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

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Carles Fernandez 2018-06-17 19:17:43 +02:00
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4
CMakeLists.txt
View File

@ -990,7 +990,7 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
ExternalProject_Add( ExternalProject_Add(
armadillo-${armadillo_RELEASE} armadillo-${armadillo_RELEASE}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE} PREFIX ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}
GIT_REPOSITORY https://github.com/conradsnicta/armadillo-code.git GIT_REPOSITORY https://gitlab.com/conradsnicta/armadillo-code.git
GIT_TAG ${armadillo_BRANCH} GIT_TAG ${armadillo_BRANCH}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE} SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE} BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}
@ -1003,7 +1003,7 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
ExternalProject_Add( ExternalProject_Add(
armadillo-${armadillo_RELEASE} armadillo-${armadillo_RELEASE}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE} PREFIX ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}
GIT_REPOSITORY https://github.com/conradsnicta/armadillo-code.git GIT_REPOSITORY https://gitlab.com/conradsnicta/armadillo-code.git
GIT_TAG ${armadillo_BRANCH} GIT_TAG ${armadillo_BRANCH}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE} SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE} BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}

27
README.md
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@ -113,7 +113,7 @@ If you are using Arch Linux (with base-devel group installed):
~~~~~~ ~~~~~~
$ pacman -S cmake git boost boost-libs log4cpp libvolk gnuradio gnuradio-osmosdr \ $ pacman -S cmake git boost boost-libs log4cpp libvolk gnuradio gnuradio-osmosdr \
blas lapack gflags google-glog gnutls openssl python2-mako python2-six \ blas lapack gflags google-glog openssl python2-mako python2-six \
libmatio libpcap gtest libmatio libpcap gtest
~~~~~~ ~~~~~~
@ -182,12 +182,13 @@ or manually as explained below, and then please follow instructions on how to [d
#### Install [Armadillo](http://arma.sourceforge.net/ "Armadillo's Homepage"), a C++ linear algebra library: #### Install [Armadillo](http://arma.sourceforge.net/ "Armadillo's Homepage"), a C++ linear algebra library:
~~~~~~ ~~~~~~
$ sudo apt-get install libopenblas-dev liblapack-dev # For Debian/Ubuntu/LinuxMint $ sudo apt-get install libblas-dev liblapack-dev # For Debian/Ubuntu/LinuxMint
$ sudo yum install lapack-devel blas-devel # For Fedora/CentOS/RHEL $ sudo yum install lapack-devel blas-devel # For Fedora/CentOS/RHEL
$ sudo zypper install lapack-devel blas-devel # For OpenSUSE $ sudo zypper install lapack-devel blas-devel # For OpenSUSE
$ wget https://sourceforge.net/projects/arma/files/armadillo-8.500.0.tar.xz $ sudo pacman -S blas lapack # For Arch Linux
$ tar xvfz armadillo-8.500.0.tar.xz $ wget https://sourceforge.net/projects/arma/files/armadillo-8.500.1.tar.xz
$ cd armadillo-8.500.0 $ tar xvfz armadillo-8.500.1.tar.xz
$ cd armadillo-8.500.1
$ cmake . $ cmake .
$ make $ make
$ sudo make install $ sudo make install
@ -250,6 +251,8 @@ changing `/home/username/googletest-release-1.8.0/googletest` by the actual dire
~~~~~~ ~~~~~~
$ sudo apt-get install libgnutls-openssl-dev # For Debian/Ubuntu/LinuxMint $ sudo apt-get install libgnutls-openssl-dev # For Debian/Ubuntu/LinuxMint
$ sudo yum install openssl-devel # For Fedora/CentOS/RHEL $ sudo yum install openssl-devel # For Fedora/CentOS/RHEL
$ sudo zypper install openssl-devel # For OpenSUSE
$ sudo pacman -S openssl # For Arch Linux
~~~~~~ ~~~~~~
In case the GnuTLS library with openssl extensions package is not available in your GNU/Linux distribution, GNSS-SDR can also work well with OpenSSL. In case the GnuTLS library with openssl extensions package is not available in your GNU/Linux distribution, GNSS-SDR can also work well with OpenSSL.
