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@ -18,7 +18,7 @@ SPDX-FileCopyrightText: 2011-2021 Carles Fernandez-Prades <carles.fernandez@cttc
This program is a software-defined receiver which is able to process (that is,
to perform detection, synchronization, demodulation and decoding of the
navigation message, computation of observables and, finally, computation of
navigation message, computation of observables, and, finally, computation of
position fixes) the following Global Navigation Satellite System's signals:
In the L1 band:
@ -44,7 +44,68 @@ raw sample file formats, generates processing outputs in standard formats,
allows for the full inspection of the whole signal processing chain, and offers
a framework for the development of new features. Please visit
[https://gnss-sdr.org](https://gnss-sdr.org "GNSS-SDR website") for more
information about this open source software-defined GNSS receiver.
information about this open-source, software-defined GNSS receiver.
# Table of Contents
<details>
<summary><b>(click to expand)</b></summary>
<!-- MarkdownTOC -->
1. [How to build GNSS-SDR](#how-to-build-gnss-sdr)
1. [GNU/Linux](#gnulinux)
1. [Alternative 1: Install dependencies using software packages](#alternative-1-install-dependencies-using-software-packages)
1. [Debian / Ubuntu](#debian--ubuntu)
1. [Arch Linux](#arch-linux)
1. [CentOS](#centos)
1. [Fedora](#fedora)
1. [OpenSUSE](#opensuse)
1. [Alternative 2: Install dependencies using PyBOMBS](#alternative-2-install-dependencies-using-pybombs)
1. [Manual installation of other required dependencies](#manual-installation-of-other-required-dependencies)
1. [Armadillo](#install-armadillo-a-c-linear-algebra-library)
1. [gflags](#install-gflags-a-commandline-flags-processing-module-for-c)
1. [google-glog](#install-glog-a-library-that-implements-application-level-logging)
1. [googletest](#download-the-google-c-testing-framework-also-known-as-google-test)
1. [GnuTLS or OpenSSL](#install-the-gnutls-or-openssl-libraries)
1. [matio](#install-matio-matlab-mat-file-io-library)
1. [Protocol Buffers](#install-protocol-buffers-a-portable-mechanism-for-serialization-of-structured-data)
1. [pugixml](#install-pugixml-a-light-weight-c-xml-processing-library)
1. [Clone GNSS-SDR's Git repository](#clone-gnss-sdrs-git-repository)
1. [Build and install GNSS-SDR](#build-and-install-gnss-sdr)
1. [Build OsmoSDR support (optional)](#build-osmosdr-support-optional)
1. [Build IIO support (optional)](#build-fmcomms2-based-sdr-hardware-support-optional)
1. [Build OpenCL support (optional)](#build-opencl-support-optional)
1. [Build CUDA support (optional)](#build-cuda-support-optional)
1. [Build a portable binary](#build-a-portable-binary)
1. [macOS](#macos)
1. [Macports](#macports)
1. [Homebrew](#homebrew)
1. [Build GNSS-SDR](#build-gnss-sdr)
1. [Other builds](#other-builds)
1. [Updating GNSS-SDR](#updating-gnss-sdr)
1. [Getting started](#getting-started)
1. [Using GNSS-SDR](#using-gnss-sdr)
1. [Control Plane](#control-plane)
1. [Configuration](#configuration)
1. [GNSS block factory](#gnss-block-factory)
1. [Signal Processing Plane](#signal-processing-plane)
1. [Signal Source](#signal-source)
1. [Signal Conditioner](#signal-conditioner)
1. [Data type adapter](#data-type-adapter)
1. [Input filter](#input-filter)
1. [Resampler](#resampler)
1. [Channel](#channel)
1. [Acquisition](#acquisition)
1. [Tracking](#tracking)
1. [Decoding of the navigation message](#decoding-of-the-navigation-message)
1. [Observables](#observables)
1. [Computation of Position, Velocity and Time](#computation-of-position-velocity-and-time)
1. [About the software license](#about-the-software-license)
1. [Publications and Credits](#publications-and-credits)
1. [Ok, now what?](#ok-now-what)
<!-- /MarkdownTOC -->
</details>
# How to build GNSS-SDR
@ -59,7 +120,7 @@ This section describes how to set up the compilation environment in GNU/Linux or
- Supported microprocessor architectures:
- i386: Intel x86 instruction set (32-bit microprocessors).
- amd64: also known as x86-64, the 64-bit version of the x86 instruction set,
originally created by AMD and implemented by AMD, Intel, VIA and others.
originally created by AMD and implemented by AMD, Intel, VIA, and others.
