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

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Carles Fernandez 2023-10-27 18:58:17 +02:00
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15 changed files with 221 additions and 79 deletions
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2
docs/CHANGELOG.md
View File

@ -57,6 +57,8 @@ All notable changes to GNSS-SDR will be documented in this file.
- Now the program exits properly if a SIGINT signal is received (_e.g._, the
user pressing Ctrl+C, or another user application sending an interruption
signal).
- The estimated CN0 value is now printed in the terminal when navigation data is
succesfully decoded.
## [GNSS-SDR v0.0.18](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.18) - 2023-04-06

40
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
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@ -33,6 +33,7 @@
#include <cstddef> // for size_t
#include <cstdlib> // for abs
#include <exception> // for exception
#include <iomanip> // for setprecision
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
@ -239,7 +240,7 @@ void beidou_b1i_telemetry_decoder_gs::decode_word(
}
void beidou_b1i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
void beidou_b1i_telemetry_decoder_gs::decode_subframe(float *frame_symbols, double cn0)
{
// 1. Transform from symbols to bits
std::string data_bits;
@ -296,32 +297,49 @@ void beidou_b1i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
// get object for this SV (mandatory)
const std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj = std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << "New BEIDOU B1I DNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << '\n';
LOG(INFO) << "BEIDOU DNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite << " with CN0=" << cn0 << " dB-Hz";
const auto default_precision{std::cout.precision()};
std::cout << "New BEIDOU B1I DNAV message received in channel " << d_channel
<< ": ephemeris from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << " dB-Hz" << std::endl;
std::cout << std::setprecision(default_precision); // restore defaults
}
if (d_nav.have_new_utc_model() == true)
{
// get object for this SV (mandatory)
const std::shared_ptr<Beidou_Dnav_Utc_Model> tmp_obj = std::make_shared<Beidou_Dnav_Utc_Model>(d_nav.get_utc_model());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV UTC Model data have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << "New BEIDOU B1I DNAV utc model message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << '\n';
LOG(INFO) << "BEIDOU DNAV UTC Model data have been received in channel" << d_channel << " from satellite " << d_satellite << " with CN0=" << cn0 << " dB-Hz";
const auto default_precision{std::cout.precision()};
std::cout << "New BEIDOU B1I DNAV utc model message received in channel "
<< d_channel
<< ": UTC model parameters from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
}
if (d_nav.have_new_iono() == true)
{
// get object for this SV (mandatory)
const std::shared_ptr<Beidou_Dnav_Iono> tmp_obj = std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Iono data have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << "New BEIDOU B1I DNAV Iono message received in channel " << d_channel << ": Iono model parameters from satellite " << d_satellite << '\n';
LOG(INFO) << "BEIDOU DNAV Iono data have been received in channel" << d_channel << " from satellite " << d_satellite << " with CN0=" << cn0 << " dB-Hz";
const auto default_precision{std::cout.precision()};
std::cout << "New BEIDOU B1I DNAV Iono message received in channel " << d_channel
<< ": Iono model parameters from satellite " << d_satellite
<< " with CN0=" << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
}
if (d_nav.have_new_almanac() == true)
{
// uint32_t slot_nbr = d_nav.i_alm_satellite_PRN;
// std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj = std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr));
// this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Almanac data have been received in channel" << d_channel << " from satellite " << d_satellite << '\n';
std::cout << "New BEIDOU B1I DNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << '\n';
LOG(INFO) << "BEIDOU DNAV Almanac data have been received in channel" << d_channel << " from satellite " << d_satellite << " with CN0=" << cn0 << " dB-Hz";
const auto default_precision{std::cout.precision()};
std::cout << "New BEIDOU B1I DNAV almanac received in channel " << d_channel
<< " from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
}
}
@ -506,7 +524,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
}
// call the decoder
decode_subframe(d_subframe_symbols.data());
decode_subframe(d_subframe_symbols.data(), current_symbol.CN0_dB_hz);
if (d_nav.get_flag_CRC_test() == true)
{
@ -563,7 +581,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
}
// call the decoder
decode_subframe(d_subframe_symbols.data());
decode_subframe(d_subframe_symbols.data(), current_symbol.CN0_dB_hz);
if (d_nav.get_flag_CRC_test() == true)
{

