Code cleaning

src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc

@@ -227,22 +227,22 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
     this->set_msg_handler(pmt::mp("telemetry"),
             boost::bind(&gps_l1_ca_pvt_cc::msg_handler_telemetry, this, _1));
 
-    //initialize kml_printer
+    // initialize kml_printer
     std::string kml_dump_filename;
     kml_dump_filename = d_dump_filename;
     d_kml_printer = std::make_shared<Kml_Printer>();
     d_kml_printer->set_headers(kml_dump_filename);
 
-    //initialize geojson_printer
+    // initialize geojson_printer
     std::string geojson_dump_filename;
     geojson_dump_filename = d_dump_filename;
     d_geojson_printer = std::make_shared<GeoJSON_Printer>();
     d_geojson_printer->set_headers(geojson_dump_filename);
 
-    //initialize nmea_printer
+    // initialize nmea_printer
     d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
 
-    //initialize rtcm_printer
+    // initialize rtcm_printer
     std::string rtcm_dump_filename;
     rtcm_dump_filename = d_dump_filename;
     d_rtcm_tcp_port = rtcm_tcp_port;
@@ -330,7 +330,7 @@ void gps_l1_ca_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchroniza
             d_last_status_print_seg = current_rx_seg;
             std::cout << "Current input signal time = " << current_rx_seg << " [s]" << std::endl << std::flush;
             //DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
-            //          << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
+            //           << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]";
         }
 }
 
@@ -340,7 +340,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
 {
     gnss_observables_map.clear();
     d_sample_counter++;
-    Gnss_Synchro **in = (Gnss_Synchro **)  &input_items[0]; //Get the input pointer
+    Gnss_Synchro **in = (Gnss_Synchro **)  &input_items[0]; // Get the input pointer
 
     print_receiver_status(in);
 
@@ -366,25 +366,18 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
     if (gnss_observables_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0)
         {
             // compute on the fly PVT solution
-            //mod 8/4/2012 Set the PVT computation rate in this block
             if ((d_sample_counter % d_output_rate_ms) == 0)
                 {
                     bool pvt_result;
                     pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, d_flag_averaging);
                     if (pvt_result == true)
                         {
-                        //correct the observable to account for the receiver clock offset
+                            // correct the observable to account for the receiver clock offset
-
+                            for (std::map<int,Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it)
-                        for (std::map<int,Gnss_Synchro>::iterator it=gnss_observables_map.begin(); it!=gnss_observables_map.end(); ++it)
+                                {
-                        {
+                                    it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->d_rx_dt_s * GPS_C_m_s;
-                          it->second.Pseudorange_m=it->second.Pseudorange_m-d_ls_pvt->d_rx_dt_s*GPS_C_m_s;
+                                }
-                        }
+                            if(first_fix == true)
-                        // send asynchronous message to observables block
-                        // time offset is expressed as the equivalent travel distance [m]
-                        //pmt::pmt_t value = pmt::from_double(d_ls_pvt->d_rx_dt_s);
-                        //this->message_port_pub(pmt::mp("rx_dt_s"), value);
-                        //std::cout<<"d_rx_dt_s*GPS_C_m_s="<<d_ls_pvt->d_rx_dt_s*GPS_C_m_s<<std::endl;
-                            if( first_fix == true)
                                 {
                                     std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
                                               << " UTC is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
@@ -410,7 +403,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
                                             b_rinex_header_written = true; // do not write header anymore
                                         }
                                 }
-                            if(b_rinex_header_written) // Put here another condition to separate annotations (e.g 30 s)
+                            if(b_rinex_header_written)
                                 {
                                     // Limit the RINEX navigation output rate to 1/6 seg
                                     // Notice that d_sample_counter period is 1ms (for GPS correlators)

src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc

@@ -81,14 +81,14 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
     std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
     std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
 
-    arma::vec W;//= arma::eye(valid_pseudoranges, valid_pseudoranges); //channels weights matrix
+    arma::vec W;      // channels weight vector
-    arma::vec obs;// = arma::zeros(valid_pseudoranges);                 // pseudoranges observation vector
+    arma::vec obs;    // pseudoranges observation vector
-    arma::mat satpos;// = arma::zeros(3, valid_pseudoranges);           //satellite positions matrix
+    arma::mat satpos; // satellite positions matrix
 
     int GPS_week = 0;
-    double utc = 0;
+    double utc = 0.0;
     double TX_time_corrected_s;
-    double SV_clock_bias_s = 0;
+    double SV_clock_bias_s = 0.0;
 
     d_flag_averaging = flag_averaging;
 
@@ -107,8 +107,8 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
                     /*!
                      * \todo Place here the satellite CN0 (power level, or weight factor)
                      */
-                    W.resize(valid_obs+1,1);
+                    W.resize(valid_obs + 1, 1);
-                    W(valid_obs)=1;
+                    W(valid_obs) = 1;
 
                     // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
                     // first estimate of transmit time
@@ -121,23 +121,24 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
                     // 3- compute the current ECEF position for this SV using corrected TX time
                     TX_time_corrected_s = Tx_time - SV_clock_bias_s;
                     gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
-                    satpos.resize(3,valid_obs+1);
+                    satpos.resize(3, valid_obs + 1);
                     satpos(0, valid_obs) = gps_ephemeris_iter->second.d_satpos_X;
                     satpos(1, valid_obs) = gps_ephemeris_iter->second.d_satpos_Y;
                     satpos(2, valid_obs) = gps_ephemeris_iter->second.d_satpos_Z;
+
                     // 4- fill the observations vector with the corrected pseudoranges
-                    obs.resize(valid_obs+1,1);
+                    obs.resize(valid_obs + 1, 1);
-                    obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s * GPS_C_m_s-d_rx_dt_s*GPS_C_m_s;
+                    obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s * GPS_C_m_s - d_rx_dt_s * GPS_C_m_s;
                     d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
                     d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
                     valid_obs++;
 