- armel: ARM embedded ABI, supported on ARM v4t and higher.
- armhf: ARM hard float, ARMv7 + VFP3-D16 floating-point hardware extension +
Thumb-2 instruction set and above.
@ -68,7 +129,7 @@ This section describes how to set up the compilation environment in GNU/Linux or
- mipsel: MIPS architecture (little-endian, such as Loongson 3).
- mips64el: 64-bit version of MIPS architecture.
- powerpc: the RISC 32-bit microprocessor architecture developed by IBM,
Motorola (now Freescale) and Apple.
Motorola (now Freescale), and Apple.
- ppc64: 64-bit big-endian PowerPC architecture.
- ppc64el: 64-bit little-endian PowerPC architecture.
- s390x: IBM System z architecture for mainframe computers.
@ -82,7 +143,7 @@ the source code. It is in general not a good idea to mix both approaches.
### Alternative 1: Install dependencies using software packages
If you want to start building and running GNSS-SDR as quick and easy as
If you want to start building and running GNSS-SDR as quickly and easily as
possible, the best option is to install all the required dependencies as binary
packages.
@ -108,7 +169,7 @@ above).
**Note for Ubuntu 14.04 LTS "trusty" users:** you will need to build from source
and install GNU Radio manually, as explained below, since GNSS-SDR requires
`gnuradio-dev` >= 3.7.3, and Ubuntu 14.04 came with 3.7.2. Install all the
packages above BUT EXCEPT `libuhd-dev`, `gnuradio-dev` and `gr-osmosdr` (and
packages above BUT EXCEPT `libuhd-dev`, `gnuradio-dev`, and `gr-osmosdr` (and
remove them if they are already installed in your machine), and install those
dependencies using PyBOMBS. The same applies to `libmatio-dev`: Ubuntu 14.04
came with 1.5.2 and the minimum required version is 1.5.3. Please do not install
@ -205,9 +266,9 @@ Once you have installed these packages, you can jump directly to
### Alternative 2: Install dependencies using PyBOMBS
This option is adequate if you are interested in development, in working with
the most recent versions of software dependencies, want more fine tuning on the
the most recent versions of software dependencies, want more fine-tuning on the
installed versions, or simply in building everything from the scratch just for
the fun of it. In such cases, we recommend to use
the fun of it. In such cases, we recommend using
[PyBOMBS](https://github.com/gnuradio/pybombs "Python Build Overlay Managed Bundle System")
(Python Build Overlay Managed Bundle System), GNU Radio's meta-package manager
tool that installs software from source, or whatever the local package manager
@ -240,7 +301,7 @@ Add list of default recipes:
$ pybombs recipes add-defaults
```
Download, build and install GNU Radio, related drivers and some other extra
Download, build and install GNU Radio, related drivers, and some other extra
modules into the directory `/path/to/prefix` (replace this path by your
preferred one, for instance `$HOME/sdr`):
@ -267,17 +328,17 @@ $ pybombs install gnss-sdr
```
By default, PyBOMBS installs the ‘next’ branch of GNSS-SDR development, which is
the most recent version of the source code. This behaviour can be modified by
the most recent version of the source code. This behavior can be modified by
altering the corresponding recipe at
`$HOME/.pybombs/recipes/gr-recipes/gnss-sdr.lwr`
In case you do not want to use PyBOMBS and prefer to build and install GNSS-SDR
step by step (i.e., cloning the repository and doing the usual
`cmake .. && make && make install` dance), Armadillo, GFlags, Glog and GnuTLS
can be installed either by using PyBOMBS:
`cmake .. && make && make install` dance), Armadillo, GFlags, Glog, GnuTLS, and
Matio can be installed either by using PyBOMBS:
```
$ pybombs install armadillo gflags glog gnutls
$ pybombs install armadillo gflags glog gnutls matio
```
or manually as explained below, and then please follow instructions on how to
@ -304,8 +365,8 @@ The full stop separated from `cmake` by a space is important.
[CMake](https://cmake.org/ "CMake's Homepage") will figure out what other
libraries are currently installed and will modify Armadillo's configuration
correspondingly. CMake will also generate a run-time armadillo library, which is
a combined alias for all the relevant libraries present on your system (eg.
BLAS, LAPACK and ATLAS).
a combined alias for all the relevant libraries present on your system (e.g.,
BLAS, LAPACK, and ATLAS).
