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Merge branch 'vladisslav2011-glonass-ext-correlator-fix2' into next

This commit is contained in:
Carles Fernandez 2022-08-25 13:01:29 +02:00
parent c43515813c 223a4b16d8
commit 439689a1d8
No known key found for this signature in database
GPG Key ID: 4C583C52B0C3877D
6 changed files with 55 additions and 24 deletions
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31
src/algorithms/channel/adapters/channel.cc
View File

@ -40,6 +40,8 @@ Channel::Channel(const ConfigurationInterface* configuration,
role_(role),
channel_(channel)
{
glonass_extend_correlation_ms_ = configuration->property("Tracking_1G.extend_correlation_ms", 0) + configuration->property("Tracking_2G.extend_correlation_ms", 0);
channel_fsm_ = std::make_shared<ChannelFsm>();
flag_enable_fpga_ = configuration->property("GNSS-SDR.enable_FPGA", false);
@ -128,7 +130,7 @@ void Channel::connect(gr::top_block_sptr top_block)
// Message ports
top_block->msg_connect(nav_->get_left_block(), pmt::mp("telemetry_to_trk"), trk_->get_right_block(), pmt::mp("telemetry_to_trk"));
if ((trk_->get_right_block()->name() == "glonass_l1_ca_dll_pll_c_aid_tracking_cc") || (trk_->get_right_block()->name() == "glonass_l2_ca_dll_pll_c_aid_tracking_cc"))
if (glonass_dll_pll_c_aid_tracking_check())
{
top_block->msg_connect(nav_->get_left_block(), pmt::mp("preamble_timestamp_samples"), trk_->get_right_block(), pmt::mp("preamble_timestamp_samples"));
}
@ -162,7 +164,7 @@ void Channel::disconnect(gr::top_block_sptr top_block)
nav_->disconnect(top_block);
top_block->msg_disconnect(nav_->get_left_block(), pmt::mp("telemetry_to_trk"), trk_->get_right_block(), pmt::mp("telemetry_to_trk"));
if ((trk_->get_right_block()->name() == "glonass_l1_ca_dll_pll_c_aid_tracking_cc") || (trk_->get_right_block()->name() == "glonass_l2_ca_dll_pll_c_aid_tracking_cc"))
if (glonass_dll_pll_c_aid_tracking_check())
{
top_block->msg_disconnect(nav_->get_left_block(), pmt::mp("preamble_timestamp_samples"), trk_->get_right_block(), pmt::mp("preamble_timestamp_samples"));
}
@ -270,3 +272,28 @@ void Channel::start_acquisition()
}
DLOG(INFO) << "Channel start_acquisition()";
}
bool Channel::glonass_dll_pll_c_aid_tracking_check()
{
if (glonass_extend_correlation_ms_)
{
const pmt::pmt_t nav_ports_out = nav_->get_left_block()->message_ports_out();
const pmt::pmt_t trk_ports_in = trk_->get_right_block()->message_ports_in();
const pmt::pmt_t symbol = pmt::mp("preamble_timestamp_samples");
for (unsigned k = 0; k < pmt::length(nav_ports_out); k++)
{
if (pmt::vector_ref(nav_ports_out, k) == symbol)
{
for (unsigned j = 0; j < pmt::length(trk_ports_in); j++)
{
if (pmt::vector_ref(trk_ports_in, j) == symbol)
{
return true;
}
}
return false;
}
}
}
return false;
}

2
src/algorithms/channel/adapters/channel.h
View File

@ -96,6 +96,7 @@ public:
inline std::shared_ptr<TelemetryDecoderInterface> telemetry() const { return nav_; }
private:
bool glonass_dll_pll_c_aid_tracking_check();
std::shared_ptr<ChannelFsm> channel_fsm_;
std::shared_ptr<AcquisitionInterface> acq_;
std::shared_ptr<TrackingInterface> trk_;
@ -106,6 +107,7 @@ private:
std::string role_;
std::mutex mx_;
uint32_t channel_;
int glonass_extend_correlation_ms_;
bool connected_;
bool repeat_;
bool flag_enable_fpga_;

