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
|
||||
Observables.implementation=GPS_L1_CA_Observables
|
||||
|
||||
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
|
||||
Observables.dump=false
|
||||
|
||||
;#dump_filename: Log path and filename.
|
||||
Observables.dump_filename=./observables.dat
|
||||
|
||||
|
||||
;######### PVT CONFIG ############
|
||||
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
|
||||
PVT.implementation=GPS_L1_CA_PVT
|
||||
|
||||
;#averaging_depth: Number of PVT observations in the moving average algorithm
|
||||
PVT.averaging_depth=10
|
||||
|
||||
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
|
||||
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]
|
||||
PVT.output_rate_ms=100;
|
||||
|
||||
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
|
||||
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
|
||||
|
||||
;######### OUTPUT_FILTER CONFIG ############
|
||||
;# Receiver output filter: Leave this block disabled in this version
|
||||
OutputFilter.implementation=Null_Sink_Output_Filter
|
||||
OutputFilter.filename=data/gnss-sdr.dat
|
||||
OutputFilter.item_type=gr_complex
|
||||
@ -23,9 +23,11 @@ if(OPENCL_FOUND)
|
||||
gps_l1_ca_pcps_assisted_acquisition.cc
|
||||
gps_l1_ca_pcps_acquisition_fine_doppler.cc
|
||||
gps_l1_ca_pcps_tong_acquisition.cc
|
||||
gps_l1_ca_pcps_quicksync_acquisition.cc
|
||||
gps_l1_ca_pcps_opencl_acquisition.cc
|
||||
galileo_e1_pcps_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_tong_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_8ms_ambiguous_acquisition.cc
|
||||
)
|
||||
@ -36,8 +38,10 @@ else(OPENCL_FOUND)
|
||||
gps_l1_ca_pcps_assisted_acquisition.cc
|
||||
gps_l1_ca_pcps_acquisition_fine_doppler.cc
|
||||
gps_l1_ca_pcps_tong_acquisition.cc
|
||||
gps_l1_ca_pcps_quicksync_acquisition.cc
|
||||
galileo_e1_pcps_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_tong_ambiguous_acquisition.cc
|
||||
galileo_e1_pcps_8ms_ambiguous_acquisition.cc
|
||||
)
|
||||
|
||||
@ -0,0 +1,347 @@
|
||||
/*!
|
||||
* \file galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Galileo E1 Signals using the QuickSync Algorithm
|
||||
* \author Damian Miralles, 2014. dmiralles2009@gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (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_e1_pcps_quicksync_ambiguous_acquisition.h"
|
||||
#include <iostream>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <boost/math/distributions/exponential.hpp>
|
||||
#include <glog/logging.h>
|
||||
#include <cmath>
|
||||
#include "galileo_e1_signal_processing.h"
|
||||
#include "Galileo_E1.h"
|
||||
#include "configuration_interface.h"
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition(
|
||||
ConfigurationInterface* configuration, std::string role,
|
||||
unsigned int in_streams, unsigned int out_streams,
|
||||
boost::shared_ptr<gr::msg_queue> queue) :
|
||||
role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(queue)
|
||||
{
|
||||
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);
|
||||
|
||||
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
|
||||
if_ = configuration_->property(role + ".ifreq", 0);
|
||||
dump_ = configuration_->property(role + ".dump", false);
|
||||
shift_resolution_ = configuration_->property(role + ".doppler_max", 15);
|
||||
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 16);
|
||||
|
||||
/*--- Find number of samples per spreading code (4 ms) -----------------*/
|
||||
code_length_ = round(
|
||||
fs_in_
|
||||
/ (Galileo_E1_CODE_CHIP_RATE_HZ
|
||||
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
|
||||
|
||||
int samples_per_ms = round(code_length_ / 4.0);
|
||||
vector_length_ = sampled_ms_ * samples_per_ms;
|
||||
|
||||
/*Calculate the folding factor value based on the calculations*/
|
||||
folding_factor_ = (unsigned int)ceil(sqrt(log2(code_length_)));
|
||||
|
||||
|
||||
if (sampled_ms_ % (folding_factor_*4) != 0)
|
||||
{
|
||||
LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time"
|
||||
<< " multiple of "<<(folding_factor_*4)<<"ms, Value entered "
|
||||
<<sampled_ms_<<" ms";
|
||||
|
||||
if(sampled_ms_ < (folding_factor_*4))
|
||||
{
|
||||
sampled_ms_ = (int) (folding_factor_*4);
|
||||
}
|
||||
else
|
||||
{
|
||||
sampled_ms_ = (int)(sampled_ms_/(folding_factor_*4)) * (folding_factor_*4);
|
||||
}
|
||||
LOG(WARNING) << "coherent_integration_time should be multiple of "
|
||||
<< "Galileo code length (4 ms). coherent_integration_time = "
|
||||
<< sampled_ms_ << " ms will be used.";
|
||||
|
||||
}
|
||||
|
||||
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
|
||||
|
||||
if (!bit_transition_flag_)
|
||||
{
|
||||
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
|
||||
}
|
||||
else
|
||||
{
|
||||
max_dwells_ = 2;
|
||||
}
|
||||
|
||||
dump_filename_ = configuration_->property(role + ".dump_filename",
|
||||
default_dump_filename);
|
||||
|
||||
code_ = new gr_complex[code_length_];
|
||||
LOG(INFO) <<"Vector Length: "<<code_length_
|
||||
<<", Samples per ms: "<<samples_per_ms
|
||||
<<", Folding factor: "<<folding_factor_
|
||||
<<", Sampled ms: "<<sampled_ms_
|
||||
<<", Code Length: "<<code_length_;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
item_size_ = sizeof(gr_complex);
|
||||
acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_,
|
||||
sampled_ms_, max_dwells_, shift_resolution_, if_, fs_in_,
|
||||
samples_per_ms, code_length_, bit_transition_flag_, queue_,
|
||||
dump_, dump_filename_);
|
||||
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_,
|
||||
code_length_ * folding_factor_);
|
||||
DLOG(INFO) << "stream_to_vector_quicksync("
|
||||
<< stream_to_vector_->unique_id() << ")";
|
||||
DLOG(INFO) << "acquisition_quicksync(" << acquisition_cc_->unique_id()
|
||||
<< ")";
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG(WARNING) << item_type_
|
||||
<< " unknown acquisition item type";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::~GalileoE1PcpsQuickSyncAmbiguousAcquisition()
|
||||
{
|
||||
delete[] code_;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channel)
|
||||
{
|
||||
channel_ = channel;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_channel(channel_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::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_;
|
||||
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_threshold(threshold_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int doppler_max)
|
||||
{
|
||||
doppler_max_ = doppler_max;
|
||||
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_doppler_max(doppler_max_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
|
||||
{
|
||||
doppler_step_ = doppler_step;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_doppler_step(doppler_step_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel_queue(
|
||||
concurrent_queue<int> *channel_internal_queue)
|
||||
{
|
||||
channel_internal_queue_ = channel_internal_queue;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_channel_queue(channel_internal_queue_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_gnss_synchro(
|
||||
Gnss_Synchro* gnss_synchro)
|
||||
{
|
||||
gnss_synchro_ = gnss_synchro;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
signed int
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::mag()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
return acquisition_cc_->mag();
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::init()
|
||||
{
|
||||
acquisition_cc_->init();
|
||||
set_local_code();
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
bool cboc = configuration_->property(
|
||||
"Acquisition" + boost::lexical_cast<std::string>(channel_)
|
||||
+ ".cboc", false);
|
||||
|
||||
std::complex<float> * code = new std::complex<float>[code_length_];
|
||||
|
||||
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
|
||||
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
|
||||
|
||||
/*
|
||||
for (unsigned int i = 0; i < sampled_ms_/4; i++)
|
||||
{
|
||||
memcpy(&(code_[i*code_length_]), code,
|
||||
sizeof(gr_complex)*code_length_);
|
||||
}
|
||||
*/
|
||||
memcpy(code_, code,sizeof(gr_complex)*code_length_);
|
||||
acquisition_cc_->set_local_code(code_);
|
||||
|
||||
delete[] code;
|
||||
code = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_active(true);
|
||||
}
|
||||
}
|
||||
|
||||
float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa)
|
||||
{
|
||||
unsigned int frequency_bins = 0;
|
||||
for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
|
||||
{
|
||||
frequency_bins++;
|
||||
}
|
||||
|
||||
DLOG(INFO) <<"Channel "<<channel_<<" Pfa = "<< pfa;
|
||||
|
||||
unsigned int ncells = code_length_ * frequency_bins;
|
||||
double exponent = 1 / (double)ncells;
|
||||
double val = pow(1.0 - pfa, exponent);
|
||||
double lambda = double(code_length_);
|
||||
boost::math::exponential_distribution<double> mydist (lambda);
|
||||
float threshold = (float)quantile(mydist,val);
|
||||
|
||||
return threshold;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GalileoE1PcpsQuickSyncAmbiguousAcquisition::get_left_block()
|
||||
{
|
||||
return stream_to_vector_;
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GalileoE1PcpsQuickSyncAmbiguousAcquisition::get_right_block()
|
||||
{
|
||||
return acquisition_cc_;
|
||||
}
|
||||
|
||||
|
||||
unsigned int GalileoE1PcpsQuickSyncAmbiguousAcquisition::get_folding_factor()
|
||||
{
|
||||
return folding_factor_;
|
||||
}
|
||||
@ -0,0 +1,167 @@
|
||||
/*!
|
||||
* \file galileo_e1_pcps_quicksync_ambiguous_acquisition.h
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for Galileo E1 Signals
|
||||
* \date June, 2014
|
||||
* \author Damian Miralles Sanchez. dmiralles2009@gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (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 GNSS_SDR_GALILEO_E1_PCPS_QUICKSYNC_AMBIGUOUS_ACQUISITION_H_
|
||||
#define GNSS_SDR_GALILEO_E1_PCPS_QUICKSYNC_AMBIGUOUS_ACQUISITION_H_
|
||||
|
||||
#include <string>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/stream_to_vector.h>
|
||||
#include "gnss_synchro.h"
|
||||
#include "acquisition_interface.h"
|
||||
#include "pcps_quicksync_acquisition_cc.h"
|
||||
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class adapts a PCPS acquisition block to an
|
||||
* AcquisitionInterface for Galileo E1 Signals
|
||||
*/
|
||||
class GalileoE1PcpsQuickSyncAmbiguousAcquisition: public AcquisitionInterface
|
||||
{
|
||||
public:
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisition(ConfigurationInterface* configuration,
|
||||
std::string role, unsigned int in_streams,
|
||||
unsigned int out_streams, boost::shared_ptr<gr::msg_queue> queue);
|
||||
|
||||
virtual ~GalileoE1PcpsQuickSyncAmbiguousAcquisition();
|
||||
|
||||
std::string role()
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns "Galileo_E1_PCPS_Ambiguous_Acquisition"
|
||||
*/
|
||||
std::string implementation()
|
||||
{
|
||||
return "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition";
|
||||
}
|
||||
size_t item_size()
|
||||
{
|
||||
return item_size_;
|
||||
}
|
||||
|
||||
void connect(gr::top_block_sptr top_block);
|
||||
void disconnect(gr::top_block_sptr top_block);
|
||||
gr::basic_block_sptr get_left_block();
|
||||
gr::basic_block_sptr get_right_block();
|
||||
|
||||
/*!
|
||||
* \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);
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition channel unique ID
|
||||
*/
|
||||
void set_channel(unsigned int channel);
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm
|
||||
*/
|
||||
void set_threshold(float threshold);
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler off grid search
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max);
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step);
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel internal queue
|
||||
*/
|
||||
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init();
|
||||
|
||||
/*!
|
||||
* \brief Sets local code for Galileo E1 PCPS acquisition algorithm.
|
||||
*/
|
||||
void set_local_code();
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search
|
||||
*/
|
||||
signed int mag();
|
||||
|
||||
/*!
|
||||
* \brief Restart acquisition algorithm
|
||||
*/
|
||||
void reset();
|
||||
/*!
