mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-12-01 14:18:08 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into kf
This commit is contained in:
Carles Fernandez
@@ -19,7 +19,7 @@
|
||||
if(ENABLE_CUDA)
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||||
set(OPT_TRACKING_BLOCKS ${OPT_TRACKING_BLOCKS} gps_l1_ca_dll_pll_tracking_gpu_cc.cc)
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set(OPT_TRACKING_INCLUDES ${OPT_TRACKING_INCLUDES} ${CUDA_INCLUDE_DIRS})
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||||
set(OPT_TRACKING_LIBRARIES ${OPT_TRACKING_LIBRARIES} ${CUDA_LIBRARIES})
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set(OPT_TRACKING_LIBRARIES ${OPT_TRACKING_LIBRARIES} ${CUDA_LIBRARIES})
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endif(ENABLE_CUDA)
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||||
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if(ENABLE_FPGA)
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@@ -27,9 +27,7 @@ if(ENABLE_FPGA)
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endif(ENABLE_FPGA)
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set(TRACKING_GR_BLOCKS_SOURCES
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galileo_e1_dll_pll_veml_tracking_cc.cc
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galileo_e1_tcp_connector_tracking_cc.cc
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gps_l1_ca_dll_pll_tracking_cc.cc
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gps_l1_ca_tcp_connector_tracking_cc.cc
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galileo_e5a_dll_pll_tracking_cc.cc
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gps_l2_m_dll_pll_tracking_cc.cc
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1532
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
Executable file
1532
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
Executable file
File diff suppressed because it is too large
Load Diff
@@ -1,12 +1,11 @@
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||||
/*!
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* \file galileo_e1_dll_pll_veml_tracking_cc.h
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* \brief Implementation of a code DLL + carrier PLL VEML (Very Early
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* Minus Late) tracking block for Galileo E1 signals
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* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
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* \file dll_pll_veml_tracking.h
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* \brief Implementation of a code DLL + carrier PLL tracking block.
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* \author Antonio Ramos, 2018 antonio.ramosdet(at)gmail.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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||||
*
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||||
* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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@@ -29,8 +28,8 @@
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_CC_H
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#define GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_CC_H
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#ifndef GNSS_SDR_DLL_PLL_VEML_TRACKING_H
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#define GNSS_SDR_DLL_PLL_VEML_TRACKING_H
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#include "gnss_synchro.h"
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#include "tracking_2nd_DLL_filter.h"
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@@ -39,72 +38,50 @@
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#include <gnuradio/block.h>
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#include <fstream>
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#include <string>
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#include <map>
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class galileo_e1_dll_pll_veml_tracking_cc;
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class dll_pll_veml_tracking;
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typedef boost::shared_ptr<galileo_e1_dll_pll_veml_tracking_cc> galileo_e1_dll_pll_veml_tracking_cc_sptr;
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typedef boost::shared_ptr<dll_pll_veml_tracking> dll_pll_veml_tracking_sptr;
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galileo_e1_dll_pll_veml_tracking_cc_sptr
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galileo_e1_dll_pll_veml_make_tracking_cc(long if_freq,
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long fs_in, unsigned int vector_length,
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bool dump,
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std::string dump_filename,
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float pll_bw_hz,
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float dll_bw_hz,
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float pll_bw_narrow_hz,
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float dll_bw_narrow_hz,
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float early_late_space_chips,
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float very_early_late_space_chips,
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dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(double fs_in, unsigned int vector_length,
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bool dump, std::string dump_filename,
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float pll_bw_hz, float dll_bw_hz,
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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,
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float very_early_late_space_narrow_chips,
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int extend_correlation_symbols,
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bool track_pilot);
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int extend_correlation_symbols, bool track_pilot,
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char system, char signal[3]);
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/*!
|
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* \brief This class implements a code DLL + carrier PLL VEML (Very Early
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* Minus Late) tracking block for Galileo E1 signals
|
||||
* \brief This class implements a code DLL + carrier PLL tracking block.
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*/
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class galileo_e1_dll_pll_veml_tracking_cc : public gr::block
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class dll_pll_veml_tracking : public gr::block
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{
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public:
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~galileo_e1_dll_pll_veml_tracking_cc();
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~dll_pll_veml_tracking();
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|
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void set_channel(unsigned int channel);
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void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro);
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void start_tracking();
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/*!
|
||||
* \brief Code DLL + carrier PLL according to the algorithms described in:
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* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
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* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
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* Birkhauser, 2007
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*/
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int general_work(int noutput_items, 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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void forecast(int noutput_items, gr_vector_int &ninput_items_required);
|
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|
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private:
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friend galileo_e1_dll_pll_veml_tracking_cc_sptr
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galileo_e1_dll_pll_veml_make_tracking_cc(long if_freq,
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long fs_in, unsigned int vector_length,
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bool dump,
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std::string dump_filename,
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float pll_bw_hz,
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float dll_bw_hz,
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float pll_bw_narrow_hz,
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float dll_bw_narrow_hz,
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float early_late_space_chips,
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float very_early_late_space_chips,
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float early_late_space_narrow_chips,
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friend dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(double fs_in, unsigned int vector_length,
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bool dump, std::string dump_filename,
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float pll_bw_hz, float dll_bw_hz, float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz, float early_late_space_chips,
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float very_early_late_space_chips, float early_late_space_narrow_chips,
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float very_early_late_space_narrow_chips,
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int extend_correlation_symbols,
|
||||
bool track_pilot);
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int extend_correlation_symbols, bool track_pilot,
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char system, char signal[3]);
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|
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galileo_e1_dll_pll_veml_tracking_cc(long if_freq,
|
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long fs_in, unsigned int vector_length,
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dll_pll_veml_tracking(double fs_in, unsigned int vector_length,
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bool dump,
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std::string dump_filename,
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float pll_bw_hz,
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@@ -116,61 +93,74 @@ private:
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float early_late_space_narrow_chips,
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float very_early_late_space_narrow_chips,
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int extend_correlation_symbols,
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bool track_pilot);
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bool track_pilot,
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char system, char signal[3]);
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bool cn0_and_tracking_lock_status();
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void do_correlation_step(const gr_complex *input_samples);
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void run_dll_pll(bool disable_costas_loop);
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void update_local_code();
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void update_local_carrier();
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bool acquire_secondary();
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|
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void do_correlation_step(const gr_complex *input_samples);
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void run_dll_pll();
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void update_tracking_vars();
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void clear_tracking_vars();
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void log_data();
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void save_correlation_results();
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void log_data(bool integrating);
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int save_matfile();
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// tracking configuration vars
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unsigned int d_vector_length;
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bool d_dump;
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Gnss_Synchro *d_acquisition_gnss_synchro;
|
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bool d_veml;
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bool d_cloop;
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unsigned int d_vector_length;
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unsigned int d_channel;
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long d_if_freq;
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long d_fs_in;
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double d_fs_in;
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Gnss_Synchro *d_acquisition_gnss_synchro;
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//Signal parameters
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bool d_secondary;
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bool interchange_iq;
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double d_signal_carrier_freq;
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double d_code_period;
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double d_code_chip_rate;
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unsigned int d_secondary_code_length;
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unsigned int d_code_length_chips;
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unsigned int d_code_samples_per_chip; // All signals have 1 sample per chip code except Gal. E1 which has 2 (CBOC disabled) or 12 (CBOC enabled)
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int d_symbols_per_bit;
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std::string systemName;
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std::string signal_type;
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std::string *d_secondary_code_string;
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//tracking state machine
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int d_state;
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bool d_synchonizing;
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//Integration period in samples
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int d_correlation_length_samples;
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int d_correlation_length_ms;
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int d_n_correlator_taps;
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double d_early_late_spc_chips;
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double d_very_early_late_spc_chips;
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double d_early_late_spc_narrow_chips;
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double d_very_early_late_spc_narrow_chips;
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float d_early_late_spc_chips;
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float d_very_early_late_spc_chips;
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float d_early_late_spc_narrow_chips;
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float d_very_early_late_spc_narrow_chips;
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float *d_tracking_code;
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float *d_data_code;
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float *d_local_code_shift_chips;
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gr_complex *d_correlator_outs;
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float *d_prompt_data_shift;
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cpu_multicorrelator_real_codes multicorrelator_cpu;
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//todo: currently the multicorrelator does not support adding extra correlator
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//with different local code, thus we need extra multicorrelator instance.
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//Implement this functionality inside multicorrelator class
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//as an enhancement to increase the performance
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float *d_local_code_data_shift_chips;
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cpu_multicorrelator_real_codes correlator_data_cpu; //for data channel
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/* TODO: currently the multicorrelator does not support adding extra correlator
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with different local code, thus we need extra multicorrelator instance.
