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Remove unused variables, start data members with d_

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Carles Fernandez 2021-12-07 15:23:50 +01:00
parent 46739d3fb8
commit 46ea5820ec
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GPG Key ID: 4C583C52B0C3877D
2 changed files with 100 additions and 112 deletions
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177
src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc
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@ -1,6 +1,7 @@
/*!
* \file kf_vtl_tracking.cc
* \brief Implementation of a Kalman filter based tracking with optional Vector Tracking Loop message receiver block.
* \brief Implementation of a Kalman filter based tracking with optional Vector
* Tracking Loop message receiver block.
* \author Javier Arribas, 2020. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
@ -81,8 +82,9 @@ kf_vtl_tracking_sptr kf_vtl_make_tracking(const Kf_Conf &conf_)
}
kf_vtl_tracking::kf_vtl_tracking(const Kf_Conf &conf_) : gr::block("kf_vtl_tracking", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
kf_vtl_tracking::kf_vtl_tracking(const Kf_Conf &conf_)
: gr::block("kf_vtl_tracking", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// prevent telemetry symbols accumulation in output buffers
this->set_max_noutput_items(1);
@ -592,7 +594,7 @@ void kf_vtl_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
{
try
{
if (pmt::any_ref(msg).type().hash_code() == int_type_hash_code)
if (pmt::any_ref(msg).type().hash_code() == d_int_type_hash_code)
{
const int tlm_event = boost::any_cast<int>(pmt::any_ref(msg));
if (tlm_event == 1)
@ -846,125 +848,116 @@ void kf_vtl_tracking::start_tracking()
void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz)
{
// Kalman Filter class variables
double Ti = d_correlation_length_ms * 0.001;
const double Ti = d_correlation_length_ms * 0.001;
// state vector: code_phase_chips, carrier_phase_rads, carrier_freq_hz,carrier_freq_rate_hz, code_freq_chips_s
F = arma::mat(5, 5);
F << 1 << 0 << 0 << 0 << Ti << arma::endr
<< 0 << 1 << 2.0 * GNSS_PI * Ti << GNSS_PI * (Ti * Ti) << 0 << arma::endr
<< 0 << 0 << 1 << Ti << 0 << arma::endr
<< 0 << 0 << 0 << 1 << 0 << arma::endr
<< 0 << 0 << 0 << 0 << 1 << arma::endr;
d_F = arma::mat(5, 5);
d_F << 1 << 0 << 0 << 0 << Ti << arma::endr
<< 0 << 1 << 2.0 * GNSS_PI * Ti << GNSS_PI * (Ti * Ti) << 0 << arma::endr
<< 0 << 0 << 1 << Ti << 0 << arma::endr
<< 0 << 0 << 0 << 1 << 0 << arma::endr
<< 0 << 0 << 0 << 0 << 1 << arma::endr;
double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
const double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
H = arma::mat(2, 5);
H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr
<< 0 << 1 << -GNSS_PI * Ti << GNSS_PI * (Ti * Ti) / 3.0 << 0 << arma::endr;
d_H = arma::mat(2, 5);
d_H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr
<< 0 << 1 << -GNSS_PI * Ti << GNSS_PI * (Ti * Ti) / 3.0 << 0 << arma::endr;
// Phase noise variance
double CN0_lin = pow(10.0, d_trk_parameters.expected_cn0_dbhz / 10.0); // CN0 in Hz
double N_periods = 1; // Only 1 interval
double Sigma2_Tau = 0.25 * (1.0 + 2.0 * CN0_lin * Ti) / (N_periods * pow(CN0_lin * Ti, 2.0)) * (1.0 + (1.0 + 2.0 * CN0_lin * Ti) / (pow(N_periods * (CN0_lin * Ti), 2.0)));