2
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.h
View File

@ -75,7 +75,7 @@ private:
beidou_b1i_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf);
void decode_subframe(float *symbols);
void decode_subframe(float *symbols, double cn0);
void decode_word(int32_t word_counter, const float *enc_word_symbols, int32_t *dec_word_symbols);
void decode_bch15_11_01(const int32_t *bits, std::array<int32_t, 15> &decbits);

36
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
View File

@ -32,6 +32,7 @@
#include <cstddef> // for size_t
#include <cstdlib> // for abs
#include <exception> // for exception
#include <iomanip> // for setprecision
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
@ -239,7 +240,7 @@ void beidou_b3i_telemetry_decoder_gs::decode_word(
}
void beidou_b3i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
void beidou_b3i_telemetry_decoder_gs::decode_subframe(float *frame_symbols, double cn0)
{
// 1. Transform from symbols to bits
std::string data_bits;
@ -278,12 +279,12 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
if (crc_ok)
{
DLOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel
<< " from satellite " << d_satellite;
<< " from satellite " << d_satellite << " with CN0=" << cn0 << " dB-Hz";
}
else
{
DLOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel
<< " from satellite " << d_satellite;
<< " from satellite " << d_satellite << " with CN0=" << cn0 << " dB-Hz";
}
if (d_dump_crc_stats)
{
@ -298,9 +299,12 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Ephemeris have been received in channel"
<< d_channel << " from satellite " << d_satellite;
<< d_channel << " from satellite " << d_satellite << " with CN0=" << cn0 << " dB-Hz";
const auto default_precision{std::cout.precision()};
std::cout << TEXT_YELLOW << "New BEIDOU B3I DNAV message received in channel " << d_channel
<< ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n';
<< ": ephemeris from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
if (d_nav.have_new_utc_model() == true)
{
@ -310,9 +314,12 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV UTC Model data have been received in channel"
<< d_channel << " from satellite " << d_satellite;
const auto default_precision{std::cout.precision()};
std::cout << TEXT_YELLOW << "New BEIDOU B3I DNAV utc model message received in channel "
<< d_channel << ": UTC model parameters from satellite "
<< d_satellite << TEXT_RESET << '\n';
<< d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
if (d_nav.have_new_iono() == true)
{
@ -321,10 +328,12 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Iono data have been received in channel" << d_channel
<< " from satellite " << d_satellite;
<< " from satellite " << d_satellite << " with CN0=" << cn0 << " dB-Hz";
const auto default_precision{std::cout.precision()};
std::cout << TEXT_YELLOW << "New BEIDOU B3I DNAV Iono message received in channel "
<< d_channel << ": Iono model parameters from satellite "
<< d_satellite << TEXT_RESET << '\n';
<< d_satellite << " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
if (d_nav.have_new_almanac() == true)
{
@ -334,9 +343,12 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
// this->message_port_pub(pmt::mp("telemetry"),
// pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Almanac data have been received in channel"
<< d_channel << " from satellite " << d_satellite << '\n';
<< d_channel << " from satellite " << d_satellite << " with CN0=" << cn0 << " dB-Hz";
const auto default_precision{std::cout.precision()};
std::cout << TEXT_YELLOW << "New BEIDOU B3I DNAV almanac received in channel " << d_channel
<< " from satellite " << d_satellite << TEXT_RESET << '\n';
<< " from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
}
@ -530,7 +542,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
}
// call the decoder
decode_subframe(d_subframe_symbols.data());
decode_subframe(d_subframe_symbols.data(), current_symbol.CN0_dB_hz);
if (d_nav.get_flag_CRC_test() == true)
{
@ -590,7 +602,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
}
// call the decoder
decode_subframe(d_subframe_symbols.data());
decode_subframe(d_subframe_symbols.data(), current_symbol.CN0_dB_hz);
if (d_nav.get_flag_CRC_test() == true)
{

2
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.h
View File

@ -73,7 +73,7 @@ private:
beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf);
void decode_subframe(float *symbols);
void decode_subframe(float *symbols, double cn0);
void decode_word(int32_t word_counter, const float *enc_word_symbols,
int32_t *dec_word_symbols);
void decode_bch15_11_01(const int32_t *bits, std::array<int32_t, 15> &decbits);

