mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 04:30:33 +00:00
Minor fixes
This commit is contained in:
Carles Fernandez
parent
b3764f6ed1
commit
539e24f0ac
@ -1,7 +1,7 @@
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/*!
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* \file dll_pll_veml_tracking.cc
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* \brief Implementation of a code DLL + carrier PLL tracking block.
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* \author Antonio Ramos, 2018 antonioramosdet(at)gmail.com
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* \author Antonio Ramos, 2018 antonio.ramosdet(at)gmail.com
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*
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* Code DLL + carrier PLL according to the algorithms described in:
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* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
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@ -112,8 +112,9 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(
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float pll_bw_narrow_hz, float dll_bw_narrow_hz,
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float early_late_space_chips, float very_early_late_space_chips,
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float early_late_space_narrow_chips, float very_early_late_space_narrow_chips,
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int extend_correlation_symbols, bool track_pilot, char system, char signal[3]) : gr::block("dll_pll_veml_tracking", gr::io_signature::make(1, 1, sizeof(gr_complex)),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
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int extend_correlation_symbols, bool track_pilot, char system,
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char signal[3]) : gr::block("dll_pll_veml_tracking", gr::io_signature::make(1, 1, sizeof(gr_complex)),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
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{
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// Telemetry bit synchronization message port input
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this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
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@ -145,7 +146,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(
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d_correlation_length_ms = 1;
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d_code_samples_per_chip = 1;
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d_code_length_chips = static_cast<unsigned int>(GPS_L1_CA_CODE_LENGTH_CHIPS);
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//GPS L1 C/A does not have pilot component nor secondary code
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// GPS L1 C/A does not have pilot component nor secondary code
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d_secondary = false;
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d_track_pilot = false;
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interchange_iq = false;
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@ -159,7 +160,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(
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d_symbols_per_bit = GPS_L2_SAMPLES_PER_SYMBOL;
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d_correlation_length_ms = 20;
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d_code_samples_per_chip = 1;
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//GPS L2 does not have pilot component nor secondary code
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// GPS L2 does not have pilot component nor secondary code
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d_secondary = false;
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d_track_pilot = false;
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interchange_iq = false;
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@ -173,7 +174,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(
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d_correlation_length_ms = 1;
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d_code_samples_per_chip = 1;
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d_code_length_chips = static_cast<unsigned int>(GPS_L5i_CODE_LENGTH_CHIPS);
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//GPS L5 does not have pilot secondary code
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// GPS L5 does not have pilot secondary code
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d_secondary = true;
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if (d_track_pilot)
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{
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@ -191,7 +192,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(
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else
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{
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LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks";
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std::cout << "Invalid Signal argument when instantiating tracking blocks" << std::endl;
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std::cerr << "Invalid Signal argument when instantiating tracking blocks" << std::endl;
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}
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}
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else if (system == 'E')
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@ -250,7 +251,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(
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else
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{
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LOG(WARNING) << "Invalid System argument when instantiating tracking blocks";
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std::cout << "Invalid System argument when instantiating tracking blocks" << std::endl;
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std::cerr << "Invalid System argument when instantiating tracking blocks" << std::endl;
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d_correlation_length_ms = 1;
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d_secondary = false;
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interchange_iq = false;
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@ -411,12 +412,11 @@ void dll_pll_veml_tracking::start_tracking()
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d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
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d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
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long int acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp); //-d_vector_length;
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long int acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);
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double acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / d_fs_in;
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DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples;
