From a35b90b4cb589de080828c31b93a50e278bb1ee0 Mon Sep 17 00:00:00 2001
From: Vladisslav P <vladisslav2011@gmail.com>
Date: Tue, 12 Jul 2022 05:28:49 +0300
Subject: [PATCH 1/6] glonass_lx_ca_dll_pll_c_aid_tracking better checks before
enabling
preamble_timestamp_samples message port connection
1. Check for message port presence both in trk and nav blocks
2. Check for configuration property Tracking_xG.extend_correlation_ms
Signed-off-by: Vladisslav P <vladisslav2011@gmail.com>
---
src/algorithms/channel/adapters/channel.cc | 32 ++++++++++++++++++++--
src/algorithms/channel/adapters/channel.h | 2 ++
2 files changed, 32 insertions(+), 2 deletions(-)
diff --git a/src/algorithms/channel/adapters/channel.cc b/src/algorithms/channel/adapters/channel.cc
index 28376dfd8..adb392e9f 100644
--- a/src/algorithms/channel/adapters/channel.cc
+++ b/src/algorithms/channel/adapters/channel.cc
@@ -104,6 +104,9 @@ Channel::Channel(const ConfigurationInterface* configuration,
gnss_signal_ = Gnss_Signal(signal_str);
channel_msg_rx_ = channel_msg_receiver_make_cc(channel_fsm_, repeat_);
+
+ glonass_extend_correlation_ms_ = 0;
+ glonass_extend_correlation_ms_ = configuration->property("Tracking_1G.extend_correlation_ms", 0) + configuration->property("Tracking_2G.extend_correlation_ms", 0);
}
@@ -128,7 +131,7 @@ 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 +165,7 @@ 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 +273,28 @@ 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;
+}
diff --git a/src/algorithms/channel/adapters/channel.h b/src/algorithms/channel/adapters/channel.h
index d43d1df42..b9d3dbfc6 100644
--- a/src/algorithms/channel/adapters/channel.h
+++ b/src/algorithms/channel/adapters/channel.h
@@ -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_;
@@ -109,6 +110,7 @@ private:
bool connected_;
bool repeat_;
bool flag_enable_fpga_;
+ int glonass_extend_correlation_ms_;
};
From c991f8f601da64ad119d0e462d03bb600efcdb4c Mon Sep 17 00:00:00 2001
From: Vladisslav P <vladisslav2011@gmail.com>
Date: Tue, 12 Jul 2022 06:48:24 +0300
Subject: [PATCH 2/6] Glonass: implement extended correlation for cshort blocks
Signed-off-by: Vladisslav P <vladisslav2011@gmail.com>
---
.../glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc | 17 +++++++++--------
.../glonass_l1_ca_dll_pll_c_aid_tracking_sc.h | 2 +-
.../glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc | 17 +++++++++--------
.../glonass_l2_ca_dll_pll_c_aid_tracking_sc.h | 2 +-
4 files changed, 20 insertions(+), 18 deletions(-)
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index 6ca1c9030..27d62058a 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -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;
}
@@ -134,7 +134,7 @@ 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_preamble_timestamp_samples(0.0),
d_extend_correlation_ms(extend_correlation_ms),
d_code_error_filt_chips_s(0.0),
d_code_error_filt_chips_Ti(0.0),
@@ -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
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
index 8c482ec92..999b1f7a2 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -170,7 +170,7 @@ 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;
+ double d_preamble_timestamp_samples;
int32_t d_extend_correlation_ms;
double d_code_error_filt_chips_s;
double d_code_error_filt_chips_Ti;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
index ebd6894e6..b137f50eb 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
@@ -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;
}
@@ -132,7 +132,7 @@ 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_preamble_timestamp_samples(0.0),
d_extend_correlation_ms(extend_correlation_ms),
d_code_error_filt_chips_s(0.0),
d_code_error_filt_chips_Ti(0.0),
@@ -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;
}
}
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
index 0902aa17a..ae9047f7b 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
