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Merge branch 'antonioramosdet-minor_changes' into next

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This commit is contained in:
Carles Fernandez 2018-02-13 07:42:06 +01:00
commit 5313566f3d
15 changed files with 116 additions and 173 deletions
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1
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -427,6 +427,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
if(result == 0)
{
LOG(INFO) << "RTKLIB rtkpos error";
DLOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;
this->set_time_offset_s(0.0); //reset rx time estimation
this->set_num_valid_observations(0);

12
src/algorithms/libs/rtklib/rtklib_pntpos.cc
View File

@ -113,7 +113,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
}
/* test snr mask */
if (iter>0)
if (iter > 0)
{
if (testsnr(0, i, azel[1], obs->SNR[i] * 0.25, &opt->snrmask))
{
@ -145,16 +145,16 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
if (opt->ionoopt == IONOOPT_IFLC)
{ /* dual-frequency */
if (P1 == 0.0 || P2 == 0.0) return 0.0;
if (obs->code[i] == CODE_L1C) P1 += P1_C1; /* C1->P1 */
if (obs->code[j] == CODE_L2C) P2 += P2_C2; /* C2->P2 */
if (P1 == 0.0 || P2 == 0.0) { return 0.0; }
if (obs->code[i] == CODE_L1C) { P1 += P1_C1; } /* C1->P1 */
if (obs->code[j] == CODE_L2C) { P2 += P2_C2; } /* C2->P2 */
/* iono-free combination */
PC = (gamma_ * P1 - P2) / (gamma_ - 1.0);
}
else
{ /* single-frequency */
if((obs->code[i] == CODE_NONE) && (obs->code[j] == CODE_NONE)){return 0.0;}
if((obs->code[i] == CODE_NONE) && (obs->code[j] == CODE_NONE)) { return 0.0; }
else if((obs->code[i] != CODE_NONE) && (obs->code[j] == CODE_NONE))
{
@ -174,7 +174,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
PC = (gamma_ * P1 - P2) / (gamma_ - 1.0);
}
}
if (opt->sateph == EPHOPT_SBAS) PC -= P1_C1; /* sbas clock based C1 */
if (opt->sateph == EPHOPT_SBAS) { PC -= P1_C1; } /* sbas clock based C1 */
*var = std::pow(ERR_CBIAS, 2.0);

28
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
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@ -255,9 +255,8 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
Gnss_Synchro* out = reinterpret_cast<Gnss_Synchro*>(output_items[0]); // Get the output buffer pointer
const Gnss_Synchro* in = reinterpret_cast<const Gnss_Synchro*>(input_items[0]); // Get the input buffer pointer
Gnss_Synchro current_sample; //structure to save the synchronization information and send the output object to the next block
//1. Copy the current tracking output
current_sample = in[0];
Gnss_Synchro current_sample = in[0];
d_symbol_counter++;
if(flag_bit_start)
{
@ -368,14 +367,8 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
// 0. fetch the symbols into an array
int frame_length = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
double corr_sign = 0.0;
if(corr_value > 0)
{
corr_sign = -1.0;
}
else
{
corr_sign = 1.0;
}
if(corr_value > 0) { corr_sign = -1.0; }
else { corr_sign = 1.0; }
for (int i = 0; i < frame_length; i++)
{
page_symbols[i] = corr_sign * d_symbol_history.at(i + GALILEO_FNAV_PREAMBLE_LENGTH_BITS).Prompt_I; // because last symbol of the preamble is just received now!
@ -457,7 +450,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
current_sample.Flag_valid_word = false;
}
current_sample.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol*1000.0)/1000.0;
current_sample.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
if(d_dump)
{
@ -479,13 +472,14 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
}
}
// remove used symbols from history
while (d_symbol_history.size() > required_symbols)
{
d_symbol_history.pop_front();
}
while (d_symbol_history.size() > required_symbols) { d_symbol_history.pop_front(); }
//3. Make the output
out[0] = current_sample;
return 1;
if(current_sample.Flag_valid_word)
{
out[0] = current_sample;
return 1;
}
else { return 0; }
}

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc
View File

@ -199,7 +199,7 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
void gps_l2c_telemetry_decoder_cc::set_satellite(const Gnss_Satellite & satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "GPS L2C CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite;
DLOG(INFO) << "GPS L2C CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite;
}

