mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-11-06 02:03:04 +00:00
First version of Double Estimator
Only works for Galileo E1B tracking for now. Needs some clean up.
This commit is contained in:
Cillian O'Driscoll
296
conf/gnss-sdr_Galileo_E1_short_DE.conf
Normal file
296
conf/gnss-sdr_Galileo_E1_short_DE.conf
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@@ -0,0 +1,296 @@
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; You can define your own receiver and invoke it by doing
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; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
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;
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[GNSS-SDR]
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;######### GLOBAL OPTIONS ##################
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;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
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GNSS-SDR.internal_fs_hz=4000000
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;######### CONTROL_THREAD CONFIG ############
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ControlThread.wait_for_flowgraph=false
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;######### SIGNAL_SOURCE CONFIG ############
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;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
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SignalSource.implementation=File_Signal_Source
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;#filename: path to file with the captured GNSS signal samples to be processed
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SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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SignalSource.item_type=short
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;#sampling_frequency: Original Signal sampling frequency in [Hz]
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SignalSource.sampling_frequency=4000000
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;#freq: RF front-end center frequency in [Hz]
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SignalSource.freq=1575420000
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;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
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SignalSource.samples=0
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;#repeat: Repeat the processing file. Disable this option in this version
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SignalSource.repeat=false
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;#dump: Dump the Signal source data to a file. Disable this option in this version
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SignalSource.dump=false
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SignalSource.dump_filename=../data/signal_source.dat
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;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
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; it helps to not overload the CPU, but the processing time will be longer.
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SignalSource.enable_throttle_control=false
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;######### SIGNAL_CONDITIONER CONFIG ############
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;## It holds blocks to change data type, filter and resample input data.
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;#implementation: Use [Pass_Through] or [Signal_Conditioner]
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;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
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;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
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SignalConditioner.implementation=Signal_Conditioner
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;######### DATA_TYPE_ADAPTER CONFIG ############
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;## Changes the type of input data. Please disable it in this version.
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;#implementation: [Pass_Through] disables this block
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DataTypeAdapter.implementation=Ishort_To_Complex
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;######### INPUT_FILTER CONFIG ############
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;## Filter the input data. Can be combined with frequency translation for IF signals
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;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
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;#[Pass_Through] disables this block
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;#[Fir_Filter] enables a FIR Filter
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;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
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;InputFilter.implementation=Fir_Filter
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;InputFilter.implementation=Freq_Xlating_Fir_Filter
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InputFilter.implementation=Pass_Through
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;#dump: Dump the filtered data to a file.
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InputFilter.dump=false
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;#dump_filename: Log path and filename.
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InputFilter.dump_filename=../data/input_filter.dat
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;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
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;#These options are based on parameters of gnuradio's function: gr_remez.
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;#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.
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;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
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InputFilter.input_item_type=gr_complex
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;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
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InputFilter.output_item_type=gr_complex
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;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
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InputFilter.taps_item_type=float
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;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
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InputFilter.number_of_taps=5
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;#number_of _bands: Number of frequency bands in the filter.
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InputFilter.number_of_bands=2
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;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
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;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
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;#The number of band_begin and band_end elements must match the number of bands
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InputFilter.band1_begin=0.0
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InputFilter.band1_end=0.45
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InputFilter.band2_begin=0.55
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InputFilter.band2_end=1.0
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;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
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;#The number of ampl_begin and ampl_end elements must match the number of bands
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InputFilter.ampl1_begin=1.0
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InputFilter.ampl1_end=1.0
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InputFilter.ampl2_begin=0.0
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InputFilter.ampl2_end=0.0
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;#band_error: weighting applied to each band (usually 1).
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;#The number of band_error elements must match the number of bands
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InputFilter.band1_error=1.0
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InputFilter.band2_error=1.0
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;#filter_type: one of "bandpass", "hilbert" or "differentiator"
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InputFilter.filter_type=bandpass
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;#grid_density: determines how accurately the filter will be constructed.
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;The minimum value is 16; higher values are slower to compute the filter.
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InputFilter.grid_density=16
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;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
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;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
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InputFilter.sampling_frequency=4000000
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InputFilter.IF=0
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;######### RESAMPLER CONFIG ############
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;## Resamples the input data.
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;#implementation: Use [Pass_Through] or [Direct_Resampler]
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;#[Pass_Through] disables this block
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;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
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;Resampler.implementation=Direct_Resampler
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Resampler.implementation=Pass_Through
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;#dump: Dump the resamplered data to a file.