#### Install [Gflags](https://github.com/gflags/gflags "Gflags' Homepage"), a commandline flags processing module for C++:
@ -341,7 +402,7 @@ $ unzip v1.10.x.zip
Please **DO NOT build or install** Google Test. Every user needs to compile
tests using the same compiler flags used to compile the Google Test libraries;
otherwise he or she may run into undefined behaviors (_i.e._, the tests can
otherwise, he or she may run into undefined behaviors (_i.e._, the tests can
behave strangely and may even crash for no obvious reasons). The explanation is
that C++ has the One-Definition Rule: if two C++ source files contain different
definitions of the same class/function/variable, and you link them together, you
@ -381,6 +442,18 @@ $ sudo pacman -S openssl # For Arch Linux
In case the GnuTLS library with openssl extensions package is not available in
your GNU/Linux distribution, GNSS-SDR can also work well with OpenSSL.
#### Install [Matio](https://github.com/tbeu/matio "Matio's Homepage"), MATLAB MAT file I/O library:
```
$ wget https://github.com/tbeu/matio/releases/download/v1.5.21/matio-1.5.21.tar.gz
$ tar xvfz matio-1.5.21.tar.gz
$ cd matio-1.5.21
$ ./configure
$ make
$ sudo make install
$ sudo ldconfig
```
#### Install [Protocol Buffers](https://developers.google.com/protocol-buffers/ "Protocol Buffers' Homepage"), a portable mechanism for serialization of structured data:
GNSS-SDR requires Protocol Buffers v3.0.0 or later. If the packages that come
@ -405,6 +478,19 @@ $ sudo make install
$ sudo ldconfig
```
#### Install [Pugixml](https://pugixml.org/ "Pugixml's Homepage"), a light-weight C++ XML processing library:
```
$ wget https://github.com/zeux/pugixml/releases/download/v1.11.4/pugixml-1.11.4.tar.gz
$ tar xvfz pugixml-1.11.4.tar.gz
$ cd pugixml-1.11.4
$ mkdir build && cd build
$ cmake ..
$ make
$ sudo make install
$ sudo ldconfig
```
### <a name="download-and-build-linux">Clone GNSS-SDR's Git repository</a>:
```
@ -460,7 +546,7 @@ $ make
By default, CMake will build the Release version, meaning that the compiler will
generate a fast, optimized executable. This is the recommended build type when
using an RF front-end and you need to attain real time. If working with a file
using an RF front-end and you need to attain real-time. If working with a file
(and thus without real-time constraints), you may want to obtain more
information about the internals of the receiver, as well as more fine-grained
logging. This can be done by building the Debug version, by doing:
@ -480,9 +566,9 @@ $ sudo make install
```
This will also make a copy of the conf/ folder into
/usr/local/share/gnss-sdr/conf for your reference. We suggest to create a
working directory at your preferred location and store your own configuration
and data files there.
/usr/local/share/gnss-sdr/conf for your reference. We suggest creating a working
directory at your preferred location and store your own configuration and data
files there.
You could be interested in creating the documentation (requires:
`sudo apt-get install doxygen-latex` in Ubuntu/Debian) by doing:
@ -505,10 +591,10 @@ will create a PDF manual at build/docs/GNSS-SDR_manual.pdf. Finally,
$ make doc-clean
```
will remove the content of previously-generated documentation.
will remove the content of previously generated documentation.
GNSS-SDR comes with a library which is a module of the Vector-Optimized Library
of Kernels (so called
of Kernels (so-called
[VOLK_GNSSSDR](./src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/README.md))
and a profiler that will build a config file for the best SIMD architecture for
your processor. Run `volk_gnsssdr_profile` that is installed into `$PREFIX/bin`.
@ -544,40 +630,6 @@ and then import the created project into Eclipse:
After building the project, you will find the generated binaries at
`eclipse/install`.
###### Build GN3S V2 Custom firmware and driver (OPTIONAL):
Install the GNU Radio module:
```
$ git clone https://github.com/gnss-sdr/gr-gn3s
$ cd gr-gn3s/build
$ cmake ..
$ make
$ sudo make install
$ sudo ldconfig
```
Then configure GNSS-SDR to build the `GN3S_Signal_Source` by:
```
$ cd gnss-sdr/build
$ cmake -DENABLE_GN3S=ON ..
$ make
$ sudo make install
```
In order to gain access to USB ports, gnss-sdr should be used as root. In
addition, the driver requires access to the GN3S firmware binary file. It should
be available in the same path where the application is called. GNSS-SDR comes
with a pre-compiled custom GN3S firmware available at
gr-gn3s/firmware/GN3S_v2/bin/gn3s_firmware.ihx. Please copy this file to the
application path.
