mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2024-11-06 01:56:25 +00:00
Code Issues Releases Wiki Activity

Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

Browse Source
This commit is contained in:
Carles Fernandez 2018-03-30 08:52:24 +02:00
commit 45cf92a382
50 changed files with 3032 additions and 3286 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
docs/doxygen/Doxyfile.in
View File

@ -129,7 +129,7 @@ INLINE_INHERITED_MEMB = NO
# path before files name in the file list and in the header files. If set
# to NO the shortest path that makes the file name unique will be used.
FULL_PATH_NAMES = YES
FULL_PATH_NAMES = NO
# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
# can be used to strip a user-defined part of the path. Stripping is
@ -901,7 +901,7 @@ HTML_COLORSTYLE_GAMMA = 80
# page will contain the date and time when the page was generated. Setting
# this to NO can help when comparing the output of multiple runs.
HTML_TIMESTAMP = YES
HTML_TIMESTAMP = NO
# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
# files or namespaces will be aligned in HTML using tables. If set to

37
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -34,12 +34,14 @@
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/serialization/map.hpp>
#include <boost/exception/all.hpp>
#include <glog/logging.h>
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include <algorithm>
#include <iostream>
#include <map>
#include <exception>
using google::LogMessage;
@ -544,7 +546,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// store valid observables in a map.
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch]));
}
try
{
if (d_ls_pvt->gps_ephemeris_map.size() > 0)
{
if (tmp_eph_iter_gps != d_ls_pvt->gps_ephemeris_map.end())
@ -574,6 +577,17 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
}
catch (const boost::exception& ex)
{
std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << std::endl;
LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex);
}
catch (const std::exception& ex)
{
std::cout << "RTCM std exception: " << ex.what() << std::endl;
LOG(ERROR) << "RTCM std exception: " << ex.what();
}
}
}
// ############ 2 COMPUTE THE PVT ################################
@ -590,10 +604,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// compute on the fly PVT solution
if (flag_compute_pvt_output == true)
{
bool pvt_result;
pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, false);
if (pvt_result == true)
if (d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, false))
{
if (std::fabs(current_RX_time - last_pvt_display_T_rx_s) * 1000.0 >= static_cast<double>(d_display_rate_ms))
{
@ -1274,6 +1285,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
// ####################### RTCM MESSAGES #################
try
{
if (b_rtcm_writing_started)
{
if (type_of_rx == 1) // GPS L1 C/A
@ -2034,10 +2047,22 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
}
catch (const boost::exception& ex)
{
std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << std::endl;
LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex);
}
catch (const std::exception& ex)
{
std::cout << "RTCM std exception: " << ex.what() << std::endl;
LOG(ERROR) << "RTCM std exception: " << ex.what();
}
}
}
// DEBUG MESSAGE: Display position in console output
if ((d_ls_pvt->is_valid_position() == true) && (flag_display_pvt == true))
if (d_ls_pvt->is_valid_position() and flag_display_pvt)
{
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()

22
src/algorithms/libs/galileo_e1_signal_processing.cc
View File

@ -53,7 +53,7 @@ void galileo_e1_code_gen_int(int* _dest, char _Signal[3], signed int _prn)
for (size_t i = 0; i < Galileo_E1_B_PRIMARY_CODE[prn].length(); i++)
{
hex_to_binary_converter(&_dest[index], Galileo_E1_B_PRIMARY_CODE[prn].at(i));
index = index + 4;
index += 4;
}
}
else if (_galileo_signal.rfind("1C") != std::string::npos && _galileo_signal.length() >= 2)
@ -61,13 +61,9 @@ void galileo_e1_code_gen_int(int* _dest, char _Signal[3], signed int _prn)
for (size_t i = 0; i < Galileo_E1_C_PRIMARY_CODE[prn].length(); i++)
{
hex_to_binary_converter(&_dest[index], Galileo_E1_C_PRIMARY_CODE[prn].at(i));
index = index + 4;
index += 4;
}
}
else
{
return;
}
}
@ -107,6 +103,18 @@ void galileo_e1_sinboc_61_gen_int(int* _dest, int* _prn, unsigned int _length_ou
}
}
void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], unsigned int _prn)
{
std::string _galileo_signal = _Signal;
unsigned int _codeLength = static_cast<unsigned int>(Galileo_E1_B_CODE_LENGTH_CHIPS);
int primary_code_E1_chips[4092]; // _codeLength not accepted by Clang
galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); //generate Galileo E1 code, 1 sample per chip
for (unsigned int i = 0; i < _codeLength; i++)
{
_dest[2 * i] = static_cast<float>(primary_code_E1_chips[i]);
_dest[2 * i + 1] = -_dest[2 * i];
}
}
void galileo_e1_gen_float(float* _dest, int* _prn, char _Signal[3])
{
@ -137,8 +145,6 @@ void galileo_e1_gen_float(float* _dest, int* _prn, char _Signal[3])
beta * static_cast<float>(sinboc_61[i]);
}
}
else
return;
}

5
src/algorithms/libs/galileo_e1_signal_processing.h
View File

@ -34,6 +34,11 @@
#include <complex>
/*!
* \brief This function generates Galileo E1 code (can select E1B or E1C sinboc).
*
*/
void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], unsigned int _prn);
/*!
* \brief This function generates Galileo E1 code (can select E1B or E1C, cboc or sinboc

17
src/algorithms/libs/gps_l2c_signal.cc
View File

@ -71,6 +71,23 @@ void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
delete[] _code;
}
void gps_l2c_m_code_gen_float(float* _dest, unsigned int _prn)
{
int32_t* _code = new int32_t[GPS_L2_M_CODE_LENGTH_CHIPS];
if (_prn > 0 and _prn < 51)
{
gps_l2c_m_code(_code, _prn);
}
for (signed int i = 0; i < GPS_L2_M_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = 1.0 - 2.0 * static_cast<float>(_code[i]);
}
delete[] _code;
}
/*
* Generates complex GPS L2C M code for the desired SV ID and sampled to specific sampling frequency

2
src/algorithms/libs/gps_l2c_signal.h
View File

@ -38,7 +38,7 @@
//!Generates complex GPS L2C M code for the desired SV ID
void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, unsigned int _prn);
void gps_l2c_m_code_gen_float(float* _dest, unsigned int _prn);
//! Generates complex GPS L2C M code for the desired SV ID, and sampled to specific sampling frequency
void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs);

31
src/algorithms/libs/gps_l5_signal.cc
View File

@ -197,6 +197,22 @@ void gps_l5i_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
delete[] _code;
}
void gps_l5i_code_gen_float(float* _dest, unsigned int _prn)
{
int32_t* _code = new int32_t[GPS_L5i_CODE_LENGTH_CHIPS];
if (_prn > 0 and _prn < 51)
{
make_l5i(_code, _prn - 1);
}
for (signed int i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = 1.0 - 2.0 * static_cast<float>(_code[i]);
}
delete[] _code;
}
/*
* Generates complex GPS L5i code for the desired SV ID and sampled to specific sampling frequency
@ -264,7 +280,22 @@ void gps_l5q_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
delete[] _code;
}
void gps_l5q_code_gen_float(float* _dest, unsigned int _prn)
{
int32_t* _code = new int32_t[GPS_L5q_CODE_LENGTH_CHIPS];
if (_prn > 0 and _prn < 51)
{
make_l5q(_code, _prn - 1);
}
for (signed int i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = 1.0 - 2.0 * static_cast<float>(_code[i]);
}
delete[] _code;
}
/*
* Generates complex GPS L5i code for the desired SV ID and sampled to specific sampling frequency
*/

2
src/algorithms/libs/gps_l5_signal.h
View File

@ -38,9 +38,11 @@
//!Generates complex GPS L5i M code for the desired SV ID
void gps_l5i_code_gen_complex(std::complex<float>* _dest, unsigned int _prn);
void gps_l5i_code_gen_float(float* _dest, unsigned int _prn);
//!Generates complex GPS L5q M code for the desired SV ID
void gps_l5q_code_gen_complex(std::complex<float>* _dest, unsigned int _prn);
void gps_l5q_code_gen_float(float* _dest, unsigned int _prn);
//! Generates complex GPS L5i M code for the desired SV ID, and sampled to specific sampling frequency
void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs);

10
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc
View File

@ -70,9 +70,9 @@ gps_l5_telemetry_decoder_cc::gps_l5_telemetry_decoder_cc(
d_TOW_at_Preamble = 0.0;
//initialize the CNAV frame decoder (libswiftcnav)
cnav_msg_decoder_init(&d_cnav_decoder);
for (int aux = 0; aux < GPS_L5_NH_CODE_LENGTH; aux++)
for (int aux = 0; aux < GPS_L5i_NH_CODE_LENGTH; aux++)
{
if (GPS_L5_NH_CODE[aux] == 0)
if (GPS_L5i_NH_CODE[aux] == 0)
{
bits_NH[aux] = -1.0;
}
@ -119,9 +119,9 @@ int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((u
int symbol_value = 0;
//Search correlation with Neuman-Hofman Code (see IS-GPS-705D)
if (sym_hist.size() == GPS_L5_NH_CODE_LENGTH)
if (sym_hist.size() == GPS_L5i_NH_CODE_LENGTH)
{
for (int i = 0; i < GPS_L5_NH_CODE_LENGTH; i++)
for (int i = 0; i < GPS_L5i_NH_CODE_LENGTH; i++)
{
if ((bits_NH[i] * sym_hist.at(i)) > 0.0)
{
@ -132,7 +132,7 @@ int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((u
corr_NH -= 1;
}
}
if (abs(corr_NH) == GPS_L5_NH_CODE_LENGTH)
if (abs(corr_NH) == GPS_L5i_NH_CODE_LENGTH)
{
sync_NH = true;
if (corr_NH > 0)

