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First version of Double Estimator

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Only works for Galileo E1B tracking for now. Needs some clean up.
This commit is contained in:
Cillian O'Driscoll
2015-10-11 16:06:41 +01:00
parent 223530c602
commit 46c79487c4
10 changed files with 1566 additions and 0 deletions
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296
conf/gnss-sdr_Galileo_E1_short_DE.conf Normal file
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; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
GNSS-SDR.internal_fs_hz=4000000
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=short
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=4000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
;#implementation: Use [Pass_Through] or [Signal_Conditioner]
;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version.
;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Ishort_To_Complex
;######### INPUT_FILTER CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
;InputFilter.implementation=Fir_Filter
;InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter.number_of_bands=2
;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
;#The number of band_begin and band_end elements must match the number of bands
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.45
InputFilter.band2_begin=0.55
InputFilter.band2_end=1.0
;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
;#The number of ampl_begin and ampl_end elements must match the number of bands
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
;#band_error: weighting applied to each band (usually 1).
;#The number of band_error elements must match the number of bands
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter.filter_type=bandpass
;#grid_density: determines how accurately the filter will be constructed.
;The minimum value is 16; higher values are slower to compute the filter.
InputFilter.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
InputFilter.sampling_frequency=4000000
InputFilter.IF=0
;######### RESAMPLER CONFIG ############
;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through
;#dump: Dump the resamplered data to a file.
Resampler.dump=false
;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available Galileo satellite channels.
Channels_1B.count=8
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1
Channel.signal=1B
;######### ACQUISITION GLOBAL CONFIG ############
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold
;Acquisition_1B.threshold=0
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.pfa=0.000002
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition_1B.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125
;######### ACQUISITION CHANNELS CONFIG ######
;######### ACQUISITION CH 0 CONFIG ############
;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false
;Acquisition_1B0.repeat_satellite = true
;Acquisition_1B1.repeat_satellite = true
;Acquisition_1B2.repeat_satellite = true
;Acquisition_1B3.repeat_satellite = true
;#cboc: Only for [Galileo_E1_PCPS_Ambiguous_Acquisition]. This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false].
;#Use only if GNSS-SDR.internal_fs_hz is greater than or equal to 6138000
Acquisition_1B.cboc=false
;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DE_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/de_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0;
;#aid_subcarrier_with_carrier: Enable aiding of the subcarrier tracking
;using the code tracking.
Tracking_1B.aid_subcarrier_with_carrier=true;
;#aid_code_with_subcarrier: Enable aiding of the code tracking
;using the subcarrier tracking.
Tracking_1B.aid_code_with_subcarrier=true;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=0.5;
;#sll_bw_hz: SLL loop filter bandwidth [Hz]
; Note: If using aiding then most of the dynamics are tracked by the
; carrier, we can then tighten up the subcarrier loop bandwidth. If we
; aid the code with the subcarrier then the the dll bandwidth can be
; tightened up further still. TODO: Add initial and final bandwidths, to
; differentiate between pull-in and final tracking.
Tracking_1B.sll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3;
;#early_late_code_space_chips: code correlator early-late space [chips]. Use [0.5]
; COD: note this is not the early-late spacing, this is the
; early-prompt, or prompt-late spacing. Convention common to all
; GNSS-SDR configuration files. Also applies to subcarrier spacing
Tracking_1B.early_late_code_space_chips=0.5;
;#early_late_subcarrier_space_chips: only for [Galileo_E1_DE_Tracking], subcarrier early-late space [chips]. Use [0.6]
Tracking_1B.early_late_subcarrier_space_chips=0.167;
;######### TELEMETRY DECODER CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A or [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=Galileo_E1B_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
PVT.implementation=GALILEO_E1_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=100
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=false
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;######### OUTPUT_FILTER CONFIG ############
;# Receiver output filter: Leave this block disabled in this version
OutputFilter.implementation=Null_Sink_Output_Filter
OutputFilter.filename=data/gnss-sdr.dat
OutputFilter.item_type=gr_complex

1
src/algorithms/tracking/adapters/CMakeLists.txt
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@@ -32,6 +32,7 @@ set(TRACKING_ADAPTER_SOURCES
gps_l1_ca_tcp_connector_tracking.cc
galileo_e5a_dll_pll_tracking.cc
gps_l2_m_dll_pll_tracking.cc
galileo_e1_de_tracking.cc
${OPT_TRACKING_ADAPTERS}
)

169
src/algorithms/tracking/adapters/galileo_e1_de_tracking.cc Normal file
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/*!