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DLOG(INFO) << "Number of seconds between Acquisition and Tracking = " << acq_trk_diff_seconds;
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// Doppler effect
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// Fd=(C/(C+Vr))*F
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// Doppler effect Fd = (C / (C + Vr)) * F
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double radial_velocity = (d_signal_carrier_freq + d_acq_carrier_doppler_hz) / d_signal_carrier_freq;
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// new chip and prn sequence periods based on acq Doppler
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d_code_freq_chips = radial_velocity * d_code_chip_rate;
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@ -604,7 +604,7 @@ dll_pll_veml_tracking::~dll_pll_veml_tracking()
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bool dll_pll_veml_tracking::acquire_secondary()
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{
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//******* preamble correlation ********
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// ******* preamble correlation ********
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int corr_value = 0;
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for (unsigned int i = 0; i < d_secondary_code_length; i++)
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{
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@ -766,6 +766,7 @@ void dll_pll_veml_tracking::clear_tracking_vars()
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d_last_prompt = gr_complex(0.0, 0.0);
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}
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void dll_pll_veml_tracking::update_tracking_vars()
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{
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T_chip_seconds = 1.0 / d_code_freq_chips;
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@ -796,6 +797,7 @@ void dll_pll_veml_tracking::update_tracking_vars()
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d_rem_code_phase_chips = d_code_freq_chips * d_rem_code_phase_samples / d_fs_in;
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}
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void dll_pll_veml_tracking::save_correlation_results()
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{
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if (d_secondary)
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@ -960,301 +962,6 @@ void dll_pll_veml_tracking::log_data(bool integrating)
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}
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int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
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{
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gr::thread::scoped_lock l(d_setlock);
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const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]);
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Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
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Gnss_Synchro current_synchro_data = Gnss_Synchro();
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switch (d_state)
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{
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case 0: // Standby - Pass Through. Full throttle
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{
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d_sample_counter += ninput_items[0];
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consume_each(ninput_items[0]);
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return 0;
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break;
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}
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case 1: // Pull-in
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{
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// Signal alignment (skip samples until the incoming signal is aligned with local replica)
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// Fill the acquisition data
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unsigned long int acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
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double acq_trk_shif_correction_samples = static_cast<double>(d_current_prn_length_samples) - std::fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_current_prn_length_samples));
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int samples_offset = std::round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
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if (samples_offset < 0)
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{
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samples_offset = 0;
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}
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d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_acq_code_phase_samples;
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d_state = 2;
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d_sample_counter += samples_offset; // count for the processed samples
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consume_each(samples_offset); // shift input to perform alignment with local replica
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return 0;
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}
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case 2: // Wide tracking and symbol synchronization
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{
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do_correlation_step(in);
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// Save single correlation step variables
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if (d_veml)
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{
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d_VE_accu = *d_Very_Early;
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d_VL_accu = *d_Very_Late;
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}
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d_E_accu = *d_Early;
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d_P_accu = *d_Prompt;
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d_L_accu = *d_Late;
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// Check lock status
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if (!cn0_and_tracking_lock_status())
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{
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clear_tracking_vars();
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d_state = 0; // loss-of-lock detected
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}
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else
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{
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bool next_state = false;
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// Perform DLL/PLL tracking loop computations. Costas Loop enabled