(in order to disable the `GN3S_Signal_Source` compilation, you can pass
`-DENABLE_GN3S=OFF` to cmake and build GNSS-SDR again).
More info at https://github.com/gnss-sdr/gr-gn3s
###### Build OSMOSDR support (OPTIONAL):
Install the [OsmoSDR](https://osmocom.org/projects/sdr "OsmoSDR's Homepage")
@ -834,7 +886,7 @@ $ open ./docs/html/index.html
```
GNSS-SDR comes with a library which is a module of the Vector-Optimized Library
of Kernels (so called
of Kernels (so-called
[VOLK_GNSSSDR](./src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/README.md))
and a profiler that will build a config file for the best SIMD architecture for
your processor. Run `volk_gnsssdr_profile` that is installed into `$PREFIX/bin`.
@ -951,24 +1003,24 @@ Git commands `fetch` and `merge`, as described in our
The signal file can be easily recorded using the GNU Radio file sink in
`gr_complex<float>` mode. 2. You will need a GPS active antenna, a
[USRP](https://www.ettus.com/products/) and a suitable USRP daughter board to
receive GPS L1 C/A signals. GNSS-SDR require to have at least 2 MHz of
bandwidth in 1.57542 GHz. (remember to enable the DC bias with the daughter
board jumper). We use a [DBSRX2](https://www.ettus.com/all-products/DBSRX2/)
to do the task, but you can try the newer Ettus' daughter boards as well. 3.
The easiest way to capture a signal file is to use the GNU Radio Companion
GUI. Only two blocks are needed: a USRP signal source connected to complex
float file sink. You need to tune the USRP central frequency and decimation
factor using USRP signal source properties box. We suggest using a decimation
factor of 20 if you use the USRP2. This will give you 100/20 = 5 MSPS which
will be enough to receive GPS L1 C/A signals. The front-end gain should also
be configured. In our test with the DBSRX2 we obtained good results with
`G=50`. 4. Capture at least 80 seconds of signal in open sky conditions.
During the process, be aware of USRP driver buffer underruns messages. If
your hard disk is not fast enough to write data at this speed you can capture
to a virtual RAM drive. 80 seconds of signal at 5 MSPS occupies less than 3
Gbytes using `gr_complex<float>`. 5. If you have no access to an RF
front-end, you can download a sample raw data file (that contains GPS and
Galileo signals) from
receive GPS L1 C/A signals. GNSS-SDR requires to have at least 2 MHz of
bandwidth in 1.57542 GHz. (remember to enable the DC bias with the
daughterboard jumper). We use a
[DBSRX2](https://www.ettus.com/all-products/DBSRX2/) to do the task, but you
can try the newer Ettus' daughter boards as well. 3. The easiest way to
capture a signal file is to use the GNU Radio Companion GUI. Only two blocks
are needed: a USRP signal source connected to a complex float file sink. You
need to tune the USRP central frequency and decimation factor using the USRP
signal source properties box. We suggest using a decimation factor of 20 if
you use the USRP2. This will give you 100/20 = 5 MSPS which will be enough to
receive GPS L1 C/A signals. The front-end gain should also be configured. In
our test with the DBSRX2 we obtained good results with `G=50`. 4. Capture at
least 80 seconds of signal in open sky conditions. During the process, be
aware of USRP driver buffer underruns messages. If your hard disk is not fast
enough to write data at this speed you can capture it to a virtual RAM drive.
80 seconds of signal at 5 MSPS occupies less than 3 Gbytes using
`gr_complex<float>`. If you have no access to an RF front-end, you can
download a sample raw data file (that contains GPS and Galileo signals) from
[here](https://sourceforge.net/projects/gnss-sdr/files/data/).
3. You are ready to configure the receiver to use your captured file among other
parameters:
@ -1035,29 +1087,29 @@ file.
GNSS-SDR's main method initializes the logging library, processes the command
line flags, if any, provided by the user and instantiates a
[ControlThread](./src/core/receiver/control_thread.h) object. Its constructor
reads the configuration file, creates a control queue and creates a flowgraph
reads the configuration file, creates a control queue, and creates a flowgraph
according to the configuration. Then, the program's main method calls the run()
method of the instantiated object, an action that connects the flowgraph and
starts running it. After that, and until a stop message is received, it reads
control messages sent by the receiver's modules through a safe-thread queue and
processes them. Finally, when a stop message is received, the main method
executes the destructor of the ControlThread object, which deallocates memory,
does other cleanup and exits the program.
does other cleanup, and exits the program.