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Implement this functionality inside multicorrelator class
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as an enhancement to increase the performance
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*/
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gr_complex *d_correlator_outs;
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gr_complex *d_Very_Early;
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gr_complex *d_Early;
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gr_complex *d_Prompt;
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gr_complex *d_Late;
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gr_complex *d_Very_Late;
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|
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bool d_enable_extended_integration;
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int d_extend_correlation_symbols;
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int d_extend_correlation_symbols_count;
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bool d_enable_extended_integration;
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int d_current_symbol;
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gr_complex d_VE_accu;
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@@ -178,6 +168,7 @@ private:
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gr_complex d_P_accu;
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gr_complex d_L_accu;
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gr_complex d_VL_accu;
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gr_complex d_last_prompt;
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bool d_track_pilot;
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gr_complex *d_Prompt_Data;
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@@ -206,39 +197,34 @@ private:
|
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double d_carr_error_filt_hz;
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double d_code_error_chips;
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double d_code_error_filt_chips;
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|
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double d_K_blk_samples;
|
||||
|
||||
double d_code_freq_chips;
|
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double d_carrier_doppler_hz;
|
||||
double d_acc_carrier_phase_rad;
|
||||
double d_rem_code_phase_chips;
|
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double d_code_phase_samples;
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|
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//PRN period in samples
|
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double T_chip_seconds;
|
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double T_prn_seconds;
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||||
double T_prn_samples;
|
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double K_blk_samples;
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// PRN period in samples
|
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int d_current_prn_length_samples;
|
||||
|
||||
//processing samples counters
|
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// processing samples counters
|
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unsigned long int d_sample_counter;
|
||||
unsigned long int d_acq_sample_stamp;
|
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|
||||
// CN0 estimation and lock detector
|
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int d_cn0_estimation_counter;
|
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std::deque<gr_complex> d_Prompt_buffer_deque;
|
||||
gr_complex *d_Prompt_buffer;
|
||||
int d_carrier_lock_fail_counter;
|
||||
double d_carrier_lock_test;
|
||||
double d_CN0_SNV_dB_Hz;
|
||||
double d_carrier_lock_threshold;
|
||||
int d_carrier_lock_fail_counter;
|
||||
std::deque<gr_complex> d_Prompt_buffer_deque;
|
||||
gr_complex *d_Prompt_buffer;
|
||||
|
||||
// file dump
|
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std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
|
||||
std::map<std::string, std::string> systemName;
|
||||
std::string sys;
|
||||
|
||||
int save_matfile();
|
||||
};
|
||||
|
||||
#endif //GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_CC_H
|
||||
#endif // GNSS_SDR_DLL_PLL_VEML_TRACKING_H
|
||||
File diff suppressed because it is too large
Load Diff
@@ -355,13 +355,13 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attri
|
||||
code_error_filt_secs = (Galileo_E1_CODE_PERIOD * code_error_filt_chips) / Galileo_E1_CODE_CHIP_RATE_HZ; //[seconds]
|
||||
d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
double T_chip_seconds;
|
||||
double T_prn_seconds;
|
||||
double T_prn_samples;
|
||||
double K_blk_samples;
|
||||
// Compute the next buffer lenght based in the new period of the PRN sequence and the code phase error estimation
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
T_chip_seconds = 1 / static_cast<double>(d_code_freq_chips);
|
||||
T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
|
||||
T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||
@@ -443,21 +443,18 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attri
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
float tmp_float;
|
||||
tmp_float = 0;
|
||||
double tmp_double;
|
||||
prompt_I = (*d_Prompt).real();
|
||||
prompt_Q = (*d_Prompt).imag();
|
||||
tmp_VE = std::abs<float>(*d_Very_Early);
|
||||
tmp_E = std::abs<float>(*d_Early);
|
||||
tmp_P = std::abs<float>(*d_Prompt);
|
||||
tmp_L = std::abs<float>(*d_Late);
|
||||
tmp_VL = std::abs<float>(*d_Very_Late);
|
||||
|
||||
prompt_I = d_correlator_outs[1].real();
|
||||
prompt_Q = d_correlator_outs[1].imag();
|
||||
tmp_E = std::abs<float>(d_correlator_outs[0]);
|
||||
tmp_P = std::abs<float>(d_correlator_outs[1]);
|
||||
tmp_L = std::abs<float>(d_correlator_outs[2]);
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
||||
@@ -469,30 +466,33 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attri
|
||||
// PRN start sample stamp
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_rad), sizeof(float));
|
||||
|
||||
tmp_float = d_acc_carrier_phase_rad;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier and code frequency
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(float));
|
||||
|
||||
//PLL commands
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(float));
|
||||
|
||||
//DLL commands
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
tmp_float = 0.0;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = carr_error_filt_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
tmp_float = 0.0;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = code_error_filt_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&code_error_filt_chips), sizeof(float));
|
||||
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(float));
|
||||
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_float = d_rem_code_phase_samples;
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_float = 0.0;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
|
||||
@@ -38,9 +38,9 @@
|
||||
|
||||
#include "glonass_l1_ca_dll_pll_c_aid_tracking_cc.h"
|
||||
#include "glonass_l1_signal_processing.h"
|
||||
#include "GLONASS_L1_L2_CA.h"
|
||||
#include "tracking_discriminators.h"
|
||||
#include "lock_detectors.h"
|
||||
#include "GLONASS_L1_CA.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "control_message_factory.h"
|
||||
#include <boost/lexical_cast.hpp>
|
||||
@@ -56,6 +56,8 @@
|
||||
#include <sstream>
|
||||
|
||||
|
||||
#define CN0_ESTIMATION_SAMPLES 10
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
glonass_l1_ca_dll_pll_c_aid_tracking_cc_sptr
|
||||
@@ -605,7 +607,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
|
||||
d_code_phase_step_chips,
|
||||
d_correlation_length_samples);
|
||||
|
||||
// ####### coherent intergration extension
|
||||
// ####### coherent integration extension
|
||||
// keep the last symbols
|
||||
d_E_history.push_back(d_correlator_outs[0]); // save early output
|
||||
d_P_history.push_back(d_correlator_outs[1]); // save prompt output
|
||||
@@ -720,7 +722,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
|
||||
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
|
||||
code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
@@ -750,7 +752,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
|
||||
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 < FLAGS_cn0_samples)
|
||||
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; // prompt
|
||||
@@ -760,9 +762,9 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
|
||||
{
|
||||
d_cn0_estimation_counter = 0;
|
||||
// Code lock indicator
|
||||
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
|
||||
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
|
||||
// Carrier lock indicator
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples);
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
||||
// Loss of lock detection
|
||||
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
|
||||
{
|
||||
@@ -829,7 +831,9 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
double tmp_double;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
float tmp_float;
|
||||
prompt_I = d_correlator_outs[1].real();
|
||||
prompt_Q = d_correlator_outs[1].imag();
|
||||
tmp_E = std::abs<float>(d_correlator_outs[0]);
|
||||
@@ -837,42 +841,45 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
|
||||
tmp_L = std::abs<float>(d_correlator_outs[2]);
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
||||
// PRN start sample stamp
|
||||
//tmp_float=(float)d_sample_counter;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
|
||||
|
||||
tmp_float = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier and code frequency
|
||||
double if_freq_carrier = d_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&if_freq_carrier), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
|
||||
|
||||
//PLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carr_phase_error_secs_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
|
||||
|
||||
//DLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_chips_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_filt_chips_Ti), sizeof(double));
|
||||
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_error_filt_chips_Ti;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
|
||||
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
|
||||
@@ -39,9 +39,9 @@
|
||||
#include "glonass_l1_ca_dll_pll_c_aid_tracking_sc.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "glonass_l1_signal_processing.h"
|
||||
#include "GLONASS_L1_L2_CA.h"
|
||||
#include "tracking_discriminators.h"
|
||||
#include "lock_detectors.h"
|
||||
#include "GLONASS_L1_CA.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "control_message_factory.h"
|
||||
#include <boost/bind.hpp>
|
||||
@@ -57,6 +57,7 @@
|
||||
#include <sstream>
|
||||
|
||||
|
||||
#define CN0_ESTIMATION_SAMPLES 10
|
||||
using google::LogMessage;
|
||||
|
||||
glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr
|
||||