26
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
View File

@ -50,17 +50,6 @@
#include "Galileo_E1.h"
#include "control_message_factory.h"
/*!
* \todo Include in definition header file
*/
#define CN0_ESTIMATION_SAMPLES 20
#define MINIMUM_VALID_CN0 25
#define MAXIMUM_LOCK_FAIL_COUNTER 50
#define CARRIER_LOCK_THRESHOLD 0.85
using google::LogMessage;
galileo_e1_dll_pll_veml_tracking_cc_sptr
@ -234,11 +223,11 @@ galileo_e1_dll_pll_veml_tracking_cc::galileo_e1_dll_pll_veml_tracking_cc(
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
d_Prompt_buffer = new gr_complex[GALILEO_E1_CN0_ESTIMATION_SAMPLES];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
d_carrier_lock_threshold = GALILEO_E1_CARRIER_LOCK_THRESHOLD;
systemName["E"] = std::string("Galileo");
@ -463,7 +452,7 @@ bool galileo_e1_dll_pll_veml_tracking_cc::acquire_secondary()
bool galileo_e1_dll_pll_veml_tracking_cc::cn0_and_tracking_lock_status()
{
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
if (d_cn0_estimation_counter < GALILEO_E1_CN0_ESTIMATION_SAMPLES)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = d_P_accu;
@ -474,11 +463,11 @@ bool galileo_e1_dll_pll_veml_tracking_cc::cn0_and_tracking_lock_status()
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS);
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, GALILEO_E1_CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, GALILEO_E1_CN0_ESTIMATION_SAMPLES);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < GALILEO_E1_MINIMUM_VALID_CN0)
{
d_carrier_lock_fail_counter++;
}
@ -486,7 +475,7 @@ bool galileo_e1_dll_pll_veml_tracking_cc::cn0_and_tracking_lock_status()
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
if (d_carrier_lock_fail_counter > GALILEO_E1_MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
@ -682,7 +671,6 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items __attri
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
current_synchro_data.Tracking_sample_counter = d_sample_counter;
current_synchro_data.fs = d_fs_in;
*out[0] = current_synchro_data;
d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples
consume_each(samples_offset); // shift input to perform alignment with local replica
d_state = 2; // next state is the symbol synchronization