@ -1156,7 +1159,7 @@ More documentation at the [Channels page](https://gnss-sdr.org/docs/sp-blocks/ch
#### Acquisition #### Acquisition
The first task of a GNSS receiver is to detect the presence or absence of in-view satellites. This is done by the acquisition system process, which also provides a coarse estimation of two signal parameters: the frequency shift with respect to the nominal IF frequency, and a delay term which allows the receiver to create a local code aligned with the incoming code. [AcquisitionInterface](./src/core/interfaces/acquisition_interface.h) is the common interface for all the acquisition algorithms and their corresponding implementations. Algorithms' interface, that may vary depending on the use of information external to the receiver, such as in Assisted GNSS, is defined in classes referred to as *adapters*. These adapters wrap the GNU Radio blocks interface into a compatible interface expected by AcquisitionInterface. This allows the use of existing GNU Radio blocks derived from ```gr::block```, and ensures that newly developed implementations will also be reusable in other GNU Radio-based applications. Moreover, it adds still another layer of abstraction, since each given acquisition algorithm can have different implementations (for instance using different numerical libraries). In such a way, implementations can be continuously improved without having any impact neither on the algorithm interface nor the general acquisition interface. The first task of a GNSS receiver is to detect the presence or absence of in-view satellites. This is done by the acquisition system process, which also provides a coarse estimation of two signal parameters: the frequency shift with respect to the nominal frequency, and a delay term which allows the receiver to create a local code aligned with the incoming code. [AcquisitionInterface](./src/core/interfaces/acquisition_interface.h) is the common interface for all the acquisition algorithms and their corresponding implementations. Algorithms' interface, that may vary depending on the use of information external to the receiver, such as in Assisted GNSS, is defined in classes referred to as *adapters*. These adapters wrap the GNU Radio blocks interface into a compatible interface expected by AcquisitionInterface. This allows the use of existing GNU Radio blocks derived from ```gr::block```, and ensures that newly developed implementations will also be reusable in other GNU Radio-based applications. Moreover, it adds still another layer of abstraction, since each given acquisition algorithm can have different implementations (for instance using different numerical libraries). In such a way, implementations can be continuously improved without having any impact neither on the algorithm interface nor the general acquisition interface.
Check [GpsL1CaPcpsAcquisition](./src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h) and [GalileoE1PcpsAmbiguousAcquisition](./src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h) for examples of adapters from a Parallel Code Phase Search (PCPS) acquisition block, and [pcps_acquisition_cc](./src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h) for an example of a block implementation. The source code of all the available acquisition algorithms is located at: Check [GpsL1CaPcpsAcquisition](./src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h) and [GalileoE1PcpsAmbiguousAcquisition](./src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h) for examples of adapters from a Parallel Code Phase Search (PCPS) acquisition block, and [pcps_acquisition_cc](./src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h) for an example of a block implementation. The source code of all the available acquisition algorithms is located at:
@ -1169,14 +1172,13 @@ Check [GpsL1CaPcpsAcquisition](./src/algorithms/acquisition/adapters/gps_l1_ca_p
|---------gnuradio_blocks <- Signal processing blocks implementation |---------gnuradio_blocks <- Signal processing blocks implementation
~~~~~~ ~~~~~~
The user can select a given implementation for the algorithm to be used in each receiver channel, as well as their parameters, in the configuration file. For a GPS l1 C/A receiver: The user can select a given implementation for the algorithm to be used in each receiver channel, as well as their parameters, in the configuration file. For a GPS L1 C/A receiver:
~~~~~~ ~~~~~~
;######### ACQUISITION GLOBAL CONFIG ############ ;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition ; Acquisition algorithm selection for this channel Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition ; Acquisition algorithm selection for this channel