@@ -599,7 +600,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
|
||||
d_code_phase_step_chips,
|
||||
d_correlation_length_samples);
|
||||
|
||||
// ####### coherent intergration extension
|
||||
// ####### coherent integration extension
|
||||
// keep the last symbols
|
||||
d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output
|
||||
d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output
|
||||
@@ -712,7 +713,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
|
||||
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
|
||||
code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
@@ -742,7 +743,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
|
||||
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 < FLAGS_cn0_samples)
|
||||
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter] = lv_cmake(static_cast<float>(d_correlator_outs_16sc[1].real()), static_cast<float>(d_correlator_outs_16sc[1].imag())); // prompt
|
||||
@@ -752,9 +753,9 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
|
||||
{
|
||||
d_cn0_estimation_counter = 0;
|
||||
// Code lock indicator
|
||||
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
|
||||
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
|
||||
// Carrier lock indicator
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples);
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
||||
// Loss of lock detection
|
||||
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
|
||||
{
|
||||
@@ -821,49 +822,55 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
double tmp_double;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
float tmp_float;
|
||||
prompt_I = d_correlator_outs_16sc[1].real();
|
||||
prompt_Q = d_correlator_outs_16sc[1].imag();
|
||||
tmp_E = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
|
||||
tmp_P = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
|
||||
tmp_L = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
|
||||
tmp_E = std::abs<float>(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
|
||||
tmp_P = std::abs<float>(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
|
||||
tmp_L = std::abs<float>(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
||||
// PRN start sample stamp
|
||||
//tmp_float=(float)d_sample_counter;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
|
||||
|
||||
tmp_float = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier and code frequency
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
|
||||
|
||||
//PLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carr_phase_error_secs_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
|
||||
|
||||
//DLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_chips_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_filt_chips_Ti), sizeof(double));
|
||||
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_error_filt_chips_Ti;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
|
||||
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
|
||||
@@ -38,9 +38,9 @@
|
||||
|
||||
#include "glonass_l1_ca_dll_pll_tracking_cc.h"
|
||||
#include "glonass_l1_signal_processing.h"
|
||||
#include "GLONASS_L1_L2_CA.h"
|
||||
#include "tracking_discriminators.h"
|
||||
#include "lock_detectors.h"
|
||||
#include "GLONASS_L1_CA.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "control_message_factory.h"
|
||||
#include <boost/lexical_cast.hpp>
|
||||
@@ -54,6 +54,7 @@
|
||||
#include <sstream>
|
||||
|
||||
|
||||
#define CN0_ESTIMATION_SAMPLES 10
|
||||
using google::LogMessage;
|
||||
|
||||
glonass_l1_ca_dll_pll_tracking_cc_sptr
|
||||
@@ -584,7 +585,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
|
||||
double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips * T_chip_seconds); //[seconds]
|
||||
//double code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GLONASS_L1_CA_CODE_RATE_HZ; // [seconds]
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
//double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
|
||||
@@ -611,7 +612,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
|
||||
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 < FLAGS_cn0_samples)
|
||||
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; //prompt
|
||||
@@ -621,9 +622,9 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
|
||||
{
|
||||
d_cn0_estimation_counter = 0;
|
||||
// Code lock indicator
|
||||
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
|
||||
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS);
|
||||
// Carrier lock indicator
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples);
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
||||
// Loss of lock detection
|
||||
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
|
||||
{
|
||||
@@ -674,8 +675,9 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
double tmp_double;
|
||||
unsigned long int tmp_long;
|
||||
float tmp_float;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
prompt_I = d_correlator_outs[1].real();
|
||||
prompt_Q = d_correlator_outs[1].imag();
|
||||
tmp_E = std::abs<float>(d_correlator_outs[0]);
|
||||
@@ -683,41 +685,45 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
|
||||
tmp_L = std::abs<float>(d_correlator_outs[2]);
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
||||
// PRN start sample stamp
|
||||
tmp_long = d_sample_counter + d_current_prn_length_samples;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_long), sizeof(unsigned long int));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_rad), sizeof(double));
|
||||
|
||||
tmp_float = d_acc_carrier_phase_rad;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier and code frequency
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_frequency_hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
|
||||
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&carr_error_hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(double));
|
||||
|
||||
tmp_float = carr_error_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = carr_error_filt_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&code_error_chips), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&code_error_filt_chips), sizeof(double));
|
||||
|
||||
tmp_float = code_error_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = code_error_filt_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
|
||||
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_double = d_rem_code_phase_samples;
|
||||
tmp_float = d_rem_code_phase_samples;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = static_cast<double>(d_sample_counter);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
|
||||
@@ -0,0 +1,926 @@
|
||||
/*!
|
||||
* \file glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
|
||||
* \brief Implementation of a code DLL + carrier PLL tracking block
|
||||
* \author Damian Miralles, 2018. dmiralles2009(at)gmail.com
|
||||
*
|
||||
*
|
||||
* 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, Birkha user, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "glonass_l2_ca_dll_pll_c_aid_tracking_cc.h"
|
||||
#include "glonass_l2_signal_processing.h"
|
||||
#include "tracking_discriminators.h"
|
||||
#include "lock_detectors.h"
|
||||
#include "GLONASS_L1_L2_CA.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "control_message_factory.h"
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <boost/bind.hpp>
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <matio.h>
|
||||
#include <pmt/pmt.h>
|
||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
||||
#include <glog/logging.h>
|
||||
#include <cmath>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <sstream>
|
||||
|
||||
#define CN0_ESTIMATION_SAMPLES 10
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_cc_sptr
|
||||
glonass_l2_ca_dll_pll_c_aid_make_tracking_cc(
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips)
|
||||
{
|
||||
return glonass_l2_ca_dll_pll_c_aid_tracking_cc_sptr(new glonass_l2_ca_dll_pll_c_aid_tracking_cc(if_freq,
|
||||
fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
|
||||
}
|
||||
|
||||
|
||||
void glonass_l2_ca_dll_pll_c_aid_tracking_cc::forecast(int noutput_items,
|
||||
gr_vector_int &ninput_items_required)
|
||||
{
|
||||
if (noutput_items != 0)
|
||||
{
|
||||
ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void glonass_l2_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index(pmt::pmt_t msg)
|
||||
{
|
||||
//pmt::print(msg);
|
||||
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
|
||||
if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
|
||||
{
|
||||
d_preamble_timestamp_s = pmt::to_double(msg);
|
||||
d_enable_extended_integration = true;
|
||||
d_preamble_synchronized = false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_cc::glonass_l2_ca_dll_pll_c_aid_tracking_cc(
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips) : gr::block("glonass_l2_ca_dll_pll_c_aid_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
{
|
||||
// Telemetry bit synchronization message port input
|
||||
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
|
||||
|
||||
this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
|
||||
boost::bind(&glonass_l2_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index, this, _1));
|
||||
|
||||
this->message_port_register_out(pmt::mp("events"));
|
||||
// initialize internal vars
|
||||
d_dump = dump;
|
||||
d_if_freq = if_freq;
|
||||
d_fs_in = fs_in;
|
||||
d_vector_length = vector_length;
|
||||
d_dump_filename = dump_filename;
|
||||
d_correlation_length_samples = static_cast<int>(d_vector_length);
|
||||
|
||||
// Initialize tracking ==========================================
|
||||
d_pll_bw_hz = pll_bw_hz;
|
||||
d_dll_bw_hz = dll_bw_hz;
|
||||
d_pll_bw_narrow_hz = pll_bw_narrow_hz;
|
||||
d_dll_bw_narrow_hz = dll_bw_narrow_hz;
|
||||
d_extend_correlation_ms = extend_correlation_ms;
|
||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
|
||||
d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
|
||||
|
||||
// --- DLL variables --------------------------------------------------------
|
||||
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
|
||||
|
||||
// Initialization of local code replica
|
||||
// Get space for a vector with the C/A code replica sampled 1x/chip
|
||||
d_ca_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L2_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
|
||||
|
||||
// correlator outputs (scalar)
|
||||
d_n_correlator_taps = 3; // Early, Prompt, and Late
|
||||
d_correlator_outs = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs[n] = gr_complex(0, 0);
|
||||
}
|
||||
d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment()));
|
||||
// Set TAPs delay values [chips]
|
||||
d_local_code_shift_chips[0] = -d_early_late_spc_chips;
|
||||
d_local_code_shift_chips[1] = 0.0;
|
||||
d_local_code_shift_chips[2] = d_early_late_spc_chips;
|
||||
|
||||
multicorrelator_cpu.init(2 * d_correlation_length_samples, d_n_correlator_taps);
|
||||
|
||||
//--- Perform initializations ------------------------------
|
||||
// define initial code frequency basis of NCO
|
||||
d_code_freq_chips = GLONASS_L2_CA_CODE_RATE_HZ;
|
||||
// define residual code phase (in chips)
|
||||