The [GNSSFlowgraph](./src/core/receiver/gnss_flowgraph.h) class is responsible
for preparing the graph of blocks according to the configuration, running it,
modifying it during run-time and stopping it. Blocks are identified by its role.
This class knows which roles it has to instantiate and how to connect them. It
relies on the configuration to get the correct instances of the roles it needs
and then it applies the connections between GNU Radio blocks to make the graph
ready to be started. The complexity related to managing the blocks and the data
stream is handled by GNU Radio's `gr::top_block` class. GNSSFlowgraph wraps the
`gr::top_block` instance so we can take advantage of the `gnss_block_factory`
(see below), the configuration system and the processing blocks. This class is
also responsible for applying changes to the configuration of the flowgraph
during run-time, dynamically reconfiguring channels: it selects the strategy for
selecting satellites. This can range from a sequential search over all the
satellites' ID to other more efficient approaches.
modifying it during run-time, and stopping it. Blocks are identified by their
role. This class knows which roles it has to instantiate and how to connect
them. It relies on the configuration to get the correct instances of the roles
it needs and then it applies the connections between GNU Radio blocks to make
the graph ready to be started. The complexity related to managing the blocks and
the data stream is handled by GNU Radio's `gr::top_block` class. GNSSFlowgraph
wraps the `gr::top_block` instance so we can take advantage of the
`gnss_block_factory` (see below), the configuration system, and the processing
blocks. This class is also responsible for applying changes to the configuration
of the flowgraph during run-time, dynamically reconfiguring channels: it selects
the strategy for selecting satellites. This can range from a sequential search
over all the satellites' ID to other more efficient approaches.
The Control Plane is in charge of creating a flowgraph according to the
configuration and then managing the modules. Configuration allows users to
@ -1066,7 +1118,7 @@ define in an easy way their own custom receiver by specifying the flowgraph
channel and each module, strategies for satellite selection, type of output
format, etc.). Since it is difficult to foresee what future module
implementations will be needed in terms of configuration, we used a very simple
approach that can be extended without a major impact in the code. This can be
approach that can be extended without a major impact on the code. This can be
achieved by simply mapping the names of the variables in the modules with the
names of the parameters in the configuration.
@ -1122,7 +1174,7 @@ encapsulates the complexity of blocks' instantiation. With that approach, adding
a new block that requires new parameters will be as simple as adding the block
class and modifying the factory to be able to instantiate it. This loose
coupling between the blocks' implementations and the syntax of the configuration
enables extending the application capacities in a high degree. It also allows
enables extending the application capacities to a high degree. It also allows
producing fully customized receivers, for instance a testbed for acquisition
algorithms, and to place observers at any point of the receiver chain.
@ -1154,16 +1206,16 @@ are required to be implemented by a derived class.
Subclassing GNSSBlockInterface, we defined interfaces for the GNSS receiver
blocks depicted in the figure above. This hierarchy provides the definition of
different algorithms and different implementations, which will be instantiated
according to the configuration. This strategy allows multiple implementations
sharing a common interface, achieving the objective of decoupling interfaces
from implementations: it defines a family of algorithms, encapsulates each one,
and makes them interchangeable. Hence, we let the algorithm vary independently
of the program that uses it.
according to the configuration. This strategy allows multiple implementations to
share a common interface, achieving the objective of decoupling interfaces from
implementations: it defines a family of algorithms, encapsulates each one, and
makes them interchangeable. Hence, we let the algorithm vary independently of
the program that uses it.
Internally, GNSS-SDR makes use of the complex data types defined by
[VOLK](https://www.libvolk.org/ "Vector-Optimized Library of Kernels home").
They are fundamental for handling sample streams in which samples are complex
numbers with real and imaginary components of 8, 16 or 32 bits, common formats
numbers with real and imaginary components of 8, 16, or 32 bits, common formats
delivered by GNSS (and generic SDR) radio frequency front-ends. The following
list shows the data type names that GNSS-SDR exposes through the configuration
file:
@ -1192,7 +1244,7 @@ parameters can be found at the
### Signal Source
The input of a software receiver are the raw bits that come out from the
The inputs of a software receiver are the raw bits that come out from the
front-end's analog-to-digital converter (ADC). Those bits can be read from a
file stored in the hard disk or directly in real-time from a hardware device
through USB or Ethernet buses.
@ -1204,8 +1256,8 @@ USB or Ethernet buses. Since real-time processing requires a highly optimized
implementation of the whole receiver, this module also allows reading samples
from a file stored in a hard disk, and thus processing without time constraints.