double Sigma2_Phase = 1.0 / (2.0 * CN0_lin * Ti) * (1.0 + 1.0 / (2.0 * CN0_lin * Ti));
// const double CN0_lin = pow(10.0, d_trk_parameters.expected_cn0_dbhz / 10.0); // CN0 in Hz
// const double N_periods = 1; // Only 1 interval
// const double Sigma2_Tau = 0.25 * (1.0 + 2.0 * CN0_lin * Ti) / (N_periods * pow(CN0_lin * Ti, 2.0)) * (1.0 + (1.0 + 2.0 * CN0_lin * Ti) / (pow(N_periods * (CN0_lin * Ti), 2.0)));
// const double Sigma2_Phase = 1.0 / (2.0 * CN0_lin * Ti) * (1.0 + 1.0 / (2.0 * CN0_lin * Ti));
// measurement covariance matrix (static)
R = arma::mat(2, 2);
// R << Sigma2_Tau << 0 << arma::endr
d_R = arma::mat(2, 2);
// d_R << Sigma2_Tau << 0 << arma::endr
// << 0 << Sigma2_Phase << arma::endr;
R << pow(d_trk_parameters.code_disc_sd_chips, 2.0) << 0 << arma::endr
<< 0 << pow(d_trk_parameters.carrier_disc_sd_rads, 2.0) << arma::endr;
d_R << pow(d_trk_parameters.code_disc_sd_chips, 2.0) << 0 << arma::endr
<< 0 << pow(d_trk_parameters.carrier_disc_sd_rads, 2.0) << arma::endr;
// system covariance matrix (static)
Q = arma::mat(5, 5);
Q << pow(d_trk_parameters.code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr
<< 0 << pow(d_trk_parameters.carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr
<< 0 << 0 << pow(d_trk_parameters.carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr
<< 0 << 0 << 0 << pow(d_trk_parameters.carrier_freq_rate_sd_hz_s, 2.0) << 0 << arma::endr
<< 0 << 0 << 0 << 0 << pow(d_trk_parameters.code_rate_sd_chips_s, 2.0) << arma::endr;
d_Q = arma::mat(5, 5);
d_Q << pow(d_trk_parameters.code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr
<< 0 << pow(d_trk_parameters.carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr
<< 0 << 0 << pow(d_trk_parameters.carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr
<< 0 << 0 << 0 << pow(d_trk_parameters.carrier_freq_rate_sd_hz_s, 2.0) << 0 << arma::endr
<< 0 << 0 << 0 << 0 << pow(d_trk_parameters.code_rate_sd_chips_s, 2.0) << arma::endr;
// initial Kalman covariance matrix
P_old_old = arma::mat(5, 5);
d_P_old_old = arma::mat(5, 5);
P_old_old << pow(d_trk_parameters.init_code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr
<< 0 << pow(d_trk_parameters.init_carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr
<< 0 << 0 << pow(d_trk_parameters.init_carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr
<< 0 << 0 << 0 << pow(d_trk_parameters.init_carrier_freq_rate_sd_hz_s, 2.0) << 0 << arma::endr
<< 0 << 0 << 0 << 0 << pow(d_trk_parameters.init_code_rate_sd_chips_s, 2.0) << arma::endr;
d_P_old_old << pow(d_trk_parameters.init_code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr
<< 0 << pow(d_trk_parameters.init_carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr
<< 0 << 0 << pow(d_trk_parameters.init_carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr
<< 0 << 0 << 0 << pow(d_trk_parameters.init_carrier_freq_rate_sd_hz_s, 2.0) << 0 << arma::endr
<< 0 << 0 << 0 << 0 << pow(d_trk_parameters.init_code_rate_sd_chips_s, 2.0) << arma::endr;
// init state vector
x_old_old = arma::vec(5);
d_x_old_old = arma::vec(5);
// states: code_phase_chips, carrier_phase_rads, carrier_freq_hz, carrier_freq_rate_hz_s, code_freq_rate_chips_s
x_old_old << acq_code_phase_chips << 0 << acq_doppler_hz << 0 << 0 << arma::endr;