d_rem_code_phase_samples = 0.0;
|
||||
// define residual carrier phase
|
||||
d_rem_carrier_phase_rad = 0.0;
|
||||
|
||||
// sample synchronization
|
||||
d_sample_counter = 0; //(from trk to tlm)
|
||||
d_acq_sample_stamp = 0;
|
||||
d_enable_tracking = false;
|
||||
d_pull_in = false;
|
||||
|
||||
// CN0 estimation and lock detector buffers
|
||||
d_cn0_estimation_counter = 0;
|
||||
d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples];
|
||||
d_carrier_lock_test = 1;
|
||||
d_CN0_SNV_dB_Hz = 0;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_carrier_lock_threshold = FLAGS_carrier_lock_th;
|
||||
|
||||
systemName["R"] = std::string("Glonass");
|
||||
|
||||
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
|
||||
|
||||
d_acquisition_gnss_synchro = 0;
|
||||
d_channel = 0;
|
||||
d_acq_code_phase_samples = 0.0;
|
||||
d_acq_carrier_doppler_hz = 0.0;
|
||||
d_carrier_doppler_hz = 0.0;
|
||||
d_code_error_filt_chips_Ti = 0.0;
|
||||
d_acc_carrier_phase_cycles = 0.0;
|
||||
d_code_phase_samples = 0.0;
|
||||
|
||||
d_pll_to_dll_assist_secs_Ti = 0.0;
|
||||
d_rem_code_phase_chips = 0.0;
|
||||
d_code_phase_step_chips = 0.0;
|
||||
d_carrier_phase_step_rad = 0.0;
|
||||
d_enable_extended_integration = false;
|
||||
d_preamble_synchronized = false;
|
||||
d_rem_code_phase_integer_samples = 0;
|
||||
d_code_error_chips_Ti = 0.0;
|
||||
d_code_error_filt_chips_s = 0.0;
|
||||
d_carr_phase_error_secs_Ti = 0.0;
|
||||
d_preamble_timestamp_s = 0.0;
|
||||
|
||||
d_carrier_frequency_hz = 0.0;
|
||||
d_carrier_doppler_old_hz = 0.0;
|
||||
|
||||
d_glonass_freq_ch = 0;
|
||||
|
||||
//set_min_output_buffer((long int)300);
|
||||
}
|
||||
|
||||
|
||||
void glonass_l2_ca_dll_pll_c_aid_tracking_cc::start_tracking()
|
||||
{
|
||||
/*
|
||||
* correct the code phase according to the delay between acq and trk
|
||||
*/
|
||||
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
|
||||
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
|
||||
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
|
||||
|
||||
long int acq_trk_diff_samples;
|
||||
double acq_trk_diff_seconds;
|
||||
acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp); //-d_vector_length;
|
||||
DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
|
||||
acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
|
||||
// Doppler effect
|
||||
// Fd=(C/(C+Vr))*F
|
||||
d_glonass_freq_ch = GLONASS_L2_CA_FREQ_HZ + (DFRQ2_GLO * static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));
|
||||
double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
|
||||
// new chip and prn sequence periods based on acq Doppler
|
||||
double T_chip_mod_seconds;
|
||||
double T_prn_mod_seconds;
|
||||
double T_prn_mod_samples;
|
||||
d_code_freq_chips = radial_velocity * GLONASS_L2_CA_CODE_RATE_HZ;
|
||||
d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
|
||||
T_chip_mod_seconds = 1.0 / d_code_freq_chips;
|
||||
T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L2_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
|
||||
|
||||
d_correlation_length_samples = round(T_prn_mod_samples);
|
||||
|
||||
double T_prn_true_seconds = GLONASS_L2_CA_CODE_LENGTH_CHIPS / GLONASS_L2_CA_CODE_RATE_HZ;
|
||||
double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
|
||||
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
|
||||
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
|
||||
double corrected_acq_phase_samples, delay_correction_samples;
|
||||
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
|
||||
if (corrected_acq_phase_samples < 0)
|
||||
{
|
||||
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
|
||||
}
|
||||
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
|
||||
|
||||
d_acq_code_phase_samples = corrected_acq_phase_samples;
|
||||
|
||||
// d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ2_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
|
||||
// d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
||||
// d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
||||
d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ2_GLO * static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
||||
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
|
||||
|
||||
|
||||
// DLL/PLL filter initialization
|
||||
d_carrier_loop_filter.initialize(d_carrier_frequency_hz); // The carrier loop filter implements the Doppler accumulator
|
||||
d_code_loop_filter.initialize(); // initialize the code filter
|
||||
|
||||
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
|
||||
glonass_l2_ca_code_gen_complex(d_ca_code, 0);
|
||||
|
||||
multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(GLONASS_L2_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs[n] = gr_complex(0, 0);
|
||||
}
|
||||
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_rem_code_phase_samples = 0.0;
|
||||
d_rem_carrier_phase_rad = 0.0;
|
||||
d_rem_code_phase_chips = 0.0;
|
||||
d_acc_carrier_phase_cycles = 0.0;
|
||||
d_pll_to_dll_assist_secs_Ti = 0.0;
|
||||
d_code_phase_samples = d_acq_code_phase_samples;
|
||||
|
||||
std::string sys_ = &d_acquisition_gnss_synchro->System;
|
||||
sys = sys_.substr(0, 1);
|
||||
|
||||
// DEBUG OUTPUT
|
||||
std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
|
||||
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
|
||||
|
||||
// enable tracking
|
||||
d_pull_in = true;
|
||||
d_enable_tracking = true;
|
||||
d_enable_extended_integration = false;
|
||||
d_preamble_synchronized = false;
|
||||
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
|
||||
<< " Code Phase correction [samples]=" << delay_correction_samples
|
||||
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
|
||||
}
|
||||
|
||||
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_cc::~glonass_l2_ca_dll_pll_c_aid_tracking_cc()
|
||||
{
|
||||
if (d_dump_file.is_open())
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
catch (const std::exception &ex)
|
||||
{
|
||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
||||
}
|
||||
}
|
||||
|
||||
if (d_dump)
|
||||
{
|
||||
if (d_channel == 0)
|
||||
{
|
||||
std::cout << "Writing .mat files ...";
|
||||
}
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_cc::save_matfile();
|
||||
if (d_channel == 0)
|
||||
{
|
||||
std::cout << " done." << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
volk_gnsssdr_free(d_local_code_shift_chips);
|
||||
volk_gnsssdr_free(d_correlator_outs);
|
||||
volk_gnsssdr_free(d_ca_code);
|
||||
delete[] d_Prompt_buffer;
|
||||
multicorrelator_cpu.free();
|
||||
}
|
||||
catch (const std::exception &ex)
|
||||
{
|
||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int glonass_l2_ca_dll_pll_c_aid_tracking_cc::save_matfile()
|
||||
{
|
||||
// READ DUMP FILE
|
||||
std::ifstream::pos_type size;
|
||||
int number_of_double_vars = 11;
|
||||
int number_of_float_vars = 5;
|
||||
int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars +
|
||||
sizeof(float) * number_of_float_vars + sizeof(unsigned int);
|
||||
std::ifstream dump_file;
|
||||
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
||||
try
|
||||
{
|
||||
dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
std::cerr << "Problem opening dump file:" << e.what() << std::endl;
|
||||
return 1;
|
||||
}
|
||||
// count number of epochs and rewind
|
||||
long int num_epoch = 0;
|
||||
if (dump_file.is_open())
|
||||
{
|
||||
size = dump_file.tellg();
|
||||
num_epoch = static_cast<long int>(size) / static_cast<long int>(epoch_size_bytes);
|
||||
dump_file.seekg(0, std::ios::beg);
|
||||
}
|
||||
else
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
float *abs_E = new float[num_epoch];
|
||||
float *abs_P = new float[num_epoch];
|
||||
float *abs_L = new float[num_epoch];
|
||||
float *Prompt_I = new float[num_epoch];
|
||||
float *Prompt_Q = new float[num_epoch];
|
||||
unsigned long int *PRN_start_sample_count = new unsigned long int[num_epoch];
|
||||
double *acc_carrier_phase_rad = new double[num_epoch];
|
||||
double *carrier_doppler_hz = new double[num_epoch];
|
||||
double *code_freq_chips = new double[num_epoch];
|
||||
double *carr_error_hz = new double[num_epoch];
|
||||
double *carr_error_filt_hz = new double[num_epoch];
|
||||
double *code_error_chips = new double[num_epoch];
|
||||
double *code_error_filt_chips = new double[num_epoch];
|
||||
double *CN0_SNV_dB_Hz = new double[num_epoch];
|
||||
double *carrier_lock_test = new double[num_epoch];
|
||||
double *aux1 = new double[num_epoch];
|
||||
double *aux2 = new double[num_epoch];
|
||||
unsigned int *PRN = new unsigned int[num_epoch];
|
||||
|
||||
try
|
||||
{
|
||||
if (dump_file.is_open())
|
||||
{
|
||||
for (long int i = 0; i < num_epoch; i++)
|
||||
{
|
||||
dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(unsigned long int));
|
||||
dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(unsigned int));
|
||||
}
|
||||
}
|
||||
dump_file.close();
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
|
||||
delete[] abs_E;
|
||||
delete[] abs_P;
|
||||
delete[] abs_L;
|
||||
delete[] Prompt_I;
|
||||
delete[] Prompt_Q;
|
||||
delete[] PRN_start_sample_count;
|
||||
delete[] acc_carrier_phase_rad;
|
||||
delete[] carrier_doppler_hz;
|
||||
delete[] code_freq_chips;
|
||||
delete[] carr_error_hz;
|
||||
delete[] carr_error_filt_hz;
|
||||
delete[] code_error_chips;
|
||||
delete[] code_error_filt_chips;
|
||||
delete[] CN0_SNV_dB_Hz;
|
||||
delete[] carrier_lock_test;
|
||||
delete[] aux1;
|
||||
delete[] aux2;
|
||||
delete[] PRN;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// WRITE MAT FILE
|
||||
mat_t *matfp;
|
||||
matvar_t *matvar;
|
||||
std::string filename = d_dump_filename;
|
||||
filename.erase(filename.length() - 4, 4);
|
||||
filename.append(".mat");
|
||||
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
|
||||
if (reinterpret_cast<long *>(matfp) != NULL)
|
||||
{
|
||||
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
|
||||
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
}
|
||||
Mat_Close(matfp);
|
||||
delete[] abs_E;
|
||||
delete[] abs_P;
|
||||
delete[] abs_L;
|
||||
delete[] Prompt_I;
|
||||
delete[] Prompt_Q;
|
||||
delete[] PRN_start_sample_count;
|
||||
delete[] acc_carrier_phase_rad;
|
||||
delete[] carrier_doppler_hz;
|
||||
delete[] code_freq_chips;
|
||||
delete[] carr_error_hz;
|
||||
delete[] carr_error_filt_hz;
|
||||
delete[] code_error_chips;
|
||||
delete[] code_error_filt_chips;
|
||||
delete[] CN0_SNV_dB_Hz;
|
||||
delete[] carrier_lock_test;
|
||||
delete[] aux1;
|
||||
delete[] aux2;
|
||||
delete[] PRN;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||
{
|
||||
// Block input data and block output stream pointers
|
||||
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); // PRN start block alignment
|
||||
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
|
||||
|
||||
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
||||
Gnss_Synchro current_synchro_data = Gnss_Synchro();
|
||||
|
||||
// process vars
|
||||
double code_error_filt_secs_Ti = 0.0;
|
||||
double CURRENT_INTEGRATION_TIME_S = 0.0;
|
||||
double CORRECTED_INTEGRATION_TIME_S = 0.0;
|
||||
|
||||
if (d_enable_tracking == true)
|
||||
{
|
||||
// Fill the acquisition data
|