Relevant parameters of those samples are the intermediate frequency (or baseband
I&Q components), the sampling rate and number of bits per sample, that must be
specified by the user in the configuration file.
I&Q components), the sampling rate, and the number of bits per sample, which
must be specified by the user in the configuration file.
This module also performs bit-depth adaptation, since most of the existing RF
front-ends provide samples quantized with 2 or 3 bits, while operations inside
@ -1213,7 +1265,7 @@ the processor are performed on 32- or 64-bit words, depending on its
architecture. Although there are implementations of the most intensive
computational processes (mainly correlation) that take advantage of specific
data types and architectures for the sake of efficiency, the approach is
processor-specific and hardly portable. We suggest to keep signal samples in
processor-specific and hardly portable. We suggest keeping signal samples in
standard data types and letting the compiler select the best library version
(implemented using SIMD or any other processor-specific technology) of the
required routines for a given processor.
@ -1246,14 +1298,14 @@ complex stream via Data Type Adapter block (see below).
**_Example: Two-bit packed file source_**
Sometimes, samples are stored in files with a format which is not in the list of
Sometimes, samples are stored in files with a format that is not in the list of
_native_ types supported by the `File_Signal_Source` implementation (i.e, it is
not among `byte`, `ibyte`, `short`, `ishort`, `float` or `gr_complex`). This is
not among `byte`, `ibyte`, `short`, `ishort`, `float`, or `gr_complex`). This is
the case of 2-bit samples, which is a common format delivered by GNSS RF
front-ends. The `Two_Bit_Packed_File_Signal_Source` implementation allows
reading two-bit length samples from a file. The data is assumed to be packed as
bytes `item_type=byte` or shorts `item_type=short` so that there are 4 two bit
samples in each byte. The two bit values are assumed to have the following
bytes `item_type=byte` or shorts `item_type=short` so that there are 4 two-bit
samples in each byte. The two-bit values are assumed to have the following
interpretation:
| **b_1** | **b_0** | **Value** |
@ -1263,14 +1315,14 @@ interpretation:
| 1 | 0 | -3 |
| 1 | 1 | -1 |
Within a byte the samples may be packed in big endian `big_endian_bytes=true`
Within a byte the samples may be packed in big-endian `big_endian_bytes=true`
(if the most significant byte value is stored at the memory location with the
lowest address, the next byte value in significance is stored at the following
memory location, and so on) or little endian `big_endian_bytes=false` (if the
memory location, and so on) or little-endian `big_endian_bytes=false` (if the
least significant byte value is at the lowest address, and the other bytes
follow in increasing order of significance). If the order is big endian then the
most significant two bits will form the first sample output, otherwise the least
significant two bits will be used.
follow in increasing order of significance). If the order is big-endian then the
most significant two bits will form the first sample output. Otherwise, the
least significant two bits will be used.
Additionally, the samples may be either real `sample_type=real`, or complex. If
the sample type is complex, then the samples are either stored in the order:
@ -1278,8 +1330,8 @@ real, imag, real, imag, ... `sample_type=iq` or in the order: imag, real, imag,
real, ... `sample_type=qi`.
Finally, if the data is stored as shorts `item_type=short`, then it may be
stored in either big endian `big_endian_items=true` or little endian
`big_endian_items=false`. If the shorts are big endian then the 2nd byte in each
stored in either big-endian `big_endian_items=true` or little-endian
`big_endian_items=false`. If the shorts are big-endian then the 2nd byte in each
short is output first.
The output data type is either `float` or `gr_complex` depending on whether or
@ -1443,8 +1495,9 @@ More documentation and examples are available at the
The signal conditioner is in charge of resampling the signal and delivering a
reference sample rate to the downstream processing blocks, acting as a facade
between the signal source and the synchronization channels, providing a
simplified interface to the input signal. In case of multiband front-ends, this
module would be in charge of providing a separated data stream for each band.
simplified interface to the input signal. In the case of multiband front-ends,
this module would be in charge of providing a separated data stream for each
band.
If your signal source is providing baseband signal samples of type `gr_complex`
at 4 Msps, you can bypass the Signal Conditioner block by:
@ -1455,7 +1508,7 @@ SignalConditioner.implementation=Pass_Through
If you need to adapt some aspect of your signal, you can enable the Signal
Conditioner and configure three internal blocks: a data type adapter, an input
signal and a resampler.
signal, and a resampler.