5
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h
View File

@ -42,8 +42,7 @@
#include <utility>
#include <vector>
extern "C"
{
extern "C" {
#include "cnav_msg.h"
#include "edc.h"
#include "bits.h"
@ -91,7 +90,7 @@ private:
bool d_flag_valid_word;
Gps_CNAV_Navigation_Message d_CNAV_Message;
double bits_NH[GPS_L5_NH_CODE_LENGTH];
double bits_NH[GPS_L5i_NH_CODE_LENGTH];
std::deque<double> sym_hist;
bool sync_NH;
bool new_sym;

10
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
View File

@ -51,7 +51,6 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
@ -64,11 +63,9 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
float very_early_late_space_chips;
float early_late_space_narrow_chips;
float very_early_late_space_narrow_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
@ -94,8 +91,9 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
tracking_ = galileo_e1_dll_pll_veml_make_tracking_cc(
f_if,
char sig_[3] = "1B";
tracking_ = dll_pll_veml_make_tracking(
fs_in,
vector_length,
dump,
@ -109,7 +107,7 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
early_late_space_narrow_chips,
very_early_late_space_narrow_chips,
extend_correlation_symbols,
track_pilot);
track_pilot, 'E', sig_);
}
else
{

4
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.h
View File

@ -38,7 +38,7 @@
#define GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_H_
#include "tracking_interface.h"
#include "galileo_e1_dll_pll_veml_tracking_cc.h"
#include "dll_pll_veml_tracking.h"
#include <string>
@ -94,7 +94,7 @@ public:
void start_tracking() override;
private:
galileo_e1_dll_pll_veml_tracking_cc_sptr tracking_;
dll_pll_veml_tracking_sptr tracking_;
size_t item_size_;
unsigned int channel_;
std::string role_;

31
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
View File

@ -52,41 +52,48 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex";
float pll_bw_hz;
float dll_bw_hz;
float early_late_space_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator < 1) symbols_extended_correlator = 1;
//################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
tracking_ = gps_l1_ca_dll_pll_make_tracking_cc(
f_if,
char sig_[3] = "1C";
tracking_ = dll_pll_veml_make_tracking(
fs_in,
vector_length,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
early_late_space_chips);
pll_bw_narrow_hz,
dll_bw_narrow_hz,
early_late_space_chips,
early_late_space_chips,
early_late_space_narrow_chips,
early_late_space_narrow_chips,
symbols_extended_correlator,
false,
'G', sig_);
}
else
{

4
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.h
View File

@ -39,7 +39,7 @@
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_H_
#include "tracking_interface.h"
#include "gps_l1_ca_dll_pll_tracking_cc.h"
#include "dll_pll_veml_tracking.h"
#include <string>
class ConfigurationInterface;
@ -92,7 +92,7 @@ public:
void start_tracking() override;
private:
gps_l1_ca_dll_pll_tracking_cc_sptr tracking_;
dll_pll_veml_tracking_sptr tracking_;
size_t item_size_;
unsigned int channel_;
std::string role_;

3
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
View File

@ -27,9 +27,7 @@ if(ENABLE_FPGA)
endif(ENABLE_FPGA)
set(TRACKING_GR_BLOCKS_SOURCES
galileo_e1_dll_pll_veml_tracking_cc.cc
galileo_e1_tcp_connector_tracking_cc.cc
gps_l1_ca_dll_pll_tracking_cc.cc
gps_l1_ca_tcp_connector_tracking_cc.cc
galileo_e5a_dll_pll_tracking_cc.cc
gps_l2_m_dll_pll_tracking_cc.cc
@ -42,6 +40,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
glonass_l2_ca_dll_pll_tracking_cc.cc
glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
dll_pll_veml_tracking.cc
${OPT_TRACKING_BLOCKS}
)

1532
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc Executable file
View File

File diff suppressed because it is too large Load Diff

166
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h → src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h Normal file → Executable file
View File

@ -1,12 +1,11 @@
/*!
* \file galileo_e1_dll_pll_veml_tracking_cc.h
* \brief Implementation of a code DLL + carrier PLL VEML (Very Early
* Minus Late) tracking block for Galileo E1 signals
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
* \file dll_pll_veml_tracking.h
* \brief Implementation of a code DLL + carrier PLL tracking block.
* \author Antonio Ramos, 2018 antonio.ramosdet(at)gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -29,8 +28,8 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_CC_H
#define GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_CC_H
#ifndef GNSS_SDR_DLL_PLL_VEML_TRACKING_H
#define GNSS_SDR_DLL_PLL_VEML_TRACKING_H
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
@ -39,72 +38,50 @@
#include <gnuradio/block.h>
#include <fstream>
#include <string>
#include <map>
class galileo_e1_dll_pll_veml_tracking_cc;
class dll_pll_veml_tracking;
typedef boost::shared_ptr<galileo_e1_dll_pll_veml_tracking_cc> galileo_e1_dll_pll_veml_tracking_cc_sptr;
typedef boost::shared_ptr<dll_pll_veml_tracking> dll_pll_veml_tracking_sptr;
galileo_e1_dll_pll_veml_tracking_cc_sptr
galileo_e1_dll_pll_veml_make_tracking_cc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
float early_late_space_chips,
float very_early_late_space_chips,
dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(double fs_in, unsigned int vector_length,
bool dump, std::string dump_filename,
float pll_bw_hz, float dll_bw_hz,
float pll_bw_narrow_hz, float dll_bw_narrow_hz,
float early_late_space_chips, float very_early_late_space_chips,
float early_late_space_narrow_chips,
float very_early_late_space_narrow_chips,
int extend_correlation_symbols,
bool track_pilot);
int extend_correlation_symbols, bool track_pilot,
char system, char signal[3]);
/*!
* \brief This class implements a code DLL + carrier PLL VEML (Very Early
* Minus Late) tracking block for Galileo E1 signals
* \brief This class implements a code DLL + carrier PLL tracking block.
*/
class galileo_e1_dll_pll_veml_tracking_cc : public gr::block
class dll_pll_veml_tracking : public gr::block
{
public:
~galileo_e1_dll_pll_veml_tracking_cc();
~dll_pll_veml_tracking();
void set_channel(unsigned int channel);
void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro);
void start_tracking();
/*!
* \brief Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
* Birkhauser, 2007
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
void forecast(int noutput_items, gr_vector_int &ninput_items_required);
private:
friend galileo_e1_dll_pll_veml_tracking_cc_sptr
galileo_e1_dll_pll_veml_make_tracking_cc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
float early_late_space_chips,
float very_early_late_space_chips,
float early_late_space_narrow_chips,
friend dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(double fs_in, unsigned int vector_length,
bool dump, std::string dump_filename,
float pll_bw_hz, float dll_bw_hz, float pll_bw_narrow_hz,
float dll_bw_narrow_hz, float early_late_space_chips,
float very_early_late_space_chips, float early_late_space_narrow_chips,
float very_early_late_space_narrow_chips,
int extend_correlation_symbols,
bool track_pilot);
int extend_correlation_symbols, bool track_pilot,
char system, char signal[3]);
galileo_e1_dll_pll_veml_tracking_cc(long if_freq,
long fs_in, unsigned int vector_length,
dll_pll_veml_tracking(double fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
@ -116,61 +93,74 @@ private:
float early_late_space_narrow_chips,
float very_early_late_space_narrow_chips,
int extend_correlation_symbols,
bool track_pilot);
bool track_pilot,
char system, char signal[3]);
bool cn0_and_tracking_lock_status();
void do_correlation_step(const gr_complex *input_samples);
void run_dll_pll(bool disable_costas_loop);
void update_local_code();
void update_local_carrier();
bool acquire_secondary();
void do_correlation_step(const gr_complex *input_samples);
void run_dll_pll();
void update_tracking_vars();
void clear_tracking_vars();
void log_data();
void save_correlation_results();
void log_data(bool integrating);
int save_matfile();
// tracking configuration vars
unsigned int d_vector_length;
bool d_dump;
Gnss_Synchro *d_acquisition_gnss_synchro;
bool d_veml;
bool d_cloop;
unsigned int d_vector_length;
unsigned int d_channel;
long d_if_freq;
long d_fs_in;
double d_fs_in;
Gnss_Synchro *d_acquisition_gnss_synchro;
//Signal parameters
bool d_secondary;
bool interchange_iq;
double d_signal_carrier_freq;
double d_code_period;
double d_code_chip_rate;
unsigned int d_secondary_code_length;
unsigned int d_code_length_chips;
unsigned int d_code_samples_per_chip; // All signals have 1 sample per chip code except Gal. E1 which has 2 (CBOC disabled) or 12 (CBOC enabled)
int d_symbols_per_bit;
std::string systemName;
std::string signal_type;
std::string *d_secondary_code_string;
//tracking state machine
int d_state;
bool d_synchonizing;
//Integration period in samples
int d_correlation_length_samples;
int d_correlation_length_ms;
int d_n_correlator_taps;
double d_early_late_spc_chips;
double d_very_early_late_spc_chips;
double d_early_late_spc_narrow_chips;
double d_very_early_late_spc_narrow_chips;
float d_early_late_spc_chips;
float d_very_early_late_spc_chips;
float d_early_late_spc_narrow_chips;
float d_very_early_late_spc_narrow_chips;
float *d_tracking_code;
float *d_data_code;
float *d_local_code_shift_chips;
gr_complex *d_correlator_outs;
float *d_prompt_data_shift;
cpu_multicorrelator_real_codes multicorrelator_cpu;
//todo: currently the multicorrelator does not support adding extra correlator
//with different local code, thus we need extra multicorrelator instance.
//Implement this functionality inside multicorrelator class
//as an enhancement to increase the performance
float *d_local_code_data_shift_chips;
cpu_multicorrelator_real_codes correlator_data_cpu; //for data channel
/* TODO: currently the multicorrelator does not support adding extra correlator
with different local code, thus we need extra multicorrelator instance.
Implement this functionality inside multicorrelator class
as an enhancement to increase the performance
*/
gr_complex *d_correlator_outs;
gr_complex *d_Very_Early;
gr_complex *d_Early;
gr_complex *d_Prompt;
gr_complex *d_Late;
gr_complex *d_Very_Late;
bool d_enable_extended_integration;
int d_extend_correlation_symbols;
int d_extend_correlation_symbols_count;
bool d_enable_extended_integration;
int d_current_symbol;
gr_complex d_VE_accu;
@ -178,6 +168,7 @@ private:
gr_complex d_P_accu;
gr_complex d_L_accu;
gr_complex d_VL_accu;
gr_complex d_last_prompt;
bool d_track_pilot;
gr_complex *d_Prompt_Data;
@ -206,39 +197,34 @@ private:
double d_carr_error_filt_hz;
double d_code_error_chips;
double d_code_error_filt_chips;
double d_K_blk_samples;
double d_code_freq_chips;
double d_carrier_doppler_hz;
double d_acc_carrier_phase_rad;
double d_rem_code_phase_chips;
double d_code_phase_samples;
double T_chip_seconds;
double T_prn_seconds;
double T_prn_samples;
double K_blk_samples;
// PRN period in samples
int d_current_prn_length_samples;
// processing samples counters
unsigned long int d_sample_counter;
unsigned long int d_acq_sample_stamp;
// CN0 estimation and lock detector
int d_cn0_estimation_counter;
std::deque<gr_complex> d_Prompt_buffer_deque;
gr_complex *d_Prompt_buffer;
int d_carrier_lock_fail_counter;
double d_carrier_lock_test;
double d_CN0_SNV_dB_Hz;
double d_carrier_lock_threshold;
int d_carrier_lock_fail_counter;
std::deque<gr_complex> d_Prompt_buffer_deque;
gr_complex *d_Prompt_buffer;
// file dump
std::string d_dump_filename;
std::ofstream d_dump_file;
std::map<std::string, std::string> systemName;
std::string sys;
int save_matfile();
};
#endif //GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_CC_H
#endif // GNSS_SDR_DLL_PLL_VEML_TRACKING_H