||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||
// Receiver signal alignment
|
||||
if (d_pull_in == true)
|
||||
{
|
||||
int samples_offset;
|
||||
double acq_trk_shif_correction_samples;
|
||||
int acq_to_trk_delay_samples;
|
||||
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
||||
acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
|
||||
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
|
||||
d_sample_counter += samples_offset; // count for the processed samples
|
||||
d_pull_in = false;
|
||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GLONASS_TWO_PI;
|
||||
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
|
||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
|
||||
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;
|
||||
}
|
||||
|
||||
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
|
||||
// perform carrier wipe-off and compute Early, Prompt and Late correlation
|
||||
multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, in);
|
||||
multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
|
||||
d_carrier_phase_step_rad,
|
||||
d_rem_code_phase_chips,
|
||||
d_code_phase_step_chips,
|
||||
d_correlation_length_samples);
|
||||
|
||||
// ####### coherent integration extension
|
||||
// keep the last symbols
|
||||
d_E_history.push_back(d_correlator_outs[0]); // save early output
|
||||
d_P_history.push_back(d_correlator_outs[1]); // save prompt output
|
||||
d_L_history.push_back(d_correlator_outs[2]); // save late output
|
||||
|
||||
if (static_cast<int>(d_P_history.size()) > d_extend_correlation_ms)
|
||||
{
|
||||
d_E_history.pop_front();
|
||||
d_P_history.pop_front();
|
||||
d_L_history.pop_front();
|
||||
}
|
||||
|
||||
bool enable_dll_pll;
|
||||
if (d_enable_extended_integration == true)
|
||||
{
|
||||
long int symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
|
||||
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
|
||||
{
|
||||
// compute coherent integration and enable tracking loop
|
||||
// perform coherent integration using correlator output history
|
||||
// std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
|
||||
d_correlator_outs[0] = gr_complex(0.0, 0.0);
|
||||
d_correlator_outs[1] = gr_complex(0.0, 0.0);
|
||||
d_correlator_outs[2] = gr_complex(0.0, 0.0);
|
||||
for (int n = 0; n < d_extend_correlation_ms; n++)
|
||||
{
|
||||
d_correlator_outs[0] += d_E_history.at(n);
|
||||
d_correlator_outs[1] += d_P_history.at(n);
|
||||
d_correlator_outs[2] += d_L_history.at(n);
|
||||
}
|
||||
|
||||
if (d_preamble_synchronized == false)
|
||||
{
|
||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
|
||||
d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz, 2);
|
||||
d_preamble_synchronized = true;
|
||||
std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH " << d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
<< " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
|
||||
<< " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
|
||||
}
|
||||
// UPDATE INTEGRATION TIME
|
||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GLONASS_L2_CA_CODE_PERIOD;
|
||||
d_code_loop_filter.set_pdi(CURRENT_INTEGRATION_TIME_S);
|
||||
enable_dll_pll = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_preamble_synchronized == true)
|
||||
{
|
||||
// continue extended coherent correlation
|
||||
// Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
double T_prn_seconds = T_chip_seconds * GLONASS_L2_CA_CODE_LENGTH_CHIPS;
|
||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||
int K_prn_samples = round(T_prn_samples);
|
||||
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
|
||||
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
|
||||
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
|
||||
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
|
||||
// code phase step (Code resampler phase increment per sample) [chips/sample]
|
||||
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
|
||||
// remnant code phase [chips]
|
||||
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
|
||||
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GLONASS_TWO_PI);
|
||||
|
||||
// UPDATE ACCUMULATED CARRIER PHASE
|
||||
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
|
||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
|
||||
|
||||
// disable tracking loop and inform telemetry decoder
|
||||
enable_dll_pll = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
// perform basic (1ms) correlation
|
||||
// UPDATE INTEGRATION TIME
|
||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
|
||||
d_code_loop_filter.set_pdi(CURRENT_INTEGRATION_TIME_S);
|
||||
enable_dll_pll = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// UPDATE INTEGRATION TIME
|
||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
|
||||
enable_dll_pll = true;
|
||||
}
|
||||
|
||||
if (enable_dll_pll == true)
|
||||
{
|
||||
// ################## PLL ##########################################################
|
||||
// Update PLL discriminator [rads/Ti -> Secs/Ti]
|
||||
d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GLONASS_TWO_PI; // prompt output
|
||||
d_carrier_doppler_old_hz = d_carrier_doppler_hz;
|
||||
// Carrier discriminator filter
|
||||
// NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
|
||||
// Input [s/Ti] -> output [Hz]
|
||||
d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
|
||||
// PLL to DLL assistance [Secs/Ti]
|
||||
d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
|
||||
// code Doppler frequency update
|
||||
d_code_freq_chips = GLONASS_L2_CA_CODE_RATE_HZ + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L2_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
|
||||
|
||||
// ################## DLL ##########################################################
|
||||
// DLL discriminator
|
||||
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
|
||||
// Code discriminator filter
|
||||
d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
|
||||
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
|
||||
code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
double T_prn_seconds = T_chip_seconds * GLONASS_L2_CA_CODE_LENGTH_CHIPS;
|
||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||
double K_prn_samples = round(T_prn_samples);
|
||||
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
|
||||
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
|
||||
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
|
||||
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
|
||||
|
||||
//################### PLL COMMANDS #################################################
|
||||
//carrier phase step (NCO phase increment per sample) [rads/sample]
|
||||
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
|
||||
// UPDATE ACCUMULATED CARRIER PHASE
|
||||
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
|
||||
//remnant carrier phase [rad]
|
||||
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GLONASS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GLONASS_TWO_PI);
|
||||
|
||||
//################### DLL COMMANDS #################################################
|
||||
//code phase step (Code resampler phase increment per sample) [chips/sample]
|
||||
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
|
||||
//remnant code phase [chips]
|
||||
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)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; // prompt
|
||||
d_cn0_estimation_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
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, GLONASS_L2_CA_CODE_LENGTH_CHIPS);
|
||||
// Carrier lock indicator
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
||||
// Loss of lock detection
|
||||
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
|
||||
{
|
||||
d_carrier_lock_fail_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
|
||||
}
|
||||
if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail)
|
||||
{
|
||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
||||
this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); //3 -> loss of lock
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
}
|
||||
}
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
|
||||
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
||||
current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
|
||||
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;
|
||||
if (d_preamble_synchronized == true)
|
||||
{
|
||||
current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
|
||||
}
|
||||
else
|
||||
{
|
||||
current_synchro_data.correlation_length_ms = 1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
|
||||
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
||||
current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
|
||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; // todo: project the carrier doppler
|
||||
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs[n] = gr_complex(0, 0);
|
||||
}
|
||||
|
||||
current_synchro_data.System = {'R'};
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
|
||||
}
|
||||
//assign the GNURadio block output data
|
||||
current_synchro_data.fs = d_fs_in;
|
||||
*out[0] = current_synchro_data;
|
||||
if (d_dump)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
float tmp_float;
|
||||
prompt_I = d_correlator_outs[1].real();
|
||||
prompt_Q = d_correlator_outs[1].imag();
|
||||
tmp_E = std::abs<float>(d_correlator_outs[0]);
|
||||
tmp_P = std::abs<float>(d_correlator_outs[1]);
|
||||
tmp_L = std::abs<float>(d_correlator_outs[2]);
|
||||
try
|
||||
{
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
||||
// PRN start sample stamp
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
tmp_float = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier and code frequency
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_error_filt_chips_Ti;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
}
|
||||
catch (const std::ifstream::failure *e)
|
||||
{
|
||||
LOG(WARNING) << "Exception writing trk dump file " << e->what();
|
||||
}
|
||||
}
|
||||
|
||||
consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
|
||||
d_sample_counter += d_correlation_length_samples; //count for the processed samples
|
||||
|
||||
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
|
||||
}
|
||||
|
||||
|
||||
void glonass_l2_ca_dll_pll_c_aid_tracking_cc::set_channel(unsigned int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
LOG(INFO) << "Tracking Channel set to " << d_channel;
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump == true)
|
||||
{
|
||||
if (d_dump_file.is_open() == false)
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
||||
d_dump_filename.append(".dat");
|
||||
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
||||
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
||||
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
|
||||
}
|
||||
catch (const std::ifstream::failure *e)
|
||||
{
|
||||
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void glonass_l2_ca_dll_pll_c_aid_tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
|
||||
{
|
||||
d_acquisition_gnss_synchro = p_gnss_synchro;
|
||||
}
|
||||
@@ -0,0 +1,203 @@
|
||||
/*!