* \file galileo_e1_de_tracking.h
* \brief Adapts a double estimator tracking loop block
* to a TrackingInterface for Galileo E1 signals
* \author Cillian O'Driscoll, 2015. cillian.odriscoll(at)gmail.com
*
* -------------------------------------------------------------------------
*
* 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 "galileo_e1_de_tracking.h"
#include <glog/logging.h>
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "configuration_interface.h"
using google::LogMessage;
GalileoE1DeTracking::GalileoE1DeTracking(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams),
queue_(queue)
{
DLOG(INFO) << "role " << role;
//################# 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 sll_bw_hz;
float early_late_code_space_chips;
float early_late_subcarrier_space_chips;
bool aid_subcarrier_with_carrier;
bool aid_code_with_subcarrier;
item_type = configuration->property(role + ".item_type", default_item_type);
fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 15.0);
sll_bw_hz = configuration->property(role + ".sll_bw_hz", 2.0);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5);
early_late_code_space_chips = configuration->property(role + ".early_late_code_space_chips", 0.5);
early_late_subcarrier_space_chips = configuration->property(role + ".early_late_subcarrier_space_chips", 0.15);
aid_subcarrier_with_carrier = configuration->property(role + ".aid_subcarrier_with_carrier", false );
aid_code_with_subcarrier = configuration->property(role + ".aid_code_with_subcarrier", false );
std::string default_dump_filename = "./track_de_";
dump_filename = configuration->property(role + ".dump_filename",
default_dump_filename); //unused!
vector_length = std::round(fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
tracking_ = galileo_e1_de_make_tracking_cc(
f_if,
fs_in,
vector_length,
queue_,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
sll_bw_hz,
early_late_code_space_chips,
early_late_subcarrier_space_chips,
aid_subcarrier_with_carrier,
aid_code_with_subcarrier);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
}
channel_ = 0;
channel_internal_queue_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
}
GalileoE1DeTracking::~GalileoE1DeTracking()
{}
void GalileoE1DeTracking::start_tracking()
{
tracking_->start_tracking();
}
/*
* Set tracking channel unique ID
*/
void GalileoE1DeTracking::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_->set_channel(channel);
}
/*
* Set tracking channel internal queue
*/
void GalileoE1DeTracking::set_channel_queue(
concurrent_queue<int> *channel_internal_queue)
{
channel_internal_queue_ = channel_internal_queue;
tracking_->set_channel_queue(channel_internal_queue_);
}
void GalileoE1DeTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GalileoE1DeTracking::connect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
//nothing to connect, now the tracking uses gr_sync_decimator
}
void GalileoE1DeTracking::disconnect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
//nothing to disconnect, now the tracking uses gr_sync_decimator
}
gr::basic_block_sptr GalileoE1DeTracking::get_left_block()
{
return tracking_;
}
gr::basic_block_sptr GalileoE1DeTracking::get_right_block()
{
return tracking_;
}

116
src/algorithms/tracking/adapters/galileo_e1_de_tracking.h Normal file
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@@ -0,0 +1,116 @@
/*!
* \file galileo_e1_de_tracking.h
* \brief Adapts a double estimator tracking loop block
* to a TrackingInterface for Galileo E1 signals
* \author Cillian O'Driscoll, 2015. cillian.odriscoll(at)gmail.com
*
*
* -------------------------------------------------------------------------
*
* 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_GALILEO_E1_DE_TRACKING_H_
#define GNSS_SDR_GALILEO_E1_DE_TRACKING_H_
#include <string>
#include <gnuradio/msg_queue.h>
#include "tracking_interface.h"
#include "galileo_e1_de_tracking_cc.h"
class ConfigurationInterface;
/*!
* \brief This class Adapts a DLL+PLL VEML (Very Early Minus Late) tracking
* loop block to a TrackingInterface for Galileo E1 signals
*/
class GalileoE1DeTracking : public TrackingInterface
{
public:
GalileoE1DeTracking(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue);
virtual ~GalileoE1DeTracking();
std::string role()
{
return role_;
}
//! Returns "Galileo_E1_DE_Tracking"
std::string implementation()
{
return "Galileo_E1_DE_Tracking";
}
size_t item_size()
{
return item_size_;
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
/*!
* \brief Set tracking channel unique ID
*/
void set_channel(unsigned int channel);
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
/*!
* \brief Set tracking channel internal queue
*/
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
void start_tracking();
private:
galileo_e1_de_tracking_cc_sptr tracking_;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
boost::shared_ptr<gr::msg_queue> queue_;
concurrent_queue<int> *channel_internal_queue_;
};
#endif // GNSS_SDR_GALILEO_E1_DE_TRACKING_H_

1
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
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@@ -34,6 +34,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
galileo_e5a_dll_pll_tracking_cc.cc
gps_l2_m_dll_pll_tracking_cc.cc
gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
galileo_e1_de_tracking_cc.cc
${OPT_TRACKING_BLOCKS}
)

727
src/algorithms/tracking/gnuradio_blocks/galileo_e1_de_tracking_cc.cc Normal file
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@@ -0,0 +1,727 @@
/*!