|
||||
* \brief Get the folding factor value
|
||||
*/
|
||||
unsigned int get_folding_factor();
|
||||
|
||||
private:
|
||||
ConfigurationInterface* configuration_;
|
||||
pcps_quicksync_acquisition_cc_sptr acquisition_cc_;
|
||||
gr::blocks::stream_to_vector::sptr stream_to_vector_;
|
||||
size_t item_size_;
|
||||
std::string item_type_;
|
||||
unsigned int vector_length_;
|
||||
unsigned int code_length_;
|
||||
bool bit_transition_flag_;
|
||||
unsigned int channel_;
|
||||
float threshold_;
|
||||
unsigned int doppler_max_;
|
||||
unsigned int doppler_step_;
|
||||
unsigned int shift_resolution_;
|
||||
unsigned int sampled_ms_;
|
||||
unsigned int max_dwells_;
|
||||
unsigned int folding_factor_;
|
||||
long fs_in_;
|
||||
long if_;
|
||||
bool dump_;
|
||||
std::string dump_filename_;
|
||||
std::complex<float> * code_;
|
||||
Gnss_Synchro * gnss_synchro_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
boost::shared_ptr<gr::msg_queue> queue_;
|
||||
concurrent_queue<int> *channel_internal_queue_;
|
||||
float calculate_threshold(float pfa);
|
||||
};
|
||||
|
||||
#endif /* GNSS_SDR_GALILEO_E1_PCPS_QUICKSYNC_AMBIGUOUS_ACQUISITION_H_ */
|
||||
@ -0,0 +1,333 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_pcps_quicksync_acquisition.cc
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* GPS L1 C/A signals using the QuickSync Algorithm
|
||||
* \author Damian Miralles, 2014. dmiralles2009@gmail.com
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (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 "gps_l1_ca_pcps_quicksync_acquisition.h"
|
||||
#include <iostream>
|
||||
#include <cmath>
|
||||
#include <stdexcept>
|
||||
#include <boost/math/distributions/exponential.hpp>
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include "gps_sdr_signal_processing.h"
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "configuration_interface.h"
|
||||
|
||||
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
|
||||
ConfigurationInterface* configuration, std::string role,
|
||||
unsigned int in_streams, unsigned int out_streams,
|
||||
gr::msg_queue::sptr queue) :
|
||||
role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(queue)
|
||||
{
|
||||
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);
|
||||
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
|
||||
if_ = configuration_->property(role + ".ifreq", 0);
|
||||
dump_ = configuration_->property(role + ".dump", false);
|
||||
shift_resolution_ = configuration_->property(role + ".doppler_max", 15);
|
||||
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
|
||||
|
||||
//--- Find number of samples per spreading code -------------------------
|
||||
code_length_ = round(fs_in_
|
||||
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
|
||||
|
||||
vector_length_ = code_length_ * sampled_ms_;
|
||||
|
||||
/*Calculate the folding factor value based on the calculations*/
|
||||
folding_factor_ = (unsigned int)ceil(sqrt(log2(code_length_)));
|
||||
|
||||
if ( sampled_ms_ % folding_factor_ != 0)
|
||||
{
|
||||
LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time"
|
||||
<< " multiple of " << folding_factor_ << "ms, Value entered "
|
||||
<< sampled_ms_ << " ms";
|
||||
if(sampled_ms_ < folding_factor_)
|
||||
{
|
||||
sampled_ms_ = (int) folding_factor_;
|
||||
}
|
||||
else
|
||||
{
|
||||
sampled_ms_ = (int)(sampled_ms_/folding_factor_) * folding_factor_;
|
||||
}
|
||||
|
||||
LOG(WARNING) <<" Coherent_integration_time of "
|
||||
<< sampled_ms_ << " ms will be used instead.";
|
||||
|
||||
}
|
||||
|
||||
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
|
||||
|
||||
if (!bit_transition_flag_)
|
||||
{
|
||||
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
|
||||
}
|
||||
else
|
||||
{
|
||||
max_dwells_ = 2;
|
||||
}
|
||||
|
||||
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
|
||||
|
||||
int samples_per_ms = round(code_length_);
|
||||
code_= new gr_complex[code_length_];
|
||||
/*Object relevant information for debugging*/
|
||||
LOG(INFO) <<"Implementation: "<<this->implementation()
|
||||
<<", Vector Length: "<<code_length_*sampled_ms_
|
||||
<<", Samples per ms: "<<samples_per_ms
|
||||
<<", Folding factor: "<<folding_factor_
|
||||
<<", Sampled ms: "<<sampled_ms_
|
||||
<<", Code Length: "<<code_length_;
|
||||
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
item_size_ = sizeof(gr_complex);
|
||||
acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_,
|
||||
sampled_ms_, max_dwells_,shift_resolution_, if_, fs_in_,
|
||||
samples_per_ms, code_length_,bit_transition_flag_, queue_,
|
||||
dump_, dump_filename_);
|
||||
|
||||
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_,
|
||||
code_length_ * folding_factor_);
|
||||
|
||||
DLOG(INFO) << "stream_to_vector_quicksync(" << stream_to_vector_->unique_id() << ")";
|
||||
DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG(WARNING) << item_type_ << " unknown acquisition item type";
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
GpsL1CaPcpsQuickSyncAcquisition::~GpsL1CaPcpsQuickSyncAcquisition()
|
||||
{
|
||||
delete[] code_;
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_channel(unsigned int channel)
|
||||
{
|
||||
channel_ = channel;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_channel(channel_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::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_;
|
||||
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_threshold(threshold_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_doppler_max(unsigned int doppler_max)
|
||||
{
|
||||
doppler_max_ = doppler_max;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_doppler_max(doppler_max_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_doppler_step(unsigned int doppler_step)
|
||||
{
|
||||
doppler_step_ = doppler_step;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_doppler_step(doppler_step_);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_channel_queue(
|
||||
concurrent_queue<int> *channel_internal_queue)
|
||||
{
|
||||
channel_internal_queue_ = channel_internal_queue;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_channel_queue(channel_internal_queue_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
|
||||
{
|
||||
gnss_synchro_ = gnss_synchro;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
signed int GpsL1CaPcpsQuickSyncAcquisition::mag()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
return acquisition_cc_->mag();
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::init()
|
||||
{
|
||||
acquisition_cc_->init();
|
||||
set_local_code();
|
||||
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::set_local_code()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
std::complex<float>* code = new std::complex<float>[code_length_];
|
||||
|
||||
gps_l1_ca_code_gen_complex_sampled(code, 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_);
|
||||
}
|
||||
*/
|
||||
memcpy(code_, code,sizeof(gr_complex)*code_length_);
|
||||
acquisition_cc_->set_local_code(code_);
|
||||
|
||||
delete[] code;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::reset()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_active(true);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
float GpsL1CaPcpsQuickSyncAcquisition::calculate_threshold(float pfa)
|
||||
{
|
||||
//Calculate the threshold
|
||||
unsigned int frequency_bins = 0;
|
||||
for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
|
||||
{
|
||||
frequency_bins++;
|
||||
}
|
||||
DLOG(INFO) << "Channel " << channel_<< " Pfa = " << pfa;
|
||||
unsigned int ncells = code_length_*frequency_bins;
|
||||
double exponent = 1/(double)ncells;
|
||||
double val = pow(1.0 - pfa, exponent);
|
||||
double lambda = double(code_length_);
|
||||
boost::math::exponential_distribution<double> mydist (lambda);
|
||||
float threshold = (float)quantile(mydist,val);
|
||||
|
||||
return threshold;
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisition::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GpsL1CaPcpsQuickSyncAcquisition::get_left_block()
|
||||
{
|
||||
return stream_to_vector_;
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GpsL1CaPcpsQuickSyncAcquisition::get_right_block()
|
||||
{
|
||||
return acquisition_cc_;
|
||||
}
|
||||
|
||||
|
||||
unsigned int GpsL1CaPcpsQuickSyncAcquisition::get_folding_factor()
|
||||
{
|
||||
return folding_factor_;
|
||||
}
|
||||
@ -0,0 +1,173 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_pcps_quicksync_acquisition.h
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for GPS L1 C/A signals implementing the QuickSync Algorithm.
|
||||
* \date June, 2014
|
||||
* \author Damian Miralles Sanchez. dmiralles2009@gmail.com
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (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 GNSS_SDR_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H_
|
||||
#define GNSS_SDR_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H_
|
||||
|
||||
#include <string>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/stream_to_vector.h>
|
||||
#include "gnss_synchro.h"
|
||||
#include "acquisition_interface.h"
|
||||
#include "pcps_quicksync_acquisition_cc.h"
|
||||
#include "configuration_interface.h"
|
||||
|
||||
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
|
||||
* for GPS L1 C/A signals
|
||||
*/
|
||||
class GpsL1CaPcpsQuickSyncAcquisition: public AcquisitionInterface
|
||||
{
|
||||
public:
|
||||
GpsL1CaPcpsQuickSyncAcquisition(ConfigurationInterface* configuration,
|
||||
std::string role, unsigned int in_streams,
|
||||
unsigned int out_streams, boost::shared_ptr<gr::msg_queue> queue);
|
||||
|
||||
virtual ~GpsL1CaPcpsQuickSyncAcquisition();
|
||||
|
||||
std::string role()
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns "GPS_L1_CA_PCPS_QuickSync_Acquisition"
|
||||
*/
|
||||
std::string implementation()
|
||||
{
|
||||
return "GPS_L1_CA_PCPS_QuickSync_Acquisition";
|
||||
}
|
||||
size_t item_size()
|
||||
{
|
||||
return item_size_;
|
||||
}
|
||||
|
||||
void connect(gr::top_block_sptr top_block);
|
||||
void disconnect(gr::top_block_sptr top_block);
|
||||
gr::basic_block_sptr get_left_block();
|
||||
gr::basic_block_sptr get_right_block();
|
||||
|
||||
/*!
|
||||
* \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);
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition channel unique ID
|
||||
*/
|
||||
void set_channel(unsigned int channel);
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm
|
||||
*/
|
||||
void set_threshold(float threshold);
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler off grid search
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max);
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step);
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel internal queue
|
||||
*/
|
||||
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init();
|
||||
|
||||
/*!
|
||||
* \brief Sets local code for GPS L1/CA PCPS acquisition algorithm.
|
||||
*/
|
||||
void set_local_code();
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search
|
||||
*/
|
||||
signed int mag();
|
||||
|
||||
/*!
|
||||
* \brief Restart acquisition algorithm
|
||||
*/
|
||||
void reset();
|
||||
|
||||
/*!
|
||||
* \brief Get the folding factor value
|
||||
*/
|
||||
unsigned int get_folding_factor();
|
||||
|
||||
private:
|
||||
ConfigurationInterface* configuration_;
|
||||
pcps_quicksync_acquisition_cc_sptr acquisition_cc_;
|
||||
gr::blocks::stream_to_vector::sptr stream_to_vector_;
|
||||
size_t item_size_;
|
||||
std::string item_type_;
|
||||
unsigned int vector_length_;
|
||||
unsigned int code_length_;
|
||||
bool bit_transition_flag_;
|
||||
unsigned int channel_;
|
||||
float threshold_;
|
||||
unsigned int doppler_max_;
|
||||
unsigned int doppler_step_;
|
||||
unsigned int shift_resolution_;
|
||||
unsigned int sampled_ms_;
|
||||
unsigned int max_dwells_;
|
||||
unsigned int folding_factor_;
|
||||
long fs_in_;
|
||||
long if_;
|
||||
bool dump_;
|
||||
std::string dump_filename_;
|
||||
std::complex<float> * code_;
|
||||
Gnss_Synchro * gnss_synchro_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
boost::shared_ptr<gr::msg_queue> queue_;
|
||||
concurrent_queue<int> *channel_internal_queue_;
|
||||
|
||||
float calculate_threshold(float pfa);
|
||||
|
||||
};
|
||||
|
||||
#endif /* GNSS_SDR_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H_ */
|
||||
@ -24,6 +24,7 @@ if(OPENCL_FOUND)
|
||||
pcps_acquisition_fine_doppler_cc.cc
|
||||
pcps_tong_acquisition_cc.cc
|
||||
pcps_cccwsr_acquisition_cc.cc
|
||||
pcps_quicksync_acquisition_cc.cc
|
||||
galileo_pcps_8ms_acquisition_cc.cc
|
||||
pcps_opencl_acquisition_cc.cc # Needs OpenCL
|
||||
)
|
||||
@ -35,6 +36,7 @@ else(OPENCL_FOUND)
|
||||
pcps_acquisition_fine_doppler_cc.cc
|
||||
pcps_tong_acquisition_cc.cc
|
||||
pcps_cccwsr_acquisition_cc.cc
|
||||
pcps_quicksync_acquisition_cc.cc
|
||||
galileo_pcps_8ms_acquisition_cc.cc
|
||||
)
|
||||
endif(OPENCL_FOUND)
|
||||
|
||||
@ -0,0 +1,606 @@
|
||||
/*!