|
||||
* \file glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
|
||||
* \brief Implementation of a code DLL + carrier PLL tracking block
|
||||
* \author Damian Miralles, 2018. dmiralles2009(at)gmail.com
|
||||
*
|
||||
*
|
||||
* 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, Birkha user, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GLONASS_L2_CA_DLL_PLL_C_AID_TRACKING_CC_H
|
||||
#define GNSS_SDR_GLONASS_L2_CA_DLL_PLL_C_AID_TRACKING_CC_H
|
||||
|
||||
#include "gnss_synchro.h"
|
||||
#include "tracking_2nd_DLL_filter.h"
|
||||
#include "tracking_FLL_PLL_filter.h"
|
||||
//#include "tracking_loop_filter.h"
|
||||
#include "cpu_multicorrelator.h"
|
||||
#include <gnuradio/block.h>
|
||||
#include <pmt/pmt.h>
|
||||
#include <fstream>
|
||||
#include <map>
|
||||
#include <deque>
|
||||
#include <string>
|
||||
|
||||
class glonass_l2_ca_dll_pll_c_aid_tracking_cc;
|
||||
|
||||
typedef boost::shared_ptr<glonass_l2_ca_dll_pll_c_aid_tracking_cc>
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_cc_sptr;
|
||||
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_cc_sptr
|
||||
glonass_l2_ca_dll_pll_c_aid_make_tracking_cc(long if_freq,
|
||||
long fs_in, unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips);
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class implements a DLL + PLL tracking loop block
|
||||
*/
|
||||
class glonass_l2_ca_dll_pll_c_aid_tracking_cc : public gr::block
|
||||
{
|
||||
public:
|
||||
~glonass_l2_ca_dll_pll_c_aid_tracking_cc();
|
||||
|
||||
void set_channel(unsigned int channel);
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
|
||||
void start_tracking();
|
||||
|
||||
int general_work(int noutput_items, gr_vector_int& ninput_items,
|
||||
gr_vector_const_void_star& input_items, gr_vector_void_star& output_items);
|
||||
|
||||
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
|
||||
|
||||
private:
|
||||
friend glonass_l2_ca_dll_pll_c_aid_tracking_cc_sptr
|
||||
glonass_l2_ca_dll_pll_c_aid_make_tracking_cc(long if_freq,
|
||||
long fs_in, unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips);
|
||||
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_cc(long if_freq,
|
||||
long fs_in, unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips);
|
||||
|
||||
// tracking configuration vars
|
||||
unsigned int d_vector_length;
|
||||
bool d_dump;
|
||||
|
||||
Gnss_Synchro* d_acquisition_gnss_synchro;
|
||||
unsigned int d_channel;
|
||||
|
||||
long d_if_freq;
|
||||
long d_fs_in;
|
||||
double d_glonass_freq_ch;
|
||||
|
||||
double d_early_late_spc_chips;
|
||||
int d_n_correlator_taps;
|
||||
|
||||
gr_complex* d_ca_code;
|
||||
float* d_local_code_shift_chips;
|
||||
gr_complex* d_correlator_outs;
|
||||
cpu_multicorrelator multicorrelator_cpu;
|
||||
|
||||
// remaining code phase and carrier phase between tracking loops
|
||||
double d_rem_code_phase_samples;
|
||||
double d_rem_code_phase_chips;
|
||||
double d_rem_carrier_phase_rad;
|
||||
int d_rem_code_phase_integer_samples;
|
||||
|
||||
// PLL and DLL filter library
|
||||
//Tracking_2nd_DLL_filter d_code_loop_filter;
|
||||
Tracking_2nd_DLL_filter d_code_loop_filter;
|
||||
Tracking_FLL_PLL_filter d_carrier_loop_filter;
|
||||
|
||||
// acquisition
|
||||
double d_acq_code_phase_samples;
|
||||
double d_acq_carrier_doppler_hz;
|
||||
|
||||
// tracking vars
|
||||
float d_dll_bw_hz;
|
||||
float d_pll_bw_hz;
|
||||
float d_dll_bw_narrow_hz;
|
||||
float d_pll_bw_narrow_hz;
|
||||
double d_code_freq_chips;
|
||||
double d_code_phase_step_chips;
|
||||
double d_carrier_doppler_hz;
|
||||
double d_carrier_frequency_hz;
|
||||
double d_carrier_doppler_old_hz;
|
||||
double d_carrier_phase_step_rad;
|
||||
double d_acc_carrier_phase_cycles;
|
||||
double d_code_phase_samples;
|
||||
double d_pll_to_dll_assist_secs_Ti;
|
||||
double d_code_error_chips_Ti;
|
||||
double d_code_error_filt_chips_s;
|
||||
double d_code_error_filt_chips_Ti;
|
||||
double d_carr_phase_error_secs_Ti;
|
||||
|
||||
// symbol history to detect bit transition
|
||||
std::deque<gr_complex> d_E_history;
|
||||
std::deque<gr_complex> d_P_history;
|
||||
std::deque<gr_complex> d_L_history;
|
||||
double d_preamble_timestamp_s;
|
||||
int d_extend_correlation_ms;
|
||||
bool d_enable_extended_integration;
|
||||
bool d_preamble_synchronized;
|
||||
void msg_handler_preamble_index(pmt::pmt_t msg);
|
||||
|
||||
//Integration period in samples
|
||||
int d_correlation_length_samples;
|
||||
|
||||
//processing samples counters
|
||||
unsigned long int d_sample_counter;
|
||||
unsigned long int d_acq_sample_stamp;
|
||||
|
||||
// CN0 estimation and lock detector
|
||||
int d_cn0_estimation_counter;
|
||||
gr_complex* d_Prompt_buffer;
|
||||
double d_carrier_lock_test;
|
||||
double d_CN0_SNV_dB_Hz;
|
||||
double d_carrier_lock_threshold;
|
||||
int d_carrier_lock_fail_counter;
|
||||
|
||||
// control vars
|
||||
bool d_enable_tracking;
|
||||
bool d_pull_in;
|
||||
|
||||
// file dump
|
||||
std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
|
||||
std::map<std::string, std::string> systemName;
|
||||
std::string sys;
|
||||
|
||||
int save_matfile();
|
||||
};
|
||||
|
||||
#endif //GNSS_SDR_GLONASS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
|
||||
@@ -0,0 +1,918 @@
|
||||
/*!