1236
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
View File

File diff suppressed because it is too large Load Diff

56
src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc
View File

@ -443,21 +443,18 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attri
// MULTIPLEXED FILE RECORDING - Record results to file
float prompt_I;
float prompt_Q;
float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL;
float tmp_E, tmp_P, tmp_L;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
float tmp_float;
tmp_float = 0;
double tmp_double;
prompt_I = (*d_Prompt).real();
prompt_Q = (*d_Prompt).imag();
tmp_VE = std::abs<float>(*d_Very_Early);
tmp_E = std::abs<float>(*d_Early);
tmp_P = std::abs<float>(*d_Prompt);
tmp_L = std::abs<float>(*d_Late);
tmp_VL = std::abs<float>(*d_Very_Late);
prompt_I = d_correlator_outs[1].real();
prompt_Q = d_correlator_outs[1].imag();
tmp_E = std::abs<float>(d_correlator_outs[0]);
tmp_P = std::abs<float>(d_correlator_outs[1]);
tmp_L = std::abs<float>(d_correlator_outs[2]);
try
{
// EPR
// Dump correlators output
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
@ -469,30 +466,33 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attri
// PRN start sample stamp
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_rad), sizeof(float));
tmp_float = d_acc_carrier_phase_rad;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier and code frequency
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(float));
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
tmp_float = 0.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = carr_error_filt_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(float));
// DLL commands
tmp_float = 0.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = code_error_filt_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&code_error_filt_chips), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(float));
// AUX vars (for debug purposes)
tmp_float = d_rem_code_phase_samples;
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_float = 0.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));

49
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -831,7 +831,9 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
float tmp_float;
prompt_I = d_correlator_outs[1].real();
prompt_Q = d_correlator_outs[1].imag();
tmp_E = std::abs<float>(d_correlator_outs[0]);
@ -839,42 +841,45 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
tmp_L = std::abs<float>(d_correlator_outs[2]);
try
{
// EPR
// Dump correlators output
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
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_float=(float)d_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
tmp_float = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier and code frequency
double if_freq_carrier = d_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));
d_dump_file.write(reinterpret_cast<char *>(&if_freq_carrier), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_carr_phase_error_secs_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// DLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_chips_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_filt_chips_Ti), sizeof(double));
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_error_filt_chips_Ti;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));

54
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -822,49 +822,55 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
float tmp_float;
prompt_I = d_correlator_outs_16sc[1].real();
prompt_Q = d_correlator_outs_16sc[1].imag();
tmp_E = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
tmp_P = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
tmp_L = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
tmp_E = std::abs<float>(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
tmp_P = std::abs<float>(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
tmp_L = std::abs<float>(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
try
{
// EPR
// Dump correlators output
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
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_float=(float)d_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
tmp_float = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier and code frequency
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));
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_carr_phase_error_secs_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// DLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_chips_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_filt_chips_Ti), sizeof(double));
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_error_filt_chips_Ti;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));

51
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
View File

@ -675,8 +675,9 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
unsigned long int tmp_long;
float tmp_float;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
prompt_I = d_correlator_outs[1].real();
prompt_Q = d_correlator_outs[1].imag();
tmp_E = std::abs<float>(d_correlator_outs[0]);
@ -684,41 +685,45 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
tmp_L = std::abs<float>(d_correlator_outs[2]);
try
{
// EPR
// Dump correlators output
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
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;
d_dump_file.write(reinterpret_cast<char *>(&tmp_long), sizeof(unsigned long int));
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_rad), sizeof(double));
tmp_float = d_acc_carrier_phase_rad;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier and code frequency
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_frequency_hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
d_dump_file.write(reinterpret_cast<char *>(&carr_error_hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(double));
tmp_float = carr_error_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = carr_error_filt_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// 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));
tmp_float = code_error_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = code_error_filt_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_double = d_rem_code_phase_samples;
tmp_float = d_rem_code_phase_samples;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
double tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));

49
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -828,7 +828,9 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
float tmp_float;
prompt_I = d_correlator_outs[1].real();
prompt_Q = d_correlator_outs[1].imag();
tmp_E = std::abs<float>(d_correlator_outs[0]);
@ -836,42 +838,45 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
tmp_L = std::abs<float>(d_correlator_outs[2]);
try
{
// EPR
// Dump correlators output
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
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_float=(float)d_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
tmp_float = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier and code frequency
double if_freq_carrier = d_carrier_doppler_hz + d_if_freq + (DFRQ2_GLO * static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));
d_dump_file.write(reinterpret_cast<char *>(&if_freq_carrier), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_carr_phase_error_secs_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// DLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_chips_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_filt_chips_Ti), sizeof(double));
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_error_filt_chips_Ti;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));

54
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -820,49 +820,55 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
float tmp_float;
prompt_I = d_correlator_outs_16sc[1].real();
prompt_Q = d_correlator_outs_16sc[1].imag();
tmp_E = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
tmp_P = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
tmp_L = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
tmp_E = std::abs<float>(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
tmp_P = std::abs<float>(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
tmp_L = std::abs<float>(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
try
{
// EPR
// Dump correlators output
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
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_float=(float)d_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
tmp_float = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier and code frequency
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));
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_carr_phase_error_secs_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// DLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_chips_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_filt_chips_Ti), sizeof(double));
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_error_filt_chips_Ti;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));

51
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc
View File

@ -675,8 +675,9 @@ int Glonass_L2_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
unsigned long int tmp_long;
float tmp_float;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
prompt_I = d_correlator_outs[1].real();
prompt_Q = d_correlator_outs[1].imag();
tmp_E = std::abs<float>(d_correlator_outs[0]);
@ -684,41 +685,45 @@ int Glonass_L2_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
tmp_L = std::abs<float>(d_correlator_outs[2]);
try
{
// EPR
// Dump correlators output
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
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;
d_dump_file.write(reinterpret_cast<char *>(&tmp_long), sizeof(unsigned long int));
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_rad), sizeof(double));
tmp_float = d_acc_carrier_phase_rad;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier and code frequency
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_frequency_hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
d_dump_file.write(reinterpret_cast<char *>(&carr_error_hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(double));
tmp_float = carr_error_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = carr_error_filt_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// 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));
tmp_float = code_error_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = code_error_filt_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_double = d_rem_code_phase_samples;
tmp_float = d_rem_code_phase_samples;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
double tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));

48
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -810,7 +810,9 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attrib
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
float tmp_float;
prompt_I = d_correlator_outs[1].real();
prompt_Q = d_correlator_outs[1].imag();
tmp_E = std::abs<float>(d_correlator_outs[0]);
@ -818,41 +820,45 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attrib
tmp_L = std::abs<float>(d_correlator_outs[2]);
try
{
// EPR
// Dump correlators output
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
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_float=(float)d_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier and code frequency
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));
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_carr_phase_error_secs_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// DLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_chips_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_filt_chips_Ti), sizeof(double));
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_error_filt_chips_Ti;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));