104
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -41,6 +41,7 @@
#include <cmath> // for std::fmod, std::abs
#include <cstddef> // for size_t
#include <exception> // for std::exception
#include <iomanip> // for std::setprecision
#include <iostream> // for std::cout
#include <limits> // for std::numeric_limits
#include <map> // for std::map
@ -358,7 +359,7 @@ void galileo_telemetry_decoder_gs::deinterleaver(int32_t rows, int32_t cols, con
}
void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, int32_t frame_length)
void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, int32_t frame_length, double cn0)
{
// 1. De-interleave
std::vector<float> page_part_symbols_soft_value(frame_length);
@ -439,11 +440,20 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
const std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_inav_nav.get_ephemeris());
if (d_band == '1')
{
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl;
const auto default_precision{std::cout.precision()};
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel
<< ": ephemeris from satellite " << d_satellite << " with CN0="
<< std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
}
else if (d_band == '7')
{
std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl;
const auto default_precision{std::cout.precision()};
std::cout << TEXT_BLUE
<< "New Galileo E5b I/NAV message received in channel " << d_channel
<< ": ephemeris from satellite " << d_satellite << " with CN0="
<< std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
d_first_eph_sent = true; // do not send reduced CED anymore, since we have the full ephemeris set
@ -454,8 +464,12 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
if ((d_band == '1') && d_use_ced && !d_first_eph_sent && (d_inav_nav.have_new_reduced_ced() == true))
{
const std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_inav_nav.get_reduced_ced());
std::cout << "New Galileo E1 I/NAV reduced CED message received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
const auto default_precision{std::cout.precision()};
std::cout << "New Galileo E1 I/NAV reduced CED message received in channel "
<< d_channel << " from satellite " << d_satellite << " with CN0="
<< std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
}
}
@ -463,30 +477,48 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
{
// get object for this SV (mandatory)
const std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_inav_nav.get_iono());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
if (d_band == '1')
{
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << std::endl;
const auto default_precision{std::cout.precision()};
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel
<< ": iono/GST model parameters from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
}
else if (d_band == '7')
{
std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
const auto default_precision{std::cout.precision()};
std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel "
<< d_channel << ": iono/GST model parameters from satellite "
<< d_satellite << " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_inav_nav.have_new_utc_model() == true)
{
// get object for this SV (mandatory)
const std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_inav_nav.get_utc_model());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
if (d_band == '1')
{
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl;
const auto default_precision{std::cout.precision()};
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel
<< ": UTC model parameters from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
}
else if (d_band == '7')
{
std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
const auto default_precision{std::cout.precision()};
std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel "
<< d_channel
<< ": UTC model parameters from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
d_delta_t = tmp_obj->A_0G + tmp_obj->A_1G * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G + 604800 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - tmp_obj->WN_0G), 64.0)));
DLOG(INFO) << "delta_t=" << d_delta_t << "[s]";
}
@ -498,11 +530,18 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
// debug
if (d_band == '1')
{
std::cout << "Galileo E1 I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
const auto default_precision{std::cout.precision()};
std::cout << "Galileo E1 I/NAV almanac received in channel " << d_channel
<< " from satellite " << d_satellite << " with CN0="
<< std::setprecision(2) << cn0 << std::setprecision(default_precision) << " dB-Hz" << std::endl;
}
else if (d_band == '7')
{
std::cout << TEXT_BLUE << "Galileo E5b I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << TEXT_RESET << std::endl;
const auto default_precision{std::cout.precision()};
std::cout << TEXT_BLUE << "Galileo E5b I/NAV almanac received in channel "
<< d_channel << " from satellite " << d_satellite << " with CN0="