* \file galileo_e1_de_tracking_cc.cc
* \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
*
* 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 "galileo_e1_de_tracking_cc.h"
#include <cmath>
#include <iostream>
#include <memory>
#include <sstream>
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <gnuradio/fxpt.h> // fixed point sine and cosine
#include <glog/logging.h>
#include "gnss_synchro.h"
#include "galileo_e1_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
#include "Galileo_E1.h"
#include "control_message_factory.h"
/*!
* \todo Include in definition header file
*/
#define CN0_ESTIMATION_SAMPLES 20
#define MINIMUM_VALID_CN0 25
#define MAXIMUM_LOCK_FAIL_COUNTER 50
#define CARRIER_LOCK_THRESHOLD 0.85
using google::LogMessage;
galileo_e1_de_tracking_cc_sptr
galileo_e1_de_make_tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float sll_bw_hz,
float early_late_code_space_chips,
float early_late_subcarrier_space_chips,
bool aid_subcarrier_with_carrier,
bool aid_code_with_subcarrier)
{
return galileo_e1_de_tracking_cc_sptr(new galileo_e1_de_tracking_cc(if_freq,
fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz,
sll_bw_hz, early_late_code_space_chips, early_late_subcarrier_space_chips,
aid_subcarrier_with_carrier, aid_code_with_subcarrier));
}
void galileo_e1_de_tracking_cc::forecast (int noutput_items,
gr_vector_int &ninput_items_required)
{
ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
}
galileo_e1_de_tracking_cc::galileo_e1_de_tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float sll_bw_hz,
float early_late_code_space_chips,
float early_late_subcarrier_space_chips,
bool aid_subcarrier_with_carrier,
bool aid_code_with_subcarrier):
gr::block("galileo_e1_de_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
this->set_relative_rate(1.0/vector_length);
// initialize internal vars
d_queue = queue;
d_dump = dump;
d_if_freq = if_freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_dump_filename = dump_filename;
d_code_loop_filter = Tracking_2nd_DLL_filter(Galileo_E1_CODE_PERIOD);
d_subcarrier_loop_filter = Tracking_2nd_DLL_filter(Galileo_E1_CODE_PERIOD);
d_carrier_loop_filter = Tracking_2nd_PLL_filter(Galileo_E1_CODE_PERIOD);
d_aid_subcarrier_with_carrier = aid_subcarrier_with_carrier;
d_aid_code_with_subcarrier = aid_code_with_subcarrier;
// Initialize tracking ==========================================
// Set bandwidth of code and carrier loop filters
d_code_loop_filter.set_DLL_BW(dll_bw_hz);
d_subcarrier_loop_filter.set_DLL_BW(sll_bw_hz);
d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
// Correlator spacing
d_early_late_code_spc_chips = early_late_code_space_chips; // Define early-late offset (in chips)
d_early_late_subcarrier_spc_chips = early_late_subcarrier_space_chips; // Define very-early-late offset (in chips)
// Initialization of local code replica
// Get space for a vector with the code replica sampled 1x/chip
d_e1b_code = static_cast<gr_complex*>(volk_malloc((Galileo_E1_B_CODE_LENGTH_CHIPS + 2) * sizeof(gr_complex), volk_get_alignment()));
d_early_code= static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
d_prompt_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
d_late_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
d_early_subcarrier = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
d_prompt_subcarrier = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
d_late_subcarrier = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
d_carr_sign = static_cast<gr_complex*>(volk_malloc(2*d_vector_length * sizeof(gr_complex), volk_get_alignment()));
// correlator outputs (scalar)
d_Prompt_Subcarrier_Early_Code = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
d_Prompt_Subcarrier_Prompt_Code = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
d_Prompt_Subcarrier_Late_Code = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
d_Prompt_Code_Early_Subcarrier = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
d_Prompt_Code_Late_Subcarrier = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
//--- Initializations ------------------------------
// Initial code frequency basis of NCO
d_code_freq_chips = static_cast<double>(Galileo_E1_CODE_CHIP_RATE_HZ);
d_subcarrier_freq_chips = static_cast<double>(Galileo_E1_SUB_CARRIER_A_RATE_HZ);
// Residual code phase (in chips)
d_rem_code_phase_samples = 0.0;
d_rem_subcarrier_phase_samples = 0.0;
// 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;
d_last_seg = 0;
d_current_prn_length_samples = static_cast<int>(d_vector_length);
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
systemName["E"] = std::string("Galileo");
*d_Prompt_Subcarrier_Early_Code = gr_complex(0,0);
*d_Prompt_Subcarrier_Prompt_Code = gr_complex(0,0);
*d_Prompt_Subcarrier_Late_Code = gr_complex(0,0);
*d_Prompt_Code_Early_Subcarrier = gr_complex(0,0);
*d_Prompt_Code_Late_Subcarrier = gr_complex(0,0);
d_channel_internal_queue = 0;
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_acc_code_phase_secs = 0.0;
}
void galileo_e1_de_tracking_cc::start_tracking()
{
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;
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // initialize the carrier filter
float code_doppler_chips = d_acq_carrier_doppler_hz *( Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ;