|
||||
* \file pcps_quicksync_acquisition_cc.cc
|
||||
* \brief This class implements a Parallel Code Phase Search Acquisition
|
||||
* \author Damian Miralles Sanchez, 2014. dmiralles2009(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (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 "pcps_quicksync_acquisition_cc.h"
|
||||
#include <ctime>
|
||||
#include <cmath>
|
||||
#include <sstream>
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <glog/logging.h>
|
||||
#include <volk/volk.h>
|
||||
#include "control_message_factory.h"
|
||||
#include "gnss_signal_processing.h"
|
||||
|
||||
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
pcps_quicksync_acquisition_cc_sptr pcps_quicksync_make_acquisition_cc(
|
||||
unsigned int folding_factor,
|
||||
unsigned int sampled_ms, unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename)
|
||||
{
|
||||
|
||||
return pcps_quicksync_acquisition_cc_sptr(
|
||||
new pcps_quicksync_acquisition_cc(
|
||||
folding_factor,
|
||||
sampled_ms, max_dwells, doppler_max,
|
||||
freq, fs_in, samples_per_ms,
|
||||
samples_per_code,
|
||||
bit_transition_flag,
|
||||
queue, dump, dump_filename));
|
||||
}
|
||||
|
||||
pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
|
||||
unsigned int folding_factor,
|
||||
unsigned int sampled_ms, unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename):
|
||||
gr::block("pcps_quicksync_acquisition_cc",
|
||||
gr::io_signature::make(1, 1, (sizeof(gr_complex)*sampled_ms * samples_per_ms )),
|
||||
gr::io_signature::make(0, 0, (sizeof(gr_complex)*sampled_ms * samples_per_ms )))
|
||||
{
|
||||
//DLOG(INFO) << "START CONSTRUCTOR";
|
||||
|
||||
d_sample_counter = 0; // SAMPLE COUNTER
|
||||
d_active = false;
|
||||
d_state = 0;
|
||||
d_queue = queue;
|
||||
d_freq = freq;
|
||||
d_fs_in = fs_in;
|
||||
d_samples_per_ms = samples_per_ms;
|
||||
d_samples_per_code = samples_per_code;
|
||||
d_sampled_ms = sampled_ms;
|
||||
d_max_dwells = max_dwells;
|
||||
d_well_count = 0;
|
||||
d_doppler_max = doppler_max;
|
||||
d_mag = 0;
|
||||
d_input_power = 0.0;
|
||||
d_num_doppler_bins = 0;
|
||||
d_bit_transition_flag = bit_transition_flag;
|
||||
d_folding_factor = folding_factor;
|
||||
|
||||
//fft size is reduced.
|
||||
d_fft_size = (d_samples_per_code) / d_folding_factor;
|
||||
|
||||
|
||||
//todo: do something if posix_memalign fails
|
||||
if (posix_memalign((void**)&d_fft_codes, 16, d_fft_size * sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_magnitude, 16, d_samples_per_code * d_folding_factor * sizeof(float)) == 0){};
|
||||
if (posix_memalign((void**)&d_magnitude_folded, 16, d_fft_size * sizeof(float)) == 0){};
|
||||
|
||||
d_possible_delay = new unsigned int[d_folding_factor];
|
||||
|
||||
|
||||
/*Create the d_code signal , which would store the values of the code in its
|
||||
original form to perform later correlation in time domain*/
|
||||
d_code = new gr_complex[d_samples_per_code]();
|
||||
|
||||
|
||||
// Direct FFT
|
||||
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
|
||||
// Inverse FFT
|
||||
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
|
||||
|
||||
// For dumping samples into a file
|
||||
d_dump = dump;
|
||||
d_dump_filename = dump_filename;
|
||||
|
||||
// DLOG(INFO) << "END CONSTRUCTOR";
|
||||
}
|
||||
|
||||
pcps_quicksync_acquisition_cc::~pcps_quicksync_acquisition_cc()
|
||||
{
|
||||
//DLOG(INFO) << "START DESTROYER";
|
||||
if (d_num_doppler_bins > 0)
|
||||
{
|
||||
for (unsigned int i = 0; i < d_num_doppler_bins; i++)
|
||||
{
|
||||
free(d_grid_doppler_wipeoffs[i]);
|
||||
}
|
||||
delete[] d_grid_doppler_wipeoffs;
|
||||
}
|
||||
|
||||
free(d_fft_codes);
|
||||
free(d_magnitude);
|
||||
free(d_magnitude_folded);
|
||||
|
||||
delete d_ifft;
|
||||
d_ifft = NULL;
|
||||
delete d_fft_if;
|
||||
d_fft_if = NULL;
|
||||
delete d_code;
|
||||
d_code = NULL;
|
||||
delete d_possible_delay;
|
||||
d_possible_delay = NULL;
|
||||
|
||||
if (d_dump)
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
// DLOG(INFO) << "END DESTROYER";
|
||||
}
|
||||
|
||||
void pcps_quicksync_acquisition_cc::set_local_code(std::complex<float> * code)
|
||||
{
|
||||
// DLOG(INFO) << "START LOCAL CODE";
|
||||
|
||||
|
||||
/*save a local copy of the code without the folding process to perform corre-
|
||||
lation in time in the final steps of the acquisition stage*/
|
||||
memcpy(d_code, code, sizeof(gr_complex)*d_samples_per_code);
|
||||
|
||||
d_code_folded = new gr_complex[d_fft_size]();
|
||||
memcpy(d_fft_if->get_inbuf(), d_code_folded, sizeof(gr_complex)*(d_fft_size));
|
||||
|
||||
/*perform folding of the code by the factorial factor parameter. Notice that
|
||||
folding of the code in the time stage would result in a downsampled spectrum
|
||||
in the frequency domain after applying the fftw operation*/
|
||||
for (unsigned int i = 0; i < d_folding_factor; i++)
|
||||
{
|
||||
std::transform ((code + i*d_fft_size), (code + ((i+1)*d_fft_size)) ,
|
||||
d_fft_if->get_inbuf(), d_fft_if->get_inbuf(),
|
||||
std::plus<gr_complex>());
|
||||
}
|
||||
|
||||
|
||||
d_fft_if->execute(); // We need the FFT of local code
|
||||
|
||||
//Conjugate the local code
|
||||
if (is_unaligned())
|
||||
{
|
||||
volk_32fc_conjugate_32fc_u(d_fft_codes,d_fft_if->get_outbuf(), d_fft_size);
|
||||
}
|
||||
else
|
||||
{
|
||||
volk_32fc_conjugate_32fc_a(d_fft_codes,d_fft_if->get_outbuf(), d_fft_size);
|
||||
}
|
||||
// DLOG(INFO) << "END LOCAL CODE";
|
||||
|
||||
}
|
||||
|
||||
void pcps_quicksync_acquisition_cc::init()
|
||||
{
|
||||
//DLOG(INFO) << "START init";
|
||||
d_gnss_synchro->Acq_delay_samples = 0.0;
|
||||
d_gnss_synchro->Acq_doppler_hz = 0.0;
|
||||
d_gnss_synchro->Acq_samplestamp_samples = 0;
|
||||
d_mag = 0.0;
|
||||
d_input_power = 0.0;
|
||||
|
||||
// Count the number of bins
|
||||
d_num_doppler_bins = 0;
|
||||
for (int doppler = (int)(-d_doppler_max);
|
||||
doppler <= (int)(d_doppler_max);
|
||||
doppler += d_doppler_step)
|
||||
{
|
||||
d_num_doppler_bins++;
|
||||
}
|
||||
|
||||
// Create the carrier Doppler wipeoff signals
|
||||
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
|
||||
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
|
||||
{
|
||||
if (posix_memalign((void**)&(d_grid_doppler_wipeoffs[doppler_index]), 16,
|
||||
d_samples_per_code * d_folding_factor * sizeof(gr_complex)) == 0){};
|
||||
|
||||
int doppler = -(int)d_doppler_max + d_doppler_step*doppler_index;
|
||||
complex_exp_gen_conj(d_grid_doppler_wipeoffs[doppler_index],
|
||||
d_freq + doppler, d_fs_in,
|
||||
d_samples_per_code * d_folding_factor);
|
||||
}
|
||||
// DLOG(INFO) << "end init";
|
||||
}
|
||||
|
||||
int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
|
||||
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
|
||||
gr_vector_void_star &output_items)
|
||||
{
|
||||
/*
|
||||
* By J.Arribas, L.Esteve and M.Molina
|
||||
* Acquisition strategy (Kay Borre book + CFAR threshold):
|
||||
* 1. Compute the input signal power estimation
|
||||
* 2. Doppler serial search loop
|
||||
* 3. Perform the FFT-based circular convolution (parallel time search)
|
||||
* 4. Record the maximum peak and the associated synchronization parameters
|
||||
* 5. Compute the test statistics and compare to the threshold
|
||||
* 6. Declare positive or negative acquisition using a message queue
|
||||
*/
|
||||
//DLOG(INFO) << "START GENERAL WORK";
|
||||
int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
|
||||
//std::cout<<"general_work in quicksync gnuradio block"<<std::endl;
|
||||
switch (d_state)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
//DLOG(INFO) << "START CASE 0";
|
||||
if (d_active)
|
||||
{
|
||||
//restart acquisition variables
|
||||
d_gnss_synchro->Acq_delay_samples = 0.0;
|
||||
d_gnss_synchro->Acq_doppler_hz = 0.0;
|
||||
d_gnss_synchro->Acq_samplestamp_samples = 0;
|
||||
d_well_count = 0;
|
||||
d_mag = 0.0;
|
||||
d_input_power = 0.0;
|
||||
d_test_statistics = 0.0;
|
||||
|
||||
d_state = 1;
|
||||
}
|
||||
|
||||
d_sample_counter += d_sampled_ms * d_samples_per_ms * ninput_items[0]; // sample counter
|
||||
consume_each(ninput_items[0]);
|
||||
//DLOG(INFO) << "END CASE 0";
|
||||
break;
|
||||
}
|
||||
|
||||
case 1:
|
||||
{
|
||||
/* initialize acquisition implementing the QuickSync algorithm*/
|
||||
//DLOG(INFO) << "START CASE 1";
|
||||
int doppler;
|
||||
unsigned int indext = 0;
|
||||
float magt = 0.0;
|
||||
const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
|
||||
|
||||
gr_complex *in_temp;
|
||||
if (posix_memalign((void**)&(in_temp), 16,d_samples_per_code * d_folding_factor * sizeof(gr_complex)) == 0){};
|
||||
|
||||
|
||||
gr_complex *in_temp_folded;
|
||||
if (posix_memalign((void**)&(in_temp_folded), 16,d_fft_size * sizeof(gr_complex)) == 0){};
|
||||
|
||||
/*Create a signal to store a signal of size 1ms, to perform correlation
|
||||
in time. No folding on this data is required*/
|
||||
gr_complex *in_1code;
|
||||
if (posix_memalign((void**)&(in_1code), 16,d_samples_per_code * sizeof(gr_complex)) == 0){};
|
||||
|
||||
/*Stores the values of the correlation output between the local code
|
||||
and the signal with doppler shift corrected */
|
||||
gr_complex *corr_output;
|
||||
if (posix_memalign((void**)&(corr_output), 16,d_samples_per_code * sizeof(gr_complex)) == 0){};
|
||||
|
||||
/*Stores a copy of the folded version of the signal.This is used for
|
||||
the FFT operations in future steps of excecution*/
|
||||
// gr_complex in_folded[d_fft_size];
|
||||
float fft_normalization_factor = (float)d_fft_size * (float)d_fft_size;
|
||||
|
||||
d_input_power = 0.0;
|
||||
d_mag = 0.0;
|
||||
d_test_statistics = 0.0;
|
||||
d_noise_floor_power = 0.0;
|
||||
|
||||
d_sample_counter += d_sampled_ms * d_samples_per_ms; // sample counter
|
||||
|
||||
d_well_count++;
|
||||
|
||||
DLOG(INFO) << "Channel: " << d_channel
|
||||
<< " , doing acquisition of satellite: "
|
||||
<< d_gnss_synchro->System << " "<< d_gnss_synchro->PRN
|
||||
<< " ,algorithm: pcps_quicksync_acquisition"
|
||||
<< " ,folding factor: " << d_folding_factor
|
||||
<< " ,sample stamp: " << d_sample_counter << ", threshold: "
|
||||
<< d_threshold << ", doppler_max: " << d_doppler_max
|
||||
<< ", doppler_step: " << d_doppler_step << ", Signal Size: "
|
||||
<< d_samples_per_code * d_folding_factor;
|
||||
|
||||
|
||||
/* 1- Compute the input signal power estimation. This operation is
|
||||
being performed in a signal of size nxp */
|
||||
volk_32fc_magnitude_squared_32f_a(d_magnitude, in, d_samples_per_code * d_folding_factor);
|
||||
volk_32f_accumulator_s32f_a(&d_input_power, d_magnitude, d_samples_per_code * d_folding_factor);
|
||||
d_input_power /= (float)(d_samples_per_code * d_folding_factor);
|
||||
|
||||
|
||||
|
||||
for (unsigned int doppler_index=0;doppler_index<d_num_doppler_bins;doppler_index++)
|
||||
{
|
||||
/*Ensure that the signal is going to start with all samples
|
||||
at zero. This is done to avoid over acumulation when performing
|
||||
the folding process to be stored in d_fft_if->get_inbuf()*/
|
||||
d_signal_folded = new gr_complex[d_fft_size]();
|
||||
memcpy( d_fft_if->get_inbuf(),d_signal_folded,
|
||||
sizeof(gr_complex)*(d_fft_size));
|
||||
|
||||
/*Doppler search steps and then multiplication of the incoming
|
||||
signal with the doppler wipeoffs to eliminate frequency offset
|
||||
*/
|
||||
doppler=-(int)d_doppler_max+d_doppler_step*doppler_index;
|
||||
|
||||
/*Perform multiplication of the incoming signal with the
|
||||
complex exponential vector. This removes the frequency doppler
|
||||
shift offset*/
|
||||
volk_32fc_x2_multiply_32fc_a(in_temp, in,
|
||||
d_grid_doppler_wipeoffs[doppler_index],
|
||||
d_samples_per_code * d_folding_factor);
|
||||
|
||||
/*Perform folding of the carrier wiped-off incoming signal. Since
|
||||
superlinear method is being used the folding factor in the
|
||||
incoming raw data signal is of d_folding_factor^2*/
|
||||
for ( int i = 0; i < (int)(d_folding_factor*d_folding_factor); i++)
|
||||
{
|
||||
std::transform ((in_temp+i*d_fft_size),
|
||||
(in_temp+((i+1)*d_fft_size)) ,
|
||||
d_fft_if->get_inbuf(),
|
||||
d_fft_if->get_inbuf(),
|
||||
std::plus<gr_complex>());
|
||||
}
|
||||
|
||||
/* 3- Perform the FFT-based convolution (parallel time search)
|
||||
Compute the FFT of the carrier wiped--off incoming signal*/
|
||||
d_fft_if->execute();
|
||||
|
||||
/*Multiply carrier wiped--off, Fourier transformed incoming
|
||||
signal with the local FFT'd code reference using SIMD
|
||||
operations with VOLK library*/
|
||||
volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(),
|
||||
d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
|
||||
|
||||
/* compute the inverse FFT of the aliased signal*/
|
||||
d_ifft->execute();
|
||||
|
||||
/* Compute the magnitude and get the maximum value with its
|
||||
index position*/
|
||||
volk_32fc_magnitude_squared_32f_a(d_magnitude_folded,
|
||||
d_ifft->get_outbuf(), d_fft_size);
|
||||
|
||||
/* Normalize the maximum value to correct the scale factor
|
||||
introduced by FFTW*/
|
||||
//volk_32f_s32f_multiply_32f_a(d_magnitude_folded,d_magnitude_folded,
|
||||
// (1 / (fft_normalization_factor * fft_normalization_factor)), d_fft_size);
|
||||
volk_32f_index_max_16u_a(&indext, d_magnitude_folded, d_fft_size);
|
||||
|
||||
magt = d_magnitude_folded[indext]/ (fft_normalization_factor * fft_normalization_factor);
|
||||
|
||||
delete d_signal_folded;
|
||||
|
||||
// 4- record the maximum peak and the associated synchronization parameters
|
||||
if (d_mag < magt)
|
||||
{
|
||||
d_mag = magt;
|
||||
|
||||
/* In case that d_bit_transition_flag = true, we compare the potentially
|
||||
new maximum test statistics (d_mag/d_input_power) with the value in
|
||||
d_test_statistics. When the second dwell is being processed, the value
|
||||
of d_mag/d_input_power could be lower than d_test_statistics (i.e,
|
||||
the maximum test statistics in the previous dwell is greater than
|
||||
current d_mag/d_input_power). Note that d_test_statistics is not
|
||||
restarted between consecutive dwells in multidwell operation.*/
|
||||
if (d_test_statistics < (d_mag / d_input_power) || !d_bit_transition_flag)
|
||||
{
|
||||
unsigned int detected_delay_samples_folded = 0;
|
||||
detected_delay_samples_folded = (indext % d_samples_per_code);
|
||||
float corr_output_f[d_folding_factor];
|
||||
gr_complex complex_acumulator[100];
|
||||
//gr_complex complex_acumulator[d_folding_factor];
|
||||
//const int ff = d_folding_factor;
|
||||
//gr_complex complex_acumulator[ff];
|
||||
//gr_complex complex_acumulator[];
|
||||
//complex_acumulator = new gr_complex[d_folding_factor]();
|
||||
|
||||
for (int i = 0; i < (int)d_folding_factor; i++)
|
||||
{
|
||||
d_possible_delay[i]= detected_delay_samples_folded+
|
||||
(i)*d_fft_size;
|
||||
}
|
||||
|
||||
for ( int i = 0; i < (int)d_folding_factor; i++)
|
||||
{
|
||||
|
||||
/*Copy a signal of 1 code length into suggested buffer.