<< std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
DLOG(INFO) << "Current parameters:";
DLOG(INFO) << "d_TOW_at_current_symbol_ms=" << d_TOW_at_current_symbol_ms;
@ -517,7 +556,7 @@ void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, in
}
void galileo_telemetry_decoder_gs::decode_FNAV_word(float *page_symbols, int32_t frame_length)
void galileo_telemetry_decoder_gs::decode_FNAV_word(float *page_symbols, int32_t frame_length, double cn0)
{
// 1. De-interleave
std::vector<float> page_symbols_soft_value(frame_length);
@ -561,38 +600,51 @@ void galileo_telemetry_decoder_gs::decode_FNAV_word(float *page_symbols, int32_t
d_fnav_nav.split_page(page_String);
if (d_fnav_nav.get_flag_CRC_test() == true)
{
DLOG(INFO) << "Galileo E5a CRC correct in channel " << d_channel << " from satellite " << d_satellite;
DLOG(INFO) << "Galileo E5a CRC correct in channel " << d_channel << " from satellite " << d_satellite << " with CN0=" << cn0 << " dB-Hz";
}
else
{
DLOG(INFO) << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite;
DLOG(INFO) << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite << " with CN0=" << cn0 << " dB-Hz";
}
// 4. Push the new navigation data to the queues
if (d_fnav_nav.have_new_ephemeris() == true)
{
const std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_fnav_nav.get_ephemeris());
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
const auto default_precision{std::cout.precision()};
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel "
<< d_channel << ": ephemeris from satellite " << d_satellite << " with CN0=" << std::setprecision(2) << cn0
<< " dB-Hz" << TEXT_RESET << std::endl;
std::cout << std::setprecision(default_precision); // restore defaults
}
if (d_fnav_nav.have_new_iono_and_GST() == true)
{
const std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_fnav_nav.get_iono());
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
const auto default_precision{std::cout.precision()};
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel "
<< d_channel << ": iono/GST model parameters from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0
<< " dB-Hz" << TEXT_RESET << std::endl;
std::cout << std::setprecision(default_precision); // restore defaults
}
if (d_fnav_nav.have_new_utc_model() == true)
{
const std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_fnav_nav.get_utc_model());
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
const auto default_precision{std::cout.precision()};
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel "
<< d_channel << ": UTC model parameters from satellite " << d_satellite
<< " dB-Hz" << TEXT_RESET << std::endl;
std::cout << std::setprecision(default_precision); // restore defaults
}
}
void galileo_telemetry_decoder_gs::decode_CNAV_word(uint64_t time_stamp, float *page_symbols, int32_t page_length)
void galileo_telemetry_decoder_gs::decode_CNAV_word(uint64_t time_stamp, float *page_symbols, int32_t page_length, double cn0)
{
// 1. De-interleave
std::vector<float> page_symbols_soft_value(page_length);
@ -644,8 +696,10 @@ void galileo_telemetry_decoder_gs::decode_CNAV_word(uint64_t time_stamp, float *
if (is_page_dummy != d_cnav_dummy_page)
{
d_cnav_dummy_page = is_page_dummy;
std::cout << TEXT_MAGENTA << "Receiving Galileo E6 CNAV dummy pages in channel "
<< d_channel << " from satellite " << d_satellite
const auto default_precision{std::cout.precision()};
std::cout << TEXT_MAGENTA << "Receiving Galileo E6 CNAV dummy pages in channel " << d_channel << " from satellite "
<< d_satellite << " with CN0="
<< std::setprecision(2) << cn0 << std::setprecision(default_precision) << " dB-Hz"
<< TEXT_RESET << std::endl;
}
}
@ -660,9 +714,11 @@ void galileo_telemetry_decoder_gs::decode_CNAV_word(uint64_t time_stamp, float *
if (d_print_cnav_page == true)
{
d_print_cnav_page = false; // only print the first page
const auto default_precision{std::cout.precision()};
std::cout << TEXT_MAGENTA << "Receiving Galileo E6 HAS pages"
<< (d_cnav_nav.is_HAS_in_test_mode() == true ? " (test mode) " : " ")
<< "in channel " << d_channel << " from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision) << " dB-Hz"
<< TEXT_RESET << std::endl;
}
}
@ -926,13 +982,13 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
switch (d_frame_type)
{
case 1: // INAV
decode_INAV_word(d_page_part_symbols.data(), d_frame_length_symbols);
decode_INAV_word(d_page_part_symbols.data(), d_frame_length_symbols, current_symbol.CN0_dB_hz);
break;
case 2: // FNAV
decode_FNAV_word(d_page_part_symbols.data(), d_frame_length_symbols);
decode_FNAV_word(d_page_part_symbols.data(), d_frame_length_symbols, current_symbol.CN0_dB_hz);
break;
case 3: // CNAV
decode_CNAV_word(current_symbol.Tracking_sample_counter / static_cast<uint64_t>(current_symbol.fs), d_page_part_symbols.data(), d_frame_length_symbols);
decode_CNAV_word(current_symbol.Tracking_sample_counter / static_cast<uint64_t>(current_symbol.fs), d_page_part_symbols.data(), d_frame_length_symbols, current_symbol.CN0_dB_hz);
break;
default:
return -1;