float init_freq = ( d_aid_subcarrier_with_carrier ? 0.0 : code_doppler_chips );
d_subcarrier_loop_filter.initialize(init_freq); // initialize the carrier filter
init_freq = ( d_aid_code_with_subcarrier ? 0.0 : code_doppler_chips );
d_code_loop_filter.initialize(init_freq); // initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 samples per chip)
galileo_e1_code_gen_complex_sampled(&d_e1b_code[1],
d_acquisition_gnss_synchro->Signal,
false,
d_acquisition_gnss_synchro->PRN,
Galileo_E1_CODE_CHIP_RATE_HZ,
0);
// Fill head and tail
d_e1b_code[0] = d_e1b_code[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS+1)];
d_e1b_code[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS + 2)] = d_e1b_code[1];
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0.0;
d_rem_subcarrier_phase_samples = 0.0;
d_rem_carr_phase_rad = 0;
d_acc_carrier_phase_rad = 0;
d_acc_code_phase_secs = 0;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_current_prn_length_samples = d_vector_length;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
// DEBUG OUTPUT
std::cout << "Tracking start 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
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
}
void galileo_e1_de_tracking_cc::update_local_code()
{
double tcode_chips;
double tsubcarrier_chips;
float rem_code_phase_chips;
float rem_subcarrier_phase_chips;
int associated_chip_index;
int associated_subcarrier_index;
int code_length_chips = static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS);
double code_phase_step_chips;
double subcarrier_phase_step_chips;
int early_late_code_spc_samples;
int early_late_subcarrier_spc_samples;
int epl_loop_length_samples;
// unified loop for VE, E, P, L, VL code vectors
code_phase_step_chips = (static_cast<double>(d_code_freq_chips)) / (static_cast<double>(d_fs_in));
subcarrier_phase_step_chips = (static_cast<double>(d_subcarrier_freq_chips)) / (static_cast<double>(d_fs_in));
rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / d_fs_in);
tcode_chips = - static_cast<double>(rem_code_phase_chips);
rem_subcarrier_phase_chips = d_rem_subcarrier_phase_samples * (d_code_freq_chips / d_fs_in);
tsubcarrier_chips = - static_cast<double>(rem_subcarrier_phase_chips);
early_late_code_spc_samples = round(d_early_late_code_spc_chips / code_phase_step_chips);
early_late_subcarrier_spc_samples = round(d_early_late_subcarrier_spc_chips / subcarrier_phase_step_chips);
if( early_late_code_spc_samples > early_late_subcarrier_spc_samples )
{
epl_loop_length_samples = d_current_prn_length_samples + early_late_code_spc_samples * 2;
}
else
{
epl_loop_length_samples = d_current_prn_length_samples + early_late_subcarrier_spc_samples*2;
}
for (int i = 0; i < epl_loop_length_samples; i++)
{
associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_code_spc_chips, code_length_chips));
d_late_code[i] = d_e1b_code[associated_chip_index];
tcode_chips = tcode_chips + code_phase_step_chips;
associated_subcarrier_index = round(2*fmod(tsubcarrier_chips - d_early_late_subcarrier_spc_chips, 2 ) );
d_late_subcarrier[i] = static_cast< gr_complex >( 1 - 2*associated_subcarrier_index );
tsubcarrier_chips = tsubcarrier_chips + subcarrier_phase_step_chips;
}
memcpy(d_prompt_code, &d_late_code[early_late_code_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
memcpy(d_early_code, &d_late_code[early_late_code_spc_samples*2], d_current_prn_length_samples * sizeof(gr_complex));
memcpy(d_prompt_subcarrier, &d_late_subcarrier[early_late_subcarrier_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
memcpy(d_early_subcarrier, &d_late_subcarrier[early_late_subcarrier_spc_samples*2], d_current_prn_length_samples * sizeof(gr_complex));
}
void galileo_e1_de_tracking_cc::update_local_carrier()
{
float sin_f, cos_f;
float phase_step_rad = static_cast<float>(2 * GALILEO_PI) * d_carrier_doppler_hz / static_cast<float>(d_fs_in);
int phase_step_rad_i = gr::fxpt::float_to_fixed(phase_step_rad);
int phase_rad_i = gr::fxpt::float_to_fixed(d_rem_carr_phase_rad);
for(int i = 0; i < d_current_prn_length_samples; i++)
{
gr::fxpt::sincos(phase_rad_i, &sin_f, &cos_f);
d_carr_sign[i] = std::complex<float>(cos_f, -sin_f);
phase_rad_i += phase_step_rad_i;
}
}
galileo_e1_de_tracking_cc::~galileo_e1_de_tracking_cc()
{
d_dump_file.close();
volk_free(d_early_code);
volk_free(d_prompt_code);
volk_free(d_late_code);
volk_free(d_early_subcarrier);
volk_free(d_prompt_subcarrier);
volk_free(d_late_subcarrier);
volk_free(d_carr_sign);
volk_free(d_Prompt_Subcarrier_Early_Code);
volk_free(d_Prompt_Subcarrier_Prompt_Code);
volk_free(d_Prompt_Subcarrier_Late_Code);
volk_free(d_Prompt_Code_Early_Subcarrier);
volk_free(d_Prompt_Code_Late_Subcarrier);
volk_free(d_e1b_code);
delete[] d_Prompt_buffer;
}
int galileo_e1_de_tracking_cc::general_work (int noutput_items,gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
float carr_error_hz;
float carr_error_filt_hz;
float code_error_chips;
float subcarrier_error_chips;
float code_error_filt_chips;
float subcarrier_error_filt_chips;
if (d_enable_tracking == true)
{
if (d_pull_in == true)
{
/*
* Signal alignment (skip samples until the incoming signal is aligned with local replica)
*/
int samples_offset;
float 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);
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
d_pull_in = false;