Acquisition_1C.item_type=gr_complex Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0 ; Signal intermediate frequency in [Hz] Acquisition_1C.coherent_integration_time_ms=1 ; Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.sampled_ms=1 ; Signal block duration for the acquisition signal detection [ms]
Acquisition_1C.threshold=0.005 ; Acquisition threshold Acquisition_1C.threshold=0.005 ; Acquisition threshold
Acquisition_1C.pfa=0.0001 ; Acquisition false alarm probability. This option overrides the threshold option. Acquisition_1C.pfa=0.0001 ; 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] ; Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
@ -1192,8 +1194,7 @@ and, for Galileo E1B channels:
;######### GALILEO ACQUISITION CONFIG ############ ;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.item_type=gr_complex Acquisition_1B.item_type=gr_complex
Acquisition_1B.if=0 Acquisition_1B.coherent_integration_time_ms=4
Acquisition_1B.sampled_ms=4
Acquisition_1B.pfa=0.0000008 Acquisition_1B.pfa=0.0000008
Acquisition_1B.doppler_max=15000 Acquisition_1B.doppler_max=15000
Acquisition_1B.doppler_step=125 Acquisition_1B.doppler_step=125
@ -1301,7 +1302,7 @@ More documentation at the [Observables Blocks page](https://gnss-sdr.org/docs/sp
#### Computation of Position, Velocity and Time #### Computation of Position, Velocity and Time
Although data processing for obtaining high-accuracy PVT solutions is out of the scope of GNSS-SDR, we provide a module that can compute simple least square solutions (stored in GIS-friendly formats such as [GeoJSON](https://tools.ietf.org/html/rfc7946) and [KML](http://www.opengeospatial.org/standards/kml), or transmitted via serial port as [NMEA 0183](https://en.wikipedia.org/wiki/NMEA_0183) messages), and leaves room for more sophisticated positioning methods by storing observables and navigation data in [RINEX](https://en.wikipedia.org/wiki/RINEX) files (v2.11 or v3.02), and generating [RTCM](http://www.rtcm.org "Radio Technical Commission for Maritime Services") 3.2 messages that can be disseminated through the Internet in real time. Although data processing for obtaining high-accuracy PVT solutions is out of the scope of GNSS-SDR, we provide a module that can compute position fixes (stored in GIS-friendly formats such as [GeoJSON](https://tools.ietf.org/html/rfc7946), [GPX](http://www.topografix.com/gpx.asp) and [KML](http://www.opengeospatial.org/standards/kml), or transmitted via serial port as [NMEA 0183](https://en.wikipedia.org/wiki/NMEA_0183) messages), and leaves room for more sophisticated positioning methods by storing observables and navigation data in [RINEX](https://en.wikipedia.org/wiki/RINEX) files (v2.11 or v3.02), and generating [RTCM](http://www.rtcm.org "Radio Technical Commission for Maritime Services") 3.2 messages that can be disseminated through the Internet in real time.
The common interface is [PvtInterface](./src/core/interfaces/pvt_interface.h). The common interface is [PvtInterface](./src/core/interfaces/pvt_interface.h).
@ -1336,6 +1337,8 @@ PVT.rtcm_MT1077_rate_ms=1000
* **KML** (Keyhole Markup Language) is an XML grammar used to encode and transport representations of geographic data for display in an earth browser. KML is an open standard officially named the OpenGIS KML Encoding Standard (OGC KML), and it is maintained by the Open Geospatial Consortium, Inc. (OGC). KML files can be displayed in geobrowsers such as [Google Earth](https://www.google.com/earth/), [Marble](https://marble.kde.org), [osgEarth](http://osgearth.org), or used with the [NASA World Wind SDK for Java](https://worldwind.arc.nasa.gov/java/). * **KML** (Keyhole Markup Language) is an XML grammar used to encode and transport representations of geographic data for display in an earth browser. KML is an open standard officially named the OpenGIS KML Encoding Standard (OGC KML), and it is maintained by the Open Geospatial Consortium, Inc. (OGC). KML files can be displayed in geobrowsers such as [Google Earth](https://www.google.com/earth/), [Marble](https://marble.kde.org), [osgEarth](http://osgearth.org), or used with the [NASA World Wind SDK for Java](https://worldwind.arc.nasa.gov/java/).
* **GPX** (the GPS Exchange Format) is a light-weight XML data format for the interchange of GPS data (waypoints, routes, and tracks) between applications and Web services on the Internet. The format is open and can be used without the need to pay license fees, and it is supported by a [large list of software tools](http://www.topografix.com/gpx_resources.asp).