d_x_old_old << acq_code_phase_chips << 0 << acq_doppler_hz << 0 << 0 << arma::endr;
// std::cout << "F: " << F << "\n";
// std::cout << "H: " << H << "\n";
// std::cout << "R: " << R << "\n";
// std::cout << "Q: " << Q << "\n";
// std::cout << "P: " << P_old_old << "\n";
// std::cout << "x: " << x_old_old << "\n";
// std::cout << "F: " << d_F << "\n";
// std::cout << "H: " << d_H << "\n";
// std::cout << "R: " << d_R << "\n";
// std::cout << "Q: " << d_Q << "\n";
// std::cout << "P: " << d_P_old_old << "\n";
// std::cout << "x: " << d_x_old_old << "\n";
}
void kf_vtl_tracking::update_kf_narrow_intgration_time()
void kf_vtl_tracking::update_kf_narrow_integration_time()
{
// Kalman Filter class variables
double Ti = d_current_correlation_time_s;
std::cout << "Ti:" << Ti << std::endl;
const double Ti = d_current_correlation_time_s;
// state vector: code_phase_chips, carrier_phase_rads, carrier_freq_hz,carrier_freq_rate_hz, code_freq_chips_s
F << 1 << 0 << 0 << 0 << Ti << arma::endr
<< 0 << 1 << 2.0 * GNSS_PI * Ti << GNSS_PI * (Ti * Ti) << 0 << arma::endr
<< 0 << 0 << 1 << Ti << 0 << arma::endr
<< 0 << 0 << 0 << 1 << 0 << arma::endr
<< 0 << 0 << 0 << 0 << 1 << arma::endr;
d_F << 1 << 0 << 0 << 0 << Ti << arma::endr
<< 0 << 1 << 2.0 * GNSS_PI * Ti << GNSS_PI * (Ti * Ti) << 0 << arma::endr
<< 0 << 0 << 1 << Ti << 0 << arma::endr
<< 0 << 0 << 0 << 1 << 0 << arma::endr
<< 0 << 0 << 0 << 0 << 1 << arma::endr;
double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
const double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr
<< 0 << 1 << -GNSS_PI * Ti << GNSS_PI * (Ti * Ti) / 3.0 << 0 << arma::endr;
// Phase noise variance
double CN0_lin = pow(10.0, d_trk_parameters.expected_cn0_dbhz / 10.0); // CN0 in Hz
double N_periods = 1; // Only 1 interval
double Sigma2_Tau = 0.25 * (1.0 + 2.0 * CN0_lin * Ti) / (N_periods * pow(CN0_lin * Ti, 2.0)) * (1.0 + (1.0 + 2.0 * CN0_lin * Ti) / (pow(N_periods * (CN0_lin * Ti), 2.0)));
double Sigma2_Phase = 1.0 / (2.0 * CN0_lin * Ti) * (1.0 + 1.0 / (2.0 * CN0_lin * Ti));
d_H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr
<< 0 << 1 << -GNSS_PI * Ti << GNSS_PI * (Ti * Ti) / 3.0 << 0 << arma::endr;
// measurement covariance matrix (static)
R << pow(d_trk_parameters.code_disc_sd_chips, 2.0) << 0 << arma::endr
<< 0 << pow(d_trk_parameters.carrier_disc_sd_rads, 2.0) << arma::endr;
d_R << pow(d_trk_parameters.code_disc_sd_chips, 2.0) << 0 << arma::endr
<< 0 << pow(d_trk_parameters.carrier_disc_sd_rads, 2.0) << arma::endr;
// system covariance matrix (static)
Q << pow(d_trk_parameters.narrow_code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr
<< 0 << pow(d_trk_parameters.narrow_carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr
<< 0 << 0 << pow(d_trk_parameters.narrow_carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr
<< 0 << 0 << 0 << pow(d_trk_parameters.narrow_carrier_freq_rate_sd_hz_s, 2.0) << 0 << arma::endr
<< 0 << 0 << 0 << 0 << pow(d_trk_parameters.narrow_code_rate_sd_chips_s, 2.0) << arma::endr;
d_Q << pow(d_trk_parameters.narrow_code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr
<< 0 << pow(d_trk_parameters.narrow_carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr
<< 0 << 0 << pow(d_trk_parameters.narrow_carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr
<< 0 << 0 << 0 << pow(d_trk_parameters.narrow_carrier_freq_rate_sd_hz_s, 2.0) << 0 << arma::endr
<< 0 << 0 << 0 << 0 << pow(d_trk_parameters.narrow_code_rate_sd_chips_s, 2.0) << arma::endr;
}
void kf_vtl_tracking::update_kf_cn0(double current_cn0_dbhz)
{
// Kalman Filter class variables
double Ti = d_correlation_length_ms * 0.001;
double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
const double Ti = d_correlation_length_ms * 0.001;
const double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
H = arma::mat(2, 5);
H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr
<< 0 << 1 << -GNSS_PI * Ti << GNSS_PI * (Ti * Ti) / 3.0 << 0 << arma::endr;
d_H = arma::mat(2, 5);
d_H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr
<< 0 << 1 << -GNSS_PI * Ti << GNSS_PI * (Ti * Ti) / 3.0 << 0 << arma::endr;
// Phase noise variance
double CN0_lin = pow(10.0, current_cn0_dbhz / 10.0); // CN0 in Hz
double N_periods = 1; // Only 1 interval
double Sigma2_Tau = 0.25 * (1.0 + 2.0 * CN0_lin * Ti) / (N_periods * pow(CN0_lin * Ti, 2.0)) * (1.0 + (1.0 + 2.0 * CN0_lin * Ti) / (pow(N_periods * (CN0_lin * Ti), 2.0)));
double Sigma2_Phase = 1.0 / (2.0 * CN0_lin * Ti) * (1.0 + 1.0 / (2.0 * CN0_lin * Ti));
const double CN0_lin = pow(10.0, current_cn0_dbhz / 10.0); // CN0 in Hz
const double N_periods = 1; // Only 1 interval
const double Sigma2_Tau = 0.25 * (1.0 + 2.0 * CN0_lin * Ti) / (N_periods * pow(CN0_lin * Ti, 2.0)) * (1.0 + (1.0 + 2.0 * CN0_lin * Ti) / (pow(N_periods * (CN0_lin * Ti), 2.0)));
const double Sigma2_Phase = 1.0 / (2.0 * CN0_lin * Ti) * (1.0 + 1.0 / (2.0 * CN0_lin * Ti));
// measurement covariance matrix (static)
R = arma::mat(2, 2);
R << Sigma2_Tau << 0 << arma::endr
<< 0 << Sigma2_Phase << arma::endr;
d_R = arma::mat(2, 2);
d_R << Sigma2_Tau << 0 << arma::endr
<< 0 << Sigma2_Phase << arma::endr;
}
@ -1166,18 +1159,18 @@ void kf_vtl_tracking::run_Kf()
// Kalman loop
// Prediction
x_new_old = F * x_old_old;
P_new_old = F * P_old_old * F.t() + Q;
d_x_new_old = d_F * d_x_old_old;
d_P_new_old = d_F * d_P_old_old * d_F.t() + d_Q;
// Innovation
arma::vec z = {d_code_error_disc_chips, d_carr_phase_error_disc_hz * TWO_PI};
// Measurement update
arma::mat K = P_new_old * H.t() * arma::inv(H * P_new_old * H.t() + R); // Kalman gain
arma::mat K = d_P_new_old * d_H.t() * arma::inv(d_H * d_P_new_old * d_H.t() + d_R); // Kalman gain
x_new_new = x_new_old + K * z;
x_new_new = d_x_new_old + K * z;
P_new_new = (arma::eye(5, 5) - K * H) * P_new_old;
d_P_new_new = (arma::eye(5, 5) - K * d_H) * d_P_new_old;
// new code phase estimation
d_code_error_kf_chips = x_new_new(0);
@ -1220,8 +1213,8 @@ void kf_vtl_tracking::run_Kf()
d_rem_carr_phase_rad = d_carrier_phase_kf_rad;
// prepare data for next KF epoch
x_old_old = x_new_new;
P_old_old = P_new_new;
d_x_old_old = x_new_new;
d_P_old_old = d_P_new_new;
}
@ -1244,9 +1237,6 @@ void kf_vtl_tracking::clear_tracking_vars()
d_P_data_accu = gr_complex(0.0, 0.0);
}
d_P_accu_old = gr_complex(0.0, 0.0);
// d_carrier_phase_kf_error_hz = 0.0;
// d_carrier_freq_error_hz_s = 0.0;
// d_code_error_chips = 0.0;
d_current_symbol = 0;
d_current_data_symbol = 0;
d_Prompt_circular_buffer.clear();
@ -1254,6 +1244,7 @@ void kf_vtl_tracking::clear_tracking_vars()
d_code_phase_rate_step_chips = 0.0;
}
// todo: IT DOES NOT WORK WHEN NO KF IS RUNNING (extended correlation epochs!!)