consume_each(samples_offset); //shift input to perform alignment with local replica
return 1;
}
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data;
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
// Block input data and block output stream pointers
const gr_complex* in = (gr_complex*) input_items[0];
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
// Generate local code and carrier replicas (using \hat{f}_d(k-1))
update_local_code();
update_local_carrier();
// perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation
d_correlator.Carrier_wipeoff_and_DE_volk(d_current_prn_length_samples,
in,
d_carr_sign,
d_early_code,
d_prompt_code,
d_late_code,
d_early_subcarrier,
d_prompt_subcarrier,
d_late_subcarrier,
d_Prompt_Subcarrier_Early_Code,
d_Prompt_Subcarrier_Prompt_Code,
d_Prompt_Subcarrier_Late_Code,
d_Prompt_Code_Early_Subcarrier,
d_Prompt_Code_Late_Subcarrier );
// ################## PLL ##########################################################
// PLL discriminator
carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt_Subcarrier_Prompt_Code) / static_cast<float>(GPS_TWO_PI);
// 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 = carr_error_filt_hz;
float code_doppler_chips = ((d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ);
// New subcarrier Doppler frequency estimation: carrier
// aiding of the subcarrier:
if( d_aid_subcarrier_with_carrier )
{
d_subcarrier_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ + code_doppler_chips;
}
else
{
d_subcarrier_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ;
}
//carrier phase accumulator for (K) Doppler estimation
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD;
//remnant carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD;
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
// ################## SLL ##########################################################
// SLL discriminator
subcarrier_error_chips = dll_nc_e_minus_l_normalized(
*d_Prompt_Code_Early_Subcarrier,
*d_Prompt_Code_Late_Subcarrier); //[chips/Ti]
// normalise the SLL discriminator by the slope of the
// BOC(1,1) at the origin:
float corr_slope = 3.0;
subcarrier_error_chips *= ( 1 - corr_slope*d_early_late_subcarrier_spc_chips) / corr_slope;
// Subcarrier discriminator filter
subcarrier_error_filt_chips = d_subcarrier_loop_filter.get_code_nco(subcarrier_error_chips); //[chips/second]
d_subcarrier_freq_chips += subcarrier_error_filt_chips;
// Aiding the code tracking with the subcarrier:
if( d_aid_code_with_subcarrier )
{
d_code_freq_chips = d_subcarrier_freq_chips;
}
else
{
d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ;
}
//Subcarrier phase accumulator
float subcarrier_error_filt_secs;
subcarrier_error_filt_secs = (Galileo_E1_CODE_PERIOD * subcarrier_error_filt_chips) / Galileo_E1_CODE_CHIP_RATE_HZ; //[seconds]
//code_error_filt_secs=T_prn_seconds*code_error_filt_chips*T_chip_seconds*static_cast<float>(d_fs_in); //[seconds]
// ################## DLL ##########################################################
// DLL discriminator
code_error_chips = dll_nc_e_minus_l_normalized(
*d_Prompt_Subcarrier_Early_Code,
*d_Prompt_Subcarrier_Late_Code); //[chips/Ti]
//Normalise the code phase error:
corr_slope = 1.0;
code_error_chips *= ( 1 - corr_slope*d_early_late_code_spc_chips) / corr_slope;
// Code discriminator filter
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
//Code phase accumulator
d_code_freq_chips += code_error_filt_chips;
float code_error_filt_secs;
code_error_filt_secs = (Galileo_E1_CODE_PERIOD * code_error_filt_chips) / Galileo_E1_CODE_CHIP_RATE_HZ; //[seconds]
//code_error_filt_secs=T_prn_seconds*code_error_filt_chips*T_chip_seconds*static_cast<float>(d_fs_in); //[seconds]
d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
// keep alignment parameters for the next input buffer
double T_chip_seconds;
double T_prn_seconds;
double T_prn_samples;
double K_blk_samples;
double T_sc_seconds;
double T_sc_prn_seconds;
double T_sc_prn_samples;
double K_sc_samples;
// Compute the next buffer lenght based in the new period of the PRN sequence and the code phase error estimation
T_chip_seconds = 1 / static_cast<double>(d_code_freq_chips);
T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
K_blk_samples = T_prn_samples + d_rem_code_phase_samples; // + code_error_filt_secs * static_cast<double>(d_fs_in);
T_sc_seconds = 1 / static_cast<double>(d_subcarrier_freq_chips);
// THere is one subcarrier period per code chip:
T_sc_prn_seconds = T_sc_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
T_sc_prn_samples = T_sc_prn_seconds * static_cast<double>(d_fs_in);
K_sc_samples = T_sc_prn_samples + d_rem_subcarrier_phase_samples;
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt_Subcarrier_Prompt_Code;
d_cn0_estimation_counter++;
}
else
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (d_queue != gr::msg_queue::sptr())
{
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
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 results to Telemetry block ##########
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Subcarrier_Prompt_Code).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Subcarrier_Prompt_Code).imag());
// Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
//compute remnant code phase samples BEFORE the Tracking timestamp
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