* **NMEA 0183** is a combined electrical and data specification for communication between marine electronics such as echo sounder, sonars, anemometer, gyrocompass, autopilot, GPS receivers and many other types of instruments. It has been defined by, and is controlled by, the U.S. [National Marine Electronics Association](http://www.nmea.org/). The NMEA 0183 standard uses a simple ASCII, serial communications protocol that defines how data are transmitted in a *sentence* from one *talker* to multiple *listeners* at a time. Through the use of intermediate expanders, a talker can have a unidirectional conversation with a nearly unlimited number of listeners, and using multiplexers, multiple sensors can talk to a single computer port. At the application layer, the standard also defines the contents of each sentence (message) type, so that all listeners can parse messages accurately. Those messages can be sent through the serial port (that could be for instance a Bluetooth link) and be used/displayed by a number of software applications such as [gpsd](http://www.catb.org/gpsd/ "The UNIX GPS daemon"), [JOSM](https://josm.openstreetmap.de/ "The Java OpenStreetMap Editor"), [OpenCPN](https://opencpn.org/ "Open Chart Plotter Navigator"), and many others (and maybe running on other devices). * **NMEA 0183** is a combined electrical and data specification for communication between marine electronics such as echo sounder, sonars, anemometer, gyrocompass, autopilot, GPS receivers and many other types of instruments. It has been defined by, and is controlled by, the U.S. [National Marine Electronics Association](http://www.nmea.org/). The NMEA 0183 standard uses a simple ASCII, serial communications protocol that defines how data are transmitted in a *sentence* from one *talker* to multiple *listeners* at a time. Through the use of intermediate expanders, a talker can have a unidirectional conversation with a nearly unlimited number of listeners, and using multiplexers, multiple sensors can talk to a single computer port. At the application layer, the standard also defines the contents of each sentence (message) type, so that all listeners can parse messages accurately. Those messages can be sent through the serial port (that could be for instance a Bluetooth link) and be used/displayed by a number of software applications such as [gpsd](http://www.catb.org/gpsd/ "The UNIX GPS daemon"), [JOSM](https://josm.openstreetmap.de/ "The Java OpenStreetMap Editor"), [OpenCPN](https://opencpn.org/ "Open Chart Plotter Navigator"), and many others (and maybe running on other devices).
* **RINEX** (Receiver Independent Exchange Format) is an interchange format for raw satellite navigation system data, covering observables and the information contained in the navigation message broadcast by GNSS satellites. This allows the user to post-process the received data to produce a more accurate result (usually with other data unknown to the original receiver, such as better models of the atmospheric conditions at time of measurement). RINEX files can be used by software packages such as [GPSTk](http://www.gpstk.org), [RTKLIB](http://www.rtklib.com/) and [gLAB](http://gage14.upc.es/gLAB/). GNSS-SDR by default generates RINEX version [3.02](https://igscb.jpl.nasa.gov/igscb/data/format/rinex302.pdf). If [2.11](https://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt) is needed, it can be requested through the `rinex_version` parameter in the configuration file: * **RINEX** (Receiver Independent Exchange Format) is an interchange format for raw satellite navigation system data, covering observables and the information contained in the navigation message broadcast by GNSS satellites. This allows the user to post-process the received data to produce a more accurate result (usually with other data unknown to the original receiver, such as better models of the atmospheric conditions at time of measurement). RINEX files can be used by software packages such as [GPSTk](http://www.gpstk.org), [RTKLIB](http://www.rtklib.com/) and [gLAB](http://gage14.upc.es/gLAB/). GNSS-SDR by default generates RINEX version [3.02](https://igscb.jpl.nasa.gov/igscb/data/format/rinex302.pdf). If [2.11](https://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt) is needed, it can be requested through the `rinex_version` parameter in the configuration file:

4
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@ -281,7 +281,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl
d_correlator_outs = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_correlator_outs = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment())); d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment()));
clear_tracking_vars();
// map memory pointers of correlator outputs // map memory pointers of correlator outputs
if (d_veml) if (d_veml)
@ -357,7 +357,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl
d_carrier_lock_fail_counter = 0; d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = trk_parameters.carrier_lock_th; d_carrier_lock_threshold = trk_parameters.carrier_lock_th;
d_Prompt_Data = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_Prompt_Data = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
d_acquisition_gnss_synchro = nullptr; d_acquisition_gnss_synchro = nullptr;
d_channel = 0; d_channel = 0;
@ -374,6 +373,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl
d_code_phase_samples = 0.0; d_code_phase_samples = 0.0;
d_last_prompt = gr_complex(0.0, 0.0); d_last_prompt = gr_complex(0.0, 0.0);
d_state = 0; // initial state: standby d_state = 0; // initial state: standby
clear_tracking_vars();
} }