                     // SV ECEF DEBUG OUTPUT
                     DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
-                            << " X=" << gps_ephemeris_iter->second.d_satpos_X
+                               << " X=" << gps_ephemeris_iter->second.d_satpos_X
-                            << " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
+                               << " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
-                            << " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
+                               << " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
-                            << " [m] PR_obs=" << obs(valid_obs) << " [m]";
+                               << " [m] PR_obs=" << obs(valid_obs) << " [m]";
 
                     // compute the UTC time for this SV (just to print the associated UTC timestamp)
                     GPS_week = gps_ephemeris_iter->second.i_GPS_week;
@@ -162,25 +163,27 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
             DLOG(INFO) << "obs=" << obs;
             DLOG(INFO) << "W=" << W;
 
-            //check if this is the initial position computation
+            // check if this is the initial position computation
-            if (d_rx_dt_s==0)
+            if (d_rx_dt_s == 0)
-            {
+                {
-                //execute Bancroft's algorithm to estimate initial receiver position and time
+                    // execute Bancroft's algorithm to estimate initial receiver position and time
-                std::cout<<"Executing Bancroft algorithm...\n";
+                    DLOG(INFO) << " Executing Bancroft algorithm...";
-                rx_position_and_time =bancroftPos(satpos.t(), obs);
+                    rx_position_and_time = bancroftPos(satpos.t(), obs);
-                d_rx_pos=rx_position_and_time.rows(0,2); //save ECEF position for the next iteration
+                    d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
-                d_rx_dt_s=rx_position_and_time(3)/GPS_C_m_s; //save time for the next iteration [meters]->[seconds]
+                    d_rx_dt_s = rx_position_and_time(3) / GPS_C_m_s; // save time for the next iteration [meters]->[seconds]
-            }
+                }
 
-            //Execute WLS using previos position as the initialization point
+            // Execute WLS using previous position as the initialization point
             rx_position_and_time = leastSquarePos(satpos, obs, W);
-            d_rx_pos=rx_position_and_time.rows(0,2); //save ECEF position for the next iteration
+
-            d_rx_dt_s+=rx_position_and_time(3)/GPS_C_m_s; //accumulate the rx time error for the next iteration [meters]->[seconds]
+            d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
+            d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
 
             DLOG(INFO) << "(new)Position at TOW=" << GPS_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
-            DLOG(INFO) <<"Accumulated rx clock error="<<d_rx_dt_s<<" clock error for this iteration="<<rx_position_and_time(3)/GPS_C_m_s<<" [s]"<<std::endl;
+            DLOG(INFO) << "Accumulated rx clock error=" << d_rx_dt_s << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]";
 
             cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
+
             // Compute UTC time and print PVT solution
             double secondsperweek = 604800.0; // number of seconds in one week (7*24*60*60)
             boost::posix_time::time_duration t = boost::posix_time::seconds(utc + secondsperweek * static_cast<double>(GPS_week));
@@ -188,13 +191,12 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map,
             boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
             d_position_UTC_time = p_time;
             DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(p_time)
-            << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
+                       << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
-            << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
+                       << " [deg], Height= " << d_height_m << " [m]" << " RX time offset= " << d_rx_dt_s << " [s]";
 
             // ###### Compute DOPs ########
-            std::cout<<"c\r";
             compute_DOP();
-            std::cout<<"d\r";
+
             // ######## LOG FILE #########
             if(d_flag_dump_enabled == true)
                 {

src/algorithms/PVT/libs/ls_pvt.cc

@@ -44,135 +44,137 @@ Ls_Pvt::Ls_Pvt() : Pvt_Solution()
 