//current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter +
// (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples) / static_cast<double>(d_fs_in);
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
//compute remnant code phase samples AFTER the Tracking timestamp
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
d_rem_subcarrier_phase_samples = K_sc_samples - d_current_prn_length_samples; //rounding error < 1 sample
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
current_synchro_data.Code_phase_secs = 0;
current_synchro_data.Carrier_phase_rads = static_cast<double>(d_acc_carrier_phase_rad);
current_synchro_data.Carrier_Doppler_hz = static_cast<double>(d_carrier_doppler_hz);
current_synchro_data.CN0_dB_hz = static_cast<double>(d_CN0_SNV_dB_Hz);
current_synchro_data.Flag_valid_pseudorange = false;
*out[0] = current_synchro_data;
// ########## DEBUG OUTPUT
/*!
* \todo The stop timer has to be moved to the signal source!
*/
// stream to collect cout calls to improve thread safety
std::stringstream tmp_str_stream;
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
{
d_last_seg = floor(d_sample_counter / d_fs_in);
if (d_channel == 0)
{
// debug: Second counter in channel 0
tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
std::cout << tmp_str_stream.rdbuf() << std::flush;
}
tmp_str_stream << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
<< ", Doppler=" << d_carrier_doppler_hz << " [Hz] CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
LOG(INFO) << tmp_str_stream.rdbuf() << std::flush;
//if (d_channel == 0 || d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
}
}
else
{
// ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
/*!
* \todo The stop timer has to be moved to the signal source!
*/
// stream to collect cout calls to improve thread safety
std::stringstream tmp_str_stream;
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
{
d_last_seg = floor(d_sample_counter / d_fs_in);
if (d_channel == 0)
{
// debug: Second counter in channel 0
tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
std::cout << tmp_str_stream.rdbuf() << std::flush;
}
}
*d_Prompt_Subcarrier_Early_Code = gr_complex(0,0);
*d_Prompt_Subcarrier_Prompt_Code = gr_complex(0,0);
*d_Prompt_Subcarrier_Late_Code = gr_complex(0,0);
*d_Prompt_Code_Early_Subcarrier = gr_complex(0,0);
*d_Prompt_Code_Late_Subcarrier = gr_complex(0,0);
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output stream pointer
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
d_acquisition_gnss_synchro->Flag_valid_pseudorange = false;
*out[0] = *d_acquisition_gnss_synchro;
}
if(d_dump)
{
// Dump results to file
float prompt_I;
float prompt_Q;
float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL;
float tmp_float;
double tmp_double;
prompt_I = (*d_Prompt_Subcarrier_Prompt_Code).real();
prompt_Q = (*d_Prompt_Subcarrier_Prompt_Code).imag();
tmp_VE = std::abs<float>(*d_Prompt_Code_Early_Subcarrier);
tmp_E = std::abs<float>(*d_Prompt_Subcarrier_Early_Code);
tmp_P = std::abs<float>(*d_Prompt_Subcarrier_Prompt_Code);
tmp_L = std::abs<float>(*d_Prompt_Subcarrier_Late_Code);
tmp_VL = std::abs<float>(*d_Prompt_Code_Late_Subcarrier);
try
{
// 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
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_chips), sizeof(float));
//PLL commands
d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(float));
d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(float));
//DLL commands
d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(float));
d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(float));
// SLL commands
d_dump_file.write(reinterpret_cast<char*>(&subcarrier_error_chips), sizeof(float));
d_dump_file.write(reinterpret_cast<char*>(&subcarrier_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/static_cast< float >( d_fs_in )*Galileo_E1_CODE_CHIP_RATE_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);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_float = d_rem_subcarrier_phase_samples/static_cast<float>( d_fs_in ) * Galileo_E1_CODE_CHIP_RATE_HZ;
d_dump_file.write(reinterpret_cast<char*>(&tmp_float), sizeof(float));
}
catch (std::ifstream::failure e)
{
LOG(WARNING) << "Exception writing trk dump file " << e.what() << std::endl;
}
}
consume_each(d_current_prn_length_samples); // this is required for gr_block derivates
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
//std::cout<<"Galileo tracking output at sample "<<d_sample_counter<<std::endl;
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
}
void galileo_e1_de_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 (std::ifstream::failure e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
}
}
}
}
void galileo_e1_de_tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{
d_channel_internal_queue = channel_internal_queue;
}
void galileo_e1_de_tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_acquisition_gnss_synchro = p_gnss_synchro;
// Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
//DLOG(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
//DLOG(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
//DLOG(INFO) << "Tracking Satellite set to " << d_satellite;
}

210
src/algorithms/tracking/gnuradio_blocks/galileo_e1_de_tracking_cc.h Normal file
View File

@@ -0,0 +1,210 @@
/*!