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run_dll_pll();
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update_tracking_vars();
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// enable write dump file this cycle (valid DLL/PLL cycle)
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log_data(false);
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if (d_secondary)
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{
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// ####### SECONDARY CODE LOCK #####
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d_Prompt_buffer_deque.push_back(*d_Prompt);
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if (d_Prompt_buffer_deque.size() == d_secondary_code_length)
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{
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next_state = acquire_secondary();
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if (next_state)
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{
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std::cout << "Secondary code locked for CH " << d_channel
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<< " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
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}
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d_Prompt_buffer_deque.pop_front();
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}
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}
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else //Signal does not have secondary code. Search a bit transition by sign change
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{
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if (d_synchonizing)
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{
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if (d_Prompt->real() * d_last_prompt.real() > 0.0)
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{
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d_current_symbol++;
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}
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else if (d_current_symbol > d_symbols_per_bit)
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{
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d_synchonizing = false;
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d_current_symbol = 1;
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}
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else
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{
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d_current_symbol = 1;
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d_last_prompt = *d_Prompt;
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}
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}
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else if (d_last_prompt.real() != 0.0)
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{
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d_current_symbol++;
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if (d_current_symbol == d_symbols_per_bit) next_state = true;
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}
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else
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{
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d_last_prompt = *d_Prompt;
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d_synchonizing = true;
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d_current_symbol = 1;
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}
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}
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if (next_state)
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{ // reset extended correlator
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d_VE_accu = gr_complex(0.0, 0.0);
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d_E_accu = gr_complex(0.0, 0.0);
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d_P_accu = gr_complex(0.0, 0.0);
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d_L_accu = gr_complex(0.0, 0.0);
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d_VL_accu = gr_complex(0.0, 0.0);
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d_last_prompt = gr_complex(0.0, 0.0);
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d_Prompt_buffer_deque.clear();
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d_current_symbol = 0;
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d_synchonizing = false;
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// Set narrow taps delay values [chips]
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d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
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d_carrier_loop_filter.set_PLL_BW(d_pll_bw_narrow_hz);
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if (d_veml)
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{
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d_local_code_shift_chips[0] = -d_very_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
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d_local_code_shift_chips[1] = -d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
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d_local_code_shift_chips[3] = d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
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d_local_code_shift_chips[4] = d_very_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
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}
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else
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{
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d_local_code_shift_chips[0] = -d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
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d_local_code_shift_chips[2] = d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
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}
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// UPDATE INTEGRATION TIME
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if (d_enable_extended_integration)
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{
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d_extend_correlation_symbols_count = 0;
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float new_correlation_time_s = static_cast<float>(d_extend_correlation_symbols) * static_cast<float>(d_code_period);
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d_carrier_loop_filter.set_pdi(new_correlation_time_s);
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d_code_loop_filter.set_pdi(new_correlation_time_s);
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d_state = 3; // next state is the extended correlator integrator
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LOG(INFO) << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH "
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<< d_channel
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<< " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
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std::cout << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH "
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<< d_channel
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<< " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
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}
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else
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{
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d_state = 4;
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}
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}
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}
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break;
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}
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case 3: // coherent integration (correlation time extension)
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{
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// Fill the acquisition data
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current_synchro_data = *d_acquisition_gnss_synchro;
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// perform a correlation step
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do_correlation_step(in);
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update_tracking_vars();
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save_correlation_results();
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// ########### Output the tracking results to Telemetry block ##########
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if (interchange_iq)
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{
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if (d_track_pilot)
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{
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//Note that data and pilot components are in quadrature. I and Q are interchanged
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current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
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current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
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}
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else
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{
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current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
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current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
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}
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}
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else
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{
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if (d_track_pilot)
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{
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//Note that data and pilot components are in quadrature. I and Q are interchanged
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current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
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current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
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}
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else
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{
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current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
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current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
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}
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}
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current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
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current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
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current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
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current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
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current_synchro_data.Flag_valid_symbol_output = true;
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current_synchro_data.correlation_length_ms = d_correlation_length_ms;
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d_extend_correlation_symbols_count++;
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if (d_extend_correlation_symbols_count == (d_extend_correlation_symbols - 1))
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{
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d_extend_correlation_symbols_count = 0;
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d_state = 4;
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}
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log_data(true);
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break;
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}
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case 4: // narrow tracking
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{
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// Fill the acquisition data
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current_synchro_data = *d_acquisition_gnss_synchro;
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// perform a correlation step
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do_correlation_step(in);
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save_correlation_results();
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// check lock status
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if (!cn0_and_tracking_lock_status())
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{
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clear_tracking_vars();
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d_state = 0; // loss-of-lock detected
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}
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else
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{
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run_dll_pll();
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update_tracking_vars();
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// ########### Output the tracking results to Telemetry block ##########
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if (interchange_iq)
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{
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if (d_track_pilot)
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{
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//Note that data and pilot components are in quadrature. I and Q are interchanged
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current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
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current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
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}
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else
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{
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current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