 }
 
-arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs) {
+arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
-
+{
-//    %BANCROFT Calculation of preliminary coordinates
+    // BANCROFT Calculation of preliminary coordinates for a GPS receiver based on pseudoranges
-//    %           for a GPS receiver based on pseudoranges
+    //          to 4 or more satellites. The ECEF coordinates are stored in satpos.
-//    %          to 4 or more satellites. The ECEF
+    //          The observed pseudoranges are stored in obs
-//    %          coordinates are stored in satpos. The observed pseudoranges are stored in obs
+    // Reference: Bancroft, S. (1985) An Algebraic Solution of the GPS Equations,
-//    %Reference: Bancroft, S. (1985) An Algebraic Solution
+    //            IEEE Trans. Aerosp. and Elec. Systems, AES-21, Issue 1, pp. 56--59
-//    %              of the GPS Equations, IEEE Trans. Aerosp.
+    // Based on code by:
-//    %              and Elec. Systems, AES-21, 56--59
+    // Kai Borre 04-30-95, improved by C.C. Goad 11-24-96
-//    %Kai Borre 04-30-95, improved by C.C. Goad 11-24-96
+    // Copyright (c) by Kai Borre
-//    %Copyright (c) by Kai Borre
+    // $Revision: 1.0 $  $Date: 1997/09/26  $
-//    %$Revision: 1.0 $  $Date: 1997/09/26  $
+    //
-//
+    //  Test values to use in debugging
-//    % Test values to use in debugging
+    //  B_pass =[ -11716227.778 -10118754.628  21741083.973 22163882.029;
-//    % B_pass =[ -11716227.778 -10118754.628 21741083.973 22163882.029;
+    //            -12082643.974 -20428242.179  11741374.154 21492579.823;
-//    %          -12082643.974 -20428242.179  11741374.154 21492579.823;
+    //             14373286.650 -10448439.349  19596404.858 21492492.771;
-//    %             14373286.650 -10448439.349    19596404.858 21492492.771;
+    //             10278432.244 -21116508.618 -12689101.970 25284588.982 ];
-//    %             10278432.244 -21116508.618  -12689101.970 25284588.982];
+    //  Solution:    595025.053  -4856501.221  4078329.981
-//    % Solution:    595025.053  -4856501.221  4078329.981
+    //
-//
+    //  Test values to use in debugging
-//    % Test values to use in debugging
+    //  B_pass = [14177509.188  -18814750.650   12243944.449  21119263.116;
-//    % B_pass = [14177509.188  -18814750.650   12243944.449  21119263.116;
+    //            15097198.146   -4636098.555   21326705.426  22527063.486;
-//    %           15097198.146   -4636098.555   21326705.426  22527063.486;
+    //            23460341.997   -9433577.991    8174873.599  23674159.579;
-//    %            23460341.997   -9433577.991    8174873.599  23674159.579;
+    //            -8206498.071  -18217989.839   17605227.065  20951643.862;
-//    %            -8206498.071  -18217989.839   17605227.065  20951643.862;
+    //             1399135.830  -17563786.820   19705534.862  20155386.649;
-//    %             1399135.830  -17563786.820   19705534.862  20155386.649;
+    //             6995655.459  -23537808.269   -9927906.485  24222112.972 ];
-//    %          6995655.459  -23537808.269   -9927906.485  24222112.972];
+    //  Solution:     596902.683   -4847843.316    4088216.740
-//    % Solution:     596902.683   -4847843.316    4088216.740
 
     arma::vec pos = arma::zeros(4,1);
-    arma::mat B_pass=arma::zeros(obs.size(),4);
+    arma::mat B_pass = arma::zeros(obs.size(), 4);
-    B_pass.submat(0,0,obs.size()-1,2)=satpos;
+    B_pass.submat(0, 0, obs.size() - 1, 2) = satpos;
-    B_pass.col(3)=obs;
+    B_pass.col(3) = obs;
 
     arma::mat B;
     arma::mat BBB;
-    double traveltime=0;
+    double traveltime = 0;
-    for (int iter = 0; iter<2; iter++)
+    for (int iter = 0; iter < 2; iter++)
-    {
+        {
-       B = B_pass;
+            B = B_pass;
-       int m=arma::size(B,0);
+            int m = arma::size(B,0);
-       for (int i=0;i<m;i++)
+            for (int i = 0; i < m; i++)
-       {
+                {
-          int x = B(i,0);
+                    int x = B(i,0);
-          int y = B(i,1);
+                    int y = B(i,1);
-          if (iter == 0)
+                    if (iter == 0)
-          {
+                        {
-             traveltime = 0.072;
+                            traveltime = 0.072;
-          }
+                        }
-          else
+                    else
-          {
+                        {
-             int z = B(i,2);
+                            int z = B(i,2);
-             double rho = (x-pos(0))*(x-pos(0))+(y-pos(1))*(y-pos(1))+(z-pos(2))*(z-pos(2));
+                            double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2));
-             traveltime = sqrt(rho)/GPS_C_m_s;
+                            traveltime = sqrt(rho) / GPS_C_m_s;
-          }
+                        }
-          double angle = traveltime*7.292115147e-5;
+                    double angle = traveltime * 7.292115147e-5;
-          double cosa = cos(angle);
+                    double cosa = cos(angle);
-          double sina = sin(angle);
+                    double sina = sin(angle);
-          B(i,0) =  cosa*x + sina*y;
+                    B(i,0) =  cosa * x + sina * y;
-          B(i,1) = -sina*x + cosa*y;
+                    B(i,1) = -sina * x + cosa * y;
-       }// % i-loop
+                }// % i-loop
 
-       if (m > 3)
+            if (m > 3)
-       {
+                {
-          BBB = arma::inv(B.t()*B)*B.t();
+                    BBB = arma::inv(B.t() * B) * B.t();
-       }
+                }
-       else
+            else
-       {
+                {
-           BBB = arma::inv(B);
+                    BBB = arma::inv(B);
-       }
+                }
-       arma::vec e = arma::ones(m,1);
+            arma::vec e = arma::ones(m,1);
-       arma::vec alpha = arma::zeros(m,1);
+            arma::vec alpha = arma::zeros(m,1);
-       for (int i =0; i<m;i++)
+            for (int i = 0; i < m; i++)
-       {
+                {
-          alpha(i) = lorentz(B.row(i).t(),B.row(i).t())/2.0;
+                    alpha(i) = lorentz(B.row(i).t(), B.row(i).t()) / 2.0;
-       }
+                }
-       arma::mat BBBe = BBB*e;
+            arma::mat BBBe = BBB * e;
-       arma::mat BBBalpha = BBB*alpha;
+            arma::mat BBBalpha = BBB * alpha;
-       double a = lorentz(BBBe,BBBe);
+            double a = lorentz(BBBe, BBBe);
-       double b = lorentz(BBBe,BBBalpha)-1;
+            double b = lorentz(BBBe, BBBalpha) - 1;
-       double c = lorentz(BBBalpha,BBBalpha);
+            double c = lorentz(BBBalpha, BBBalpha);
-       double root = sqrt(b*b-a*c);
+            double root = sqrt(b * b - a * c);
-       arma::vec r = {{(-b-root)/a},{(-b+root)/a}};
+            arma::vec r = {(-b - root) / a, (-b + root) / a};
-       arma::mat possible_pos = arma::zeros(4,2);
+            arma::mat possible_pos = arma::zeros(4,2);
-       for (int i =0;i<2; i++)
+            for (int i = 0; i < 2; i++)
-       {
+                {
-          possible_pos.col(i) = r(i)*BBBe+BBBalpha;
+                    possible_pos.col(i) = r(i) * BBBe + BBBalpha;
-          possible_pos(3,i) = -possible_pos(3,i);
+                    possible_pos(3,i) = -possible_pos(3,i);
-       }
+                }
 