54
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc
View File

@ -632,49 +632,55 @@ int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work(
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
float tmp_float;
prompt_I = d_correlator_outs_16sc[1].real();
prompt_Q = d_correlator_outs_16sc[1].imag();
tmp_E = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
tmp_P = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
tmp_L = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
tmp_E = std::abs<float>(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
tmp_P = std::abs<float>(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
tmp_L = std::abs<float>(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
try
{
// EPR
// Dump correlators output
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
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_float=(float)d_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier and code frequency
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));
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_carr_phase_error_secs_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// DLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_chips_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_filt_chips_Ti), sizeof(double));
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_error_filt_chips_Ti;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));

54
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -812,49 +812,55 @@ int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attrib
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
float tmp_float;
prompt_I = d_correlator_outs_16sc[1].real();
prompt_Q = d_correlator_outs_16sc[1].imag();
tmp_E = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
tmp_P = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
tmp_L = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
tmp_E = std::abs<float>(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
tmp_P = std::abs<float>(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
tmp_L = std::abs<float>(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
try
{
// EPR
// Dump correlators output
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
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_float=(float)d_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier and code frequency
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));
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_carr_phase_error_secs_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// DLL commands
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_chips_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_filt_chips_Ti), sizeof(double));
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_error_filt_chips_Ti;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));

768
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
View File

@ -1,768 +0,0 @@
/*!
* \file gps_l1_ca_dll_pll_tracking_cc.cc
* \brief Implementation of a code DLL + carrier PLL tracking block
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_dll_pll_tracking_cc.h"
#include "gps_sdr_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
#include "gnss_sdr_flags.h"
#include "GPS_L1_CA.h"
#include "control_message_factory.h"
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <matio.h>
#include <cmath>
#include <iostream>
#include <memory>
#include <sstream>
using google::LogMessage;
gps_l1_ca_dll_pll_tracking_cc_sptr
gps_l1_ca_dll_pll_make_tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips)
{
return gps_l1_ca_dll_pll_tracking_cc_sptr(new Gps_L1_Ca_Dll_Pll_Tracking_cc(if_freq,
fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::forecast(int noutput_items,
gr_vector_int &ninput_items_required)
{
if (noutput_items != 0)
{
ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
}
}
Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips) : gr::block("Gps_L1_Ca_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->message_port_register_out(pmt::mp("events"));
// initialize internal vars
d_dump = dump;
d_if_freq = if_freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_dump_filename = dump_filename;
d_current_prn_length_samples = static_cast<int>(d_vector_length);
// Initialize tracking ==========================================
d_code_loop_filter.set_DLL_BW(dll_bw_hz);
d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
//--- DLL variables --------------------------------------------------------
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
// Initialization of local code replica
// Get space for a vector with the C/A code replica sampled 1x/chip
d_ca_code = static_cast<float *>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
// correlator outputs (scalar)
d_n_correlator_taps = 3; // Early, Prompt, and Late
d_correlator_outs = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs[n] = gr_complex(0, 0);
}
d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment()));
// Set TAPs delay values [chips]
d_local_code_shift_chips[0] = -d_early_late_spc_chips;
d_local_code_shift_chips[1] = 0.0;
d_local_code_shift_chips[2] = d_early_late_spc_chips;
multicorrelator_cpu.init(2 * d_current_prn_length_samples, d_n_correlator_taps);
//--- Perform initializations ------------------------------
// define initial code frequency basis of NCO
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
// define residual code phase (in chips)
d_rem_code_phase_samples = 0.0;
// define residual carrier phase
d_rem_carr_phase_rad = 0.0;
// sample synchronization
d_sample_counter = 0;
//d_sample_counter_seconds = 0;
d_acq_sample_stamp = 0;
d_enable_tracking = false;
d_pull_in = false;
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = FLAGS_carrier_lock_th;
systemName["G"] = std::string("GPS");
systemName["S"] = std::string("SBAS");
d_acquisition_gnss_synchro = 0;
d_channel = 0;
d_acq_code_phase_samples = 0.0;
d_acq_carrier_doppler_hz = 0.0;
d_carrier_doppler_hz = 0.0;
d_acc_carrier_phase_rad = 0.0;
d_code_phase_samples = 0.0;
d_rem_code_phase_chips = 0.0;
d_code_phase_step_chips = 0.0;
d_carrier_phase_step_rad = 0.0;
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
{
gr::thread::scoped_lock lk(d_setlock);
/*
* correct the code phase according to the delay between acq and trk
*/
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
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;
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
// 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
double T_chip_mod_seconds;
double T_prn_mod_seconds;
double T_prn_mod_samples;
d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
T_chip_mod_seconds = 1 / d_code_freq_chips;
T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
d_current_prn_length_samples = round(T_prn_mod_samples);
double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
double corrected_acq_phase_samples, delay_correction_samples;
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
if (corrected_acq_phase_samples < 0)
{
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
}
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
d_acq_code_phase_samples = corrected_acq_phase_samples;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); // initialize the carrier filter
d_code_loop_filter.initialize(); // initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
gps_l1_ca_code_gen_float(d_ca_code, d_acquisition_gnss_synchro->PRN, 0);
multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs[n] = gr_complex(0, 0);
}
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0;
d_rem_carr_phase_rad = 0.0;
d_rem_code_phase_chips = 0.0;
d_acc_carrier_phase_rad = 0.0;
d_code_phase_samples = d_acq_code_phase_samples;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
// DEBUG OUTPUT
std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
// enable tracking
d_pull_in = true;
d_enable_tracking = true;
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
<< " Code Phase correction [samples]=" << delay_correction_samples
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
}
int Gps_L1_Ca_Dll_Pll_Tracking_cc::save_matfile()
{
// READ DUMP FILE
std::ifstream::pos_type size;
int number_of_double_vars = 11;
int number_of_float_vars = 5;
int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars +
sizeof(float) * number_of_float_vars + sizeof(unsigned int);
std::ifstream dump_file;
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
try
{
dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
}
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem opening dump file:" << e.what() << std::endl;
return 1;
}
// count number of epochs and rewind
long int num_epoch = 0;
if (dump_file.is_open())
{
size = dump_file.tellg();
num_epoch = static_cast<long int>(size) / static_cast<long int>(epoch_size_bytes);
dump_file.seekg(0, std::ios::beg);
}
else
{
return 1;
}
float *abs_E = new float[num_epoch];
float *abs_P = new float[num_epoch];
float *abs_L = new float[num_epoch];
float *Prompt_I = new float[num_epoch];
float *Prompt_Q = new float[num_epoch];
unsigned long int *PRN_start_sample_count = new unsigned long int[num_epoch];
double *acc_carrier_phase_rad = new double[num_epoch];
double *carrier_doppler_hz = new double[num_epoch];
double *code_freq_chips = new double[num_epoch];
double *carr_error_hz = new double[num_epoch];
double *carr_error_filt_hz = new double[num_epoch];
double *code_error_chips = new double[num_epoch];
double *code_error_filt_chips = new double[num_epoch];
double *CN0_SNV_dB_Hz = new double[num_epoch];
double *carrier_lock_test = new double[num_epoch];
double *aux1 = new double[num_epoch];
double *aux2 = new double[num_epoch];
unsigned int *PRN = new unsigned int[num_epoch];
try
{
if (dump_file.is_open())
{
for (long int i = 0; i < num_epoch; i++)
{
dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(unsigned long int));
dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(unsigned int));
}
}
dump_file.close();
}
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
delete[] abs_E;
delete[] abs_P;
delete[] abs_L;
delete[] Prompt_I;
delete[] Prompt_Q;
delete[] PRN_start_sample_count;
delete[] acc_carrier_phase_rad;
delete[] carrier_doppler_hz;
delete[] code_freq_chips;
delete[] carr_error_hz;
delete[] carr_error_filt_hz;
delete[] code_error_chips;
delete[] code_error_filt_chips;
delete[] CN0_SNV_dB_Hz;
delete[] carrier_lock_test;
delete[] aux1;
delete[] aux2;
delete[] PRN;
return 1;
}
// WRITE MAT FILE
mat_t *matfp;
matvar_t *matvar;
std::string filename = d_dump_filename;
filename.erase(filename.length() - 4, 4);
filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if (reinterpret_cast<long *>(matfp) != NULL)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp);
delete[] abs_E;
delete[] abs_P;
delete[] abs_L;
delete[] Prompt_I;
delete[] Prompt_Q;
delete[] PRN_start_sample_count;
delete[] acc_carrier_phase_rad;
delete[] carrier_doppler_hz;
delete[] code_freq_chips;
delete[] carr_error_hz;
delete[] carr_error_filt_hz;
delete[] code_error_chips;
delete[] code_error_filt_chips;
delete[] CN0_SNV_dB_Hz;
delete[] carrier_lock_test;
delete[] aux1;
delete[] aux2;
delete[] PRN;
return 0;
}
Gps_L1_Ca_Dll_Pll_Tracking_cc::~Gps_L1_Ca_Dll_Pll_Tracking_cc()
{
if (d_dump_file.is_open())
{
try
{
d_dump_file.close();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor " << ex.what();
}
}
if (d_dump)
{
if (d_channel == 0)
{
std::cout << "Writing .mat files ...";
}
Gps_L1_Ca_Dll_Pll_Tracking_cc::save_matfile();
if (d_channel == 0)
{
std::cout << " done." << std::endl;
}
}
try
{
volk_gnsssdr_free(d_local_code_shift_chips);
volk_gnsssdr_free(d_correlator_outs);
volk_gnsssdr_free(d_ca_code);
delete[] d_Prompt_buffer;
multicorrelator_cpu.free();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor " << ex.what();
}
}
int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
gr::thread::scoped_lock lk(d_setlock);
// process vars
double carr_error_hz = 0.0;
double carr_error_filt_hz = 0.0;
double code_error_chips = 0.0;
double code_error_filt_chips = 0.0;
// Block input data and block output stream pointers
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]);
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data = Gnss_Synchro();
if (d_enable_tracking == true)
{
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
// Receiver signal alignment
if (d_pull_in == true)
{
int samples_offset;
double acq_trk_shif_correction_samples;
int acq_to_trk_delay_samples;
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
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_sample_counter = d_sample_counter + samples_offset;
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 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;
current_synchro_data.fs = d_fs_in;
current_synchro_data.correlation_length_ms = 1;
consume_each(samples_offset); // shift input to perform alignment with local replica
return 0;
}
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
// perform carrier wipe-off and compute Early, Prompt and Late correlation
multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, in);
multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carr_phase_rad,
d_carrier_phase_step_rad,
d_rem_code_phase_chips,
d_code_phase_step_chips,
d_current_prn_length_samples);
// ################## 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
// Carrier discriminator filter
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
// New carrier Doppler frequency estimation
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
// New code Doppler frequency estimation
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ);
// ################## 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 discriminator filter
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second]
double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips * T_chip_seconds); //[seconds]
//double 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 ALIGNMENT #######################
// keep alignment parameters for the next input buffer
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
//double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
//double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
double T_prn_samples = T_prn_seconds * 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 number of samples
//################### PLL COMMANDS #################################################
// 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);
// 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
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]
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
// 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_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast<double>(d_fs_in));
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < FLAGS_cn0_samples)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; //prompt
d_cn0_estimation_counter++;
}
else
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail)
{
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
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}
}
// ########### Output the tracking data to navigation and PVT ##########
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
current_synchro_data.correlation_length_ms = 1;
}
else
{
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs[n] = gr_complex(0, 0);
}
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
current_synchro_data.System = {'G'};
current_synchro_data.correlation_length_ms = 1;
}
//assign the GNURadio block output data
current_synchro_data.fs = d_fs_in;
*out[0] = current_synchro_data;
if (d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
unsigned long int tmp_long;
prompt_I = d_correlator_outs[1].real();
prompt_Q = d_correlator_outs[1].imag();
tmp_E = std::abs<float>(d_correlator_outs[0]);
tmp_P = std::abs<float>(d_correlator_outs[1]);
tmp_L = std::abs<float>(d_correlator_outs[2]);
try
{
// EPR
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
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;
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));
// carrier and code frequency
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
d_dump_file.write(reinterpret_cast<char *>(&carr_error_hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(double));
// 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));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
// AUX vars (for debug purposes)
tmp_double = d_rem_code_phase_samples;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing trk dump file " << e.what();
}
}
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
if (current_synchro_data.Flag_valid_symbol_output)
{
return 1;
}
else
{
return 0;
}
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
{
d_channel = channel;
LOG(INFO) << "Tracking Channel set to " << d_channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
d_dump_filename.append(".dat");
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) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
}
}
}
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
{
d_acquisition_gnss_synchro = p_gnss_synchro;
}