|
||||
The copied signal must have doppler effect corrected*/
|
||||
memcpy(in_1code,&in_temp[d_possible_delay[i]],
|
||||
sizeof(gr_complex)*(d_samples_per_code));
|
||||
|
||||
/*Perform multiplication of the unmodified local
|
||||
generated code with the incoming signal with doppler
|
||||
effect corrected and accumulates its value. This
|
||||
is indeed correlation in time for an specific value
|
||||
of a shift*/
|
||||
volk_32fc_x2_multiply_32fc_a(corr_output, in_1code,
|
||||
d_code, d_samples_per_code);
|
||||
|
||||
for(int j=0; j < (d_samples_per_code); j++)
|
||||
{
|
||||
complex_acumulator[i] += (corr_output[j]);
|
||||
}
|
||||
|
||||
}
|
||||
/*Obtain maximun value of correlation given the
|
||||
possible delay selected */
|
||||
volk_32fc_magnitude_squared_32f_a(corr_output_f,
|
||||
complex_acumulator, d_folding_factor);
|
||||
volk_32f_index_max_16u_a(&indext, corr_output_f,
|
||||
d_folding_factor);
|
||||
|
||||
/*Display correlation results for galileo satellites*/
|
||||
/*Display correlation results for gps satellites*/
|
||||
LOG_IF(INFO, (d_possible_delay[0] == 351) || (d_possible_delay[0] == 2351))
|
||||
<< " Doppler: " << doppler
|
||||
<< ", Mag: " << d_mag
|
||||
<< ", Corr_value: "
|
||||
<< corr_output_f[0] << " "
|
||||
<< corr_output_f[1] << " "
|
||||
<< corr_output_f[2] << " "
|
||||
<< corr_output_f[3] << "\n";
|
||||
|
||||
/*Now save the real code phase in the gnss_syncro
|
||||
block for use in other stages*/
|
||||
d_gnss_synchro->Acq_delay_samples = (double)
|
||||
(d_possible_delay[indext]);
|
||||
d_gnss_synchro->Acq_doppler_hz = (double)doppler;
|
||||
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
|
||||
|
||||
|
||||
/* 5- Compute the test statistics and compare to the threshold
|
||||
d_test_statistics = 2 * d_fft_size * d_mag / d_input_power;*/
|
||||
d_test_statistics = d_mag / d_input_power;
|
||||
//delete complex_acumulator;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// Record results to file if required
|
||||
if (d_dump)
|
||||
{
|
||||
/*
|
||||
std::stringstream filename;
|
||||
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
|
||||
filename.str("");
|
||||
filename << "../data/test_statistics_" << d_gnss_synchro->System
|
||||
<<"_" << d_gnss_synchro->Signal << "_sat_"
|
||||
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
|
||||
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
|
||||
d_dump_file.write((char*)d_ifft->get_outbuf(), n); //write directly |abs(x)|^2 in this Doppler bin?
|
||||
d_dump_file.close();
|
||||
*/
|
||||
/*Since QuickSYnc performs a folded correlation in frequency by means
|
||||
of the FFT, it is esential to also keep the values obtained from the
|
||||
possible delay to show how it is maximize*/
|
||||
std::stringstream filename;
|
||||
std::streamsize n = sizeof(float) * (d_fft_size); // complex file write
|
||||
filename.str("");
|
||||
filename << "../data/test_statistics_" << d_gnss_synchro->System
|
||||
<<"_" << d_gnss_synchro->Signal << "_sat_"
|
||||
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
|
||||
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
|
||||
d_dump_file.write((char*)d_magnitude_folded, n); //write directly |abs(x)|^2 in this Doppler bin?
|
||||
d_dump_file.close();
|
||||
}
|
||||
}
|
||||
|
||||
if (!d_bit_transition_flag)
|
||||
{
|
||||
if (d_test_statistics > d_threshold)
|
||||
{
|
||||
d_state = 2; // Positive acquisition
|
||||
|
||||
}
|
||||
else if (d_well_count == d_max_dwells)
|
||||
{
|
||||
d_state = 3; // Negative acquisition
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_well_count == d_max_dwells) // d_max_dwells = 2
|
||||
{
|
||||
if (d_test_statistics > d_threshold)
|
||||
{
|
||||
d_state = 2; // Positive acquisition
|
||||
}
|
||||
else
|
||||
{
|
||||
d_state = 3; // Negative acquisition
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
consume_each(1);
|
||||
|
||||
delete d_code_folded;
|
||||
d_code_folded = NULL;
|
||||
|
||||
free(in_temp);
|
||||
free(in_1code);
|
||||
free(corr_output);
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case 2:
|
||||
{
|
||||
//DLOG(INFO) << "START CASE 2";
|
||||
// 6.1- Declare positive acquisition using a message queue
|
||||
DLOG(INFO) << "positive acquisition";
|
||||
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
|
||||
DLOG(INFO) << "sample_stamp " << d_sample_counter;
|
||||
DLOG(INFO) << "test statistics value " << d_test_statistics;
|
||||
DLOG(INFO) << "test statistics threshold " << d_threshold;
|
||||
DLOG(INFO) << "folding factor " << d_folding_factor;
|
||||
DLOG(INFO) << "possible delay";
|
||||
for (int i = 0; i < (int)d_folding_factor; i++) DLOG(INFO) << d_possible_delay[i];
|
||||
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
|
||||
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
|
||||
DLOG(INFO) << "magnitude folded " << d_mag;
|
||||
DLOG(INFO) << "input signal power " << d_input_power;
|
||||
|
||||
d_active = false;
|
||||
d_state = 0;
|
||||
|
||||
d_sample_counter += d_sampled_ms * d_samples_per_ms * ninput_items[0]; // sample counter
|
||||
consume_each(ninput_items[0]);
|
||||
|
||||
acquisition_message = 1;
|
||||
d_channel_internal_queue->push(acquisition_message);
|
||||
//DLOG(INFO) << "END CASE 2";
|
||||
break;
|
||||
}
|
||||
|
||||
case 3:
|
||||
{
|
||||
//DLOG(INFO) << "START CASE 3";
|
||||
// 6.2- Declare negative acquisition using a message queue
|
||||
DLOG(INFO) << "negative acquisition";
|
||||
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
|
||||
DLOG(INFO) << "sample_stamp " << d_sample_counter;
|
||||
DLOG(INFO) << "test statistics value " << d_test_statistics;
|
||||
DLOG(INFO) << "test statistics threshold " << d_threshold;
|
||||
DLOG(INFO) << "folding factor "<<d_folding_factor;
|
||||
DLOG(INFO) << "possible delay ";
|
||||
for (int i = 0; i < (int)d_folding_factor; i++) DLOG(INFO) << d_possible_delay[i];
|
||||
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
|
||||
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
|
||||
DLOG(INFO) << "magnitude folded " << d_mag;
|
||||
DLOG(INFO) << "input signal power " << d_input_power;
|
||||
|
||||
d_active = false;
|
||||
d_state = 0;
|
||||
|
||||
d_sample_counter += d_sampled_ms * d_samples_per_ms * ninput_items[0]; // sample counter
|
||||
consume_each(ninput_items[0]);
|
||||
|
||||
acquisition_message = 2;
|
||||
d_channel_internal_queue->push(acquisition_message);
|
||||
//DLOG(INFO) << "END CASE 3";
|
||||
break;
|
||||
}
|
||||
}
|
||||
//DLOG(INFO) << "END GENERAL WORK";
|
||||
return 0;
|
||||
}
|
||||
@ -0,0 +1,259 @@
|
||||
/*!
|
||||
* \file pcps_quicksync_acquisition_cc.h
|
||||
* \brief This class implements a Parallel Code Phase Search Acquisition with the
|
||||
* QuickSync Algorithm
|
||||
*
|
||||
* Acquisition strategy (Kay Borre book CFAR + threshold).
|
||||
* <ol>
|
||||
* <li> Compute the input signal power estimation
|
||||
* <li> Doppler serial search loop
|
||||
* <li> Perform folding of the incoming signal and local generated code
|
||||
* <li> Perform the FFT-based circular convolution (parallel time search)
|
||||
* <li> Record the maximum peak and the associated synchronization parameters
|
||||
* <li> Compute the test statistics and compare to the threshold
|
||||
* <li> Declare positive or negative acquisition using a message queue
|
||||
* <li> Obtain the adequate acquisition parameters by correlating the incoming
|
||||
* signal shifted by the possible folded delays
|
||||
* </ol>
|
||||
*
|
||||
* Kay Borre book: K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* "A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
||||
* Approach", Birkha user, 2007. pp 81-84
|
||||
*
|
||||
* \date Jun2 2014
|
||||
* \author Damian Miralles Sanchez, dmiralles2009@gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (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 GNSS_SDR_PCPS_QUICKSYNC_ACQUISITION_CC_H_
|
||||
#define GNSS_SDR_PCPS_QUICKSYNC_ACQUISITION_CC_H_
|
||||
|
||||
#include <fstream>
|
||||
#include <queue>
|
||||
#include <string>
|
||||
#include <algorithm>
|
||||
#include <functional>
|
||||
#include <assert.h>
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <boost/thread/thread.hpp>
|
||||
#include <gnuradio/block.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/gr_complex.h>
|
||||
#include <gnuradio/fft/fft.h>
|
||||
#include "concurrent_queue.h"
|
||||
#include "gnss_synchro.h"
|
||||
|
||||
class pcps_quicksync_acquisition_cc;
|
||||
|
||||
typedef boost::shared_ptr<pcps_quicksync_acquisition_cc>
|
||||
pcps_quicksync_acquisition_cc_sptr;
|
||||
|
||||
pcps_quicksync_acquisition_cc_sptr
|
||||
pcps_quicksync_make_acquisition_cc(unsigned int folding_factor,
|
||||
unsigned int sampled_ms, unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename);
|
||||
|
||||
/*!