-       arma::vec abs_omc=arma::zeros(2,1);
+            arma::vec abs_omc = arma::zeros(2,1);
-       for (int j=0; j<m; j++)
+            for (int j = 0; j < m; j++)
-       {
+                {
-          for (int i =0;i<2;i++)
+                    for (int i = 0; i < 2; i++)
-          {
+                        {
-             double c_dt = possible_pos(3,i);
+                            double c_dt = possible_pos(3,i);
-             double calc = arma::norm(satpos.row(i).t() -possible_pos.col(i).rows(0,2))+c_dt;
+                            double calc = arma::norm(satpos.row(i).t() - possible_pos.col(i).rows(0,2)) + c_dt;
-             double omc = obs(j)-calc;
+                            double omc = obs(j) - calc;
-             abs_omc(i) = std::abs(omc);
+                            abs_omc(i) = std::abs(omc);
-          }
+                        }
-       }// % j-loop
+                }// % j-loop
 
-       //discrimination between roots
+            //discrimination between roots
-       if (abs_omc(0) > abs_omc(1))
+            if (abs_omc(0) > abs_omc(1))
-       {
+                {
-           pos = possible_pos.col(1);
+                    pos = possible_pos.col(1);
-       }
+                }
-       else
+            else
-       {
+                {
-          pos = possible_pos.col(0);
+                    pos = possible_pos.col(0);
-       }
+                }
-    }// % iter loop
+        }// % iter loop
     return pos;
 }
 
-double Ls_Pvt::lorentz(const arma::vec& x, const arma::vec& y) {
-//    %LORENTZ  Calculates the Lorentz inner product of the two
-//    %         4 by 1 vectors x and y
-//
-//    %Kai Borre 04-22-95
-//    %Copyright (c) by Kai Borre
-//    %$Revision: 1.0 $ $Date: 1997/09/26  $
-//
-//    % M = diag([1 1 1 -1]);
-//    % p = x'*M*y;
 
-    return(x(0)*y(0) + x(1)*y(1) + x(2)*y(2) - x(3)*y(3));
+double Ls_Pvt::lorentz(const arma::vec& x, const arma::vec& y)
+{
+    // LORENTZ  Calculates the Lorentz inner product of the two
+    //          4 by 1 vectors x and y
+    // Based ob code by:
+    // Kai Borre 04-22-95
+    // Copyright (c) by Kai Borre
+    // $Revision: 1.0 $ $Date: 1997/09/26  $
+    //
+    //  M = diag([1 1 1 -1]);
+    //  p = x'*M*y;
+
+    return(x(0) * y(0) + x(1) * y(1) + x(2) * y(2) - x(3) * y(3));
 }
 
+
 arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::vec & w_vec)
 {
     /* Computes the Least Squares Solution.
@@ -190,10 +192,10 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
     int nmbOfIterations = 10; // TODO: include in config
     int nmbOfSatellites;
     nmbOfSatellites = satpos.n_cols;    //Armadillo
-    arma::mat w=arma::zeros(nmbOfSatellites,nmbOfSatellites);
+    arma::mat w = arma::zeros(nmbOfSatellites, nmbOfSatellites);
-    w.diag()=w_vec; //diagonal weight matrix
+    w.diag() = w_vec; //diagonal weight matrix
 
-    arma::vec pos = {{d_rx_pos(0)},{d_rx_pos(0)},{d_rx_pos(0)},0}; //time error in METERS (time x speed)
+    arma::vec pos = {d_rx_pos(0), d_rx_pos(0), d_rx_pos(0), 0}; // time error in METERS (time x speed)
     arma::mat A;
     arma::mat omc;
     arma::mat az;
@@ -251,7 +253,9 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
                                         {
                                             //receiver is above the troposphere
                                             trop = 0.0;
-                                        }else{
+                                        }
+                                    else
+                                        {
                                             //--- Find delay due to troposphere (in meters)
                                             Ls_Pvt::tropo(&trop, sin(d_visible_satellites_El[i] * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
                                             if(trop > 5.0 ) trop = 0.0; //check for erratic values
@@ -284,7 +288,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
     try
     {
             //-- compute the Dilution Of Precision values
-            d_Q = arma::inv(arma::htrans(A)*A);
+            d_Q = arma::inv(arma::htrans(A) * A);
     }
     catch(std::exception& e)
     {

src/algorithms/PVT/libs/pvt_solution.cc

@@ -57,7 +57,7 @@ Pvt_Solution::Pvt_Solution()
     b_valid_position = false;
     d_averaging_depth = 0;
     d_valid_observations = 0;
-    d_rx_pos=arma::zeros(3,1);
+    d_rx_pos = arma::zeros(3,1);
     d_rx_dt_s = 0.0;
 }
 
@@ -147,24 +147,24 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
 int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z)
 {
     /* Subroutine to calculate geodetic coordinates latitude, longitude,
-        height given Cartesian coordinates X,Y,Z, and reference ellipsoid
+       height given Cartesian coordinates X,Y,Z, and reference ellipsoid
-        values semi-major axis (a) and the inverse of flattening (finv).
+       values semi-major axis (a) and the inverse of flattening (finv).
 