167
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.h
View File

@ -1,167 +0,0 @@
/*!
* \file gps_l1_ca_dll_pll_tracking_cc.h
* \brief Interface of a code DLL + carrier PLL tracking block
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
* Cillian O'Driscoll, 2017. cillian.odriscoll(at)gmail.com
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
* Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_CC_H
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_CC_H
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include "cpu_multicorrelator_real_codes.h"
#include <gnuradio/block.h>
#include <fstream>
#include <map>
#include <string>
class Gps_L1_Ca_Dll_Pll_Tracking_cc;
typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Tracking_cc>
gps_l1_ca_dll_pll_tracking_cc_sptr;
gps_l1_ca_dll_pll_tracking_cc_sptr
gps_l1_ca_dll_pll_make_tracking_cc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips);
/*!
* \brief This class implements a DLL + PLL tracking loop block
*/
class Gps_L1_Ca_Dll_Pll_Tracking_cc : public gr::block
{
public:
~Gps_L1_Ca_Dll_Pll_Tracking_cc();
void set_channel(unsigned int channel);
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
void start_tracking();
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items, gr_vector_void_star& output_items);
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
private:
friend gps_l1_ca_dll_pll_tracking_cc_sptr
gps_l1_ca_dll_pll_make_tracking_cc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips);
Gps_L1_Ca_Dll_Pll_Tracking_cc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips);
int save_matfile();
// tracking configuration vars
unsigned int d_vector_length;
bool d_dump;
Gnss_Synchro* d_acquisition_gnss_synchro;
unsigned int d_channel;
long d_if_freq;
long d_fs_in;
double d_early_late_spc_chips;
// remaining code phase and carrier phase between tracking loops
double d_rem_code_phase_samples;
double d_rem_code_phase_chips;
double d_rem_carr_phase_rad;
// PLL and DLL filter library
Tracking_2nd_DLL_filter d_code_loop_filter;
Tracking_2nd_PLL_filter d_carrier_loop_filter;
// acquisition
double d_acq_code_phase_samples;
double d_acq_carrier_doppler_hz;
// correlator
int d_n_correlator_taps;
float* d_ca_code;
float* d_local_code_shift_chips;
gr_complex* d_correlator_outs;
cpu_multicorrelator_real_codes multicorrelator_cpu;
// tracking vars
double d_code_freq_chips;
double d_code_phase_step_chips;
double d_carrier_doppler_hz;
double d_carrier_phase_step_rad;
double d_acc_carrier_phase_rad;
double d_code_phase_samples;
//PRN period in samples
int d_current_prn_length_samples;
//processing samples counters
unsigned long int d_sample_counter;
unsigned long int d_acq_sample_stamp;
// CN0 estimation and lock detector
int d_cn0_estimation_counter;
gr_complex* d_Prompt_buffer;
double d_carrier_lock_test;
double d_CN0_SNV_dB_Hz;
double d_carrier_lock_threshold;
int d_carrier_lock_fail_counter;
// control vars
bool d_enable_tracking;
bool d_pull_in;
// file dump
std::string d_dump_filename;
std::ofstream d_dump_file;
std::map<std::string, std::string> systemName;
std::string sys;
};
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_CC_H

48
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
View File

@ -468,7 +468,9 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
float tmp_float;
prompt_I = d_correlator_outs[1].real();
prompt_Q = d_correlator_outs[1].imag();
tmp_E = std::abs<float>(d_correlator_outs[0]);
@ -476,41 +478,45 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
tmp_L = std::abs<float>(d_correlator_outs[2]);
try
{
// EPR
// Dump correlators output
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
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_float=(float)d_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier and code frequency
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));
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
d_dump_file.write(reinterpret_cast<char *>(&carr_phase_error_secs_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// DLL commands
d_dump_file.write(reinterpret_cast<char *>(&code_error_chips_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&code_error_filt_chips), sizeof(double));
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_error_filt_chips_Ti;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_double = d_rem_code_phase_samples;
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));

65
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
View File

@ -482,48 +482,55 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attrib
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
float tmp_float;
prompt_I = (*d_Prompt).real();
prompt_Q = (*d_Prompt).imag();
tmp_E = std::abs<float>(*d_Early);
tmp_P = std::abs<float>(*d_Prompt);
tmp_L = std::abs<float>(*d_Late);
prompt_I = d_correlator_outs[1].real();
prompt_Q = d_correlator_outs[1].imag();
tmp_E = std::abs<float>(d_correlator_outs[0]);
tmp_P = std::abs<float>(d_correlator_outs[1]);
tmp_L = std::abs<float>(d_correlator_outs[2]);
try
{
// EPR
// Dump correlators output
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
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_float=(float)d_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_rad), sizeof(float));
// carrier and code frequency
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_hz), sizeof(float));
//PLL commands
d_dump_file.write(reinterpret_cast<char *>(&carr_error), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&carr_nco), sizeof(float));
//DLL commands
d_dump_file.write(reinterpret_cast<char *>(&code_error), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&code_nco), sizeof(float));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(float));
// AUX vars (for debug purposes)
tmp_float = 0;
tmp_float = d_acc_carrier_phase_rad;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter_seconds), sizeof(double));
// carrier and code frequency
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
tmp_float = 0.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = carr_error;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// DLL commands
tmp_float = 0.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = code_error;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// CN0 and carrier lock test
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_float = 0.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));

2
src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc
View File

@ -122,7 +122,7 @@ bool cpu_multicorrelator_real_codes::Carrier_wipeoff_multicorrelator_resampler(
lv_32fc_t phase_offset_as_complex[1];
phase_offset_as_complex[0] = lv_cmake(std::cos(rem_carrier_phase_in_rad), -std::sin(rem_carrier_phase_in_rad));
// call VOLK_GNSSSDR kernel
volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn(d_corr_out, d_sig_in, std::exp(lv_32fc_t(0, -phase_step_rad)), phase_offset_as_complex, (const float**)d_local_codes_resampled, d_n_correlators, signal_length_samples);
volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn(d_corr_out, d_sig_in, std::exp(lv_32fc_t(0.0, -phase_step_rad)), phase_offset_as_complex, const_cast<const float**>(d_local_codes_resampled), d_n_correlators, signal_length_samples);
return true;
}