* \file galileo_e1_de_tracking_cc.h
* \brief Implementation of Double Estimator tracking for Galileo E1
* \author Cillian O'Driscoll, 2015. cillian.odriscoll(at)gmail.com
*
* -------------------------------------------------------------------------
*
* 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_GALILEO_E1_DE_TRACKING_CC_H
#define GNSS_SDR_GALILEO_E1_DE_TRACKING_CC_H
#include <fstream>
#include <queue>
#include <string>
#include <map>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "concurrent_queue.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include "correlator.h"
class galileo_e1_de_tracking_cc;
typedef boost::shared_ptr<galileo_e1_de_tracking_cc> galileo_e1_de_tracking_cc_sptr;
galileo_e1_de_tracking_cc_sptr
galileo_e1_de_make_tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float sll_bw_hz,
float early_late_code_space_chips,
float early_late_subcarrier_space_chips,
bool aid_subcarrier_with_carrier,
bool aid_code_with_subcarrier);
/*!
* \brief This class implements a double estimator tracking block for Galileo E1 signals
*/
class galileo_e1_de_tracking_cc: public gr::block
{
public:
~galileo_e1_de_tracking_cc();
void set_channel(unsigned int channel);
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
void start_tracking();
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
/*!
* \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_de_tracking_cc_sptr
galileo_e1_de_make_tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float sll_bw_hz,
float early_late_code_space_chips,
float early_late_subcarrier_space_chips,
bool aid_subcarrier_with_carrier,
bool aid_code_with_subcarrier);
galileo_e1_de_tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float sll_bw_hz,
float early_late_code_space_chips,
float early_late_subcarrier_space_chips,
bool aid_subcarrier_with_carrier,
bool aid_code_with_subcarrier);
void update_local_code();
void update_local_carrier();
// tracking configuration vars
boost::shared_ptr<gr::msg_queue> d_queue;
concurrent_queue<int> *d_channel_internal_queue;
unsigned int d_vector_length;
bool d_dump;
Gnss_Synchro* d_acquisition_gnss_synchro;
unsigned int d_channel;
int d_last_seg;
long d_if_freq;
long d_fs_in;
bool d_aid_subcarrier_with_carrier;
bool d_aid_code_with_subcarrier;
float d_early_late_code_spc_chips;
float d_early_late_subcarrier_spc_chips;
gr_complex* d_e1b_code;
gr_complex* d_early_code;
gr_complex* d_prompt_code;
gr_complex* d_late_code;
gr_complex* d_early_subcarrier;
gr_complex* d_prompt_subcarrier;
gr_complex* d_late_subcarrier;
gr_complex* d_carr_sign;
gr_complex *d_Prompt_Subcarrier_Early_Code;
gr_complex *d_Prompt_Subcarrier_Prompt_Code;
gr_complex *d_Prompt_Subcarrier_Late_Code;
gr_complex *d_Prompt_Code_Early_Subcarrier;
gr_complex *d_Prompt_Code_Late_Subcarrier;
// remaining code phase and carrier phase between tracking loops
double d_rem_code_phase_samples;
double d_rem_subcarrier_phase_samples;
float d_rem_carr_phase_rad;
// PLL and DLL filter library
Tracking_2nd_DLL_filter d_code_loop_filter;
Tracking_2nd_DLL_filter d_subcarrier_loop_filter;
Tracking_2nd_PLL_filter d_carrier_loop_filter;
// acquisition
float d_acq_code_phase_samples;
float d_acq_carrier_doppler_hz;
// correlator
Correlator d_correlator;
// tracking vars
double d_code_freq_chips;
double d_subcarrier_freq_chips;
float d_carrier_doppler_hz;
double d_acc_carrier_phase_rad;
double d_acc_code_phase_secs;
//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;
float d_carrier_lock_test;
float d_CN0_SNV_dB_Hz;
float 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_GALILEO_E1_de_TRACKING_CC_H

29
src/algorithms/tracking/libs/correlator.cc
View File

@@ -136,6 +136,35 @@ void Correlator::Carrier_wipeoff_and_VEPL_volk(int signal_length_samples, const
}
void Correlator::Carrier_wipeoff_and_DE_volk(int signal_length_samples,