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current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
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}
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}
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else
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{
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if (d_track_pilot)
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{
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//Note that data and pilot components are in quadrature. I and Q are interchanged
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current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
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current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
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}
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else
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{
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current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
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current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
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}
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}
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current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
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current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
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current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
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current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
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current_synchro_data.Flag_valid_symbol_output = true;
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current_synchro_data.correlation_length_ms = d_correlation_length_ms;
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// enable write dump file this cycle (valid DLL/PLL cycle)
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log_data(false);
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// reset extended correlator
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d_VE_accu = gr_complex(0.0, 0.0);
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d_E_accu = gr_complex(0.0, 0.0);
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d_P_accu = gr_complex(0.0, 0.0);
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d_L_accu = gr_complex(0.0, 0.0);
|
||||
d_VL_accu = gr_complex(0.0, 0.0);
|
||||
if (d_enable_extended_integration)
|
||||
{
|
||||
d_state = 3; //new coherent integration (correlation time extension) cycle
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
consume_each(d_current_prn_length_samples);
|
||||
d_sample_counter += d_current_prn_length_samples;
|
||||
if (current_synchro_data.Flag_valid_symbol_output)
|
||||
{
|
||||
current_synchro_data.fs = static_cast<long int>(d_fs_in);
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter;
|
||||
*out[0] = current_synchro_data;
|
||||
return 1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int dll_pll_veml_tracking::save_matfile()
|
||||
{
|
||||
// READ DUMP FILE
|
||||
@ -1510,3 +1217,297 @@ void dll_pll_veml_tracking::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
|
||||
gr::thread::scoped_lock l(d_setlock);
|
||||
d_acquisition_gnss_synchro = p_gnss_synchro;
|
||||
}
|
||||
|
||||
|
||||
int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||
{
|
||||
gr::thread::scoped_lock l(d_setlock);
|
||||
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]);
|
||||
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
|
||||
Gnss_Synchro current_synchro_data = Gnss_Synchro();
|
||||
|
||||
switch (d_state)
|
||||
{
|
||||
case 0: // Standby - Consume samples at full throttle, do nothing
|
||||
{
|
||||
d_sample_counter += ninput_items[0];
|
||||
consume_each(ninput_items[0]);
|
||||
return 0;
|
||||
break;
|
||||
}
|
||||
case 1: // Pull-in
|
||||
{
|
||||
// Signal alignment (skip samples until the incoming signal is aligned with local replica)
|
||||
unsigned long int acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
||||
double acq_trk_shif_correction_samples = static_cast<double>(d_current_prn_length_samples) - std::fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_current_prn_length_samples));
|
||||
int samples_offset = std::round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
||||
if (samples_offset < 0)
|
||||
{
|
||||
samples_offset = 0;
|
||||
}
|
||||
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_acq_code_phase_samples;
|
||||
d_state = 2;
|
||||
d_sample_counter += samples_offset; // count for the processed samples
|
||||
consume_each(samples_offset); // shift input to perform alignment with local replica
|
||||
return 0;
|
||||
}
|
||||
case 2: // Wide tracking and symbol synchronization
|
||||
{
|
||||
do_correlation_step(in);
|
||||
// Save single correlation step variables
|
||||
if (d_veml)
|
||||
{
|
||||
d_VE_accu = *d_Very_Early;
|
||||
d_VL_accu = *d_Very_Late;
|
||||
}
|
||||
d_E_accu = *d_Early;
|
||||
d_P_accu = *d_Prompt;
|
||||
d_L_accu = *d_Late;
|
||||
|
||||
// Check lock status
|
||||
if (!cn0_and_tracking_lock_status())
|
||||
{
|
||||
clear_tracking_vars();
|
||||
d_state = 0; // loss-of-lock detected
|
||||
}
|
||||
else
|
||||
{
|
||||
bool next_state = false;
|
||||
// Perform DLL/PLL tracking loop computations. Costas Loop enabled
|
||||
run_dll_pll();
|
||||
update_tracking_vars();
|
||||
|
||||
// enable write dump file this cycle (valid DLL/PLL cycle)
|
||||
log_data(false);
|
||||
if (d_secondary)
|
||||
{
|
||||
// ####### SECONDARY CODE LOCK #####
|
||||
d_Prompt_buffer_deque.push_back(*d_Prompt);
|
||||
if (d_Prompt_buffer_deque.size() == d_secondary_code_length)
|
||||
{
|
||||
next_state = acquire_secondary();
|
||||
if (next_state)
|
||||
{
|
||||
std::cout << "Secondary code locked for CH " << d_channel
|
||||
<< " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
|
||||
}
|
||||
|
||||
d_Prompt_buffer_deque.pop_front();
|
||||
}
|
||||
}
|
||||
else // Signal does not have secondary code. Search a bit transition by sign change
|
||||
{
|
||||
if (d_synchonizing)
|
||||
{
|
||||
if (d_Prompt->real() * d_last_prompt.real() > 0.0)
|
||||
{
|
||||
d_current_symbol++;
|
||||
}
|
||||
else if (d_current_symbol > d_symbols_per_bit)
|
||||
{
|
||||
d_synchonizing = false;
|
||||
d_current_symbol = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_current_symbol = 1;
|
||||
d_last_prompt = *d_Prompt;
|
||||
}
|
||||
}
|
||||
else if (d_last_prompt.real() != 0.0)
|
||||
{
|
||||
d_current_symbol++;
|
||||
if (d_current_symbol == d_symbols_per_bit) next_state = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_last_prompt = *d_Prompt;
|
||||
d_synchonizing = true;
|
||||
d_current_symbol = 1;
|
||||
}
|
||||
}
|
||||
if (next_state)
|
||||
{ // reset extended correlator
|
||||
d_VE_accu = gr_complex(0.0, 0.0);
|
||||
d_E_accu = gr_complex(0.0, 0.0);
|
||||
d_P_accu = gr_complex(0.0, 0.0);
|
||||
d_L_accu = gr_complex(0.0, 0.0);
|
||||