22
src/algorithms/tracking/libs/lock_detectors.cc
View File

@ -67,20 +67,20 @@
*/
float cn0_svn_estimator(gr_complex* Prompt_buffer, int length, long fs_in, double code_length)
{
double SNR = 0;
double SNR_dB_Hz = 0;
double Psig = 0;
double Ptot = 0;
double SNR = 0.0;
double SNR_dB_Hz = 0.0;
double Psig = 0.0;
double Ptot = 0.0;
for (int i = 0; i < length; i++)
{
Psig += std::abs(static_cast<double>(Prompt_buffer[i].real()));
Ptot += static_cast<double>(Prompt_buffer[i].imag()) * static_cast<double>(Prompt_buffer[i].imag()) + static_cast<double>(Prompt_buffer[i].real()) * static_cast<double>(Prompt_buffer[i].real());
}
Psig = Psig / static_cast<double>(length);
Psig /= static_cast<double>(length);
Psig = Psig * Psig;
Ptot = Ptot / static_cast<double>(length);
Ptot /= static_cast<double>(length);
SNR = Psig / (Ptot - Psig);
SNR_dB_Hz = 10 * log10(SNR) + 10 * log10(static_cast<double>(fs_in) / 2) - 10 * log10(code_length);
SNR_dB_Hz = 10.0 * log10(SNR) + 10.0 * log10(static_cast<double>(fs_in) / 2.0) - 10.0 * log10(code_length);
return static_cast<float>(SNR_dB_Hz);
}
@ -96,10 +96,10 @@ float cn0_svn_estimator(gr_complex* Prompt_buffer, int length, long fs_in, doubl
*/
float carrier_lock_detector(gr_complex* Prompt_buffer, int length)
{
float tmp_sum_I = 0;
float tmp_sum_Q = 0;
float NBD = 0;
float NBP = 0;
float tmp_sum_I = 0.0;
float tmp_sum_Q = 0.0;
float NBD = 0.0;
float NBP = 0.0;
for (int i = 0; i < length; i++)
{
tmp_sum_I += Prompt_buffer[i].real();

9
src/algorithms/tracking/libs/tracking_2nd_DLL_filter.cc
View File

@ -41,11 +41,10 @@
void Tracking_2nd_DLL_filter::calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k)
{
// Solve natural frequency
float Wn;
Wn = lbw * 8 * zeta / (4 * zeta * zeta + 1);
float Wn = lbw * 8.0 * zeta / (4.0 * zeta * zeta + 1.0);
// solve for t1 & t2
*tau1 = k / (Wn * Wn);
*tau2 = (2.0 * zeta) / Wn;
*tau2 = 2.0 * zeta / Wn;
}
@ -67,9 +66,7 @@ void Tracking_2nd_DLL_filter::initialize()
float Tracking_2nd_DLL_filter::get_code_nco(float DLL_discriminator)
{
float code_nco;
code_nco = d_old_code_nco + (d_tau2_code / d_tau1_code) * (DLL_discriminator - d_old_code_error) + (DLL_discriminator + d_old_code_error) * (d_pdi_code / (2 * d_tau1_code));
//code_nco = d_old_code_nco + (d_tau2_code/d_tau1_code)*(DLL_discriminator - d_old_code_error) + DLL_discriminator * (d_pdi_code/d_tau1_code);
float code_nco = d_old_code_nco + (d_tau2_code / d_tau1_code) * (DLL_discriminator - d_old_code_error) + (DLL_discriminator + d_old_code_error) * (d_pdi_code / (2.0 * d_tau1_code));
d_old_code_nco = code_nco;
d_old_code_error = DLL_discriminator; //[chips]
return code_nco;

14
src/algorithms/tracking/libs/tracking_2nd_DLL_filter.h
View File

@ -49,13 +49,13 @@ class Tracking_2nd_DLL_filter
{
private:
// PLL filter parameters
float d_tau1_code = 0;
float d_tau2_code = 0;
float d_pdi_code = 0;
float d_dllnoisebandwidth = 0;
float d_dlldampingratio = 0;
float d_old_code_error = 0;
float d_old_code_nco = 0;
float d_tau1_code = 0.0;
float d_tau2_code = 0.0;
float d_pdi_code = 0.0;
float d_dllnoisebandwidth = 0.0;
float d_dlldampingratio = 0.0;
float d_old_code_error = 0.0;
float d_old_code_nco = 0.0;
void calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k);
public:

8
src/algorithms/tracking/libs/tracking_2nd_PLL_filter.cc
View File

@ -40,11 +40,10 @@
void Tracking_2nd_PLL_filter::calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k)
{
// Solve natural frequency
float Wn;
Wn = lbw * 8 * zeta / (4 * zeta * zeta + 1);
float Wn = lbw * 8.0 * zeta / (4.0 * zeta * zeta + 1.0);
// solve for t1 & t2
*tau1 = k / (Wn * Wn);
*tau2 = (2.0 * zeta) / Wn;
*tau2 = 2.0 * zeta / Wn;
}
@ -71,8 +70,7 @@ void Tracking_2nd_PLL_filter::initialize()
*/
float Tracking_2nd_PLL_filter::get_carrier_nco(float PLL_discriminator)
{
float carr_nco;
carr_nco = d_old_carr_nco + (d_tau2_carr / d_tau1_carr) * (PLL_discriminator - d_old_carr_error) + (PLL_discriminator + d_old_carr_error) * (d_pdi_carr / (2 * d_tau1_carr));
float carr_nco = d_old_carr_nco + (d_tau2_carr / d_tau1_carr) * (PLL_discriminator - d_old_carr_error) + (PLL_discriminator + d_old_carr_error) * (d_pdi_carr / (2.0 * d_tau1_carr));
//carr_nco = d_old_carr_nco + (d_tau2_carr/d_tau1_carr)*(PLL_discriminator - d_old_carr_error) + PLL_discriminator * (d_pdi_carr/d_tau1_carr);
d_old_carr_nco = carr_nco;
d_old_carr_error = PLL_discriminator;

14
src/algorithms/tracking/libs/tracking_2nd_PLL_filter.h
View File

@ -48,15 +48,15 @@ class Tracking_2nd_PLL_filter
{
private:
// PLL filter parameters
float d_tau1_carr = 0;
float d_tau2_carr = 0;
float d_pdi_carr = 0;
float d_tau1_carr = 0.0;
float d_tau2_carr = 0.0;
float d_pdi_carr = 0.0;
float d_pllnoisebandwidth = 0;
float d_plldampingratio = 0;
float d_pllnoisebandwidth = 0.0;
float d_plldampingratio = 0.0;
float d_old_carr_error = 0;
float d_old_carr_nco = 0;
float d_old_carr_error = 0.0;
float d_old_carr_nco = 0.0;
void calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k);

6
src/algorithms/tracking/libs/tracking_discriminators.cc
View File

@ -83,7 +83,7 @@ double pll_cloop_two_quadrant_atan(gr_complex prompt_s1)
}
else
{
return 0;
return 0.0;
}
}
@ -107,7 +107,7 @@ double dll_nc_e_minus_l_normalized(gr_complex early_s1, gr_complex late_s1)
}
else
{
return 0.5 * (P_early - P_late) / ((P_early + P_late));
return 0.5 * (P_early - P_late) / (P_early + P_late);
}
}
@ -131,6 +131,6 @@ double dll_nc_vemlp_normalized(gr_complex very_early_s1, gr_complex early_s1, gr
}
else
{
return (P_early - P_late) / ((P_early + P_late));
return (P_early - P_late) / (P_early + P_late);
}
}