@@ -165,7 +165,7 @@ 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;
+ double d_preamble_timestamp_samples;
int32_t d_extend_correlation_ms;
double d_code_error_filt_chips_s;
double d_code_error_filt_chips_Ti;
From c1d68ffbb3b2006b315390343f1b416aee93366f Mon Sep 17 00:00:00 2001
From: Vlad P <vladisslav2011@gmail.com>
Date: Tue, 9 Aug 2022 20:49:15 +0300
Subject: [PATCH 3/6] glonass_lx_ca_dll_pll_c_aid_tracking better checks before
enabling
preamble_timestamp_samples message port connection
1. Check for message port presence both in trk and nav blocks
2. Check for configuration property Tracking_xG.extend_correlation_ms
Signed-off-by: Vlad P <vladisslav2011@gmail.com>
---
src/algorithms/channel/adapters/channel.cc | 32 ++++++++++++++++++++--
src/algorithms/channel/adapters/channel.h | 2 ++
2 files changed, 32 insertions(+), 2 deletions(-)
diff --git a/src/algorithms/channel/adapters/channel.cc b/src/algorithms/channel/adapters/channel.cc
index 28376dfd8..adb392e9f 100644
--- a/src/algorithms/channel/adapters/channel.cc
+++ b/src/algorithms/channel/adapters/channel.cc
@@ -104,6 +104,9 @@ Channel::Channel(const ConfigurationInterface* configuration,
gnss_signal_ = Gnss_Signal(signal_str);
channel_msg_rx_ = channel_msg_receiver_make_cc(channel_fsm_, repeat_);
+
+ glonass_extend_correlation_ms_ = 0;
+ glonass_extend_correlation_ms_ = configuration->property("Tracking_1G.extend_correlation_ms", 0) + configuration->property("Tracking_2G.extend_correlation_ms", 0);
}
@@ -128,7 +131,7 @@ 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 +165,7 @@ 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 +273,28 @@ 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;
+}
diff --git a/src/algorithms/channel/adapters/channel.h b/src/algorithms/channel/adapters/channel.h
index d43d1df42..b9d3dbfc6 100644
--- a/src/algorithms/channel/adapters/channel.h
+++ b/src/algorithms/channel/adapters/channel.h
@@ -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_;
@@ -109,6 +110,7 @@ private:
bool connected_;
bool repeat_;
bool flag_enable_fpga_;
+ int glonass_extend_correlation_ms_;
};
From aad50e44d4550577a91079442f9f8d26e1ed5c09 Mon Sep 17 00:00:00 2001
From: Vlad P <vladisslav2011@gmail.com>
Date: Tue, 9 Aug 2022 20:51:06 +0300
Subject: [PATCH 4/6] Glonass: implement extended correlation for cshort blocks
Signed-off-by: Vlad P <vladisslav2011@gmail.com>
---
.../glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc | 17 +++++++++--------
.../glonass_l1_ca_dll_pll_c_aid_tracking_sc.h | 2 +-
.../glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc | 17 +++++++++--------
.../glonass_l2_ca_dll_pll_c_aid_tracking_sc.h | 2 +-
4 files changed, 20 insertions(+), 18 deletions(-)
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index 6ca1c9030..27d62058a 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -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;
}
@@ -134,7 +134,7 @@ 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_preamble_timestamp_samples(0.0),
d_extend_correlation_ms(extend_correlation_ms),
d_code_error_filt_chips_s(0.0),
d_code_error_filt_chips_Ti(0.0),
@@ -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
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
index 8c482ec92..999b1f7a2 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -170,7 +170,7 @@ 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;
+ double d_preamble_timestamp_samples;
int32_t d_extend_correlation_ms;
double d_code_error_filt_chips_s;
double d_code_error_filt_chips_Ti;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
index ebd6894e6..b137f50eb 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
@@ -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;
}
@@ -132,7 +132,7 @@ 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_preamble_timestamp_samples(0.0),
d_extend_correlation_ms(extend_correlation_ms),
d_code_error_filt_chips_s(0.0),
