From 4a6f29453ac606dd4703a42bf7c117ad78b76ec7 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Mon, 29 Aug 2022 23:34:09 +0200 Subject: [PATCH] Clean code --- conf/gnss-sdr_labsat_kf_vtl.conf | 55 +------------------ .../gnuradio_blocks/kf_vtl_tracking.cc | 36 +++++------- 2 files changed, 14 insertions(+), 77 deletions(-) diff --git a/conf/gnss-sdr_labsat_kf_vtl.conf b/conf/gnss-sdr_labsat_kf_vtl.conf index b5f8ce879..71cb49030 100644 --- a/conf/gnss-sdr_labsat_kf_vtl.conf +++ b/conf/gnss-sdr_labsat_kf_vtl.conf @@ -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 - - diff --git a/src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc index 8a3a8ff6d..61a0fc7fd 100644 --- a/src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc +++ b/src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc @@ -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)