19
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -85,7 +85,7 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(const p
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
if (d_enable_extended_integration == false) // avoid re-setting preamble indicator
{
d_preamble_timestamp_s = pmt::to_double(msg);
d_preamble_timestamp_samples = pmt::to_double(msg);
d_enable_extended_integration = true;
d_preamble_synchronized = false;
}
@ -134,10 +134,10 @@ glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc
d_pll_to_dll_assist_secs_Ti(0.0),
d_carr_phase_error_secs_Ti(0.0),
d_code_error_chips_Ti(0.0),
d_preamble_timestamp_s(0.0),
d_extend_correlation_ms(extend_correlation_ms),
d_preamble_timestamp_samples(0.0),
d_code_error_filt_chips_s(0.0),
d_code_error_filt_chips_Ti(0.0),
d_extend_correlation_ms(extend_correlation_ms),
d_correlation_length_samples(static_cast<int32_t>(d_vector_length)),
d_sample_counter(0ULL),
d_acq_sample_stamp(0),
@ -154,8 +154,8 @@ glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc
d_dump(dump)
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
this->message_port_register_in(pmt::mp("preamble_timestamp_samples"));
this->set_msg_handler(pmt::mp("preamble_timestamp_samples"),
#if HAS_GENERIC_LAMBDA
[this](auto &&PH1) { msg_handler_preamble_index(PH1); });
#else
@ -209,7 +209,7 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
const double acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
// Doppler effect
// Fd=(C/(C+Vr))*F
d_glonass_freq_ch = GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
d_glonass_freq_ch = GLONASS_L1_CA_FREQ_HZ + (DFRQ1_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
const double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
// new chip and prn sequence periods based on acq Doppler
d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_CPS;
@ -273,8 +273,8 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
// enable tracking
d_pull_in = true;
d_enable_tracking = true;
d_enable_extended_integration = true;
d_preamble_synchronized = true;
d_enable_extended_integration = false;
d_preamble_synchronized = false;
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
<< " Code Phase correction [samples]=" << delay_correction_samples
@ -604,7 +604,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
bool enable_dll_pll;
if (d_enable_extended_integration == true)
{
int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples - d_preamble_timestamp_samples) / static_cast<double>(d_fs_in)));
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
{
// compute coherent integration and enable tracking loop
@ -631,6 +631,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
}
// UPDATE INTEGRATION TIME
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GLONASS_L1_CA_CODE_PERIOD_S;
d_code_loop_filter.set_pdi(static_cast<float>(CURRENT_INTEGRATION_TIME_S));
enable_dll_pll = true;
}
else

4
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
View File

@ -170,10 +170,10 @@ private:
double d_pll_to_dll_assist_secs_Ti;
double d_carr_phase_error_secs_Ti;
double d_code_error_chips_Ti;
double d_preamble_timestamp_s;
int32_t d_extend_correlation_ms;
double d_preamble_timestamp_samples;
double d_code_error_filt_chips_s;
double d_code_error_filt_chips_Ti;
int32_t d_extend_correlation_ms;
// Integration period in samples
int32_t d_correlation_length_samples;

19
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -83,7 +83,7 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(const p
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
if (d_enable_extended_integration == false) // avoid re-setting preamble indicator
{
d_preamble_timestamp_s = pmt::to_double(msg);
d_preamble_timestamp_samples = pmt::to_double(msg);
d_enable_extended_integration = true;
d_preamble_synchronized = false;
}
@ -132,10 +132,10 @@ glonass_l2_ca_dll_pll_c_aid_tracking_sc::glonass_l2_ca_dll_pll_c_aid_tracking_sc
d_pll_to_dll_assist_secs_Ti(0.0),
d_carr_phase_error_secs_Ti(0.0),
d_code_error_chips_Ti(0.0),
d_preamble_timestamp_s(0.0),
d_extend_correlation_ms(extend_correlation_ms),
d_preamble_timestamp_samples(0.0),
d_code_error_filt_chips_s(0.0),
d_code_error_filt_chips_Ti(0.0),
d_extend_correlation_ms(extend_correlation_ms),
d_correlation_length_samples(static_cast<int32_t>(d_vector_length)),
d_sample_counter(0ULL),
d_acq_sample_stamp(0),
@ -152,8 +152,8 @@ glonass_l2_ca_dll_pll_c_aid_tracking_sc::glonass_l2_ca_dll_pll_c_aid_tracking_sc
d_dump(dump)
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
this->message_port_register_in(pmt::mp("preamble_timestamp_samples"));
this->set_msg_handler(pmt::mp("preamble_timestamp_samples"),
#if HAS_GENERIC_LAMBDA
[this](auto &&PH1) { msg_handler_preamble_index(PH1); });
#else
@ -206,7 +206,7 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_sc::start_tracking()
const double acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
// Doppler effect
// Fd=(C/(C+Vr))*F
d_glonass_freq_ch = GLONASS_L2_CA_FREQ_HZ + (GLONASS_L2_CA_FREQ_HZ * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
d_glonass_freq_ch = GLONASS_L2_CA_FREQ_HZ + (DFRQ2_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
const double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
// new chip and prn sequence periods based on acq Doppler
d_code_freq_chips = radial_velocity * GLONASS_L2_CA_CODE_RATE_CPS;
@ -269,8 +269,8 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_sc::start_tracking()
// enable tracking
d_pull_in = true;
d_enable_tracking = true;
d_enable_extended_integration = true;
d_preamble_synchronized = true;
d_enable_extended_integration = false;
d_preamble_synchronized = false;
d_acc_carrier_phase_initialized = false;
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
@ -601,7 +601,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
bool enable_dll_pll;
if (d_enable_extended_integration == true)
{
const int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
const int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples - d_preamble_timestamp_samples) / static_cast<double>(d_fs_in)));
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
{
// compute coherent integration and enable tracking loop
@ -663,6 +663,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
// perform basic (1ms) correlation
// UPDATE INTEGRATION TIME
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
d_code_loop_filter.set_pdi(static_cast<float>(CURRENT_INTEGRATION_TIME_S));
enable_dll_pll = true;
}
}

4
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
View File

@ -165,10 +165,10 @@ private:
double d_pll_to_dll_assist_secs_Ti;
double d_carr_phase_error_secs_Ti;
double d_code_error_chips_Ti;
double d_preamble_timestamp_s;
int32_t d_extend_correlation_ms;
double d_preamble_timestamp_samples;
double d_code_error_filt_chips_s;
double d_code_error_filt_chips_Ti;
int32_t d_extend_correlation_ms;
// Integration period in samples
int32_t d_correlation_length_samples;