54
src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc
View File

@ -51,15 +51,6 @@
#include "control_message_factory.h"
/*!
* \todo Include in definition header file
*/
#define CN0_ESTIMATION_SAMPLES 20
#define MINIMUM_VALID_CN0 25
#define MAXIMUM_LOCK_FAIL_COUNTER 50
#define CARRIER_LOCK_THRESHOLD 0.85
using google::LogMessage;
galileo_e5a_dll_pll_tracking_cc_sptr
@ -185,11 +176,11 @@ Galileo_E5a_Dll_Pll_Tracking_cc::Galileo_E5a_Dll_Pll_Tracking_cc(
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
d_Prompt_buffer = new gr_complex[GALILEO_E5A_CN0_ESTIMATION_SAMPLES];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
d_carrier_lock_threshold = GALILEO_E5A_CARRIER_LOCK_THRESHOLD;
d_acquisition_gnss_synchro = 0;
d_channel = 0;
@ -356,8 +347,8 @@ void Galileo_E5a_Dll_Pll_Tracking_cc::acquire_secondary()
}
}
// 2. Transform buffer to 1 and -1
int in_corr[CN0_ESTIMATION_SAMPLES];
for (unsigned int i = 0; i < CN0_ESTIMATION_SAMPLES; i++)
int in_corr[GALILEO_E5A_CN0_ESTIMATION_SAMPLES];
for (unsigned int i = 0; i < GALILEO_E5A_CN0_ESTIMATION_SAMPLES; i++)
{
if (d_Prompt_buffer[i].real() >0)
{
@ -374,7 +365,7 @@ void Galileo_E5a_Dll_Pll_Tracking_cc::acquire_secondary()
for (unsigned int i = 0; i < Galileo_E5a_Q_SECONDARY_CODE_LENGTH; i++)
{
out_corr = 0;
for (unsigned int j = 0; j < CN0_ESTIMATION_SAMPLES; j++)
for (unsigned int j = 0; j < GALILEO_E5A_CN0_ESTIMATION_SAMPLES; j++)
{
//reverse replica sign since i*i=-1 (conjugated complex)
out_corr += in_corr[j] * -sec_code_signed[(j + i) % Galileo_E5a_Q_SECONDARY_CODE_LENGTH];
@ -385,10 +376,10 @@ void Galileo_E5a_Dll_Pll_Tracking_cc::acquire_secondary()
d_secondary_delay = i;
}
}
if (current_best_ == CN0_ESTIMATION_SAMPLES) // all bits correlate
if (current_best_ == GALILEO_E5A_CN0_ESTIMATION_SAMPLES) // all bits correlate
{
d_secondary_lock = true;
d_secondary_delay = (d_secondary_delay + CN0_ESTIMATION_SAMPLES - 1) % Galileo_E5a_Q_SECONDARY_CODE_LENGTH;
d_secondary_delay = (d_secondary_delay + GALILEO_E5A_CN0_ESTIMATION_SAMPLES - 1) % Galileo_E5a_Q_SECONDARY_CODE_LENGTH;
}
}
@ -445,9 +436,8 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute
current_synchro_data.Carrier_phase_rads = 0.0;
current_synchro_data.CN0_dB_hz = 0.0;
current_synchro_data.fs = d_fs_in;
*out[0] = current_synchro_data;
consume_each(samples_offset); //shift input to perform alignment with local replica
return 1;
return 0;
break;
}
case 2:
@ -570,7 +560,7 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES-1)
if (d_cn0_estimation_counter < GALILEO_E5A_CN0_ESTIMATION_SAMPLES-1)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = d_Prompt;
@ -597,7 +587,7 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute
{
//std::cout << "Secondary code delay couldn't be resolved." << std::endl;
d_carrier_lock_fail_counter++;
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
if (d_carrier_lock_fail_counter > GALILEO_E5A_MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
@ -610,11 +600,11 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute
else // Secondary lock achieved, monitor carrier lock.
{
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in,d_current_ti_ms * Galileo_E5a_CODE_LENGTH_CHIPS);
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, GALILEO_E5A_CN0_ESTIMATION_SAMPLES, d_fs_in,d_current_ti_ms * Galileo_E5a_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, GALILEO_E5A_CN0_ESTIMATION_SAMPLES);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < GALILEO_E5A_MINIMUM_VALID_CN0)
{
d_carrier_lock_fail_counter++;
}
@ -622,7 +612,7 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
if (d_carrier_lock_fail_counter > GALILEO_E5A_MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
@ -649,6 +639,7 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
}
else
{
@ -658,6 +649,7 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute
current_synchro_data.Tracking_sample_counter = d_sample_counter;
current_synchro_data.Carrier_phase_rads = 0.0;
current_synchro_data.CN0_dB_hz = 0.0;
current_synchro_data.Flag_valid_symbol_output = false;
}
break;
@ -666,7 +658,7 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute
current_synchro_data.fs = d_fs_in;
current_synchro_data.correlation_length_ms = GALILEO_E5a_CODE_PERIOD_MS;
*out[0] = current_synchro_data;
if(current_synchro_data.Flag_valid_symbol_output) { *out[0] = current_synchro_data; }
if(d_dump)
{
@ -731,15 +723,11 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute
}
d_secondary_delay = (d_secondary_delay + 1) % Galileo_E5a_Q_SECONDARY_CODE_LENGTH;
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
d_sample_counter += d_current_prn_length_samples;
consume_each(d_current_prn_length_samples);
if (current_synchro_data.Flag_valid_symbol_output)
{
return 1;
}else{
return 0;
}
if(current_synchro_data.Flag_valid_symbol_output) { return 1; }
else { return 0; }
}