6
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
View File

@ -82,9 +82,9 @@ private:
void msg_handler_read_galileo_tow_map(const pmt::pmt_t &msg);
void deinterleaver(int32_t rows, int32_t cols, const float *in, float *out);
void decode_INAV_word(float *page_part_symbols, int32_t frame_length);
void decode_FNAV_word(float *page_symbols, int32_t frame_length);
void decode_CNAV_word(uint64_t time_stamp, float *page_symbols, int32_t page_length);
void decode_INAV_word(float *page_part_symbols, int32_t frame_length, double cn0);
void decode_FNAV_word(float *page_symbols, int32_t frame_length, double cn0);
void decode_CNAV_word(uint64_t time_stamp, float *page_symbols, int32_t page_length, double cn0);
std::unique_ptr<Viterbi_Decoder> d_viterbi;
std::vector<int32_t> d_preamble_samples;

22
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_gs.cc
View File

@ -30,6 +30,7 @@
#include <cstddef> // for size_t
#include <cstdlib> // for abs
#include <exception> // for exception
#include <iomanip> // for std::setprecision
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
@ -152,7 +153,7 @@ glonass_l1_ca_telemetry_decoder_gs::~glonass_l1_ca_telemetry_decoder_gs()
}
void glonass_l1_ca_telemetry_decoder_gs::decode_string(const double *frame_symbols, int32_t frame_length)
void glonass_l1_ca_telemetry_decoder_gs::decode_string(const double *frame_symbols, int32_t frame_length, double cn0)
{
double chip_acc = 0.0;
int32_t chip_acc_counter = 0;
@ -238,7 +239,11 @@ void glonass_l1_ca_telemetry_decoder_gs::decode_string(const double *frame_symbo
const std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "GLONASS GNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << "New GLONASS L1 GNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << '\n';
const auto default_precision{std::cout.precision()};
std::cout << "New GLONASS L1 GNAV message received in channel " << d_channel
<< ": ephemeris from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
}
if (d_nav.have_new_utc_model() == true)
{
@ -246,7 +251,11 @@ void glonass_l1_ca_telemetry_decoder_gs::decode_string(const double *frame_symbo
const std::shared_ptr<Glonass_Gnav_Utc_Model> tmp_obj = std::make_shared<Glonass_Gnav_Utc_Model>(d_nav.get_utc_model());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "GLONASS GNAV UTC Model data have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << "New GLONASS L1 GNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << '\n';
const auto default_precision{std::cout.precision()};
std::cout << "New GLONASS L1 GNAV message received in channel " << d_channel
<< ": UTC model parameters from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
}
if (d_nav.have_new_almanac() == true)
{
@ -255,7 +264,10 @@ void glonass_l1_ca_telemetry_decoder_gs::decode_string(const double *frame_symbo
tmp_obj = std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr));
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "GLONASS GNAV Almanac data have been received in channel" << d_channel << " in slot number " << slot_nbr;
std::cout << "New GLONASS L1 GNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << '\n';
const auto default_precision{std::cout.precision()};
std::cout << "New GLONASS L1 GNAV almanac received in channel " << d_channel << " from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
}
// 5. Update satellite information on system
if (d_nav.get_flag_update_slot_number() == true)
@ -405,7 +417,7 @@ int glonass_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
}
// call the decoder
decode_string(string_symbols.data(), string_length);
decode_string(string_symbols.data(), string_length, current_symbol.CN0_dB_hz);
bool crc_ok = d_nav.get_flag_CRC_test();
if (crc_ok == true)
{

2
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_gs.h
View File

@ -81,7 +81,7 @@ private:
const int32_t d_symbols_per_preamble = GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS;
void decode_string(const double *symbols, int32_t frame_length);
void decode_string(const double *symbols, int32_t frame_length, double cn0);
// Help with coherent tracking