|
||||
* \brief This class implements a Parallel Code Phase Search Acquisition with
|
||||
* the implementation of the Sparse QuickSync Algorithm.
|
||||
*
|
||||
* Check \ref Navitec2012 "Faster GPS via the Sparse Fourier Transform",
|
||||
* for details of its implementation and functionality.
|
||||
*/
|
||||
class pcps_quicksync_acquisition_cc: public gr::block
|
||||
{
|
||||
private:
|
||||
friend pcps_quicksync_acquisition_cc_sptr
|
||||
pcps_quicksync_make_acquisition_cc(unsigned int folding_factor,
|
||||
unsigned int sampled_ms, unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename);
|
||||
|
||||
pcps_quicksync_acquisition_cc(unsigned int folding_factor,
|
||||
unsigned int sampled_ms, unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename);
|
||||
|
||||
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
|
||||
int doppler_offset);
|
||||
|
||||
gr_complex* d_code;
|
||||
unsigned int d_folding_factor; // also referred in the paper as 'p'
|
||||
float * d_corr_acumulator;
|
||||
unsigned int *d_possible_delay;
|
||||
float * d_magnitude_folded;
|
||||
gr_complex *d_signal_folded;
|
||||
gr_complex *d_code_folded;
|
||||
float d_noise_floor_power;
|
||||
|
||||
long d_fs_in;
|
||||
long d_freq;
|
||||
int d_samples_per_ms;
|
||||
int d_samples_per_code;
|
||||
unsigned int d_doppler_resolution;
|
||||
float d_threshold;
|
||||
std::string d_satellite_str;
|
||||
unsigned int d_doppler_max;
|
||||
unsigned int d_doppler_step;
|
||||
unsigned int d_sampled_ms;
|
||||
unsigned int d_max_dwells;
|
||||
unsigned int d_well_count;
|
||||
unsigned int d_fft_size;
|
||||
unsigned long int d_sample_counter;
|
||||
gr_complex** d_grid_doppler_wipeoffs;
|
||||
unsigned int d_num_doppler_bins;
|
||||
gr_complex* d_fft_codes;
|
||||
gr::fft::fft_complex* d_fft_if;
|
||||
gr::fft::fft_complex* d_fft_if2;
|
||||
gr::fft::fft_complex* d_ifft;
|
||||
Gnss_Synchro *d_gnss_synchro;
|
||||
unsigned int d_code_phase;
|
||||
float d_doppler_freq;
|
||||
float d_mag;
|
||||
float* d_magnitude;
|
||||
float d_input_power;
|
||||
float d_test_statistics;
|
||||
bool d_bit_transition_flag;
|
||||
gr::msg_queue::sptr d_queue;
|
||||
concurrent_queue<int> *d_channel_internal_queue;
|
||||
std::ofstream d_dump_file;
|
||||
bool d_active;
|
||||
int d_state;
|
||||
bool d_dump;
|
||||
unsigned int d_channel;
|
||||
std::string d_dump_filename;
|
||||
|
||||
public:
|
||||
/*!
|
||||
* \brief Default destructor.
|
||||
*/
|
||||
~pcps_quicksync_acquisition_cc();
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
|
||||
* to exchange synchronization data between acquisition and tracking blocks.
|
||||
* \param p_gnss_synchro Satellite information shared by the processing blocks.
|
||||
*/
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
||||
{
|
||||
d_gnss_synchro = p_gnss_synchro;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search.
|
||||
*/
|
||||
unsigned int mag()
|
||||
{
|
||||
return d_mag;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init();
|
||||
|
||||
/*!
|
||||
* \brief Sets local code for PCPS acquisition algorithm.
|
||||
* \param code - Pointer to the PRN code.
|
||||
*/
|
||||
void set_local_code(std::complex<float> * code);
|
||||
|
||||
/*!
|
||||
* \brief Starts acquisition algorithm, turning from standby mode to
|
||||
* active mode
|
||||
* \param active - bool that activates/deactivates the block.
|
||||
*/
|
||||
void set_active(bool active)
|
||||
{
|
||||
d_active = active;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition channel unique ID
|
||||
* \param channel - receiver channel.
|
||||
*/
|
||||
void set_channel(unsigned int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm.
|
||||
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
|
||||
* Algorithm 1, for a definition of this threshold).
|
||||
*/
|
||||
void set_threshold(float threshold)
|
||||
{
|
||||
d_threshold = threshold;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler grid search
|
||||
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max)
|
||||
{
|
||||
d_doppler_max = doppler_max;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
* \param doppler_step - Frequency bin of the search grid [Hz].
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step)
|
||||
{
|
||||
d_doppler_step = doppler_step;
|
||||
}
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel internal queue.
|
||||
* \param channel_internal_queue - Channel's internal blocks information queue.
|
||||
*/
|
||||
void set_channel_queue(concurrent_queue<int> *channel_internal_queue)
|
||||
{
|
||||
d_channel_internal_queue = channel_internal_queue;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Parallel Code Phase Search Acquisition signal processing.
|
||||
*/
|
||||
int general_work(int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items,
|
||||
gr_vector_void_star &output_items);
|
||||
};
|
||||
|
||||
#endif /* GNSS_SDR_PCPS_ACQUISITION_CC_H_*/
|
||||
@ -61,10 +61,12 @@
|
||||
#include "gps_l1_ca_pcps_tong_acquisition.h"
|
||||
#include "gps_l1_ca_pcps_assisted_acquisition.h"
|
||||
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
|
||||
#include "gps_l1_ca_pcps_quicksync_acquisition.h"
|
||||
#include "galileo_e1_pcps_ambiguous_acquisition.h"
|
||||
#include "galileo_e1_pcps_8ms_ambiguous_acquisition.h"
|
||||
#include "galileo_e1_pcps_tong_ambiguous_acquisition.h"
|
||||
#include "galileo_e1_pcps_cccwsr_ambiguous_acquisition.h"
|
||||
#include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
|
||||
#include "gps_l1_ca_dll_pll_tracking.h"
|
||||
#include "gps_l1_ca_dll_pll_optim_tracking.h"
|
||||
#include "gps_l1_ca_dll_fll_pll_tracking.h"
|
||||
@ -429,6 +431,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("GPS_L1_CA_PCPS_QuickSync_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<GNSSBlockInterface> block_( new GpsL1CaPcpsQuickSyncAcquisition(configuration.get(), role, in_streams,
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("Galileo_E1_PCPS_Ambiguous_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<GNSSBlockInterface> block_(new GalileoE1PcpsAmbiguousAcquisition(configuration.get(), role, in_streams,
|
||||
@ -453,6 +461,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<GNSSBlockInterface> block_( new GalileoE1PcpsQuickSyncAmbiguousAcquisition(configuration.get(), role, in_streams,
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
|
||||
// TRACKING BLOCKS -------------------------------------------------------------
|
||||
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking") == 0)
|
||||
@ -618,6 +632,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("GPS_L1_CA_PCPS_QuickSync_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<AcquisitionInterface> block_( new GpsL1CaPcpsQuickSyncAcquisition(configuration.get(), role, in_streams,
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("Galileo_E1_PCPS_Ambiguous_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<AcquisitionInterface> block_(new GalileoE1PcpsAmbiguousAcquisition(configuration.get(), role, in_streams,
|
||||
@ -642,6 +662,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<AcquisitionInterface> block_( new GalileoE1PcpsQuickSyncAmbiguousAcquisition(configuration.get(), role, in_streams,
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else
|
||||
{
|
||||
// Log fatal. This causes execution to stop.
|
||||
|
||||
@ -193,11 +193,13 @@ add_executable(gnss_block_test EXCLUDE_FROM_ALL
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/gps_l1_ca_pcps_multithread_acquisition_gsoc2013_test.cc
|
||||
# ${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_ambiguous_acquisition_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_ambiguous_acquisition_gsoc2013_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc
|
||||
#${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/galileo_e1_dll_pll_veml_tracking_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/gnss_block/file_output_filter_test.cc
|
||||
|
||||
@ -0,0 +1,640 @@
|
||||
/*!
|
||||
* \file galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
|
||||
* \brief This class implements an acquisition test for
|
||||
* GalileoE1PcpsAmbiguousAcquisition class.
|
||||
* \author Damian Miralles, 2014. dmiralles2009@gmail.com
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (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 <ctime>
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <stdexcept>
|
||||
#include <boost/shared_ptr.hpp>
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_block_interface.h"
|
||||
#include "in_memory_configuration.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "signal_generator.h"
|
||||
#include "signal_generator_c.h"
|
||||
#include "fir_filter.h"
|
||||
#include "gen_signal_source.h"
|
||||
#include "gnss_sdr_valve.h"
|
||||
#include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
class GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test: public ::testing::Test
|
||||
{
|
||||
protected:
|
||||
GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test()
|
||||
{
|
||||
queue = gr::msg_queue::make(0);
|
||||
top_block = gr::make_top_block("Acquisition test");
|
||||
factory = std::make_shared<GNSSBlockFactory>();
|
||||
item_size = sizeof(gr_complex);
|
||||
stop = false;
|
||||
message = 0;
|
||||
}
|
||||
|
||||
~GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test()
|
||||
{
|
||||
}
|
||||
|
||||
void init();
|
||||
void config_1();
|
||||
void config_2();
|
||||
void start_queue();
|
||||
void wait_message();
|
||||
void process_message();
|
||||
void stop_queue();
|
||||
|
||||
gr::msg_queue::sptr queue;
|
||||
gr::top_block_sptr top_block;
|
||||
//GalileoE1PcpsQuickSyncAmbiguousAcquisition *acquisition;
|
||||
std::shared_ptr<GalileoE1PcpsQuickSyncAmbiguousAcquisition> acquisition;
|
||||
//InMemoryConfiguration* config;
|
||||
std::shared_ptr<GNSSBlockFactory> factory;
|
||||
std::shared_ptr<InMemoryConfiguration> config;
|
||||
Gnss_Synchro gnss_synchro;
|
||||
size_t item_size;
|
||||
concurrent_queue<int> channel_internal_queue;
|
||||
bool stop;
|
||||
int message;
|
||||
boost::thread ch_thread;
|
||||
|
||||
unsigned int integration_time_ms;
|
||||
unsigned int fs_in;
|
||||
unsigned int folding_factor;
|
||||
|
||||
double expected_delay_chips;
|
||||
double expected_doppler_hz;
|
||||
float max_doppler_error_hz;
|
||||
float max_delay_error_chips;
|
||||
|
||||
unsigned int num_of_realizations;
|
||||
unsigned int realization_counter;
|
||||
unsigned int detection_counter;
|
||||
unsigned int correct_estimation_counter;
|
||||
unsigned int acquired_samples;
|
||||
unsigned int mean_acq_time_us;
|
||||
|
||||
double mse_doppler;
|
||||
double mse_delay;
|
||||
|
||||
double Pd; // Probability of detection
|
||||
double Pfa_p; // Probability of false alarm on present satellite
|
||||
double Pfa_a; // Probability of false alarm on absent satellite
|
||||
double Pmd; // Probability of miss detection
|
||||
|
||||
std::ofstream pdpfafile;
|
||||
|
||||
double threshold_config2;
|
||||
unsigned int miss_detection_counter;
|
||||
unsigned int CN0_dB_0;
|
||||
unsigned int CN0_dB_1;
|
||||
unsigned int CN0_dB_2;
|
||||
unsigned int CN0_dB_3;
|
||||
};
|
||||
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::init()
|
||||
{
|
||||
message = 0;
|
||||
realization_counter = 0;
|
||||
detection_counter = 0;
|
||||
correct_estimation_counter = 0;
|
||||
acquired_samples = 0;
|
||||
mse_doppler = 0;
|
||||
mse_delay = 0;
|
||||
mean_acq_time_us = 0;
|
||||
Pd = 0;
|
||||
Pfa_p = 0;
|
||||
Pfa_a = 0;
|
||||
|
||||
miss_detection_counter = 0;
|
||||
Pmd = 0;
|
||||
CN0_dB_1 = 0;
|
||||
CN0_dB_2 = 0;
|
||||
CN0_dB_3 = 0;
|
||||
|
||||
}
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_1()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'E';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal, 2, 0);
|
||||
|
||||
integration_time_ms = 16;
|
||||
fs_in = 4e6;
|
||||
|
||||
expected_delay_chips = 600;
|
||||
expected_doppler_hz = 750;
|
||||
max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
|
||||
max_delay_error_chips = 0.50;
|
||||
|
||||
num_of_realizations = 1;
|
||||
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.item_type", "gr_complex");
|
||||
|
||||
config->set_property("SignalSource.num_satellites", "1");
|
||||
|
||||
config->set_property("SignalSource.system_0", "E");
|
||||
config->set_property("SignalSource.PRN_0", "10");
|
||||
config->set_property("SignalSource.CN0_dB_0", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_0",
|
||||
std::to_string(expected_doppler_hz));
|
||||
config->set_property("SignalSource.delay_chips_0",
|
||||
std::to_string(expected_delay_chips));
|
||||
|
||||
config->set_property("SignalSource.noise_flag", "false");
|
||||
config->set_property("SignalSource.data_flag", "false");
|
||||
config->set_property("SignalSource.BW_BB", "0.97");
|
||||
|
||||
config->set_property("InputFilter.implementation", "Fir_Filter");
|
||||
config->set_property("InputFilter.input_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.output_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.taps_item_type", "float");
|
||||
config->set_property("InputFilter.number_of_taps", "11");
|
||||
config->set_property("InputFilter.number_of_bands", "2");
|
||||
config->set_property("InputFilter.band1_begin", "0.0");
|
||||
config->set_property("InputFilter.band1_end", "0.97");
|
||||
config->set_property("InputFilter.band2_begin", "0.98");
|
||||
config->set_property("InputFilter.band2_end", "1.0");
|
||||
config->set_property("InputFilter.ampl1_begin", "1.0");
|
||||
config->set_property("InputFilter.ampl1_end", "1.0");
|
||||
config->set_property("InputFilter.ampl2_begin", "0.0");
|
||||
config->set_property("InputFilter.ampl2_end", "0.0");
|
||||
config->set_property("InputFilter.band1_error", "1.0");
|
||||
config->set_property("InputFilter.band2_error", "1.0");
|
||||
config->set_property("InputFilter.filter_type", "bandpass");
|
||||
config->set_property("InputFilter.grid_density", "16");
|
||||
|
||||
config->set_property("Acquisition.item_type", "gr_complex");
|
||||
config->set_property("Acquisition.if", "0");
|
||||
config->set_property("Acquisition.coherent_integration_time_ms",
|
||||
std::to_string(integration_time_ms));
|
||||
config->set_property("Acquisition.max_dwells", "1");
|
||||
config->set_property("Acquisition.bit_transition_flag","false");
|
||||
config->set_property("Acquisition.implementation", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition");
|
||||
config->set_property("Acquisition.threshold", "10");
|
||||
config->set_property("Acquisition.doppler_max", "10000");
|
||||
config->set_property("Acquisition.doppler_step", "250");