23
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -47,15 +47,6 @@
#include "control_message_factory.h"
/*!
* \todo Include in definition header file
*/
#define CN0_ESTIMATION_SAMPLES 20
#define MINIMUM_VALID_CN0 25
#define MAXIMUM_LOCK_FAIL_COUNTER 50
#define CARRIER_LOCK_THRESHOLD 0.85
using google::LogMessage;
gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr
@ -177,11 +168,11 @@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
d_Prompt_buffer = new gr_complex[GPS_L1_CA_CN0_ESTIMATION_SAMPLES];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
d_carrier_lock_threshold = GPS_L1_CA_CARRIER_LOCK_THRESHOLD;
systemName["G"] = std::string("GPS");
systemName["S"] = std::string("SBAS");
@ -740,7 +731,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __attri
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
// ####### CN0 ESTIMATION AND LOCK DETECTORS #######################################
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
if (d_cn0_estimation_counter < GPS_L1_CA_CN0_ESTIMATION_SAMPLES)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; // prompt
@ -750,11 +741,11 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __attri
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, GPS_L1_CA_CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, GPS_L1_CA_CN0_ESTIMATION_SAMPLES);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < GPS_L1_CA_MINIMUM_VALID_CN0)
{
d_carrier_lock_fail_counter++;
}
@ -762,7 +753,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __attri
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
if (d_carrier_lock_fail_counter > GPS_L1_CA_MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";

34
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
View File

@ -51,15 +51,6 @@
#include "control_message_factory.h"
/*!
* \todo Include in definition header file
*/
#define CN0_ESTIMATION_SAMPLES 20
#define MINIMUM_VALID_CN0 25
#define MAXIMUM_LOCK_FAIL_COUNTER 50
#define CARRIER_LOCK_THRESHOLD 0.85
using google::LogMessage;
gps_l1_ca_dll_pll_tracking_cc_sptr
@ -159,11 +150,11 @@ Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
d_Prompt_buffer = new gr_complex[GPS_L1_CA_CN0_ESTIMATION_SAMPLES];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
d_carrier_lock_threshold = GPS_L1_CA_CARRIER_LOCK_THRESHOLD;
systemName["G"] = std::string("GPS");
systemName["S"] = std::string("SBAS");
@ -558,9 +549,8 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.fs = d_fs_in;
current_synchro_data.correlation_length_ms = 1;
*out[0] = current_synchro_data;
consume_each(samples_offset); // shift input to perform alignment with local replica
return 1;
return 0;
}
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
@ -619,7 +609,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast<double>(d_fs_in));
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
if (d_cn0_estimation_counter < GPS_L1_CA_CN0_ESTIMATION_SAMPLES)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; //prompt
@ -629,11 +619,11 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, GPS_L1_CA_CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, GPS_L1_CA_CN0_ESTIMATION_SAMPLES);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < GPS_L1_CA_MINIMUM_VALID_CN0)
{
d_carrier_lock_fail_counter++;
}
@ -641,7 +631,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
if (d_carrier_lock_fail_counter > GPS_L1_CA_MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
@ -739,12 +729,8 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribute__
consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
d_sample_counter += d_current_prn_length_samples; // count for the processed samples
if (d_enable_tracking)
{
return 1;
}else{
return 0;
}
if(current_synchro_data.Flag_valid_symbol_output) { return 1; }
else { return 0; }
}

25
src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc
View File

@ -50,16 +50,6 @@
#include "GPS_L2C.h"
#include "control_message_factory.h"
/*!
* \todo Include in definition header file
*/
#define GPS_L2M_CN0_ESTIMATION_SAMPLES 10
#define GPS_L2M_MINIMUM_VALID_CN0 25
#define GPS_L2M_MAXIMUM_LOCK_FAIL_COUNTER 50
#define GPS_L2M_CARRIER_LOCK_THRESHOLD 0.75
using google::LogMessage;
gps_l2_m_dll_pll_tracking_cc_sptr
@ -555,9 +545,8 @@ int gps_l2_m_dll_pll_tracking_cc::general_work (int noutput_items __attribute__(
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.fs = d_fs_in;
current_synchro_data.correlation_length_ms = 20;
*out[0] = current_synchro_data;
consume_each(samples_offset); // shift input to perform alignment with local replica
return 1;
return 0;
}
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
@ -727,14 +716,10 @@ int gps_l2_m_dll_pll_tracking_cc::general_work (int noutput_items __attribute__(
LOG(WARNING) << "Exception writing trk dump file " << e.what();
}
}
consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
d_sample_counter += d_current_prn_length_samples; // count for the processed samples
if (d_enable_tracking)
{
return 1;
}else{
return 0;
}
consume_each(d_current_prn_length_samples);
d_sample_counter += d_current_prn_length_samples;
if(current_synchro_data.Flag_valid_symbol_output) { return 1; }
else{ return 0; }
}

45
src/algorithms/tracking/gnuradio_blocks/gps_l5i_dll_pll_tracking_cc.cc
View File