d_code_error_filt_chips_Ti(0.0),
@@ -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;
}
}
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
index 0902aa17a..ae9047f7b 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
@@ -165,7 +165,7 @@ 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;
+ double d_preamble_timestamp_samples;
int32_t d_extend_correlation_ms;
double d_code_error_filt_chips_s;
double d_code_error_filt_chips_Ti;
From e8eb8a5ace1e3828acf70d8429dee3e7a25102e5 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Thu, 25 Aug 2022 10:07:50 +0200
Subject: [PATCH 5/6] Reorder private members
---
.../gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc | 2 +-
.../gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h | 2 +-
.../gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc | 2 +-
.../gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h | 2 +-
4 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
index 27d62058a..0c3884cf3 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@ -135,9 +135,9 @@ glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc
d_carr_phase_error_secs_Ti(0.0),
d_code_error_chips_Ti(0.0),
d_preamble_timestamp_samples(0.0),
- d_extend_correlation_ms(extend_correlation_ms),
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),
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
index 999b1f7a2..696991b86 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
@@ -171,9 +171,9 @@ private:
double d_carr_phase_error_secs_Ti;
double d_code_error_chips_Ti;
double d_preamble_timestamp_samples;
- int32_t d_extend_correlation_ms;
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;
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
index b137f50eb..ad99f53cd 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
@@ -133,9 +133,9 @@ glonass_l2_ca_dll_pll_c_aid_tracking_sc::glonass_l2_ca_dll_pll_c_aid_tracking_sc
d_carr_phase_error_secs_Ti(0.0),
d_code_error_chips_Ti(0.0),
d_preamble_timestamp_samples(0.0),
- d_extend_correlation_ms(extend_correlation_ms),
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),
diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
index ae9047f7b..203e47d2e 100644
--- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
@@ -166,9 +166,9 @@ private:
double d_carr_phase_error_secs_Ti;
double d_code_error_chips_Ti;
double d_preamble_timestamp_samples;
- int32_t d_extend_correlation_ms;
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;
From 223a4b16d855835eae0b6aeb22d1e7b3c27e0cca Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Thu, 25 Aug 2022 10:16:40 +0200
Subject: [PATCH 6/6] Reorder private members
---
src/algorithms/channel/adapters/channel.cc | 5 ++---
src/algorithms/channel/adapters/channel.h | 2 +-
2 files changed, 3 insertions(+), 4 deletions(-)
diff --git a/src/algorithms/channel/adapters/channel.cc b/src/algorithms/channel/adapters/channel.cc
index adb392e9f..18590afca 100644
--- a/src/algorithms/channel/adapters/channel.cc
+++ b/src/algorithms/channel/adapters/channel.cc
@@ -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);
@@ -104,9 +106,6 @@ Channel::Channel(const ConfigurationInterface* configuration,
gnss_signal_ = Gnss_Signal(signal_str);
channel_msg_rx_ = channel_msg_receiver_make_cc(channel_fsm_, repeat_);
-
- glonass_extend_correlation_ms_ = 0;
- glonass_extend_correlation_ms_ = configuration->property("Tracking_1G.extend_correlation_ms", 0) + configuration->property("Tracking_2G.extend_correlation_ms", 0);
}
diff --git a/src/algorithms/channel/adapters/channel.h b/src/algorithms/channel/adapters/channel.h
index b9d3dbfc6..519f6babd 100644
--- a/src/algorithms/channel/adapters/channel.h
+++ b/src/algorithms/channel/adapters/channel.h
@@ -107,10 +107,10 @@ private:
std::string role_;
std::mutex mx_;
uint32_t channel_;
+ int glonass_extend_correlation_ms_;
bool connected_;
bool repeat_;
bool flag_enable_fpga_;
- int glonass_extend_correlation_ms_;
};