73
src/algorithms/tracking/libs/tracking_loop_filter.cc
View File

@ -37,9 +37,6 @@
#include <glog/logging.h>
#define MAX_LOOP_ORDER 3
#define MAX_HISTORY_LENGTH 4
Tracking_loop_filter::Tracking_loop_filter(float update_interval,
float noise_bandwidth,
int loop_order,
@ -50,8 +47,8 @@ Tracking_loop_filter::Tracking_loop_filter(float update_interval,
d_noise_bandwidth(noise_bandwidth),
d_update_interval(update_interval)
{
d_inputs.resize(MAX_HISTORY_LENGTH, 0.0);
d_outputs.resize(MAX_HISTORY_LENGTH, 0.0);
d_inputs.resize(MAX_LOOP_HISTORY_LENGTH, 0.0);
d_outputs.resize(MAX_LOOP_HISTORY_LENGTH, 0.0);
update_coefficients();
}
@ -62,8 +59,8 @@ Tracking_loop_filter::Tracking_loop_filter()
d_noise_bandwidth(15.0),
d_update_interval(0.001)
{
d_inputs.resize(MAX_HISTORY_LENGTH, 0.0);
d_outputs.resize(MAX_HISTORY_LENGTH, 0.0);
d_inputs.resize(MAX_LOOP_HISTORY_LENGTH, 0.0);
d_outputs.resize(MAX_LOOP_HISTORY_LENGTH, 0.0);
update_coefficients();
}
@ -75,12 +72,12 @@ Tracking_loop_filter::~Tracking_loop_filter()
float Tracking_loop_filter::apply(float current_input)
{
// Now apply the filter coefficients:
float result = 0;
float result = 0.0;
// Hanlde the old outputs first:
for (unsigned int ii = 0; ii < d_output_coefficients.size(); ++ii)
{
result += d_output_coefficients[ii] * d_outputs[(d_current_index + ii) % MAX_HISTORY_LENGTH];
result += d_output_coefficients[ii] * d_outputs[(d_current_index + ii) % MAX_LOOP_HISTORY_LENGTH];
}
// Now update the index to handle the inputs.
@ -93,7 +90,7 @@ float Tracking_loop_filter::apply(float current_input)
d_current_index--;
if (d_current_index < 0)
{
d_current_index += MAX_HISTORY_LENGTH;
d_current_index += MAX_LOOP_HISTORY_LENGTH;
}
d_inputs[d_current_index] = current_input;
@ -101,7 +98,7 @@ float Tracking_loop_filter::apply(float current_input)
for (unsigned int ii = 0; ii < d_input_coefficients.size(); ++ii)
{
result += d_input_coefficients[ii] * d_inputs[(d_current_index + ii) % MAX_HISTORY_LENGTH];
result += d_input_coefficients[ii] * d_inputs[(d_current_index + ii) % MAX_LOOP_HISTORY_LENGTH];
}
@ -122,7 +119,7 @@ void Tracking_loop_filter::update_coefficients(void)
float wn;
float T = d_update_interval;
float zeta = 1 / std::sqrt(2);
float zeta = 1.0 / std::sqrt(2.0);
// The following is based on the bilinear transform approximation of
// the analog integrator. The loop format is from Kaplan & Hegarty
@ -146,7 +143,7 @@ void Tracking_loop_filter::update_coefficients(void)
d_input_coefficients[1] = g1 * T / 2.0;
d_output_coefficients.resize(1);
d_output_coefficients[0] = 1;
d_output_coefficients[0] = 1.0;
}
else
{
@ -157,28 +154,28 @@ void Tracking_loop_filter::update_coefficients(void)
}
break;
case 2:
wn = d_noise_bandwidth * (8 * zeta) / (4 * zeta * zeta + 1);
wn = d_noise_bandwidth * (8.0 * zeta) / (4.0 * zeta * zeta + 1.0);
g1 = wn * wn;
g2 = wn * 2 * zeta;
g2 = wn * 2.0 * zeta;
if (d_include_last_integrator)
{
d_input_coefficients.resize(3);
d_input_coefficients[0] = T / 2 * (g1 * T / 2 + g2);
d_input_coefficients[1] = T * T / 2 * g1;
d_input_coefficients[2] = T / 2 * (g1 * T / 2 - g2);
d_input_coefficients[0] = T / 2.0 * (g1 * T / 2.0 + g2);
d_input_coefficients[1] = T * T / 2.0 * g1;
d_input_coefficients[2] = T / 2.0 * (g1 * T / 2.0 - g2);
d_output_coefficients.resize(2);
d_output_coefficients[0] = 2;
d_output_coefficients[1] = -1;
d_output_coefficients[0] = 2.0;
d_output_coefficients[1] = -1.0;
}
else
{
d_input_coefficients.resize(2);
d_input_coefficients[0] = (g1 * T / 2.0 + g2);
d_input_coefficients[1] = g1 * T / 2 - g2;
d_input_coefficients[1] = g1 * T / 2.0 - g2;
d_output_coefficients.resize(1);
d_output_coefficients[0] = 1;
d_output_coefficients[0] = 1.0;
}
break;
@ -193,27 +190,27 @@ void Tracking_loop_filter::update_coefficients(void)
if (d_include_last_integrator)
{
d_input_coefficients.resize(4);
d_input_coefficients[0] = T / 2 * (g3 + T / 2 * (g2 + T / 2 * g1));
d_input_coefficients[1] = T / 2 * (-g3 + T / 2 * (g2 + 3 * T / 2 * g1));
d_input_coefficients[2] = T / 2 * (-g3 - T / 2 * (g2 - 3 * T / 2 * g1));
d_input_coefficients[3] = T / 2 * (g3 - T / 2 * (g2 - T / 2 * g1));
d_input_coefficients[0] = T / 2.0 * (g3 + T / 2.0 * (g2 + T / 2.0 * g1));
d_input_coefficients[1] = T / 2.0 * (-g3 + T / 2.0 * (g2 + 3.0 * T / 2.0 * g1));
d_input_coefficients[2] = T / 2.0 * (-g3 - T / 2.0 * (g2 - 3.0 * T / 2.0 * g1));
d_input_coefficients[3] = T / 2.0 * (g3 - T / 2.0 * (g2 - T / 2.0 * g1));
d_output_coefficients.resize(3);
d_output_coefficients[0] = 3;
d_output_coefficients[1] = -3;
d_output_coefficients[2] = 1;
d_output_coefficients[0] = 3.0;
d_output_coefficients[1] = -3.0;
d_output_coefficients[2] = 1.0;
}
else
{
d_input_coefficients.resize(3);
d_input_coefficients[0] = g3 + T / 2 * (g2 + T / 2 * g1);
d_input_coefficients[1] = g1 * T * T / 2 - 2 * g3;
d_input_coefficients[2] = g3 + T / 2 * (-g2 + T / 2 * g1);
d_input_coefficients[0] = g3 + T / 2.0 * (g2 + T / 2.0 * g1);
d_input_coefficients[1] = g1 * T * T / 2.0 - 2.0 * g3;
d_input_coefficients[2] = g3 + T / 2.0 * (-g2 + T / 2.0 * g1);
d_output_coefficients.resize(2);
d_output_coefficients[0] = 2;
d_output_coefficients[1] = -1;
d_output_coefficients[0] = 2.0;
d_output_coefficients[1] = -1.0;
}
break;
};
@ -254,7 +251,7 @@ bool Tracking_loop_filter::get_include_last_integrator(void) const
void Tracking_loop_filter::set_order(int loop_order)
{
if (loop_order < 1 || loop_order > MAX_LOOP_ORDER)
if (loop_order < 1 or loop_order > MAX_LOOP_ORDER)
{
LOG(ERROR) << "Ignoring attempt to set loop order to " << loop_order
<< ". Maximum allowed order is: " << MAX_LOOP_ORDER
@ -274,7 +271,7 @@ int Tracking_loop_filter::get_order(void) const
void Tracking_loop_filter::initialize(float initial_output)
{
d_inputs.assign(MAX_HISTORY_LENGTH, 0.0);
d_outputs.assign(MAX_HISTORY_LENGTH, initial_output);
d_current_index = MAX_HISTORY_LENGTH - 1;
d_inputs.assign(MAX_LOOP_HISTORY_LENGTH, 0.0);
d_outputs.assign(MAX_LOOP_HISTORY_LENGTH, initial_output);
d_current_index = MAX_LOOP_HISTORY_LENGTH - 1;
}

2
src/algorithms/tracking/libs/tracking_loop_filter.h
View File

@ -33,6 +33,8 @@
#ifndef GNSS_SDR_TRACKING_LOOP_FILTER_H_
#define GNSS_SDR_TRACKING_LOOP_FILTER_H_
#define MAX_LOOP_ORDER 3
#define MAX_LOOP_HISTORY_LENGTH 4
#include <vector>

9
src/core/system_parameters/GPS_L5.h
View File

@ -36,6 +36,7 @@
#include "GPS_CNAV.h"
#include "MATH_CONSTANTS.h"
#include <cstdint>
#include <string>
// Physical constants
@ -181,7 +182,11 @@ const int GPS_L5_SYMBOLS_PER_BIT = 2;
const int GPS_L5_SAMPLES_PER_SYMBOL = 10;
const int GPS_L5_CNAV_DATA_PAGE_SYMBOLS = 600;
const int GPS_L5_CNAV_DATA_PAGE_DURATION_S = 6;
const int GPS_L5_NH_CODE_LENGTH = 10;
const int GPS_L5_NH_CODE[10] = {0, 0, 0, 0, 1, 1, 0, 1, 0, 1};
const int GPS_L5i_NH_CODE_LENGTH = 10;
const int GPS_L5i_NH_CODE[10] = {0, 0, 0, 0, 1, 1, 0, 1, 0, 1};
const std::string GPS_L5i_NH_CODE_STR = "0000110101";
const int GPS_L5q_NH_CODE_LENGTH = 20;
const int GPS_L5q_NH_CODE[20] = {0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0};
const std::string GPS_L5q_NH_CODE_STR = "00000100110101001110";
#endif /* GNSS_SDR_GPS_L5_H_ */

28
src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.cc
View File

@ -35,24 +35,24 @@ bool tracking_dump_reader::read_binary_obs()
{
try
{
d_dump_file.read(reinterpret_cast<char *>(&abs_VE), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&abs_E), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&abs_P), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&abs_L), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&abs_VL), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&prompt_I), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count), sizeof(unsigned long int));
d_dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&code_freq_chips), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&carr_error_hz), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&code_error_chips), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&carrier_lock_test), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&aux1), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&code_freq_chips), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&carr_error_hz), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&code_error_chips), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&carrier_lock_test), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&aux1), sizeof(float));
d_dump_file.read(reinterpret_cast<char *>(&aux2), sizeof(double));
d_dump_file.read(reinterpret_cast<char *>(&PRN), sizeof(unsigned int));
}
@ -82,8 +82,8 @@ bool tracking_dump_reader::restart()
long int tracking_dump_reader::num_epochs()
{
std::ifstream::pos_type size;
int number_of_double_vars = 11;
int number_of_float_vars = 5;
int number_of_double_vars = 1;
int number_of_float_vars = 17;
int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars +
sizeof(float) * number_of_float_vars + sizeof(unsigned int);
std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);

24
src/tests/unit-tests/signal-processing-blocks/libs/tracking_dump_reader.h
View File