@ -50,16 +50,6 @@
#include "GPS_L5.h"
#include "control_message_factory.h"
/*!
* \todo Include in definition header file
*/
#define GPS_L2M_CN0_ESTIMATION_SAMPLES 10
#define GPS_L2M_MINIMUM_VALID_CN0 25
#define GPS_L2M_MAXIMUM_LOCK_FAIL_COUNTER 50
#define GPS_L2M_CARRIER_LOCK_THRESHOLD 0.75
using google::LogMessage;
gps_l5i_dll_pll_tracking_cc_sptr
@ -160,11 +150,11 @@ gps_l5i_dll_pll_tracking_cc::gps_l5i_dll_pll_tracking_cc(
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[GPS_L2M_CN0_ESTIMATION_SAMPLES];
d_Prompt_buffer = new gr_complex[GPS_L5_CN0_ESTIMATION_SAMPLES];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = GPS_L2M_CARRIER_LOCK_THRESHOLD;
d_carrier_lock_threshold = GPS_L5_CARRIER_LOCK_THRESHOLD;
systemName["G"] = std::string("GPS");
@ -554,10 +544,9 @@ int gps_l5i_dll_pll_tracking_cc::general_work (int noutput_items __attribute__((
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.fs = d_fs_in;
current_synchro_data.correlation_length_ms = 20;
*out[0] = current_synchro_data;
current_synchro_data.correlation_length_ms = 1;
consume_each(samples_offset); // shift input to perform alignment with local replica
return 1;
return 0;
}
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
@ -587,7 +576,7 @@ int gps_l5i_dll_pll_tracking_cc::general_work (int noutput_items __attribute__((
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
double T_prn_seconds = T_chip_seconds * GPS_L5i_CODE_LENGTH_CHIPS;
double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips*T_chip_seconds); //[seconds]
double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips * T_chip_seconds); //[seconds]
//double code_error_filt_secs = (GPS_L5i_PERIOD * code_error_filt_chips) / GPS_L5i_CODE_RATE_HZ; //[seconds]
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
@ -614,7 +603,7 @@ int gps_l5i_dll_pll_tracking_cc::general_work (int noutput_items __attribute__((
d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast<double>(d_fs_in));
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < GPS_L2M_CN0_ESTIMATION_SAMPLES)
if (d_cn0_estimation_counter < GPS_L5_CN0_ESTIMATION_SAMPLES)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1];
@ -624,11 +613,11 @@ int gps_l5i_dll_pll_tracking_cc::general_work (int noutput_items __attribute__((
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, GPS_L2M_CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L5i_CODE_LENGTH_CHIPS);
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, GPS_L5_CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L5i_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, GPS_L2M_CN0_ESTIMATION_SAMPLES);
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, GPS_L5_CN0_ESTIMATION_SAMPLES);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < GPS_L2M_MINIMUM_VALID_CN0)
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < GPS_L5_MINIMUM_VALID_CN0)
{
d_carrier_lock_fail_counter++;
}
@ -636,7 +625,7 @@ int gps_l5i_dll_pll_tracking_cc::general_work (int noutput_items __attribute__((
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > GPS_L2M_MAXIMUM_LOCK_FAIL_COUNTER)
if (d_carrier_lock_fail_counter > GPS_L5_MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
@ -654,7 +643,7 @@ int gps_l5i_dll_pll_tracking_cc::general_work (int noutput_items __attribute__((
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
current_synchro_data.correlation_length_ms = 20;
current_synchro_data.correlation_length_ms = 1;
}
else
{
@ -663,7 +652,7 @@ int gps_l5i_dll_pll_tracking_cc::general_work (int noutput_items __attribute__((
d_correlator_outs[n] = gr_complex(0,0);
}
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
current_synchro_data.correlation_length_ms = 20;
current_synchro_data.correlation_length_ms = 1;
}
//assign the GNURadio block output data
current_synchro_data.fs = d_fs_in;
@ -729,14 +718,8 @@ int gps_l5i_dll_pll_tracking_cc::general_work (int noutput_items __attribute__((
}
consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
d_sample_counter += d_current_prn_length_samples; // count for the processed samples
if (d_enable_tracking)
{
return 1;
}
else
{
return 0;
}
if(current_synchro_data.Flag_valid_symbol_output) { return 1; }
else { return 0; }
}