```
;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
@ -1485,7 +1538,7 @@ More documentation at the
This block filters the input data. It can be combined with frequency translation
for IF signals. The computation of the filter taps is based on parameters of GNU
Radio's function
[pm_remez](https://www.gnuradio.org/doc/doxygen/pm__remez_8h.html), that
[pm_remez](https://www.gnuradio.org/doc/doxygen/pm__remez_8h.html), which
calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse
response given a set of band edges, the desired response on those bands, and the
weight given to the error in those bands.
@ -1566,7 +1619,7 @@ More documentation at the
A channel encapsulates all signal processing devoted to a single satellite.
Thus, it is a large composite object which encapsulates the acquisition,
tracking and navigation data decoding modules. As a composite object, it can be
tracking, and navigation data decoding modules. As a composite object, it can be
treated as a single entity, meaning that it can be easily replicated. Since the
number of channels is selectable by the user in the configuration file, this
approach helps to improve the scalability and maintainability of the receiver.
@ -1624,10 +1677,10 @@ ephemeris and almanac data is still valid, or this information is provided by
other means), and an acquisition process can finish deciding that the satellite
is not present, that longer integration is needed in order to confirm the
presence of the satellite, or declaring the satellite present. In the latter
case, acquisition process should stop and trigger the tracking module with
case, the acquisition process should stop and trigger the tracking module with
coarse estimations of the synchronization parameters. The mathematical
abstraction used to design this logic is known as finite state machine (FSM),
that is a behavior model composed of a finite number of states, transitions
abstraction used to design this logic is known as a finite state machine (FSM),
which is a behavior model composed of a finite number of states, transitions
between those states, and actions.
The abstract class [ChannelInterface](./src/core/interfaces/channel_interface.h)
@ -1643,11 +1696,11 @@ More documentation at the
The first task of a GNSS receiver is to detect the presence or absence of
in-view satellites. This is done by the acquisition system process, which also
provides a coarse estimation of two signal parameters: the frequency shift with
respect to the nominal frequency, and a delay term which allows the receiver to
respect to the nominal frequency, and a delay term that allows the receiver to
create a local code aligned with the incoming code.
[AcquisitionInterface](./src/core/interfaces/acquisition_interface.h) is the
common interface for all the acquisition algorithms and their corresponding
implementations. Algorithms' interface, that may vary depending on the use of
implementations. Algorithms' interface, which may vary depending on the use of
information external to the receiver, such as in Assisted GNSS, is defined in
classes referred to as _adapters_. These adapters wrap the GNU Radio blocks
interface into a compatible interface expected by AcquisitionInterface. This
@ -1789,13 +1842,13 @@ More documentation at the
Most of GNSS signal links are modulated by a navigation message containing the
time the message was transmitted, orbital parameters of satellites (also known
as ephemeris) and an almanac (information about the general system health, rough
orbits of all satellites in the network as well as data related to error
as ephemeris), and an almanac (information about the general system health,
rough orbits of all satellites in the network as well as data related to error
correction). Navigation data bits are structured in words, pages, subframes,
frames and superframes. Sometimes, bits corresponding to a single parameter are
frames, and superframes. Sometimes, bits corresponding to a single parameter are
spread over different words, and values extracted from different frames are
required for proper decoding. Some words are for synchronization purposes,
others for error control and others contain actual information. There are also
others for error control, and others contain actual information. There are also
error control mechanisms, from parity checks to forward error correction (FEC)
encoding and interleaving, depending on the system. All this decoding complexity
is managed by a finite state machine.
@ -1837,7 +1890,7 @@ More documentation at the
GNSS systems provide different kinds of observations. The most commonly used are
the code observations, also called pseudoranges. The _pseudo_ comes from the
fact that on the receiver side the clock error is unknown and thus the
measurement is not a pure range observation. High accuracy applications also use
measurement is not a pure range observation. High-accuracy applications also use
the carrier phase observations, which are based on measuring the difference
between the carrier phase transmitted by the GNSS satellites and the phase of
the carrier generated in the receiver. Both observables are computed from the
@ -1865,14 +1918,14 @@ More documentation at the
Although data processing for obtaining high-accuracy PVT solutions is out of the
scope of GNSS-SDR, we provide a module that can compute position fixes (stored
in GIS-friendly formats such as [GeoJSON](https://tools.ietf.org/html/rfc7946),
[GPX](https://www.topografix.com/gpx.asp) and
[GPX](https://www.topografix.com/gpx.asp), and
[KML](https://www.opengeospatial.org/standards/kml), or transmitted via serial
port as [NMEA 0183](https://en.wikipedia.org/wiki/NMEA_0183) messages), and
leaves room for more sophisticated positioning methods by storing observables
and navigation data in [RINEX](https://en.wikipedia.org/wiki/RINEX) files (v2.11
or v3.02), and generating
[RTCM](https://www.rtcm.org/ "Radio Technical Commission for Maritime Services")
3.2 messages that can be disseminated through the Internet in real time.