-         The output units of angular quantities will be in decimal degrees
+       The output units of angular quantities will be in decimal degrees
-          (15.5 degrees not 15 deg 30 min). The output units of h will be the
+       (15.5 degrees not 15 deg 30 min). The output units of h will be the
-          same as the units of X,Y,Z,a.
+       same as the units of X,Y,Z,a.
 
-           Inputs:
+       Inputs:
                a           - semi-major axis of the reference ellipsoid
                finv        - inverse of flattening of the reference ellipsoid
                X,Y,Z       - Cartesian coordinates
 
-           Outputs:
+       Outputs:
                dphi        - latitude
                dlambda     - longitude
                h           - height above reference ellipsoid
 
-               Based in a Matlab function by Kai Borre
+       Based in a Matlab function by Kai Borre
      */
 
     *h = 0;

src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc

@@ -80,11 +80,11 @@ gps_l1_ca_observables_cc::gps_l1_ca_observables_cc(unsigned int nchannels, bool
                     {
                             d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
-                            LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str() << std::endl;
+                            LOG(INFO) << "Observables dump enabled Log file: " << d_dump_filename.c_str();
                     }
                     catch (const std::ifstream::failure & e)
                     {
-                            LOG(WARNING) << "Exception opening observables dump file " << e.what() << std::endl;
+                            LOG(WARNING) << "Exception opening observables dump file " << e.what();
                     }
                 }
         }
@@ -185,7 +185,6 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
             gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), pairCompare_gnss_synchro_d_TOW_at_current_symbol);
             double d_TOW_reference = gnss_synchro_iter->second.d_TOW_at_current_symbol;
             double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
-            //int reference_channel= gnss_synchro_iter->second.Channel_ID;
 
             // Now compute RX time differences due to the PRN alignment in the correlators
             double traveltime_ms;
@@ -202,14 +201,14 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
                     // compute the required symbol history shift in order to match the reference symbol
                     delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms - d_ref_PRN_rx_time_ms;
                     //compute the pseudorange
-                    traveltime_ms = (d_TOW_reference-gnss_synchro_iter->second.d_TOW_at_current_symbol) * 1000.0 + delta_rx_time_ms + GPS_STARTOFFSET_ms;
+                    traveltime_ms = (d_TOW_reference - gnss_synchro_iter->second.d_TOW_at_current_symbol) * 1000.0 + delta_rx_time_ms + GPS_STARTOFFSET_ms;
                     //convert to meters and remove the receiver time offset in meters
                     pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
                     // update the pseudorange object
                     current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
                     current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
                     current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
-                    current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = round(d_TOW_reference*1000.0)/1000.0 + GPS_STARTOFFSET_ms/1000.0;
+                    current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = round(d_TOW_reference * 1000.0) / 1000.0 + GPS_STARTOFFSET_ms / 1000.0;
 
                     if (d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].size() >= history_deep)
                         {
@@ -221,7 +220,7 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
                             desired_symbol_TOW[0] = symbol_TOW_vec_s[history_deep - 1] + delta_rx_time_ms / 1000.0;
                             //    arma::interp1(symbol_TOW_vec_s,dopper_vec_hz,desired_symbol_TOW,dopper_vec_interp_hz);
                             //    arma::interp1(symbol_TOW_vec_s,acc_phase_vec_rads,desired_symbol_TOW,acc_phase_vec_interp_rads);
-                            // Curve fitting to cuadratic function
+                            // Curve fitting to quadratic function
                             arma::mat A = arma::ones<arma::mat> (history_deep, 2);
                             A.col(1) = symbol_TOW_vec_s;
 
@@ -237,7 +236,6 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
                             current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_phase_rads = acc_phase_lin[0];
                             current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_Doppler_hz = carrier_doppler_lin[0];
                         }
-
                 }
         }
 

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc

@@ -110,8 +110,6 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
     d_channel = 0;
     Prn_timestamp_at_preamble_ms = 0.0;
     flag_PLL_180_deg_phase_locked = false;
-
-    tmp_counter=0;
 }
 
 
@@ -198,7 +196,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
                             DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite  << "in[0][0].Tracking_timestamp_secs=" << round(in[0][0].Tracking_timestamp_secs * 1000.0);
                             d_GPS_FSM.Event_gps_word_preamble();
                             d_flag_preamble = true;
-                            d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;// - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
+                            d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs; // record the PRN start sample index associated to the preamble
 
                             if (!d_flag_frame_sync)
                                 {
@@ -330,38 +328,29 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
                  }
          }
      // output the frame
-     consume_each(1); //one by one
+    consume_each(1); // one by one
-     Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
-     //1. Copy the current tracking output
-     current_synchro_data = in[0][0];
-     //2. Add the telemetry decoder information
-         if (this->d_flag_preamble == true and d_GPS_FSM.d_nav.d_TOW > 0)
-             //update TOW at the preamble instant (todo: check for valid d_TOW)
-             // JAVI: 30/06/2014
-             // TOW, in GPS, is referred to the START of the SUBFRAME, that is, THE FIRST SYMBOL OF THAT SUBFRAME, NOT THE PREAMBLE.
-             // thus, no correction should be done. d_TOW_at_Preamble should be renamed to d_TOW_at_subframe_start.
-             // Sice we detected the preable, then, we are in the last symbol of that preamble, or just at the start of the first subframe symbol.
-             {
-                 d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW;
-                 Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
-                 //std::cout.precision(17);
-                 //std::cout<<"symbol diff="<<tmp_counter<<" Preable TOW="<<std::fixed<<d_TOW_at_Preamble
-                 //        <<" with DeltaTOW="<<d_TOW_at_Preamble-d_TOW_at_current_symbol
-                 //        <<" decoded at "<<Prn_timestamp_at_preamble_ms/1000<<"[s]\r\n";
 