5
src/core/system_parameters/GPS_L1_CA.h
View File

@ -37,6 +37,11 @@
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
#define GPS_L1_CA_CN0_ESTIMATION_SAMPLES 20
#define GPS_L1_CA_MINIMUM_VALID_CN0 25
#define GPS_L1_CA_MAXIMUM_LOCK_FAIL_COUNTER 50
#define GPS_L1_CA_CARRIER_LOCK_THRESHOLD 0.85
// Physical constants
const double GPS_C_m_s = SPEED_OF_LIGHT; //!< The speed of light, [m/s]
const double GPS_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]

15
src/core/system_parameters/GPS_L2C.h
View File

@ -39,11 +39,18 @@
#include "gnss_frequencies.h"
#include "GPS_CNAV.h"
#define GPS_L2M_CN0_ESTIMATION_SAMPLES 10
#define GPS_L2M_MINIMUM_VALID_CN0 25
#define GPS_L2M_MAXIMUM_LOCK_FAIL_COUNTER 50
#define GPS_L2M_CARRIER_LOCK_THRESHOLD 0.75
// Physical constants
const double GPS_L2_C_m_s = 299792458.0; //!< The speed of light, [m/s]
const double GPS_L2_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
const double GPS_L2_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
const double GPS_L2_TWO_PI = 6.283185307179586;//!< 2Pi as defined in IS-GPS-200E
const double GPS_L2_C_m_s = 299792458.0; //!< The speed of light, [m/s]
const double GPS_L2_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
const double GPS_L2_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
const double GPS_L2_TWO_PI = 6.283185307179586; //!< 2Pi as defined in IS-GPS-200E
const double GPS_L2_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
const double GPS_L2_GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
const double GPS_L2_F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]

9
src/core/system_parameters/GPS_L5.h
View File

@ -37,6 +37,11 @@
#include "gnss_frequencies.h"
#include "GPS_CNAV.h"
#define GPS_L5_CN0_ESTIMATION_SAMPLES 10
#define GPS_L5_MINIMUM_VALID_CN0 25
#define GPS_L5_MAXIMUM_LOCK_FAIL_COUNTER 50
#define GPS_L5_CARRIER_LOCK_THRESHOLD 0.75
// Physical constants
const double GPS_L5_C_m_s = 299792458.0; //!< The speed of light, [m/s]
const double GPS_L5_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
@ -56,8 +61,8 @@ const double GPS_L5i_PERIOD = 0.001; //!< GPS L5 code period [seconds]
const double GPS_L5i_SYMBOL_PERIOD = 0.01; //!< GPS L5 symbol period [seconds]
const double GPS_L5q_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s]
const int GPS_L5q_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
const double GPS_L5q_PERIOD = 0.001; //!< GPS L5 code period [seconds]
const int GPS_L5q_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
const double GPS_L5q_PERIOD = 0.001; //!< GPS L5 code period [seconds]
const int GPS_L5_HISTORY_DEEP = 5;

5
src/core/system_parameters/Galileo_E1.h
View File

@ -39,6 +39,11 @@
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
#define GALILEO_E1_CN0_ESTIMATION_SAMPLES 20
#define GALILEO_E1_MINIMUM_VALID_CN0 25
#define GALILEO_E1_MAXIMUM_LOCK_FAIL_COUNTER 50
#define GALILEO_E1_CARRIER_LOCK_THRESHOLD 0.85
// Physical constants
const double GALILEO_PI = 3.1415926535898; //!< Pi as defined in GALILEO ICD
const double GALILEO_TWO_PI = 6.283185307179600 ; //!< 2*Pi as defined in GALILEO ICD

5
src/core/system_parameters/Galileo_E5a.h
View File

@ -37,6 +37,11 @@
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
#define GALILEO_E5A_CN0_ESTIMATION_SAMPLES 20
#define GALILEO_E5A_MINIMUM_VALID_CN0 25
#define GALILEO_E5A_MAXIMUM_LOCK_FAIL_COUNTER 50
#define GALILEO_E5A_CARRIER_LOCK_THRESHOLD 0.85
// Carrier and code frequencies
const double Galileo_E5a_FREQ_HZ = FREQ5; //!< Galileo E5a carrier frequency [Hz]