|
||||
* \file glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
|
||||
* \brief Implementation of a code DLL + carrier PLL tracking block
|
||||
* \author Damian Miralles, 2018. dmiralles2009(at)gmail.com
|
||||
*
|
||||
*
|
||||
* 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, Birkha user, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "glonass_l2_ca_dll_pll_c_aid_tracking_sc.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "glonass_l2_signal_processing.h"
|
||||
#include "tracking_discriminators.h"
|
||||
#include "lock_detectors.h"
|
||||
#include "GLONASS_L1_L2_CA.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "control_message_factory.h"
|
||||
#include <boost/bind.hpp>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <matio.h>
|
||||
#include <pmt/pmt.h>
|
||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
||||
#include <glog/logging.h>
|
||||
#include <cmath>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <sstream>
|
||||
|
||||
#define CN0_ESTIMATION_SAMPLES 10
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_sc_sptr
|
||||
glonass_l2_ca_dll_pll_c_aid_make_tracking_sc(
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips)
|
||||
{
|
||||
return glonass_l2_ca_dll_pll_c_aid_tracking_sc_sptr(new glonass_l2_ca_dll_pll_c_aid_tracking_sc(if_freq,
|
||||
fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
|
||||
}
|
||||
|
||||
|
||||
void glonass_l2_ca_dll_pll_c_aid_tracking_sc::forecast(int noutput_items,
|
||||
gr_vector_int &ninput_items_required)
|
||||
{
|
||||
if (noutput_items != 0)
|
||||
{
|
||||
ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void glonass_l2_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(pmt::pmt_t msg)
|
||||
{
|
||||
//pmt::print(msg);
|
||||
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
|
||||
if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
|
||||
{
|
||||
d_preamble_timestamp_s = pmt::to_double(msg);
|
||||
d_enable_extended_integration = true;
|
||||
d_preamble_synchronized = false;
|
||||
}
|
||||
}
|
||||
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_sc::glonass_l2_ca_dll_pll_c_aid_tracking_sc(
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips) : gr::block("glonass_l1_ca_dll_pll_c_aid_tracking_sc", gr::io_signature::make(1, 1, sizeof(lv_16sc_t)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
{
|
||||
// Telemetry bit synchronization message port input
|
||||
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
|
||||
this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
|
||||
boost::bind(&glonass_l2_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index, this, _1));
|
||||
this->message_port_register_out(pmt::mp("events"));
|
||||
// initialize internal vars
|
||||
d_dump = dump;
|
||||
d_if_freq = if_freq;
|
||||
d_fs_in = fs_in;
|
||||
d_vector_length = vector_length;
|
||||
d_dump_filename = dump_filename;
|
||||
d_correlation_length_samples = static_cast<int>(d_vector_length);
|
||||
|
||||
// Initialize tracking ==========================================
|
||||
d_pll_bw_hz = pll_bw_hz;
|
||||
d_dll_bw_hz = dll_bw_hz;
|
||||
d_pll_bw_narrow_hz = pll_bw_narrow_hz;
|
||||
d_dll_bw_narrow_hz = dll_bw_narrow_hz;
|
||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
|
||||
d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
|
||||
d_extend_correlation_ms = extend_correlation_ms;
|
||||
|
||||
// --- DLL variables --------------------------------------------------------
|
||||
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
|
||||
|
||||
// Initialization of local code replica
|
||||
// Get space for a vector with the C/A code replica sampled 1x/chip
|
||||
d_ca_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L2_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
|
||||
d_ca_code_16sc = static_cast<lv_16sc_t *>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L2_CA_CODE_LENGTH_CHIPS) * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
|
||||
|
||||
// correlator outputs (scalar)
|
||||
d_n_correlator_taps = 3; // Early, Prompt, and Late
|
||||
|
||||
d_correlator_outs_16sc = static_cast<lv_16sc_t *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs_16sc[n] = lv_cmake(0, 0);
|
||||
}
|
||||
|
||||
d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment()));
|
||||
// Set TAPs delay values [chips]
|
||||
d_local_code_shift_chips[0] = -d_early_late_spc_chips;
|
||||
d_local_code_shift_chips[1] = 0.0;
|
||||
d_local_code_shift_chips[2] = d_early_late_spc_chips;
|
||||
|
||||
multicorrelator_cpu_16sc.init(2 * d_correlation_length_samples, d_n_correlator_taps);
|
||||
|
||||
//--- Perform initializations ------------------------------
|
||||
// define initial code frequency basis of NCO
|
||||
d_code_freq_chips = GLONASS_L2_CA_CODE_RATE_HZ;
|
||||
// define residual code phase (in chips)
|
||||
d_rem_code_phase_samples = 0.0;
|
||||
// define residual carrier phase
|
||||
d_rem_carrier_phase_rad = 0.0;
|
||||
|
||||
// sample synchronization
|
||||
d_sample_counter = 0; //(from trk to tlm)
|
||||
d_acq_sample_stamp = 0;
|
||||
d_enable_tracking = false;
|
||||
d_pull_in = false;
|
||||
|
||||
// CN0 estimation and lock detector buffers
|
||||
d_cn0_estimation_counter = 0;
|
||||
d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples];
|
||||
d_carrier_lock_test = 1;
|
||||
d_CN0_SNV_dB_Hz = 0;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_carrier_lock_threshold = FLAGS_carrier_lock_th;
|
||||
|
||||
systemName["R"] = std::string("Glonass");
|
||||
|
||||
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
|
||||
|
||||
d_acquisition_gnss_synchro = 0;
|
||||
d_channel = 0;
|
||||
d_acq_code_phase_samples = 0.0;
|
||||
d_acq_carrier_doppler_hz = 0.0;
|
||||
d_carrier_doppler_hz = 0.0;
|
||||
d_acc_carrier_phase_cycles = 0.0;
|
||||
d_code_phase_samples = 0.0;
|
||||
d_enable_extended_integration = false;
|
||||
d_preamble_synchronized = false;
|
||||
d_rem_code_phase_integer_samples = 0;
|
||||
d_code_error_chips_Ti = 0.0;
|
||||
d_pll_to_dll_assist_secs_Ti = 0.0;
|
||||
d_rem_code_phase_chips = 0.0;
|
||||
d_code_phase_step_chips = 0.0;
|
||||
d_carrier_phase_step_rad = 0.0;
|
||||
d_code_error_filt_chips_s = 0.0;
|
||||
d_code_error_filt_chips_Ti = 0.0;
|
||||
d_preamble_timestamp_s = 0.0;
|
||||
d_carr_phase_error_secs_Ti = 0.0;
|
||||
|
||||
d_carrier_frequency_hz = 0.0;
|
||||
d_carrier_doppler_old_hz = 0.0;
|
||||
|
||||
d_glonass_freq_ch = 0;
|
||||
//set_min_output_buffer((long int)300);
|
||||
}
|
||||
|
||||
|
||||
void glonass_l2_ca_dll_pll_c_aid_tracking_sc::start_tracking()
|
||||
{
|
||||
/*
|
||||
* correct the code phase according to the delay between acq and trk
|
||||
*/
|
||||
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
|
||||
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
|
||||
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
|
||||
|
||||
long int acq_trk_diff_samples;
|
||||
double acq_trk_diff_seconds;
|
||||
acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp); //-d_vector_length;
|
||||
DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
|
||||
acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
|
||||
// Doppler effect
|
||||
// Fd=(C/(C+Vr))*F
|
||||
d_glonass_freq_ch = GLONASS_L2_CA_FREQ_HZ + (GLONASS_L2_CA_FREQ_HZ * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
|
||||
double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
|
||||
// new chip and prn sequence periods based on acq Doppler
|
||||
double T_chip_mod_seconds;
|
||||
double T_prn_mod_seconds;
|
||||
double T_prn_mod_samples;
|
||||
d_code_freq_chips = radial_velocity * GLONASS_L2_CA_CODE_RATE_HZ;
|
||||
d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
|
||||
T_chip_mod_seconds = 1.0 / d_code_freq_chips;
|
||||
T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L2_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
|
||||
|
||||
d_correlation_length_samples = round(T_prn_mod_samples);
|
||||
|
||||
double T_prn_true_seconds = GLONASS_L2_CA_CODE_LENGTH_CHIPS / GLONASS_L2_CA_CODE_RATE_HZ;
|
||||
double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
|
||||
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
|
||||
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
|
||||
double corrected_acq_phase_samples, delay_correction_samples;
|
||||
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
|
||||
if (corrected_acq_phase_samples < 0)
|
||||
{
|
||||
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
|
||||
}
|
||||
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
|
||||
|
||||
d_acq_code_phase_samples = corrected_acq_phase_samples;
|
||||
|
||||
d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ2_GLO * static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));
|
||||
;
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
||||
|
||||
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
|
||||
|
||||
// DLL/PLL filter initialization
|
||||
d_carrier_loop_filter.initialize(d_carrier_frequency_hz); // The carrier loop filter implements the Doppler accumulator
|
||||
d_code_loop_filter.initialize(); // initialize the code filter
|
||||
|
||||
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
|
||||
glonass_l2_ca_code_gen_complex(d_ca_code, 0);
|
||||
volk_gnsssdr_32fc_convert_16ic(d_ca_code_16sc, d_ca_code, static_cast<int>(GLONASS_L2_CA_CODE_LENGTH_CHIPS));
|
||||
|
||||
multicorrelator_cpu_16sc.set_local_code_and_taps(static_cast<int>(GLONASS_L2_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc, d_local_code_shift_chips);
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs_16sc[n] = lv_16sc_t(0, 0);
|
||||
}
|
||||
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_rem_code_phase_samples = 0.0;
|
||||
d_rem_carrier_phase_rad = 0.0;
|
||||
d_rem_code_phase_chips = 0.0;
|
||||
d_acc_carrier_phase_cycles = 0.0;
|
||||
d_pll_to_dll_assist_secs_Ti = 0.0;
|
||||
d_code_phase_samples = d_acq_code_phase_samples;
|
||||
|
||||
std::string sys_ = &d_acquisition_gnss_synchro->System;
|
||||
sys = sys_.substr(0, 1);
|
||||
|
||||
// DEBUG OUTPUT
|
||||
std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
|
||||
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
|
||||
|
||||
// enable tracking
|
||||
d_pull_in = true;
|
||||
d_enable_tracking = true;
|
||||