23
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_gs.cc
View File

@ -30,6 +30,7 @@
#include <cstddef> // for size_t
#include <cstdlib> // for abs
#include <exception> // for exception
#include <iomanip> // for std::setprecision
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
@ -152,7 +153,7 @@ glonass_l2_ca_telemetry_decoder_gs::~glonass_l2_ca_telemetry_decoder_gs()
}
void glonass_l2_ca_telemetry_decoder_gs::decode_string(const double *frame_symbols, int32_t frame_length)
void glonass_l2_ca_telemetry_decoder_gs::decode_string(const double *frame_symbols, int32_t frame_length, double cn0)
{
double chip_acc = 0.0;
int32_t chip_acc_counter = 0;
@ -238,7 +239,11 @@ void glonass_l2_ca_telemetry_decoder_gs::decode_string(const double *frame_symbo
const std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "GLONASS GNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << TEXT_CYAN << "New GLONASS L2 GNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n';
const auto default_precision{std::cout.precision()};
std::cout << TEXT_CYAN << "New GLONASS L2 GNAV message received in channel " << d_channel
<< ": ephemeris from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
if (d_nav.have_new_utc_model() == true)
{
@ -246,7 +251,11 @@ void glonass_l2_ca_telemetry_decoder_gs::decode_string(const double *frame_symbo
const std::shared_ptr<Glonass_Gnav_Utc_Model> tmp_obj = std::make_shared<Glonass_Gnav_Utc_Model>(d_nav.get_utc_model());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "GLONASS GNAV UTC Model data have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << TEXT_CYAN << "New GLONASS L2 GNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
const auto default_precision{std::cout.precision()};
std::cout << TEXT_CYAN << "New GLONASS L2 GNAV message received in channel " << d_channel
<< ": UTC model parameters from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
if (d_nav.have_new_almanac() == true)
{
@ -254,7 +263,11 @@ void glonass_l2_ca_telemetry_decoder_gs::decode_string(const double *frame_symbo
const std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj = std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr));
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "GLONASS GNAV Almanac data have been received in channel" << d_channel << " in slot number " << slot_nbr;
std::cout << TEXT_CYAN << "New GLONASS L2 GNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << TEXT_RESET << '\n';
const auto default_precision{std::cout.precision()};
std::cout << TEXT_CYAN << "New GLONASS L2 GNAV almanac received in channel " << d_channel
<< " from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
// 5. Update satellite information on system
if (d_nav.get_flag_update_slot_number() == true)
@ -404,7 +417,7 @@ int glonass_l2_ca_telemetry_decoder_gs::general_work(int noutput_items __attribu
}
// call the decoder
decode_string(string_symbols.data(), string_length);
decode_string(string_symbols.data(), string_length, current_symbol.CN0_dB_hz);
if (d_nav.get_flag_CRC_test() == true)
{
d_CRC_error_counter = 0;

2
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_gs.h
View File

@ -79,7 +79,7 @@ private:
const int32_t d_symbols_per_preamble = GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS;
void decode_string(const double *symbols, int32_t frame_length);
void decode_string(const double *symbols, int32_t frame_length, double cn0);
// Storage for incoming data
boost::circular_buffer<Gnss_Synchro> d_symbol_history;

19
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
View File

@ -33,6 +33,7 @@
#include <cstddef> // for size_t
#include <cstring> // for memcpy
#include <exception> // for exception
#include <iomanip> // for setprecision
#include <iostream> // for cout
#include <memory> // for shared_ptr
#include <vector>
@ -254,7 +255,7 @@ void gps_l1_ca_telemetry_decoder_gs::set_channel(int32_t channel)
}
bool gps_l1_ca_telemetry_decoder_gs::decode_subframe(bool flag_invert)
bool gps_l1_ca_telemetry_decoder_gs::decode_subframe(double cn0, bool flag_invert)
{
std::array<char, GPS_SUBFRAME_LENGTH> subframe{};
int32_t frame_bit_index = 0;
@ -350,11 +351,6 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe(bool flag_invert)
const int32_t subframe_ID = d_nav.subframe_decoder(subframe.data()); // decode the subframe
if (subframe_ID > 0 && subframe_ID < 6)
{
std::cout << "New GPS NAV message received in channel " << this->d_channel << ": "
<< "subframe "
<< subframe_ID << " from satellite "
<< Gnss_Satellite(std::string("GPS"), d_nav.get_satellite_PRN()) << '\n';
switch (subframe_ID)
{
case 1:
@ -401,6 +397,13 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe(bool flag_invert)
default:
break;
}
const auto default_precision{std::cout.precision()};
std::cout << "New GPS NAV message received in channel " << this->d_channel << ": "
<< "subframe "
<< subframe_ID << " from satellite "
<< Gnss_Satellite(std::string("GPS"), d_nav.get_satellite_PRN())
<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
<< " dB-Hz" << std::endl;
return true;
}
}
@ -499,7 +502,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
}
DLOG(INFO) << "Preamble detection for GPS L1 satellite " << this->d_satellite;
d_prev_GPS_frame_4bytes = 0;
if (decode_subframe(d_flag_PLL_180_deg_phase_locked))
if (decode_subframe(current_symbol.CN0_dB_hz, d_flag_PLL_180_deg_phase_locked))
{
d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
@ -525,7 +528,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
// 0. fetch the symbols into an array
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
if (decode_subframe(d_flag_PLL_180_deg_phase_locked))
if (decode_subframe(current_symbol.CN0_dB_hz, d_flag_PLL_180_deg_phase_locked))
{
d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.h
View File