|
||||
config->set_property("Acquisition.dump", "true");
|
||||
}
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::config_2()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'E';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal, 2, 0);
|
||||
|
||||
integration_time_ms = 16;
|
||||
fs_in = 4e6;
|
||||
|
||||
expected_delay_chips = 600;
|
||||
expected_doppler_hz = 750;
|
||||
max_doppler_error_hz = 2 / (3 * integration_time_ms * 1e-3);
|
||||
max_delay_error_chips = 0.50;
|
||||
|
||||
threshold_config2 = 3.0000;
|
||||
CN0_dB_0 = 50;
|
||||
|
||||
num_of_realizations = 100;
|
||||
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.item_type", "gr_complex");
|
||||
|
||||
config->set_property("SignalSource.num_satellites", "4");
|
||||
|
||||
config->set_property("SignalSource.system_0", "E");
|
||||
config->set_property("SignalSource.PRN_0", "10");
|
||||
config->set_property("SignalSource.CN0_dB_0",
|
||||
std::to_string(CN0_dB_0));
|
||||
config->set_property("SignalSource.doppler_Hz_0",
|
||||
std::to_string(expected_doppler_hz));
|
||||
config->set_property("SignalSource.delay_chips_0",
|
||||
std::to_string(expected_delay_chips));
|
||||
|
||||
config->set_property("SignalSource.system_1", "E");
|
||||
config->set_property("SignalSource.PRN_1", "15");
|
||||
config->set_property("SignalSource.CN0_dB_1", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_1", "1000");
|
||||
config->set_property("SignalSource.delay_chips_1", "100");
|
||||
|
||||
config->set_property("SignalSource.system_2", "E");
|
||||
config->set_property("SignalSource.PRN_2", "21");
|
||||
config->set_property("SignalSource.CN0_dB_2", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_2", "2000");
|
||||
config->set_property("SignalSource.delay_chips_2", "200");
|
||||
|
||||
config->set_property("SignalSource.system_3", "E");
|
||||
config->set_property("SignalSource.PRN_3", "22");
|
||||
config->set_property("SignalSource.CN0_dB_3", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_3", "3000");
|
||||
config->set_property("SignalSource.delay_chips_3", "300");
|
||||
|
||||
config->set_property("SignalSource.noise_flag", "true");
|
||||
config->set_property("SignalSource.data_flag", "true");
|
||||
config->set_property("SignalSource.BW_BB", "0.97");
|
||||
|
||||
config->set_property("InputFilter.implementation", "Fir_Filter");
|
||||
config->set_property("InputFilter.input_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.output_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.taps_item_type", "float");
|
||||
config->set_property("InputFilter.number_of_taps", "11");
|
||||
config->set_property("InputFilter.number_of_bands", "2");
|
||||
config->set_property("InputFilter.band1_begin", "0.0");
|
||||
config->set_property("InputFilter.band1_end", "0.97");
|
||||
config->set_property("InputFilter.band2_begin", "0.98");
|
||||
config->set_property("InputFilter.band2_end", "1.0");
|
||||
config->set_property("InputFilter.ampl1_begin", "1.0");
|
||||
config->set_property("InputFilter.ampl1_end", "1.0");
|
||||
config->set_property("InputFilter.ampl2_begin", "0.0");
|
||||
config->set_property("InputFilter.ampl2_end", "0.0");
|
||||
config->set_property("InputFilter.band1_error", "1.0");
|
||||
config->set_property("InputFilter.band2_error", "1.0");
|
||||
config->set_property("InputFilter.filter_type", "bandpass");
|
||||
config->set_property("InputFilter.grid_density", "16");
|
||||
|
||||
config->set_property("Acquisition.item_type", "gr_complex");
|
||||
config->set_property("Acquisition.if", "0");
|
||||
config->set_property("Acquisition.coherent_integration_time_ms",
|
||||
std::to_string(integration_time_ms));
|
||||
config->set_property("Acquisition.max_dwells", "1");
|
||||
config->set_property("Acquisition.bit_transition_flag","false");
|
||||
config->set_property("Acquisition.implementation", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition");
|
||||
config->set_property("Acquisition.threshold", std::to_string(threshold_config2));
|
||||
config->set_property("Acquisition.doppler_max", "10000");
|
||||
config->set_property("Acquisition.doppler_step", "250");
|
||||
config->set_property("Acquisition.dump", "false");
|
||||
}
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::start_queue()
|
||||
{
|
||||
stop = false;
|
||||
ch_thread = boost::thread(&GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::wait_message, this);
|
||||
}
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::wait_message()
|
||||
{
|
||||
struct timeval tv;
|
||||
long long int begin = 0;
|
||||
long long int end = 0;
|
||||
|
||||
while (!stop)
|
||||
{
|
||||
acquisition->reset();
|
||||
|
||||
gettimeofday(&tv, NULL);
|
||||
begin = tv.tv_sec*1e6 + tv.tv_usec;
|
||||
|
||||
channel_internal_queue.wait_and_pop(message);
|
||||
|
||||
gettimeofday(&tv, NULL);
|
||||
end = tv.tv_sec*1e6 + tv.tv_usec;
|
||||
|
||||
mean_acq_time_us += (end - begin);
|
||||
|
||||
process_message();
|
||||
}
|
||||
}
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::process_message()
|
||||
{
|
||||
if (message == 1)
|
||||
{
|
||||
detection_counter++;
|
||||
|
||||
// The term -5 is here to correct the additional delay introduced by the FIR filter
|
||||
double delay_error_chips = abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples - 5) * 1023.0 / ((double)fs_in * 1e-3));
|
||||
double doppler_error_hz = abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
|
||||
|
||||
mse_delay += std::pow(delay_error_chips, 2);
|
||||
mse_doppler += std::pow(doppler_error_hz, 2);
|
||||
|
||||
if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
|
||||
{
|
||||
correct_estimation_counter++;
|
||||
}
|
||||
|
||||
}
|
||||
else if(message == 2 && gnss_synchro.PRN == 10)
|
||||
{
|
||||
/*
|
||||
if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
|
||||
{
|
||||
miss_detection_counter++;
|
||||
}
|
||||
*/
|
||||
miss_detection_counter++;
|
||||
}
|
||||
|
||||
realization_counter++;
|
||||
|
||||
std::cout << "Progress: " << round((float)realization_counter / num_of_realizations * 100) << "% \r" << std::flush;
|
||||
|
||||
if (realization_counter == num_of_realizations)
|
||||
{
|
||||
mse_delay /= (double)num_of_realizations;
|
||||
mse_doppler /= (double)num_of_realizations;
|
||||
|
||||
Pd = (double)correct_estimation_counter / (double)num_of_realizations;
|
||||
Pfa_a = (double)detection_counter / (double)num_of_realizations;
|
||||
Pfa_p = (double)(detection_counter-correct_estimation_counter) / (double)num_of_realizations;
|
||||
Pmd = (double)miss_detection_counter / (double)num_of_realizations;
|
||||
|
||||
mean_acq_time_us /= (double)num_of_realizations;
|
||||
|
||||
stop_queue();
|
||||
top_block->stop();
|
||||
}
|
||||
}
|
||||
|
||||
void GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test::stop_queue()
|
||||
{
|
||||
stop = true;
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, Instantiate)
|
||||
{
|
||||
config_1();
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_Quicksync_Ambiguous_Acquisition", 1, 1, queue);
|
||||
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsQuickSyncAmbiguousAcquisition>(acq_);
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ConnectAndRun)
|
||||
{
|
||||
LOG(INFO)<<"**Start connect and run test";
|
||||
int nsamples = floor(fs_in*integration_time_ms*1e-3);
|
||||
struct timeval tv;
|
||||
long long int begin = 0;
|
||||
long long int end = 0;
|
||||
|
||||
config_1();
|
||||
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_Quicksync_Ambiguous_Acquisition", 1, 1, queue);
|
||||
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsQuickSyncAmbiguousAcquisition>(acq_);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
boost::shared_ptr<gr::analog::sig_source_c> source =
|
||||
gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
|
||||
boost::shared_ptr<gr::block> valve =
|
||||
gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
|
||||
top_block->connect(source, 0, valve, 0);
|
||||
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
|
||||
|
||||
}) << "Failure connecting the blocks of acquisition test."<< std::endl;
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
gettimeofday(&tv, NULL);
|
||||
begin = tv.tv_sec * 1e6 + tv.tv_usec;
|
||||
top_block->run(); // Start threads and wait
|
||||
gettimeofday(&tv, NULL);
|
||||
end = tv.tv_sec * 1e6 + tv.tv_usec;
|
||||
}) << "Failure running the top_block."<< std::endl;
|
||||
|
||||
std::cout << "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
|
||||
LOG(INFO) <<"----end connect and run test-----";
|
||||
LOG(INFO) <<"**End connect and run test";
|
||||
}
|
||||
|
||||
TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ValidationOfResults)
|
||||
{
|
||||
LOG(INFO)<<"Start validation of results test";
|
||||
config_1();
|
||||
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_Quicksync_Ambiguous_Acquisition", 1, 1, queue);
|
||||
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsQuickSyncAmbiguousAcquisition>(acq_);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel(1);
|
||||
}) << "Failure setting channel."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel_queue(&channel_internal_queue);
|
||||
}) << "Failure setting channel_internal_queue."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
|
||||
}) << "Failure setting doppler_max."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 125));
|
||||
}) << "Failure setting doppler_step."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
|
||||
}) << "Failure setting threshold."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
}) << "Failure connecting acquisition to the top_block." << std::endl;
|
||||
|
||||
acquisition->init();
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
boost::shared_ptr<GenSignalSource> signal_source;
|
||||
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
||||
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
|
||||
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
||||
signal_source->connect(top_block);
|
||||
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
|
||||
// i = 0 --> satellite in acquisition is visible
|
||||
// i = 1 --> satellite in acquisition is not visible
|
||||
for (unsigned int i = 0; i < 2; i++)
|
||||
{
|
||||
init();
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
gnss_synchro.PRN = 10; // This satellite is visible
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
gnss_synchro.PRN = 20; // This satellite is not visible
|
||||
}
|
||||
|
||||
acquisition->set_local_code();
|
||||
folding_factor = acquisition->get_folding_factor();
|
||||
start_queue();
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
top_block->run(); // Start threads and wait
|
||||
}) << "Failure running the top_block."<< std::endl;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
|
||||
if (message == 1)
|
||||
{
|
||||
EXPECT_EQ((unsigned int)1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
|
||||
}
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
|
||||
}
|
||||
}
|
||||
LOG(INFO) << "End validation of results test";
|
||||
}
|
||||
|
||||
|
||||
|
||||
TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ValidationOfResultsProbabilities)
|
||||
{
|
||||
config_2();
|
||||
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_Quicksync_Ambiguous_Acquisition", 1, 1, queue);
|
||||
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsQuickSyncAmbiguousAcquisition>(acq_);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel(1);
|
||||
}) << "Failure setting channel."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel_queue(&channel_internal_queue);
|
||||
}) << "Failure setting channel_internal_queue."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
|
||||
}) << "Failure setting doppler_max."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
|
||||
}) << "Failure setting doppler_step."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
|
||||
}) << "Failure setting threshold."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
}) << "Failure connecting acquisition to the top_block." << std::endl;
|
||||
|
||||
acquisition->init();
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
boost::shared_ptr<GenSignalSource> signal_source;
|
||||
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
||||
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
|
||||
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
||||
signal_source->connect(top_block);
|
||||
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
|
||||
std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
|
||||
|
||||
// i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
|
||||
// i = 1 --> satellite in acquisition is not visible (prob of false detection)
|
||||
for (unsigned int i = 0; i < 2; i++)
|
||||
{
|
||||
init();
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
gnss_synchro.PRN = 10; // This satellite is visible
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
gnss_synchro.PRN = 20; // This satellite is not visible
|
||||
}
|
||||
|
||||
acquisition->set_local_code();
|
||||
start_queue();
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
top_block->run(); // Start threads and wait
|
||||
}) << "Failure running the top_block." << std::endl;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
std::cout << "Estimated probability of detection = " << Pd << std::endl;
|
||||
std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
|
||||
std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
|
||||
|
||||
std::stringstream filenamepd;
|
||||
filenamepd.str("");
|
||||
filenamepd << "../data/test_statistics_" << gnss_synchro.System
|
||||
<<"_" << gnss_synchro.Signal << "_sat_"
|
||||
<< gnss_synchro.PRN << "CN0_dB_0_" << CN0_dB_0 << "_dBHz.csv";
|
||||
|
||||
pdpfafile.open(filenamepd.str().c_str(), std::ios::app | std::ios::out);
|
||||
pdpfafile << threshold_config2 << "," << Pd << "," << Pfa_p << "," << Pmd << std::endl;
|
||||
pdpfafile.close();
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
|
||||
std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
|
||||
|
||||
std::stringstream filenamepf;
|
||||
filenamepf.str("");
|
||||
filenamepf << "../data/test_statistics_" << gnss_synchro.System
|
||||
<< "_" << gnss_synchro.Signal << "_sat_"
|
||||
<< gnss_synchro.PRN << "CN0_dB_0_" << CN0_dB_0 << "_dBHz.csv";
|
||||
|
||||
pdpfafile.open(filenamepf.str().c_str(), std::ios::app | std::ios::out);
|
||||
pdpfafile << threshold_config2 << "," << Pfa_a << std::endl;
|
||||
pdpfafile.close();
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -20,7 +20,7 @@
|
||||
* 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.