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Resampler.dump=false
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;#dump_filename: Log path and filename.
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Resampler.dump_filename=../data/resampler.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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Resampler.item_type=gr_complex
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;#sample_freq_in: the sample frequency of the input signal
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Resampler.sample_freq_in=4000000
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;#sample_freq_out: the desired sample frequency of the output signal
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Resampler.sample_freq_out=4000000
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;######### CHANNELS GLOBAL CONFIG ############
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;#count: Number of available Galileo satellite channels.
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Channels_1B.count=8
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;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
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Channels.in_acquisition=1
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Channel.signal=1B
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;######### ACQUISITION GLOBAL CONFIG ############
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;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
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Acquisition_1B.dump=false
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;#filename: Log path and filename
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Acquisition_1B.dump_filename=./acq_dump.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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Acquisition_1B.item_type=gr_complex
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;#if: Signal intermediate frequency in [Hz]
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Acquisition_1B.if=0
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;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
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Acquisition_1B.sampled_ms=4
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;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
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Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
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;#threshold: Acquisition threshold
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;Acquisition_1B.threshold=0
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;#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]
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Acquisition_1B.pfa=0.000002
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;#doppler_max: Maximum expected Doppler shift [Hz]
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Acquisition_1B.doppler_max=15000
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;#doppler_max: Doppler step in the grid search [Hz]
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Acquisition_1B.doppler_step=125
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;######### ACQUISITION CHANNELS CONFIG ######
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;######### ACQUISITION CH 0 CONFIG ############
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;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false
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;Acquisition_1B0.repeat_satellite = true
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;Acquisition_1B1.repeat_satellite = true
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;Acquisition_1B2.repeat_satellite = true
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;Acquisition_1B3.repeat_satellite = true
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;#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].
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;#Use only if GNSS-SDR.internal_fs_hz is greater than or equal to 6138000
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Acquisition_1B.cboc=false
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;######### TRACKING GLOBAL CONFIG ############
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;#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]
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Tracking_1B.implementation=Galileo_E1_DE_Tracking
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;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
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Tracking_1B.item_type=gr_complex
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;#sampling_frequency: Signal Intermediate Frequency in [Hz]
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Tracking_1B.if=0
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;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
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Tracking_1B.dump=false
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;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
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Tracking_1B.dump_filename=../data/de_tracking_ch_
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;#pll_bw_hz: PLL loop filter bandwidth [Hz]
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Tracking_1B.pll_bw_hz=15.0;
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;#aid_subcarrier_with_carrier: Enable aiding of the subcarrier tracking
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;using the code tracking.
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Tracking_1B.aid_subcarrier_with_carrier=true;
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;#aid_code_with_subcarrier: Enable aiding of the code tracking
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;using the subcarrier tracking.
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Tracking_1B.aid_code_with_subcarrier=true;
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;#dll_bw_hz: DLL loop filter bandwidth [Hz]
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Tracking_1B.dll_bw_hz=0.5;
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;#sll_bw_hz: SLL loop filter bandwidth [Hz]
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; Note: If using aiding then most of the dynamics are tracked by the
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; carrier, we can then tighten up the subcarrier loop bandwidth. If we
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; aid the code with the subcarrier then the the dll bandwidth can be
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; tightened up further still. TODO: Add initial and final bandwidths, to
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; differentiate between pull-in and final tracking.
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Tracking_1B.sll_bw_hz=2.0;
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;#order: PLL/DLL loop filter order [2] or [3]
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Tracking_1B.order=3;
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;#early_late_code_space_chips: code correlator early-late space [chips]. Use [0.5]
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; COD: note this is not the early-late spacing, this is the
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; early-prompt, or prompt-late spacing. Convention common to all
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; GNSS-SDR configuration files. Also applies to subcarrier spacing
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Tracking_1B.early_late_code_space_chips=0.5;
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;#early_late_subcarrier_space_chips: only for [Galileo_E1_DE_Tracking], subcarrier early-late space [chips]. Use [0.6]
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Tracking_1B.early_late_subcarrier_space_chips=0.167;
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;######### TELEMETRY DECODER CONFIG ############
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;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A or [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
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TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
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TelemetryDecoder_1B.dump=false
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;######### OBSERVABLES CONFIG ############
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;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
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Observables.implementation=Galileo_E1B_Observables
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;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
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Observables.dump=false
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;#dump_filename: Log path and filename.