@ -74,7 +74,7 @@ private:
gps_l1_ca_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf);
bool gps_word_parityCheck(uint32_t gpsword);
bool decode_subframe(bool flag_invert);
bool decode_subframe(double cn0, bool flag_invert);
Gps_Navigation_Message d_nav;
Gnss_Satellite d_satellite;

19
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_gs.cc
View File

@ -32,6 +32,7 @@
#include <cmath> // for round
#include <cstddef> // for size_t
#include <exception> // for exception
#include <iomanip> // for setprecision
#include <iostream> // for cout
#include <memory> // for shared_ptr, make_shared
@ -257,21 +258,33 @@ int gps_l2c_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
{
// get ephemeris object for this SV
const std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris());
std::cout << TEXT_BLUE << "New GPS CNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n';
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
const auto default_precision{std::cout.precision()};
std::cout << TEXT_BLUE << "New GPS CNAV message received in channel " << d_channel
<< ": ephemeris from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << current_synchro_data.CN0_dB_hz << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
if (d_CNAV_Message.have_new_iono() == true)
{
const std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono());
std::cout << TEXT_BLUE << "New GPS CNAV message received in channel " << d_channel << ": iono model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
const auto default_precision{std::cout.precision()};
std::cout << TEXT_BLUE << "New GPS CNAV message received in channel " << d_channel
<< ": iono model parameters from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << current_synchro_data.CN0_dB_hz << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
if (d_CNAV_Message.have_new_utc_model() == true)
{
const std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model());
std::cout << TEXT_BLUE << "New GPS CNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
const auto default_precision{std::cout.precision()};
std::cout << TEXT_BLUE << "New GPS CNAV message received in channel " << d_channel
<< ": UTC model parameters from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << current_synchro_data.CN0_dB_hz << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
// update TOW at the preamble instant

19
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_gs.cc
View File

@ -31,6 +31,7 @@
#include <cstddef> // for size_t
#include <cstdlib> // for std::llabs
#include <exception> // for std::exception
#include <iomanip> // for std::setprecision
#include <iostream> // for std::cout
gps_l5_telemetry_decoder_gs_sptr
@ -254,21 +255,33 @@ int gps_l5_telemetry_decoder_gs::general_work(int noutput_items __attribute__((u
{
// get ephemeris object for this SV
const std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris());
std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n';
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
const auto default_precision{std::cout.precision()};
std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel
<< ": ephemeris from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << current_synchro_data.CN0_dB_hz
<< std::setprecision(default_precision) << " dB-Hz" << std::endl;
}
if (d_CNAV_Message.have_new_iono() == true)
{
const std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono());
std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel << ": iono model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
const auto default_precision{std::cout.precision()};
std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel
<< ": iono model parameters from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << current_synchro_data.CN0_dB_hz << std::setprecision(default_precision)
<< " dB-Hz" << TEXT_RESET << std::endl;
}
if (d_CNAV_Message.have_new_utc_model() == true)
{
const std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model());
std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
const auto default_precision{std::cout.precision()};
std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel
<< ": UTC model parameters from satellite " << d_satellite
<< " with CN0=" << std::setprecision(2) << current_synchro_data.CN0_dB_hz
<< std::setprecision(default_precision) << " dB-Hz" << TEXT_RESET << std::endl;
}
// update TOW at the preamble instant