const gr_complex* input,
gr_complex* carrier,
gr_complex* E_code, gr_complex* P_code, gr_complex* L_code,
gr_complex* E_subcarrier, gr_complex* P_subcarrier, gr_complex *L_subcarrier,
gr_complex* P_subcarrier_E_code_out,
gr_complex* P_subcarrier_P_code_out,
gr_complex* P_subcarrier_L_code_out,
gr_complex* P_code_E_subcarrier_out,
gr_complex* P_code_L_subcarrier_out )
{
gr_complex* bb_signal = static_cast<gr_complex*>(volk_malloc(signal_length_samples * sizeof(gr_complex), volk_get_alignment()));
gr_complex* subcarrier_wipeoff = static_cast<gr_complex*>(volk_malloc(signal_length_samples * sizeof(gr_complex), volk_get_alignment()));
gr_complex* code_wipeoff = static_cast<gr_complex*>(volk_malloc(signal_length_samples * sizeof(gr_complex), volk_get_alignment()));
volk_32fc_x2_multiply_32fc(bb_signal, input, carrier, signal_length_samples);
volk_32fc_x2_multiply_32fc(subcarrier_wipeoff, bb_signal, P_subcarrier, signal_length_samples );
volk_32fc_x2_multiply_32fc(code_wipeoff, bb_signal, P_code, signal_length_samples );
volk_32fc_x2_dot_prod_32fc(P_subcarrier_E_code_out, subcarrier_wipeoff, E_code, signal_length_samples);
volk_32fc_x2_dot_prod_32fc(P_subcarrier_P_code_out, subcarrier_wipeoff, P_code, signal_length_samples);
volk_32fc_x2_dot_prod_32fc(P_subcarrier_L_code_out, subcarrier_wipeoff, L_code, signal_length_samples);
volk_32fc_x2_dot_prod_32fc(P_code_E_subcarrier_out, code_wipeoff, E_subcarrier, signal_length_samples);
volk_32fc_x2_dot_prod_32fc(P_code_L_subcarrier_out, code_wipeoff, L_subcarrier, signal_length_samples);
volk_free(bb_signal);
volk_free(subcarrier_wipeoff);
volk_free(code_wipeoff);
}
Correlator::Correlator ()
{}

10
src/algorithms/tracking/libs/correlator.h
View File

@@ -63,6 +63,16 @@ public:
void Carrier_wipeoff_and_VEPL_volk(int signal_length_samples, const gr_complex* input, gr_complex* carrier, gr_complex* VE_code, gr_complex* E_code, gr_complex* P_code, gr_complex* L_code, gr_complex* VL_code, gr_complex* VE_out, gr_complex* E_out, gr_complex* P_out, gr_complex* L_out, gr_complex* VL_out);
// void Carrier_wipeoff_and_EPL_volk_IQ(int prn_length_samples,int integration_time ,const gr_complex* input, gr_complex* carrier, gr_complex* E_code, gr_complex* P_code, gr_complex* L_code, gr_complex* P_data_code, gr_complex* E_out, gr_complex* P_out, gr_complex* L_out, gr_complex* P_data_out);
void Carrier_wipeoff_and_EPL_volk_IQ(int signal_length_samples, const gr_complex* input, gr_complex* carrier, gr_complex* E_code, gr_complex* P_code, gr_complex* L_code, gr_complex* P_data_code, gr_complex* E_out, gr_complex* P_out, gr_complex* L_out, gr_complex* P_data_out);
void Carrier_wipeoff_and_DE_volk(int signal_length_samples,
const gr_complex* input,
gr_complex* carrier,
gr_complex* E_code, gr_complex* P_code, gr_complex* L_code,
gr_complex* E_subcarrier, gr_complex* P_subcarrier, gr_complex *L_subcarrier,
gr_complex* P_subcarrier_E_code_out,
gr_complex* P_subcarrier_P_code_out,
gr_complex* P_subcarrier_L_code_out,
gr_complex* P_code_E_subcarrier_out,
gr_complex* P_code_L_subcarrier_out );
void Carrier_rotate_and_EPL_volk(int signal_length_samples,
const gr_complex* input,

7
src/core/receiver/gnss_block_factory.cc
View File

@@ -87,6 +87,7 @@
#include "galileo_e1_tcp_connector_tracking.h"
#include "galileo_e5a_dll_pll_tracking.h"
#include "gps_l2_m_dll_pll_tracking.h"
#include "galileo_e1_de_tracking.h"
#include "gps_l1_ca_telemetry_decoder.h"
#include "gps_l2_m_telemetry_decoder.h"
#include "galileo_e1b_telemetry_decoder.h"
@@ -1643,6 +1644,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_E1_DE_Tracking") == 0)
{
std::unique_ptr<TrackingInterface> block_(new GalileoE1DeTracking(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
#if CUDA_GPU_ACCEL
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_GPU") == 0)
{