|
||||
* (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
|
||||
@ -194,6 +194,31 @@ TEST(GNSS_Block_Factory_Test, InstantiateGpsL1CaPcpsAcquisition)
|
||||
}
|
||||
|
||||
|
||||
TEST(GNSS_Block_Factory_Test, InstantiateGpsL1CaPcpsQuickSyncAcquisition)
|
||||
{
|
||||
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
|
||||
configuration->set_property("Acquisition.implementation", "GPS_L1_CA_PCPS_QuickSync_Acquisition");
|
||||
gr::msg_queue::sptr queue = gr::msg_queue::make(0);
|
||||
std::shared_ptr<GNSSBlockFactory> factory = std::make_shared<GNSSBlockFactory>();
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(configuration, "Acquisition", "GPS_L1_CA_PCPS_QuickSync_Acquisition", 1, 1, queue);
|
||||
std::shared_ptr<AcquisitionInterface> acquisition = std::dynamic_pointer_cast<AcquisitionInterface>(acq_);
|
||||
EXPECT_STREQ("Acquisition", acquisition->role().c_str());
|
||||
EXPECT_STREQ("GPS_L1_CA_PCPS_QuickSync_Acquisition", acquisition->implementation().c_str());
|
||||
}
|
||||
|
||||
TEST(GNSS_Block_Factory_Test, InstantiateGalileoE1PcpsQuickSyncAmbiguousAcquisition)
|
||||
{
|
||||
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
|
||||
configuration->set_property("Acquisition.implementation", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition");
|
||||
gr::msg_queue::sptr queue = gr::msg_queue::make(0);
|
||||
std::shared_ptr<GNSSBlockFactory> factory = std::make_shared<GNSSBlockFactory>();
|
||||
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(configuration, "Acquisition", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition", 1, 1, queue);
|
||||
std::shared_ptr<AcquisitionInterface> acquisition = std::dynamic_pointer_cast<AcquisitionInterface>(acq_);
|
||||
EXPECT_STREQ("Acquisition", acquisition->role().c_str());
|
||||
EXPECT_STREQ("Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition", acquisition->implementation().c_str());
|
||||
}
|
||||
|
||||
|
||||
TEST(GNSS_Block_Factory_Test, InstantiateGalileoE1PcpsAmbiguousAcquisition)
|
||||
{
|
||||
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
|
||||
|
||||
@ -0,0 +1,625 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc
|
||||
* \brief This class implements an acquisition test for
|
||||
* GpsL1CaPcpsQuickSyncAcquisition class based on some input parameters.
|
||||
* \author Damian Miralles Sanchez, 2014. dmiralles2009(at)gmail.com
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (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 <ctime>
|
||||
#include <iostream>
|
||||
#include <stdexcept>
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_block_factory.h"
|
||||
#include "gnss_block_interface.h"
|
||||
#include "in_memory_configuration.h"
|
||||
#include "gnss_sdr_valve.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "gps_l1_ca_pcps_quicksync_acquisition.h"
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
class GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test: public ::testing::Test
|
||||
{
|
||||
protected:
|
||||
GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test()
|
||||
{
|
||||
queue = gr::msg_queue::make(0);
|
||||
top_block = gr::make_top_block("Acquisition test");
|
||||
factory = std::make_shared<GNSSBlockFactory>();
|
||||
item_size = sizeof(gr_complex);
|
||||
stop = false;
|
||||
message = 0;
|
||||
}
|
||||
|
||||
~GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test()
|
||||
{}
|
||||
|
||||
void init();
|
||||
void config_1();
|
||||
void config_2();
|
||||
void start_queue();
|
||||
void wait_message();
|
||||
void process_message();
|
||||
void stop_queue();
|
||||
|
||||
gr::msg_queue::sptr queue;
|
||||
gr::top_block_sptr top_block;
|
||||
std::shared_ptr<GNSSBlockFactory> factory;
|
||||
std::shared_ptr<GpsL1CaPcpsQuickSyncAcquisition> acquisition;
|
||||
std::shared_ptr<InMemoryConfiguration> config;
|
||||
Gnss_Synchro gnss_synchro;
|
||||
size_t item_size;
|
||||
concurrent_queue<int> channel_internal_queue;
|
||||
bool stop;
|
||||
int message;
|
||||
boost::thread ch_thread;
|
||||
|
||||
unsigned int integration_time_ms;
|
||||
unsigned int fs_in;
|
||||
unsigned int folding_factor;
|
||||
|
||||
double expected_delay_chips;
|
||||
double expected_doppler_hz;
|
||||
float max_doppler_error_hz;
|
||||
float max_delay_error_chips;
|
||||
|
||||
unsigned int num_of_realizations;
|
||||
unsigned int realization_counter;
|
||||
unsigned int detection_counter;
|
||||
unsigned int correct_estimation_counter;
|
||||
unsigned int acquired_samples;
|
||||
unsigned int mean_acq_time_us;
|
||||
|
||||
double mse_doppler;
|
||||
double mse_delay;
|
||||
|
||||
double Pd;
|
||||
double Pfa_p;
|
||||
double Pfa_a;
|
||||
double Pmd;
|
||||
|
||||
std::ofstream pdpfafile;
|
||||
double threshold_config2;
|
||||
unsigned int miss_detection_counter;
|
||||
unsigned int CN0_dB_0;
|
||||
};
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::init()
|
||||
{
|
||||
message = 0;
|
||||
realization_counter = 0;
|
||||
detection_counter = 0;
|
||||
correct_estimation_counter = 0;
|
||||
acquired_samples = 0;
|
||||
mse_doppler = 0;
|
||||
mse_delay = 0;
|
||||
mean_acq_time_us = 0;
|
||||
Pd = 0;
|
||||
Pfa_p = 0;
|
||||
Pfa_a = 0;
|
||||
|
||||
miss_detection_counter = 0;
|
||||
Pmd = 0;
|
||||
|
||||
}
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::config_1()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'G';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal,2,0);
|
||||
|
||||
integration_time_ms = 4;
|
||||
fs_in = 4e6;
|
||||
|
||||
expected_delay_chips = 600;
|
||||
expected_doppler_hz = 750;
|
||||
max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
|
||||
max_delay_error_chips = 0.50;
|
||||
|
||||
num_of_realizations = 1;
|
||||
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
|
||||
config->set_property("SignalSource.item_type", "gr_complex");
|
||||
config->set_property("SignalSource.num_satellites", "1");
|
||||
config->set_property("SignalSource.repeat", "true");
|
||||
|
||||
config->set_property("SignalSource.system_0", "G");
|
||||
config->set_property("SignalSource.PRN_0", "10");
|
||||
config->set_property("SignalSource.CN0_dB_0", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
|
||||
config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
|
||||
|
||||
config->set_property("SignalSource.noise_flag", "false");
|
||||
config->set_property("SignalSource.data_flag", "false");
|
||||
config->set_property("SignalSource.BW_BB", "0.97");
|
||||
|
||||
config->set_property("InputFilter.implementation", "Fir_Filter");
|
||||
config->set_property("InputFilter.input_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.output_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.taps_item_type", "float");
|
||||
config->set_property("InputFilter.number_of_taps", "11");
|
||||
config->set_property("InputFilter.number_of_bands", "2");
|
||||
config->set_property("InputFilter.band1_begin", "0.0");
|
||||
config->set_property("InputFilter.band1_end", "0.97");
|
||||
config->set_property("InputFilter.band2_begin", "0.98");
|
||||
config->set_property("InputFilter.band2_end", "1.0");
|
||||
config->set_property("InputFilter.ampl1_begin", "1.0");
|
||||
config->set_property("InputFilter.ampl1_end", "1.0");
|
||||
config->set_property("InputFilter.ampl2_begin", "0.0");
|
||||
config->set_property("InputFilter.ampl2_end", "0.0");
|
||||
config->set_property("InputFilter.band1_error", "1.0");
|
||||
config->set_property("InputFilter.band2_error", "1.0");
|
||||
config->set_property("InputFilter.filter_type", "bandpass");
|
||||
config->set_property("InputFilter.grid_density", "16");
|
||||
|
||||
config->set_property("Acquisition.item_type", "gr_complex");
|
||||
config->set_property("Acquisition.if", "0");
|
||||
config->set_property("Acquisition.coherent_integration_time_ms",
|
||||
std::to_string(integration_time_ms));
|
||||
config->set_property("Acquisition.max_dwells", "1");
|
||||
config->set_property("Acquisition.implementation", "GPS_L1_CA_PCPS_QuickSync_Acquisition");
|
||||
config->set_property("Acquisition.threshold", "100");
|
||||
config->set_property("Acquisition.doppler_max", "10000");
|
||||
config->set_property("Acquisition.doppler_step", "250");
|
||||
config->set_property("Acquisition.bit_transition_flag", "false");
|
||||
config->set_property("Acquisition.dump", "true");
|
||||
}
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::config_2()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'G';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal,2,0);
|
||||
|
||||
integration_time_ms = 4;
|
||||
fs_in = 4e6;
|
||||
|
||||
expected_delay_chips = 600;
|
||||
expected_doppler_hz = 750;
|
||||
max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
|
||||
max_delay_error_chips = 0.50;
|
||||
|
||||
threshold_config2 = 8.0000;
|
||||
CN0_dB_0 = 50;
|
||||
|
||||
|
||||
num_of_realizations = 100;
|
||||
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
|
||||
|
||||
config->set_property("SignalSource.item_type", "gr_complex");
|
||||
|
||||
config->set_property("SignalSource.num_satellites", "4");
|
||||
|
||||
config->set_property("SignalSource.system_0", "G");
|
||||
config->set_property("SignalSource.PRN_0", "10");
|
||||
config->set_property("SignalSource.CN0_dB_0", std::to_string(CN0_dB_0));
|
||||
config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
|
||||
config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
|
||||
|
||||
config->set_property("SignalSource.system_1", "G");
|
||||
config->set_property("SignalSource.PRN_1", "15");
|
||||
config->set_property("SignalSource.CN0_dB_1", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_1", "1000");
|
||||
config->set_property("SignalSource.delay_chips_1", "100");
|
||||
|
||||
config->set_property("SignalSource.system_2", "G");
|
||||
config->set_property("SignalSource.PRN_2", "21");
|
||||
config->set_property("SignalSource.CN0_dB_2", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_2", "2000");
|
||||
config->set_property("SignalSource.delay_chips_2", "200");
|
||||
|
||||
config->set_property("SignalSource.system_3", "G");
|
||||
config->set_property("SignalSource.PRN_3", "22");
|
||||
config->set_property("SignalSource.CN0_dB_3", "44");
|
||||
config->set_property("SignalSource.doppler_Hz_3", "3000");
|
||||
config->set_property("SignalSource.delay_chips_3", "300");
|
||||
|
||||
config->set_property("SignalSource.noise_flag", "true");
|
||||
config->set_property("SignalSource.data_flag", "true");
|
||||
config->set_property("SignalSource.BW_BB", "0.97");
|
||||
|
||||
config->set_property("InputFilter.implementation", "Fir_Filter");
|
||||
config->set_property("InputFilter.input_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.output_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.taps_item_type", "float");
|
||||
config->set_property("InputFilter.number_of_taps", "11");
|
||||
config->set_property("InputFilter.number_of_bands", "2");
|
||||
config->set_property("InputFilter.band1_begin", "0.0");
|
||||
config->set_property("InputFilter.band1_end", "0.97");
|
||||
config->set_property("InputFilter.band2_begin", "0.98");
|
||||
config->set_property("InputFilter.band2_end", "1.0");
|
||||
config->set_property("InputFilter.ampl1_begin", "1.0");
|
||||
config->set_property("InputFilter.ampl1_end", "1.0");
|
||||
config->set_property("InputFilter.ampl2_begin", "0.0");
|
||||
config->set_property("InputFilter.ampl2_end", "0.0");
|
||||
config->set_property("InputFilter.band1_error", "1.0");
|
||||
config->set_property("InputFilter.band2_error", "1.0");
|
||||
config->set_property("InputFilter.filter_type", "bandpass");
|
||||
config->set_property("InputFilter.grid_density", "16");
|
||||
|
||||
config->set_property("Acquisition.item_type", "gr_complex");
|
||||
config->set_property("Acquisition.if", "0");
|
||||
config->set_property("Acquisition.coherent_integration_time_ms",
|
||||
std::to_string(integration_time_ms));
|
||||