3.2 messages that can be disseminated through the Internet in real-time.
The common interface is [PvtInterface](./src/core/interfaces/pvt_interface.h).
@ -1926,7 +1979,7 @@ PVT.rtcm_MT1077_rate_ms=1000
[Marble](https://marble.kde.org), [osgEarth](http://osgearth.org), or used
with the [NASA World Wind SDK for Java](https://worldwind.arc.nasa.gov/java/).
- **GPX** (the GPS Exchange Format) is a light-weight XML data format for the
- **GPX** (the GPS Exchange Format) is a lightweight XML data format for the
interchange of GPS data (waypoints, routes, and tracks) between applications
and Web services on the Internet. The format is open and can be used without
the need to pay license fees, and it is supported by a
@ -1934,7 +1987,7 @@ PVT.rtcm_MT1077_rate_ms=1000
- **NMEA 0183** is a combined electrical and data specification for
communication between marine electronics such as echo sounder, sonars,
anemometer, gyrocompass, autopilot, GPS receivers and many other types of
anemometer, gyrocompass, autopilot, GPS receivers, and many other types of
instruments. It has been defined by, and is controlled by, the U.S.
[National Marine Electronics Association](https://www.nmea.org/). The NMEA
0183 standard uses a simple ASCII, serial communications protocol that defines
@ -1959,7 +2012,7 @@ PVT.rtcm_MT1077_rate_ms=1000
(usually with other data unknown to the original receiver, such as better
models of the atmospheric conditions at time of measurement). RINEX files can
be used by software packages such as [GPSTk](https://github.com/SGL-UT/GPSTk),
[RTKLIB](http://www.rtklib.com/) and [gLAB](https://gage.upc.edu/gLAB/).
[RTKLIB](http://www.rtklib.com/), and [gLAB](https://gage.upc.edu/gLAB/).
GNSS-SDR by default generates RINEX version
[3.02](ftp://igs.org/pub/data/format/rinex302.pdf). If
[2.11](ftp://igs.org/pub/data/format/rinex211.txt) is needed, it can be
@ -1974,7 +2027,7 @@ PVT.rinex_version=2
correction applications. Developed by the Radio Technical Commission for
Maritime Services
([RTCM](https://www.rtcm.org/ "Radio Technical Commission for Maritime Services")),
they have become an industry standard for communication of correction
they have become an industry standard for the communication of correction
information. GNSS-SDR implements RTCM version 3.2, defined in the document
_RTCM 10403.2, Differential GNSS (Global Navigation Satellite Systems)
Services - Version 3_ (February 1, 2013), which can be
@ -1993,7 +2046,7 @@ PVT.rinex_version=2
operate on port 2101 (which is the recommended port for RTCM services
according to the Internet Assigned Numbers Authority,
[IANA](https://www.iana.org/assignments/service-names-port-numbers/ "Service Name and Transport Protocol Port Number Registry")),
and will identify the Reference Station with ID=1234. This behaviour can be
and will identify the Reference Station with ID=1234. This behavior can be
changed in the configuration file:
```
@ -2004,9 +2057,9 @@ PVT.rtcm_station_id=1111
**Important note:**
In order to get well-formatted GeoJSON, KML and RINEX files, always terminate
In order to get well-formatted GeoJSON, KML, and RINEX files, always terminate
`gnss-sdr` execution by pressing key `q` and then key `ENTER`. Those files will
be automatically deleted if no position fix have been obtained during the
be automatically deleted if no position fix has been obtained during the
execution of the software receiver.
More documentation at the
@ -2084,7 +2137,7 @@ processed.
Another interesting option is working in real-time with an RF front-end. We
provide drivers for UHD-compatible hardware such as the
[USRP family](https://www.ettus.com/product), for OsmoSDR and other front-ends
(HackRF, bladeRF, LimeSDR), for the GN3S v2 USB dongle and for some DVB-T USB
(HackRF, bladeRF, LimeSDR), for the GN3S v2 USB dongle, and for some DVB-T USB
dongles. Start with a low number of channels and then increase it in order to
test how many channels your processor can handle in real-time.