void kf_vtl_tracking::update_tracking_vars()
{
@ -1947,7 +1938,7 @@ int kf_vtl_tracking::general_work(int noutput_items __attribute__((unused)), gr_
<< d_channel
<< " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n';
// Set narrow taps delay values [chips]
update_kf_narrow_intgration_time();
update_kf_narrow_integration_time();
if (d_veml)
{
d_local_code_shift_chips[0] = -d_trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);

35
src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.h
View File

@ -1,6 +1,7 @@
/*!
* \file kf_vtl_tracking.cc
* \brief Implementation of a Kalman filter based tracking with optional Vector Tracking Loop message receiver block.
* \brief Implementation of a Kalman filter based tracking with optional Vector
* Tracking Loop message receiver block.
* \author Javier Arribas, 2020. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
@ -17,8 +18,8 @@
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_kf_vtl_TRACKING_H
#define GNSS_SDR_kf_vtl_TRACKING_H
#ifndef GNSS_SDR_KF_VTL_TRACKING_H
#define GNSS_SDR_KF_VTL_TRACKING_H
#include "cpu_multicorrelator_real_codes.h"
#include "exponential_smoother.h"
@ -77,7 +78,7 @@ private:
explicit kf_vtl_tracking(const Kf_Conf &conf_);
void init_kf(double acq_code_phase_chips, double acq_doppler_hz);
void update_kf_narrow_intgration_time();
void update_kf_narrow_integration_time();
void update_kf_cn0(double current_cn0_dbhz);
void run_Kf();
@ -111,22 +112,20 @@ private:
volk_gnsssdr::vector<gr_complex> d_Prompt_Data;
volk_gnsssdr::vector<gr_complex> d_Prompt_buffer;
// boost::circular_buffer<std::pair<double, double>> d_code_ph_history;
boost::circular_buffer<gr_complex> d_Prompt_circular_buffer;
const size_t int_type_hash_code = typeid(int).hash_code();
const size_t d_int_type_hash_code = typeid(int).hash_code();
// Kalman Filter class variables
arma::mat F;
arma::mat H;
arma::mat R;
arma::mat Q;
arma::mat P_old_old;
arma::mat P_new_old;
arma::mat P_new_new;
arma::vec x_old_old;
arma::vec x_new_old;
arma::mat d_F;
arma::mat d_H;
arma::mat d_R;
arma::mat d_Q;
arma::mat d_P_old_old;
arma::mat d_P_new_old;
arma::mat d_P_new_new;
arma::vec d_x_old_old;
arma::vec d_x_new_old;
arma::vec x_new_new;
// nominal signal parameters
@ -141,7 +140,6 @@ private:
// carrier and code discriminators output
double d_carr_phase_error_disc_hz;
double d_carr_freq_error_disc_hz;
double d_code_error_disc_chips;
// estimated parameters
@ -155,7 +153,6 @@ private:
double d_acc_carrier_phase_rad;
double d_T_chip_seconds;
double d_T_prn_seconds;
double d_T_prn_samples;
@ -234,4 +231,4 @@ private:
bool d_enable_extended_integration;
};
#endif // GNSS_SDR_kf_vtl_TRACKING_H
#endif // GNSS_SDR_KF_VTL_TRACKING_H