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Clean code

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This commit is contained in:
Carles Fernandez 2022-08-29 23:34:09 +02:00
parent e7cfa66962
commit 4a6f29453a
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GPG Key ID: 4C583C52B0C3877D
2 changed files with 14 additions and 77 deletions
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55
conf/gnss-sdr_labsat_kf_vtl.conf
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@ -7,7 +7,6 @@
;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_sps=5456000
;GNSS-SDR.internal_fs_sps=16368000
GNSS-SDR.use_acquisition_resampler=true
;######### SIGNAL_SOURCE CONFIG ############
@ -17,9 +16,7 @@ SignalSource.selected_channel=1
;# Labsat sile source automatically increments the file name when the signal is split in several files
;# the adapter adds "_0000.LS3" to this base path and filename. Next file will be "_0001.LS3" and so on
;# in this example, the first file complete path will be ../signals/GPS_025_
;SignalSource.filename=/media/javier/WDNASNTFS/satgen_30mins/output/output
SignalSource.filename=/home/javier/signals/satgen_30mins/output/output
;SignalSource.filename=/home/javier/signals/dupli/dupli/dupli
SignalSource.item_type=gr_complex
SignalSource.sampling_frequency=16368000
SignalSource.samples=0
@ -75,18 +72,6 @@ Channels_5X.count=0
Channels.in_acquisition=1
;Channel0.satellite=3
;#signal:
;# "1C" GPS L1 C/A
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
@ -112,50 +97,14 @@ Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############
;Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;Tracking_1C.item_type=gr_complex
;Tracking_1C.dump=false
;Tracking_1C.dump_filename=./tracking_ch_
;Tracking_1C.pll_bw_hz=35.0;
;Tracking_1C.dll_bw_hz=1.5;
;Tracking_1C.pll_bw_narrow_hz=2.5;
;Tracking_1C.dll_bw_narrow_hz=0.2;
;Tracking_1C.extend_correlation_symbols=1;
;Tracking_1C.dll_filter_order=2;
;Tracking_1C.pll_filter_order=3;
;Tracking_1C.early_late_space_chips=0.5;
;Tracking_1C.early_late_space_narrow_chips=0.15
;### KF tracking
Tracking_1C.implementation=GPS_L1_CA_KF_VTL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.dump=true
Tracking_1C.dump_filename=./tracking_ch_
Tracking_1C.extend_correlation_symbols=1;
Tracking_1C.extend_correlation_symbols=10;
Tracking_1C.early_late_space_chips=0.5;
Tracking_1C.early_late_space_narrow_chips=0.15
Tracking_1C.expected_cn0_dbhz=45.0;
Tracking_1C.enable_dynamic_measurement_covariance=false;
Tracking_1C.use_estimated_cn0=false;
Tracking_1C.carrier_aiding=true;
Tracking_1C.code_phase_sd_chips=0.01;
Tracking_1C.code_rate_sd_chips_s=0.001;
Tracking_1C.carrier_phase_sd_rad=0.001;
Tracking_1C.carrier_freq_sd_hz=0.01;
Tracking_1C.carrier_freq_rate_sd_hz_s=0.1;
Tracking_1C.init_code_phase_sd_chips=1;
Tracking_1C.init_code_rate_sd_chips_s=10;
Tracking_1C.init_carrier_phase_sd_rad=1;
Tracking_1C.init_carrier_freq_sd_hz=10;
Tracking_1C.init_carrier_freq_rate_sd_hz_s=10;
;######### TRACKING GALILEO CONFIG ############
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
@ -221,5 +170,3 @@ Monitor.enable_monitor=false
Monitor.decimation_factor=1
Monitor.client_addresses=127.0.0.1
Monitor.udp_port=1234

36
src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc
View File

@ -886,12 +886,12 @@ void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz
// states: code_phase_chips, carrier_phase_rads, carrier_freq_hz, carrier_freq_rate_hz_s
d_x_old_old = {acq_code_phase_chips, 0.0, acq_doppler_hz, 0.0};
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";
DLOG(INFO) << "F: " << d_F;
DLOG(INFO) << "H: " << d_H;
DLOG(INFO) << "R: " << d_R;
DLOG(INFO) << "Q: " << d_Q;
DLOG(INFO) << "P: " << d_P_old_old;
DLOG(INFO) << "x: " << d_x_old_old;
}
@ -926,12 +926,12 @@ void kf_vtl_tracking::update_kf_narrow_integration_time()
d_R = {{Sigma2_Tau, 0.0},
{0.0, Sigma2_Phase}};
std::cout << "Fu: " << d_F << "\n";
std::cout << "Hu: " << d_H << "\n";
std::cout << "Ru: " << d_R << "\n";
std::cout << "Qu: " << d_Q << "\n";
std::cout << "Pu: " << d_P_old_old << "\n";
std::cout << "xu: " << d_x_old_old << "\n";
DLOG(INFO) << "Fu: " << d_F;
DLOG(INFO) << "Hu: " << d_H;
DLOG(INFO) << "Ru: " << d_R;
DLOG(INFO) << "Qu: " << d_Q;
DLOG(INFO) << "Pu: " << d_P_old_old;
DLOG(INFO) << "xu: " << d_x_old_old;
}
@ -1174,10 +1174,7 @@ void kf_vtl_tracking::run_Kf()
// New carrier Doppler frequency estimation
d_carrier_doppler_kf_hz = d_x_new_new(2);
if (d_channel == 0)
{
// std::cout << "Doppler: " << d_carrier_doppler_kf_hz << '\n';
}
// d_carr_freq_error_hz = fll_four_quadrant_atan(d_P_accu_old, d_P_accu, 0, d_current_correlation_time_s) / TWO_PI;
// d_x_new_new(2) = d_x_new_new(2) + fll_four_quadrant_atan(d_P_accu_old, d_P_accu, 0, d_current_correlation_time_s) / TWO_PI;
d_P_accu_old = d_P_accu;
@ -1187,13 +1184,6 @@ void kf_vtl_tracking::run_Kf()
// New code Doppler frequency estimation
d_code_freq_kf_chips_s = d_code_chip_rate + d_carrier_doppler_kf_hz * d_code_chip_rate / d_signal_carrier_freq;
if (d_trk_parameters.high_dyn)
{
// d_x_new_new(3) = 0;
// std::cout << "d_carrier_doppler_rate_kf_hz_s: " << d_carrier_doppler_rate_kf_hz_s << '\n';
// d_carrier_phase_rate_step_rad = TWO_PI * d_carrier_doppler_rate_kf_hz_s / d_trk_parameters.fs_in;
// d_carrier_phase_rate_step_rad = d_carrier_doppler_rate_kf_hz_s / d_trk_parameters.fs_in;
}
// d_x_new_new(4) = 0;
// Experimental: detect Carrier Doppler vs. Code Doppler incoherence and correct the Carrier Doppler
// if (d_trk_parameters.enable_doppler_correction == true)