config->set_property("Acquisition.max_dwells", "1");
|
||||
config->set_property("Acquisition.implementation", "GPS_L1_CA_PCPS_QuickSync_Acquisition");
|
||||
config->set_property("Acquisition.threshold", std::to_string(threshold_config2));
|
||||
config->set_property("Acquisition.doppler_max", "10000");
|
||||
config->set_property("Acquisition.doppler_step", "250");
|
||||
config->set_property("Acquisition.bit_transition_flag", "false");
|
||||
config->set_property("Acquisition.dump", "false");
|
||||
}
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::start_queue()
|
||||
{
|
||||
stop = false;
|
||||
ch_thread = boost::thread(&GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::wait_message, this);
|
||||
}
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::wait_message()
|
||||
{
|
||||
struct timeval tv;
|
||||
long long int begin = 0;
|
||||
long long int end = 0;
|
||||
|
||||
while (!stop)
|
||||
{
|
||||
acquisition->reset();
|
||||
|
||||
gettimeofday(&tv, NULL);
|
||||
begin = tv.tv_sec * 1e6 + tv.tv_usec;
|
||||
|
||||
channel_internal_queue.wait_and_pop(message);
|
||||
|
||||
gettimeofday(&tv, NULL);
|
||||
end = tv.tv_sec * 1e6 + tv.tv_usec;
|
||||
|
||||
mean_acq_time_us += (end - begin);
|
||||
|
||||
process_message();
|
||||
}
|
||||
}
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::process_message()
|
||||
{
|
||||
|
||||
if (message == 1)
|
||||
{
|
||||
detection_counter++;
|
||||
|
||||
// The term -5 is here to correct the additional delay introduced by the FIR filter
|
||||
double delay_error_chips = abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples - 5) * 1023.0/ ((double)fs_in * 1e-3));
|
||||
double doppler_error_hz = abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
|
||||
|
||||
mse_delay += std::pow(delay_error_chips, 2);
|
||||
mse_doppler += std::pow(doppler_error_hz, 2);
|
||||
|
||||
if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
|
||||
{
|
||||
correct_estimation_counter++;
|
||||
}
|
||||
}
|
||||
else if(message == 2 && gnss_synchro.PRN == 10)
|
||||
{
|
||||
miss_detection_counter++;
|
||||
}
|
||||
|
||||
realization_counter++;
|
||||
|
||||
std::cout << "Progress: " << round((float)realization_counter/num_of_realizations*100) << "% \r" << std::flush;
|
||||
|
||||
if (realization_counter == num_of_realizations)
|
||||
{
|
||||
mse_delay /= num_of_realizations;
|
||||
mse_doppler /= num_of_realizations;
|
||||
|
||||
Pd = (double)correct_estimation_counter / (double)num_of_realizations;
|
||||
Pfa_a = (double)detection_counter / (double)num_of_realizations;
|
||||
Pfa_p = (double)(detection_counter-correct_estimation_counter) / (double)num_of_realizations;
|
||||
Pmd = (double)miss_detection_counter / (double)num_of_realizations;
|
||||
|
||||
mean_acq_time_us /= num_of_realizations;
|
||||
|
||||
stop_queue();
|
||||
top_block->stop();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test::stop_queue()
|
||||
{
|
||||
stop = true;
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, Instantiate)
|
||||
{
|
||||
config_1();
|
||||
acquisition = std::make_shared<GpsL1CaPcpsQuickSyncAcquisition>(config.get(), "Acquisition", 1, 1, queue);
|
||||
}
|
||||
|
||||
TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, ConnectAndRun)
|
||||
{
|
||||
int nsamples = floor(fs_in*integration_time_ms*1e-3);
|
||||
struct timeval tv;
|
||||
long long int begin = 0;
|
||||
long long int end = 0;
|
||||
|
||||
config_1();
|
||||
acquisition = std::make_shared<GpsL1CaPcpsQuickSyncAcquisition>(config.get(), "Acquisition", 1, 1, queue);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
|
||||
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
|
||||
top_block->connect(source, 0, valve, 0);
|
||||
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test."<< std::endl;
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
gettimeofday(&tv, NULL);
|
||||
begin = tv.tv_sec *1e6 + tv.tv_usec;
|
||||
top_block->run(); // Start threads and wait
|
||||
gettimeofday(&tv, NULL);
|
||||
end = tv.tv_sec *1e6 + tv.tv_usec;
|
||||
}) << "Failure running the top_block."<< std::endl;
|
||||
|
||||
std::cout << "Processed " << nsamples << " samples in " << (end-begin) << " microseconds" << std::endl;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, ValidationOfResults)
|
||||
{
|
||||
config_1();
|
||||
|
||||
acquisition = std::make_shared<GpsL1CaPcpsQuickSyncAcquisition>(config.get(), "Acquisition", 1, 1, queue);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel(1);
|
||||
}) << "Failure setting channel."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel_queue(&channel_internal_queue);
|
||||
}) << "Failure setting channel_internal_queue."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
|
||||
}) << "Failure setting doppler_max."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 250));
|
||||
}) << "Failure setting doppler_step."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
|
||||
}) << "Failure setting threshold."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
}) << "Failure connecting acquisition to the top_block."<< std::endl;
|
||||
|
||||
acquisition->init();
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
boost::shared_ptr<GenSignalSource> signal_source;
|
||||
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
||||
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
|
||||
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
||||
signal_source->connect(top_block);
|
||||
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
|
||||
// i = 0 --> satellite in acquisition is visible
|
||||
// i = 1 --> satellite in acquisition is not visible
|
||||
|
||||
for (unsigned int i = 0; i < 2; i++)
|
||||
{
|
||||
init();
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
gnss_synchro.PRN = 10; // This satellite is visible
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
gnss_synchro.PRN = 20; // This satellite is not visible
|
||||
}
|
||||
|
||||
acquisition->set_local_code();
|
||||
folding_factor = acquisition->get_folding_factor();
|
||||
start_queue();
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
top_block->run(); // Start threads and wait
|
||||
}) << "Failure running the top_block." << std::endl;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
|
||||
if (message == 1)
|
||||
{
|
||||
|
||||
EXPECT_EQ((unsigned int)1, correct_estimation_counter)
|
||||
<< "Acquisition failure. Incorrect parameters estimation.";
|
||||
}
|
||||
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
EXPECT_EQ(2, message)
|
||||
<< "Acquisition failure. Expected message: 2=ACQ FAIL.";
|
||||
}
|
||||
}
|
||||
unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples;
|
||||
std::cout << "----Acquired: " << nsamples << " samples"<< std::endl;
|
||||
}
|
||||
|
||||
TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, ValidationOfResultsProbabilities)
|
||||
{
|
||||
config_2();
|
||||
|
||||
acquisition = std::make_shared<GpsL1CaPcpsQuickSyncAcquisition>(config.get(), "Acquisition", 1, 1, queue);
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel(1);
|
||||
}) << "Failure setting channel."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel_queue(&channel_internal_queue);
|
||||
}) << "Failure setting channel_internal_queue."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
|
||||
}) << "Failure setting doppler_max."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
|
||||
}) << "Failure setting doppler_step."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
|
||||
}) << "Failure setting threshold."<< std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->connect(top_block);
|
||||
}) << "Failure connecting acquisition to the top_block."<< std::endl;
|
||||
|
||||
acquisition->init();
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
boost::shared_ptr<GenSignalSource> signal_source;
|
||||
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
||||
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
|
||||
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
||||
signal_source->connect(top_block);
|
||||
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
|
||||
std::cout << "Probability of false alarm (target) = " << 0.1 << std::endl;
|
||||
|
||||
// i = 0 --> satellite in acquisition is visible (prob of detection and prob of detection with wrong estimation)
|
||||
// i = 1 --> satellite in acquisition is not visible (prob of false detection)
|
||||
for (unsigned int i = 0; i < 2; i++)
|
||||
{
|
||||
init();
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
gnss_synchro.PRN = 10; // This satellite is visible
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
gnss_synchro.PRN = 20; // This satellite is not visible
|
||||
}
|
||||
|
||||
acquisition->set_local_code();
|
||||
start_queue();
|
||||
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
top_block->run(); // Start threads and wait
|
||||
}) << "Failure running the top_block." << std::endl;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
std::cout << "Estimated probability of detection = " << Pd << std::endl;
|
||||
std::cout << "Estimated probability of false alarm (satellite present) = " << Pfa_p << std::endl;
|
||||
std::cout << "Estimated probability of miss detection (satellite present) = " << Pmd << std::endl;
|
||||
|
||||
std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
|
||||
|
||||
std::stringstream filenamepd;
|
||||
filenamepd.str("");
|
||||
filenamepd << "../data/test_statistics_" << gnss_synchro.System
|
||||
<< "_" << gnss_synchro.Signal << "_sat_"
|
||||
<< gnss_synchro.PRN << "CN0_dB_0_" << CN0_dB_0 << "_dBHz.csv";
|
||||
|
||||
pdpfafile.open(filenamepd.str().c_str(), std::ios::app | std::ios::out);
|
||||
pdpfafile << threshold_config2 << "," << Pd << "," << Pfa_p << "," << Pmd << std::endl;
|
||||
pdpfafile.close();
|
||||
|
||||
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
std::cout << "Estimated probability of false alarm (satellite absent) = " << Pfa_a << std::endl;
|
||||
std::cout << "Mean acq time = " << mean_acq_time_us << " microseconds." << std::endl;
|
||||
|
||||
std::stringstream filenamepf;
|
||||
filenamepf.str("");
|
||||
filenamepf << "../data/test_statistics_" << gnss_synchro.System
|
||||
<< "_" << gnss_synchro.Signal << "_sat_"
|
||||
<< gnss_synchro.PRN << "CN0_dB_0_" << CN0_dB_0 << "_dBHz.csv";
|
||||
|
||||
std::cout << filenamepf.str().c_str() << std::endl;
|
||||
pdpfafile.open(filenamepf.str().c_str(), std::ios::app | std::ios::out);
|
||||
if (pdpfafile.is_open())
|
||||
{
|
||||
std::cout << "File successfully open" << std::endl;
|
||||
pdpfafile << threshold_config2 << "," << Pfa_a << std::endl;
|
||||
pdpfafile.close();
|
||||
}
|
||||
else
|
||||
{
|
||||
std::cout << "Error opening file" << std::endl;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -90,6 +90,7 @@ DECLARE_string(log_dir);
|
||||
#if OPENCL_BLOCKS_TEST
|
||||
#include "gnss_block/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc"
|
||||
#endif
|
||||
#include "gnss_block/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc"
|
||||
#include "gnss_block/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc"
|
||||
#include "gnss_block/galileo_e1_pcps_ambiguous_acquisition_test.cc"
|
||||
#include "gnss_block/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc"
|
||||
@ -97,6 +98,7 @@ DECLARE_string(log_dir);
|
||||
#include "gnss_block/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc"
|
||||
#include "gnss_block/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc"
|
||||
#include "gnss_block/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc"
|
||||
#include "gnss_block/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc"
|
||||
#include "gnss_block/galileo_e1_dll_pll_veml_tracking_test.cc"
|
||||
#include "gnuradio_block/gnss_sdr_valve_test.cc"
|
||||
#include "gnuradio_block/direct_resampler_conditioner_cc_test.cc"
|
||||
|
||||
Loading…
Reference in New Issue
Block a user