@ -45,10 +45,12 @@ public:
bool open_obs_file(std::string out_file);
//tracking dump variables
// EPR
// VEPLVL
float abs_VE;
float abs_E;
float abs_P;
float abs_L;
float abs_VL;
// PROMPT I and Q (to analyze navigation symbols)
float prompt_I;
float prompt_Q;
@ -56,26 +58,26 @@ public:
unsigned long int PRN_start_sample_count;
// accumulated carrier phase
double acc_carrier_phase_rad;
float acc_carrier_phase_rad;
// carrier and code frequency
double carrier_doppler_hz;
double code_freq_chips;
float carrier_doppler_hz;
float code_freq_chips;
// PLL commands
double carr_error_hz;
double carr_error_filt_hz;
float carr_error_hz;
float carr_error_filt_hz;
// DLL commands
double code_error_chips;
double code_error_filt_chips;
float code_error_chips;
float code_error_filt_chips;
// CN0 and carrier lock test
double CN0_SNV_dB_Hz;
double carrier_lock_test;
float CN0_SNV_dB_Hz;
float carrier_lock_test;
// AUX vars (for debug purposes)
double aux1;
float aux1;
double aux2;
unsigned int PRN;

3
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
View File

@ -225,6 +225,9 @@ void GpsL1CADllPllTrackingTest::configure_receiver()
config->set_property("Tracking_1C.pll_bw_hz", "20.0");
config->set_property("Tracking_1C.dll_bw_hz", "2.0");
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
config->set_property("Tracking_1C.pll_bw_narrow_hz", "20.0");
config->set_property("Tracking_1C.dll_bw_narrow_hz", "2.0");
config->set_property("Tracking_1C.early_late_space_narrow_chips", "0.5");
config->set_property("Tracking_1C.extend_correlation_ms", "1");
config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");

84
src/utils/matlab/dll_pll_veml_plot_sample.m Normal file
View File

@ -0,0 +1,84 @@
% /*!
% * \file dll_pll_vml_plot_sample.m
% * \brief Read GNSS-SDR Tracking dump binary file using the provided
% function and plot some internal variables
% * \author Javier Arribas, 2011. jarribas(at)cttc.es
% * \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
close all;
clear all;
if ~exist('dll_pll_veml_read_tracking_dump.m','file')
addpath('./libs')
end
samplingFreq = 5000000; %[Hz]
coherent_integration_time_ms = 20; %[ms]
channels = 5; % Number of channels
first_channel = 0; % Number of the first channel
path = '/dump_dir/'; %% CHANGE THIS PATH
for N=1:1:channels
tracking_log_path = [path 'track_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE track_ch BY YOUR dump_filename
GNSS_tracking(N)= dll_pll_veml_read_tracking_dump(tracking_log_path);
end
% GNSS-SDR format conversion to MATLAB GPS receiver
for N=1:1:channels
trackResults(N).status = 'T'; %fake track
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
trackResults(N).I_P = GNSS_tracking(N).P.';
trackResults(N).Q_P = zeros(1,length(GNSS_tracking(N).P));
trackResults(N).I_VE = GNSS_tracking(N).VE.';
trackResults(N).I_E = GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).I_VL = GNSS_tracking(N).VL.';
trackResults(N).Q_VE = zeros(1,length(GNSS_tracking(N).VE));
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).L));
trackResults(N).Q_VL = zeros(1,length(GNSS_tracking(N).VL));
trackResults(N).data_I = GNSS_tracking(N).prompt_I.';
trackResults(N).data_Q = GNSS_tracking(N).prompt_Q.';
trackResults(N).PRN = GNSS_tracking(N).PRN.';
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';
% Use original MATLAB tracking plot function
settings.numberOfChannels = channels;
settings.msToProcess = length(GNSS_tracking(N).E)*coherent_integration_time_ms;
plotVEMLTracking(N,trackResults,settings)
end

153
src/utils/matlab/libs/dll_pll_veml_read_tracking_dump.m Normal file
View File

@ -0,0 +1,153 @@
% /*!
% * \file dll_pll_veml_read_tracking_dump.m
% * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
% * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
function [GNSS_tracking] = dll_pll_veml_read_tracking_dump (filename, count)
%% usage: dll_pll_veml_read_tracking_dump (filename, [count])
%%
%% open GNSS-SDR tracking binary log file .dat and return the contents
%%
m = nargchk (1,2,nargin);
num_float_vars = 17;
num_unsigned_long_int_vars = 1;
num_double_vars = 1;
num_unsigned_int_vars = 1;
if(~isempty(strfind(computer('arch'), '64')))
% 64-bit computer
double_size_bytes = 8;
unsigned_long_int_size_bytes = 8;
float_size_bytes = 4;
unsigned_int_size_bytes = 4;
else
double_size_bytes = 8;
unsigned_long_int_size_bytes = 4;
float_size_bytes = 4;
unsigned_int_size_bytes = 4;
end
skip_bytes_each_read = float_size_bytes * num_float_vars + unsigned_long_int_size_bytes * num_unsigned_long_int_vars + ...
double_size_bytes * num_double_vars + num_unsigned_int_vars*unsigned_int_size_bytes;
bytes_shift = 0;
if (m)
usage (m);
end
if (nargin < 2)
count = Inf;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
v1 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v2 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v3 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v4 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v5 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v6 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v7 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v8 = fread (f, count, 'long', skip_bytes_each_read - unsigned_long_int_size_bytes);
bytes_shift = bytes_shift + unsigned_long_int_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v9 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v10 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v11 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v12 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v13 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v14 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v15 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v16 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v17 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v18 = fread (f, count, 'float', skip_bytes_each_read-float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next double
v19 = fread (f, count, 'double', skip_bytes_each_read - double_size_bytes);
bytes_shift = bytes_shift + double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next unsigned int
v20 = fread (f, count, 'uint', skip_bytes_each_read - unsigned_int_size_bytes);
fclose (f);
GNSS_tracking.VE = v1;
GNSS_tracking.E = v2;
GNSS_tracking.P = v3;
GNSS_tracking.L = v4;
GNSS_tracking.VL = v5;
GNSS_tracking.prompt_I = v6;
GNSS_tracking.prompt_Q = v7;
GNSS_tracking.PRN_start_sample = v8;
GNSS_tracking.acc_carrier_phase_rad = v9;
GNSS_tracking.carrier_doppler_hz = v10;
GNSS_tracking.code_freq_hz = v11;
GNSS_tracking.carr_error = v12;
GNSS_tracking.carr_nco = v13;
GNSS_tracking.code_error = v14;
GNSS_tracking.code_nco = v15;
GNSS_tracking.CN0_SNV_dB_Hz = v16;
GNSS_tracking.carrier_lock_test = v17;
GNSS_tracking.var1 = v18;
GNSS_tracking.var2 = v19;
GNSS_tracking.PRN = v20;
end

24
src/utils/matlab/libs/plotVEMLTracking.m
View File

@ -69,8 +69,8 @@ for channelNr = channelList
timeAxisInSeconds = (1:4:settings.msToProcess)/1000;
%----- Discrete-Time Scatter Plot ---------------------------------
plot(handles(1, 1), trackResults(channelNr).I_P,...
trackResults(channelNr).Q_P, ...
plot(handles(1, 1), trackResults(channelNr).data_I,...
trackResults(channelNr).data_Q, ...
'.');
grid (handles(1, 1));
@ -80,8 +80,9 @@ for channelNr = channelList
ylabel(handles(1, 1), 'Q prompt');
%----- Nav bits ---------------------------------------------------
plot (handles(1, 2), timeAxisInSeconds, ...
trackResults(channelNr).I_P);
t = (1:length(trackResults(channelNr).data_I));
plot (handles(1, 2), t, ...
trackResults(channelNr).data_I);
grid (handles(1, 2));
title (handles(1, 2), 'Bits of the navigation message');
@ -89,7 +90,8 @@ for channelNr = channelList
axis (handles(1, 2), 'tight');
%----- PLL discriminator unfiltered--------------------------------
plot (handles(2, 1), timeAxisInSeconds, ...
t = (1:length(trackResults(channelNr).pllDiscr));
plot (handles(2, 1), t, ...
trackResults(channelNr).pllDiscr, 'r');
grid (handles(2, 1));
@ -99,7 +101,8 @@ for channelNr = channelList
title (handles(2, 1), 'Raw PLL discriminator');
%----- Correlation ------------------------------------------------
plot(handles(2, 2), timeAxisInSeconds, ...
t = (1:length(trackResults(channelNr).I_VE));
plot(handles(2, 2), t, ...
[sqrt(trackResults(channelNr).I_VE.^2 + ...
trackResults(channelNr).Q_VE.^2)', ...
sqrt(trackResults(channelNr).I_E.^2 + ...
@ -127,7 +130,8 @@ for channelNr = channelList
set(hLegend, 'Interpreter', 'Latex');
%----- PLL discriminator filtered----------------------------------
plot (handles(3, 1), timeAxisInSeconds, ...
t = (1:length(trackResults(channelNr).pllDiscrFilt));
plot (handles(3, 1), t, ...
trackResults(channelNr).pllDiscrFilt, 'b');
grid (handles(3, 1));
@ -137,7 +141,8 @@ for channelNr = channelList
title (handles(3, 1), 'Filtered PLL discriminator');
%----- DLL discriminator unfiltered--------------------------------
plot (handles(3, 2), timeAxisInSeconds, ...
t = (1:length(trackResults(channelNr).dllDiscr));
plot (handles(3, 2), t, ...
trackResults(channelNr).dllDiscr, 'r');
grid (handles(3, 2));
@ -147,7 +152,8 @@ for channelNr = channelList
title (handles(3, 2), 'Raw DLL discriminator');
%----- DLL discriminator filtered----------------------------------
plot (handles(3, 3), timeAxisInSeconds, ...
t = (1:length(trackResults(channelNr).dllDiscrFilt));
plot (handles(3, 3), t, ...
trackResults(channelNr).dllDiscrFilt, 'b');
grid (handles(3, 3));