-                 d_TOW_at_current_symbol = d_TOW_at_Preamble;
+    Gnss_Synchro current_synchro_data; // structure to save the synchronization information and send the output object to the next block
-                 if (flag_TOW_set == false)
-                     {
-                         flag_TOW_set = true;
-                     }
 
-                 tmp_counter=0;
+    //1. Copy the current tracking output
-             }
+    current_synchro_data = in[0][0];
-     else
+
-     {
+    //2. Add the telemetry decoder information
-         tmp_counter++;
+    if (this->d_flag_preamble == true and d_GPS_FSM.d_nav.d_TOW > 0)
-         d_TOW_at_current_symbol = d_TOW_at_current_symbol + GPS_L1_CA_CODE_PERIOD;
+        {
-     }
+            // update TOW at the preamble instant
+            d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW;
+            Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
+            d_TOW_at_current_symbol = d_TOW_at_Preamble;
+            if (flag_TOW_set == false)
+                {
+                    flag_TOW_set = true;
+                }
+        }
+    else
+        {
+            d_TOW_at_current_symbol = d_TOW_at_current_symbol + GPS_L1_CA_CODE_PERIOD;
+        }
 
      current_synchro_data.d_TOW = d_TOW_at_Preamble;
      current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
@@ -373,7 +362,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
 
      if (flag_PLL_180_deg_phase_locked == true)
          {
-             //correct the accumulated phase for the costas loop phase shift, if required
+             //correct the accumulated phase for the Costas loop phase shift, if required
              current_synchro_data.Carrier_phase_rads += GPS_PI;
          }
 
@@ -419,6 +408,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
      d_decimation_output_factor = decimation;
  }
 
+
  void gps_l1_ca_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
  {
      d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@@ -446,7 +436,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
                              d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
                              d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
                              LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
-                                     << " Log file: " << d_dump_filename.c_str();
+                                       << " Log file: " << d_dump_filename.c_str();
                      }
                      catch (const std::ifstream::failure &e)
                      {

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h

@@ -98,9 +98,6 @@ private:
     double d_symbol_accumulator;
     short int d_symbol_accumulator_counter;
 
-    //debug
-    int tmp_counter;
-
     //bits and frame
     unsigned short int d_frame_bit_index;
     unsigned int d_GPS_frame_4bytes;

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc

@@ -193,10 +193,10 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
 
     long int acq_trk_diff_samples;
     double acq_trk_diff_seconds;
-    acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
+    acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp); //-d_vector_length;
     DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
     acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
-    //doppler effect
+    // Doppler effect
     // Fd=(C/(C+Vr))*F
     double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
     // new chip and prn sequence periods based on acq Doppler
@@ -309,14 +309,14 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
                     acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
                     samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
                     current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
-                    d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
+                    d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples
                     d_pull_in = false;
-                    //take into account the carrier cycles accumulated in the pull in signal alignement
+                    // take into account the carrier cycles accumulated in the pull in signal alignment
                     d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
                     current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
                     current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
                     *out[0] = current_synchro_data;
-                    consume_each(samples_offset); //shift input to perform alignment with local replica
+                    consume_each(samples_offset); // shift input to perform alignment with local replica
                     return 1;
                 }
 
@@ -332,7 +332,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
             // ################## PLL ##########################################################
             // PLL discriminator
             // Update PLL discriminator [rads/Ti -> Secs/Ti]
-            carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; //prompt output
+            carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; // prompt output
             // Carrier discriminator filter
             carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
             // New carrier Doppler frequency estimation
@@ -342,40 +342,34 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
 
             // ################## DLL ##########################################################
             // DLL discriminator
-            code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); //[chips/Ti] //early and late
+            code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
             // Code discriminator filter
-            code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
+            code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second]
-            //Code phase accumulator
+            double code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; // [seconds]
-            double code_error_filt_secs;
-            code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; //[seconds]
 
             // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
             // keep alignment parameters for the next input buffer
-            double T_chip_seconds;
-            double T_prn_seconds;
-            double T_prn_samples;
-            double K_blk_samples;
             // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
-            T_chip_seconds = 1 / static_cast<double>(d_code_freq_chips);
+            double T_chip_seconds =  1.0 / static_cast<double>(d_code_freq_chips);
-            T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
+            double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
-            T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+            double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
-            K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
+            double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
-            d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
+            d_current_prn_length_samples = round(K_blk_samples); // round to a discrete number of samples
 
             //################### PLL COMMANDS #################################################
-            //carrier phase step (NCO phase increment per sample) [rads/sample]
+            // carrier phase step (NCO phase increment per sample) [rads/sample]
             d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
-            //remanent carrier phase to prevent overflow in the code NCO
+            // remnant carrier phase to prevent overflow in the code NCO
             d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
             d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
-            //carrier phase accumulator for (K) doppler estimation
+            // carrier phase accumulator
             d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples;
 
             //################### DLL COMMANDS #################################################
-            //code phase step (Code resampler phase increment per sample) [chips/sample]
+            // code phase step (Code resampler phase increment per sample) [chips/sample]
             d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
-            //remnant code phase [chips]
+            // remnant code phase [chips]
-            d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
+            d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; // rounding error < 1 sample
             d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast<double>(d_fs_in));
 
             // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
@@ -405,7 +399,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
                         {
                             std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
                             LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
-                            this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
+                            this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock
                             d_carrier_lock_fail_counter = 0;
                             d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
                         }
@@ -415,7 +409,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
             current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
 
             // Tracking_timestamp_secs is aligned with the CURRENT PRN start sample
-            current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter+d_current_prn_length_samples) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
+            current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter + d_current_prn_length_samples) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
             current_synchro_data.Rem_code_phase_secs = d_rem_code_phase_samples / static_cast<double>(d_fs_in);
             current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
             current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
@@ -430,7 +424,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
                     d_correlator_outs[n] = gr_complex(0,0);
                 }
 
-            current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter+d_current_prn_length_samples) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
+            current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter + d_current_prn_length_samples) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
             current_synchro_data.Rem_code_phase_secs = d_rem_code_phase_samples / static_cast<double>(d_fs_in);
             current_synchro_data.System = {'G'};
         }
@@ -460,7 +454,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
                 d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
                 d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
                 // PRN start sample stamp
-                tmp_long = d_sample_counter+d_current_prn_length_samples;
+                tmp_long = d_sample_counter + d_current_prn_length_samples;
                 d_dump_file.write(reinterpret_cast<char*>(&tmp_long), sizeof(unsigned long int));
                 // accumulated carrier phase
                 d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
@@ -469,11 +463,11 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
                 d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
                 d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
 
-                //PLL commands
+                // PLL commands
                 d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(double));
                 d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
 
-                //DLL commands
+                // DLL commands
                 d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(double));
                 d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
 
@@ -494,9 +488,9 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
         }
 
     consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
-    d_sample_counter += d_current_prn_length_samples; //count for the processed samples
+    d_sample_counter += d_current_prn_length_samples; // count for the processed samples
 
-    return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
+    return 1; // output tracking result ALWAYS even in the case of d_enable_tracking==false
 }
 
 

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.h

@@ -139,7 +139,6 @@ private:
     double d_carrier_phase_step_rad;
     double d_acc_carrier_phase_rad;
     double d_code_phase_samples;
-    double d_acc_code_phase_secs;
 
     //PRN period in samples
     int d_current_prn_length_samples;

src/tests/system-tests/obs_gps_l1_system_test.cc

@@ -29,7 +29,7 @@
  * -------------------------------------------------------------------------
  */
 
-
+#include <algorithm>
 #include <exception>
 #include <iostream>
 #include <cstring>
@@ -46,16 +46,15 @@
 #include "Rinex3ObsData.hpp"
 #include "Rinex3ObsHeader.hpp"
 #include "Rinex3ObsStream.hpp"
-#include "control_thread.h"
 #include "concurrent_map.h"
 #include "concurrent_queue.h"
+#include "control_thread.h"
 #include "in_memory_configuration.h"
 
 
-
 DEFINE_string(generator_binary, std::string(SW_GENERATOR_BIN), "Path of software-defined signal generator binary");
 DEFINE_string(rinex_nav_file, std::string(DEFAULT_RINEX_NAV), "Input RINEX navigation file");
-DEFINE_int32(duration, 100, "Duration of the experiment [in seconds]");
+DEFINE_int32(duration, 100, "Duration of the experiment [in seconds, max = 300]");
 DEFINE_string(static_position, "30.286502,120.032669,100", "Static receiver position [log,lat,height]");
 DEFINE_string(dynamic_position, "", "Observer positions file, in .csv or .nmea format");
 DEFINE_string(filename_rinex_obs, "sim.16o", "Filename of output RINEX navigation file");
@@ -75,7 +74,7 @@ public:
     std::string p4;
     std::string p5;
 
-    const int baseband_sampling_freq = 2.6e6;
+    const double baseband_sampling_freq = 2.6e6;
 
     std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
     std::string filename_raw_data = FLAGS_filename_raw_data;
@@ -131,7 +130,8 @@ int Obs_Gps_L1_System_Test::configure_generator()
     p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
     if(FLAGS_dynamic_position.empty())
         {
-            p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
+            p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(std::min(FLAGS_duration * 10, 3000));
+            if(FLAGS_duration > 300) std::cout << "WARNING: Duration has been set to its maximum value of 300 s" << std::endl;
         }
     else
         {
@@ -208,6 +208,9 @@ int Obs_Gps_L1_System_Test::configure_receiver()
     const float pll_bw_hz = 30.0;
     const float dll_bw_hz = 4.0;
     const float early_late_space_chips = 0.5;
+    const float pll_bw_narrow_hz = 20.0;
+    const float dll_bw_narrow_hz = 2.0;
+    const int extend_correlation_ms = 1;
 
     const int display_rate_ms = 500;
     const int output_rate_ms = 1000;
@@ -287,6 +290,7 @@ int Obs_Gps_L1_System_Test::configure_receiver()
 
     // Set Tracking
     config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
+    //config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
     config->set_property("Tracking_1C.item_type", "gr_complex");
     config->set_property("Tracking_1C.if", std::to_string(zero));
     config->set_property("Tracking_1C.dump", "false");
@@ -295,6 +299,10 @@ int Obs_Gps_L1_System_Test::configure_receiver()
     config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz));
     config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips));
 
+    config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz));
+    config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz));
+    config->set_property("Tracking_1C.extend_correlation_ms", std::to_string(extend_correlation_ms));
+
     // Set Telemetry
     config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
     config->set_property("TelemetryDecoder_1C.dump", "false");
@@ -304,6 +312,7 @@ int Obs_Gps_L1_System_Test::configure_receiver()
     config->set_property("Observables.implementation", "GPS_L1_CA_Observables");
     config->set_property("Observables.dump", "false");
     config->set_property("Observables.dump_filename", "./observables.dat");
+    config->set_property("Observables.averaging_depth", std::to_string(100));
 