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Observables.dump_filename=./observables.dat
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;######### PVT CONFIG ############
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;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
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PVT.implementation=GALILEO_E1_PVT
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;#averaging_depth: Number of PVT observations in the moving average algorithm
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PVT.averaging_depth=100
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;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
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PVT.flag_averaging=false
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;#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]
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PVT.output_rate_ms=100;
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;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
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PVT.display_rate_ms=500;
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;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
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PVT.dump=false
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;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
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PVT.dump_filename=./PVT
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;######### OUTPUT_FILTER CONFIG ############
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;# Receiver output filter: Leave this block disabled in this version
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OutputFilter.implementation=Null_Sink_Output_Filter
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OutputFilter.filename=data/gnss-sdr.dat
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OutputFilter.item_type=gr_complex
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@@ -32,6 +32,7 @@ set(TRACKING_ADAPTER_SOURCES
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gps_l1_ca_tcp_connector_tracking.cc
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gps_l1_ca_tcp_connector_tracking.cc
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galileo_e5a_dll_pll_tracking.cc
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galileo_e5a_dll_pll_tracking.cc
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gps_l2_m_dll_pll_tracking.cc
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gps_l2_m_dll_pll_tracking.cc
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galileo_e1_de_tracking.cc
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${OPT_TRACKING_ADAPTERS}
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${OPT_TRACKING_ADAPTERS}
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)
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)
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|||||||
169
src/algorithms/tracking/adapters/galileo_e1_de_tracking.cc
Normal file
169
src/algorithms/tracking/adapters/galileo_e1_de_tracking.cc
Normal file
@@ -0,0 +1,169 @@
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/*!
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* \file galileo_e1_de_tracking.h
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* \brief Adapts a double estimator tracking loop block
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* to a TrackingInterface for Galileo E1 signals
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* \author Cillian O'Driscoll, 2015. cillian.odriscoll(at)gmail.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
|
||||||
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* This file is part of GNSS-SDR.
|
||||||
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*
|
||||||
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* 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
116
src/algorithms/tracking/adapters/galileo_e1_de_tracking.h
Normal file
@@ -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_
|
||||||
|
|
||||||
@@ -34,6 +34,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
|
|||||||
galileo_e5a_dll_pll_tracking_cc.cc
|
galileo_e5a_dll_pll_tracking_cc.cc
|
||||||
gps_l2_m_dll_pll_tracking_cc.cc
|
gps_l2_m_dll_pll_tracking_cc.cc
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
|
gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
|
||||||
|
galileo_e1_de_tracking_cc.cc
|
||||||
${OPT_TRACKING_BLOCKS}
|
${OPT_TRACKING_BLOCKS}
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|||||||
@@ -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;
|
||||||
|
}
|
||||||
|
|
||||||
@@ -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
|
||||||
|
|
||||||
@@ -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 ()
|
Correlator::Correlator ()
|
||||||
{}
|
{}
|
||||||
|
|||||||
@@ -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_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 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_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,
|
void Carrier_rotate_and_EPL_volk(int signal_length_samples,
|
||||||
const gr_complex* input,
|
const gr_complex* input,
|
||||||
|
|||||||
@@ -87,6 +87,7 @@
|
|||||||
#include "galileo_e1_tcp_connector_tracking.h"
|
#include "galileo_e1_tcp_connector_tracking.h"
|
||||||
#include "galileo_e5a_dll_pll_tracking.h"
|
#include "galileo_e5a_dll_pll_tracking.h"
|
||||||
#include "gps_l2_m_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_l1_ca_telemetry_decoder.h"
|
||||||
#include "gps_l2_m_telemetry_decoder.h"
|
#include "gps_l2_m_telemetry_decoder.h"
|
||||||
#include "galileo_e1b_telemetry_decoder.h"
|
#include "galileo_e1b_telemetry_decoder.h"
|
||||||
@@ -1643,6 +1644,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
|
|||||||
out_streams, queue));
|
out_streams, queue));
|
||||||
block = std::move(block_);
|
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
|
#if CUDA_GPU_ACCEL
|
||||||
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_GPU") == 0)
|
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_GPU") == 0)
|
||||||
{
|
{
|
||||||
|
|||||||
Reference in New Issue
Block a user