d_VL_accu = gr_complex(0.0, 0.0);
|
||||
d_last_prompt = gr_complex(0.0, 0.0);
|
||||
d_Prompt_buffer_deque.clear();
|
||||
d_current_symbol = 0;
|
||||
d_synchonizing = false;
|
||||
// Set narrow taps delay values [chips]
|
||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
|
||||
d_carrier_loop_filter.set_PLL_BW(d_pll_bw_narrow_hz);
|
||||
if (d_veml)
|
||||
{
|
||||
d_local_code_shift_chips[0] = -d_very_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
||||
d_local_code_shift_chips[1] = -d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
||||
d_local_code_shift_chips[3] = d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
||||
d_local_code_shift_chips[4] = d_very_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
||||
}
|
||||
else
|
||||
{
|
||||
d_local_code_shift_chips[0] = -d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
||||
d_local_code_shift_chips[2] = d_early_late_spc_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
||||
}
|
||||
|
||||
// UPDATE INTEGRATION TIME
|
||||
if (d_enable_extended_integration)
|
||||
{
|
||||
d_extend_correlation_symbols_count = 0;
|
||||
float new_correlation_time_s = static_cast<float>(d_extend_correlation_symbols) * static_cast<float>(d_code_period);
|
||||
d_carrier_loop_filter.set_pdi(new_correlation_time_s);
|
||||
d_code_loop_filter.set_pdi(new_correlation_time_s);
|
||||
d_state = 3; // next state is the extended correlator integrator
|
||||
LOG(INFO) << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH "
|
||||
<< d_channel
|
||||
<< " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
|
||||
std::cout << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH "
|
||||
<< d_channel
|
||||
<< " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_state = 4;
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
case 3: // coherent integration (correlation time extension)
|
||||
{
|
||||
// Fill the acquisition data
|
||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||
// perform a correlation step
|
||||
do_correlation_step(in);
|
||||
update_tracking_vars();
|
||||
save_correlation_results();
|
||||
|
||||
// ########### Output the tracking results to Telemetry block ##########
|
||||
if (interchange_iq)
|
||||
{
|
||||
if (d_track_pilot)
|
||||
{
|
||||
// Note that data and pilot components are in quadrature. I and Q are interchanged
|
||||
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
|
||||
}
|
||||
else
|
||||
{
|
||||
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_track_pilot)
|
||||
{
|
||||
// Note that data and pilot components are in quadrature. I and Q are interchanged
|
||||
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
|
||||
}
|
||||
else
|
||||
{
|
||||
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
|
||||
}
|
||||
}
|
||||
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
||||
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;
|
||||
current_synchro_data.correlation_length_ms = d_correlation_length_ms;
|
||||
d_extend_correlation_symbols_count++;
|
||||
if (d_extend_correlation_symbols_count == (d_extend_correlation_symbols - 1))
|
||||
{
|
||||
d_extend_correlation_symbols_count = 0;
|
||||
d_state = 4;
|
||||
}
|
||||
log_data(true);
|
||||
break;
|
||||
}
|
||||
case 4: // narrow tracking
|
||||
{
|
||||
// Fill the acquisition data
|
||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||
|
||||
// perform a correlation step
|
||||
do_correlation_step(in);
|
||||
save_correlation_results();
|
||||
|
||||
// check lock status
|
||||
if (!cn0_and_tracking_lock_status())
|
||||
{
|
||||
clear_tracking_vars();
|
||||
d_state = 0; // loss-of-lock detected
|
||||
}
|
||||
else
|
||||
{
|
||||
run_dll_pll();
|
||||
update_tracking_vars();
|
||||
|
||||
// ########### Output the tracking results to Telemetry block ##########
|
||||
if (interchange_iq)
|
||||
{
|
||||
if (d_track_pilot)
|
||||
{
|
||||
// Note that data and pilot components are in quadrature. I and Q are interchanged
|
||||
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
|
||||
}
|
||||
else
|
||||
{
|
||||
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_track_pilot)
|
||||
{
|
||||
// Note that data and pilot components are in quadrature. I and Q are interchanged
|
||||
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
|
||||
}
|
||||
else
|
||||
{
|
||||
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
|
||||
}
|
||||
}
|
||||
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
||||
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;
|
||||
current_synchro_data.correlation_length_ms = d_correlation_length_ms;
|
||||
// enable write dump file this cycle (valid DLL/PLL cycle)
|
||||
log_data(false);
|
||||
// reset extended correlator
|
||||
d_VE_accu = gr_complex(0.0, 0.0);
|
||||
d_E_accu = gr_complex(0.0, 0.0);
|
||||
d_P_accu = gr_complex(0.0, 0.0);
|
||||
d_L_accu = gr_complex(0.0, 0.0);
|
||||
d_VL_accu = gr_complex(0.0, 0.0);
|
||||
if (d_enable_extended_integration)
|
||||
{
|
||||
d_state = 3; // new coherent integration (correlation time extension) cycle
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
consume_each(d_current_prn_length_samples);
|
||||
d_sample_counter += d_current_prn_length_samples;
|
||||
if (current_synchro_data.Flag_valid_symbol_output)
|
||||
{
|
||||
current_synchro_data.fs = static_cast<long int>(d_fs_in);
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter;
|
||||
*out[0] = current_synchro_data;
|
||||
return 1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
/*!
|
||||
* \file dll_pll_veml_tracking.h
|
||||
* \brief Implementation of a code DLL + carrier PLL tracking block.
|
||||
* \author Antonio Ramos, 2018 antonioramosdet(at)gmail.com
|
||||
* \author Antonio Ramos, 2018 antonio.ramosdet(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
@ -55,8 +55,7 @@ dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(double fs_in, unsigned int
|
||||
char system, char signal[3]);
|
||||
|
||||
/*!
|
||||
* \brief This class implements a code DLL + carrier PLL VEML (Very Early
|
||||
* Minus Late) tracking block for Galileo E1 signals
|
||||
* \brief This class implements a code DLL + carrier PLL tracking block.
|
||||
*/
|
||||
class dll_pll_veml_tracking : public gr::block
|
||||
{
|
||||
@ -67,12 +66,6 @@ public:
|
||||
void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro);
|
||||
void start_tracking();
|
||||
|
||||
/*!
|
||||
* \brief Code DLL + carrier PLL according to the algorithms described in:
|
||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
|
||||
* Birkhauser, 2007
|
||||
*/
|
||||
int general_work(int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
|
||||
|
||||
@ -214,9 +207,9 @@ private:
|
||||
double T_prn_seconds;
|
||||
double T_prn_samples;
|
||||
double K_blk_samples;
|
||||
//PRN period in samples
|
||||
// PRN period in samples
|
||||
int d_current_prn_length_samples;
|
||||
//processing samples counters
|
||||
// processing samples counters
|
||||
unsigned long int d_sample_counter;
|
||||
unsigned long int d_acq_sample_stamp;
|
||||
|
||||
@ -234,4 +227,4 @@ private:
|
||||
std::ofstream d_dump_file;
|
||||
};
|
||||
|
||||
#endif //GNSS_SDR_DLL_PLL_VEML_TRACKING_H
|
||||
#endif // GNSS_SDR_DLL_PLL_VEML_TRACKING_H
|
||||
|
||||
Loading…
Reference in New Issue
Block a user