     // Set PVT
     config->set_property("PVT.implementation", "GPS_L1_CA_PVT");
@@ -344,12 +353,13 @@ int Obs_Gps_L1_System_Test::run_receiver()
     }
     // Get the name of the RINEX obs file generated by the receiver
     FILE *fp;
-    std::string argum2 = std::string("/bin/ls *O | tail -1");
+    std::string argum2 = std::string("/bin/ls *O | grep GSDR | tail -1");
     char buffer[1035];
     fp = popen(&argum2[0], "r");
     if (fp == NULL)
         {
             std::cout << "Failed to run command: " << argum2 << std::endl;
+            return -1;
         }
     char * without_trailing;
     while (fgets(buffer, sizeof(buffer), fp) != NULL)
@@ -519,10 +529,11 @@ void Obs_Gps_L1_System_Test::check_results()
                     // If a measure exists for this sow, store it
                     for(it2 = pseudorange_meas.at(prn_id).begin(); it2 != pseudorange_meas.at(prn_id).end(); it2++)
                         {
-                            if(std::abs(it->first - it2->first) < 0.001) // store measures closer than 1 ms.
+                            if(std::abs(it->first - it2->first) < 0.01) // store measures closer than 10 ms.
                                 {
                                     pseudorange_ref_aligned.at(prn_id).push_back(*it);
                                     pr_diff.at(prn_id).push_back(it->second - it2->second );
+                                    //std::cout << "Sat " << prn_id << ": " << "PR_ref=" << it->second << "   PR_meas=" << it2->second << "    Diff:" << it->second - it2->second <<  std::endl;
                                 }
                         }
                 }
@@ -537,7 +548,7 @@ void Obs_Gps_L1_System_Test::check_results()
                     // If a measure exists for this sow, store it
                     for(it2 = carrierphase_meas.at(prn_id).begin(); it2 != carrierphase_meas.at(prn_id).end(); it2++)
                         {
-                            if(std::abs(it->first - it2->first) < 0.001) // store measures closer than 1 ms.
+                            if(std::abs(it->first - it2->first) < 0.01) // store measures closer than 10 ms.
                                 {
                                     carrierphase_ref_aligned.at(prn_id).push_back(*it);
                                     cp_diff.at(prn_id).push_back(it->second - it2->second );
@@ -555,7 +566,7 @@ void Obs_Gps_L1_System_Test::check_results()
                     // If a measure exists for this sow, store it
                     for(it2 = doppler_meas.at(prn_id).begin(); it2 != doppler_meas.at(prn_id).end(); it2++)
                         {
-                            if(std::abs(it->first - it2->first) < 0.001) // store measures closer than 1 ms.
+                            if(std::abs(it->first - it2->first) < 0.01) // store measures closer than 10 ms.
                                 {
                                     doppler_ref_aligned.at(prn_id).push_back(*it);
                                     doppler_diff.at(prn_id).push_back(it->second - it2->second );
@@ -582,7 +593,10 @@ void Obs_Gps_L1_System_Test::check_results()
                 {
                     mean_diff = mean_diff / number_obs;
                     mean_pr_diff_v.push_back(mean_diff);
-                    std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << mean_diff << " [m]" << std::endl;
+                    std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << mean_diff;
+                     double stdev_ = compute_stdev(*iter_diff);
+                     std::cout << " +/- " << stdev_ ;
+                    std::cout << " [m]" << std::endl;
                 }
             else
                 {
@@ -662,7 +676,7 @@ TEST_F(Obs_Gps_L1_System_Test, Observables_system_test)
 {
     std::cout << "Validating input RINEX nav file: " << FLAGS_rinex_nav_file << " ..." << std::endl;
     bool is_rinex_nav_valid = check_valid_rinex_nav(FLAGS_rinex_nav_file);
-    ASSERT_EQ(true, is_rinex_nav_valid);
+    EXPECT_EQ(true, is_rinex_nav_valid) << "The RINEX navigation file " << FLAGS_rinex_nav_file << " is not well formed.";
     std::cout << "The file is valid." << std::endl;
 
     // Configure the signal generator
@@ -673,18 +687,18 @@ TEST_F(Obs_Gps_L1_System_Test, Observables_system_test)
 
     std::cout << "Validating generated reference RINEX obs file: " << FLAGS_filename_rinex_obs << " ..." << std::endl;
     bool is_gen_rinex_obs_valid = check_valid_rinex_obs( "./" + FLAGS_filename_rinex_obs);
-    ASSERT_EQ(true, is_gen_rinex_obs_valid);
+    EXPECT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << FLAGS_filename_rinex_obs << ", generated by gnss-sim, is not well formed.";
     std::cout << "The file is valid." << std::endl;
 
     // Configure receiver
     configure_receiver();
 
     // Run the receiver
-    run_receiver();
+    EXPECT_EQ( run_receiver(), 0) << "Problem executing the software-defined signal generator";
 
     std::cout << "Validating RINEX obs file obtained by GNSS-SDR: " << generated_rinex_obs << " ..." << std::endl;
     is_gen_rinex_obs_valid = check_valid_rinex_obs( "./" + generated_rinex_obs);
-    ASSERT_EQ(true, is_gen_rinex_obs_valid);
+    EXPECT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << generated_rinex_obs << ", generated by GNSS-SDR, is not well formed.";
     std::cout << "The file is valid." << std::endl;
 
     // Check results