d_enable_extended_integration = true;
|
||||
d_preamble_synchronized = true;
|
||||
|
||||
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
|
||||
<< " Code Phase correction [samples]=" << delay_correction_samples
|
||||
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
|
||||
}
|
||||
|
||||
|
||||
int glonass_l2_ca_dll_pll_c_aid_tracking_sc::save_matfile()
|
||||
{
|
||||
// READ DUMP FILE
|
||||
std::ifstream::pos_type size;
|
||||
int number_of_double_vars = 11;
|
||||
int number_of_float_vars = 5;
|
||||
int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars +
|
||||
sizeof(float) * number_of_float_vars + sizeof(unsigned int);
|
||||
std::ifstream dump_file;
|
||||
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
||||
try
|
||||
{
|
||||
dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
std::cerr << "Problem opening dump file:" << e.what() << std::endl;
|
||||
return 1;
|
||||
}
|
||||
// count number of epochs and rewind
|
||||
long int num_epoch = 0;
|
||||
if (dump_file.is_open())
|
||||
{
|
||||
size = dump_file.tellg();
|
||||
num_epoch = static_cast<long int>(size) / static_cast<long int>(epoch_size_bytes);
|
||||
dump_file.seekg(0, std::ios::beg);
|
||||
}
|
||||
else
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
float *abs_E = new float[num_epoch];
|
||||
float *abs_P = new float[num_epoch];
|
||||
float *abs_L = new float[num_epoch];
|
||||
float *Prompt_I = new float[num_epoch];
|
||||
float *Prompt_Q = new float[num_epoch];
|
||||
unsigned long int *PRN_start_sample_count = new unsigned long int[num_epoch];
|
||||
double *acc_carrier_phase_rad = new double[num_epoch];
|
||||
double *carrier_doppler_hz = new double[num_epoch];
|
||||
double *code_freq_chips = new double[num_epoch];
|
||||
double *carr_error_hz = new double[num_epoch];
|
||||
double *carr_error_filt_hz = new double[num_epoch];
|
||||
double *code_error_chips = new double[num_epoch];
|
||||
double *code_error_filt_chips = new double[num_epoch];
|
||||
double *CN0_SNV_dB_Hz = new double[num_epoch];
|
||||
double *carrier_lock_test = new double[num_epoch];
|
||||
double *aux1 = new double[num_epoch];
|
||||
double *aux2 = new double[num_epoch];
|
||||
unsigned int *PRN = new unsigned int[num_epoch];
|
||||
|
||||
try
|
||||
{
|
||||
if (dump_file.is_open())
|
||||
{
|
||||
for (long int i = 0; i < num_epoch; i++)
|
||||
{
|
||||
dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(unsigned long int));
|
||||
dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(unsigned int));
|
||||
}
|
||||
}
|
||||
dump_file.close();
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
|
||||
delete[] abs_E;
|
||||
delete[] abs_P;
|
||||
delete[] abs_L;
|
||||
delete[] Prompt_I;
|
||||
delete[] Prompt_Q;
|
||||
delete[] PRN_start_sample_count;
|
||||
delete[] acc_carrier_phase_rad;
|
||||
delete[] carrier_doppler_hz;
|
||||
delete[] code_freq_chips;
|
||||
delete[] carr_error_hz;
|
||||
delete[] carr_error_filt_hz;
|
||||
delete[] code_error_chips;
|
||||
delete[] code_error_filt_chips;
|
||||
delete[] CN0_SNV_dB_Hz;
|
||||
delete[] carrier_lock_test;
|
||||
delete[] aux1;
|
||||
delete[] aux2;
|
||||
delete[] PRN;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// WRITE MAT FILE
|
||||
mat_t *matfp;
|
||||
matvar_t *matvar;
|
||||
std::string filename = d_dump_filename;
|
||||
filename.erase(filename.length() - 4, 4);
|
||||
filename.append(".mat");
|
||||
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
|
||||
if (reinterpret_cast<long *>(matfp) != NULL)
|
||||
{
|
||||
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
|
||||
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
}
|
||||
Mat_Close(matfp);
|
||||
delete[] abs_E;
|
||||
delete[] abs_P;
|
||||
delete[] abs_L;
|
||||
delete[] Prompt_I;
|
||||
delete[] Prompt_Q;
|
||||
delete[] PRN_start_sample_count;
|
||||
delete[] acc_carrier_phase_rad;
|
||||
delete[] carrier_doppler_hz;
|
||||
delete[] code_freq_chips;
|
||||
delete[] carr_error_hz;
|
||||
delete[] carr_error_filt_hz;
|
||||
delete[] code_error_chips;
|
||||
delete[] code_error_filt_chips;
|
||||
delete[] CN0_SNV_dB_Hz;
|
||||
delete[] carrier_lock_test;
|
||||
delete[] aux1;
|
||||
delete[] aux2;
|
||||
delete[] PRN;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_sc::~glonass_l2_ca_dll_pll_c_aid_tracking_sc()
|
||||
{
|
||||
if (d_dump_file.is_open())
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
catch (const std::exception &ex)
|
||||
{
|
||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
||||
}
|
||||
}
|
||||
|
||||
if (d_dump)
|
||||
{
|
||||
if (d_channel == 0)
|
||||
{
|
||||
std::cout << "Writing .mat files ...";
|
||||
}
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_sc::save_matfile();
|
||||
if (d_channel == 0)
|
||||
{
|
||||
std::cout << " done." << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
volk_gnsssdr_free(d_local_code_shift_chips);
|
||||
volk_gnsssdr_free(d_ca_code);
|
||||
volk_gnsssdr_free(d_ca_code_16sc);
|
||||
volk_gnsssdr_free(d_correlator_outs_16sc);
|
||||
|
||||
delete[] d_Prompt_buffer;
|
||||
multicorrelator_cpu_16sc.free();
|
||||
}
|
||||
|
||||
|
||||
int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||
{
|
||||
// Block input data and block output stream pointers
|
||||
const lv_16sc_t *in = reinterpret_cast<const lv_16sc_t *>(input_items[0]); // PRN start block alignment
|
||||
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
|
||||
|
||||
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
||||
Gnss_Synchro current_synchro_data = Gnss_Synchro();
|
||||
|
||||
// process vars
|
||||
double code_error_filt_secs_Ti = 0.0;
|
||||
double CURRENT_INTEGRATION_TIME_S = 0.0;
|
||||
double CORRECTED_INTEGRATION_TIME_S = 0.0;
|
||||
|
||||
if (d_enable_tracking == true)
|
||||
{
|
||||
// Fill the acquisition data
|
||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||
// Receiver signal alignment
|
||||
if (d_pull_in == true)
|
||||
{
|
||||
int samples_offset;
|
||||
double acq_trk_shif_correction_samples;
|
||||
int acq_to_trk_delay_samples;
|
||||
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
||||
acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
|
||||
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
|
||||
d_sample_counter += samples_offset; // count for the processed samples
|
||||
d_pull_in = false;
|
||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GLONASS_TWO_PI;
|
||||
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
|
||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
|
||||
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;
|
||||
}
|
||||
|
||||
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
|
||||
// perform carrier wipe-off and compute Early, Prompt and Late correlation
|
||||
multicorrelator_cpu_16sc.set_input_output_vectors(d_correlator_outs_16sc, in);
|
||||
multicorrelator_cpu_16sc.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
|
||||
d_carrier_phase_step_rad,
|
||||
d_rem_code_phase_chips,
|
||||
d_code_phase_step_chips,
|
||||
d_correlation_length_samples);
|
||||
|
||||
// ####### coherent integration extension
|
||||
// keep the last symbols
|
||||
d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output
|
||||
d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output
|
||||
d_L_history.push_back(d_correlator_outs_16sc[2]); // save late output
|
||||
|
||||
if (static_cast<int>(d_P_history.size()) > d_extend_correlation_ms)
|
||||
{
|
||||
d_E_history.pop_front();
|
||||
d_P_history.pop_front();
|
||||
d_L_history.pop_front();
|
||||
}
|
||||
|
||||
bool enable_dll_pll;
|
||||
if (d_enable_extended_integration == true)
|
||||
{
|
||||
long int symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
|
||||
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
|
||||
{
|
||||
// compute coherent integration and enable tracking loop
|
||||
// perform coherent integration using correlator output history
|
||||
// std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
|
||||
d_correlator_outs_16sc[0] = lv_cmake(0, 0);
|
||||
d_correlator_outs_16sc[1] = lv_cmake(0, 0);
|
||||
d_correlator_outs_16sc[2] = lv_cmake(0, 0);
|
||||
for (int n = 0; n < d_extend_correlation_ms; n++)
|
||||
{
|
||||
d_correlator_outs_16sc[0] += d_E_history.at(n);
|
||||
d_correlator_outs_16sc[1] += d_P_history.at(n);
|
||||
d_correlator_outs_16sc[2] += d_L_history.at(n);
|
||||
}
|
||||
|
||||
if (d_preamble_synchronized == false)
|
||||
{
|
||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
|
||||
d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz, 2);
|
||||
d_preamble_synchronized = true;
|
||||
std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH " << d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
<< " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
|
||||
<< " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
|
||||
}
|
||||
// UPDATE INTEGRATION TIME
|
||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GLONASS_L2_CA_CODE_PERIOD;
|
||||
enable_dll_pll = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_preamble_synchronized == true)
|
||||
{
|
||||
// continue extended coherent correlation
|
||||
// Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
double T_prn_seconds = T_chip_seconds * GLONASS_L2_CA_CODE_LENGTH_CHIPS;
|
||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||
int K_prn_samples = round(T_prn_samples);
|
||||
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
|
||||
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
|
||||
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
|
||||
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
|
||||
// code phase step (Code resampler phase increment per sample) [chips/sample]
|
||||
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
|
||||
// remnant code phase [chips]
|
||||
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
|
||||
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GLONASS_TWO_PI);
|
||||
|
||||
// UPDATE ACCUMULATED CARRIER PHASE
|
||||
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
|
||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
|
||||
|
||||
// disable tracking loop and inform telemetry decoder
|
||||
enable_dll_pll = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
// perform basic (1ms) correlation
|
||||
// UPDATE INTEGRATION TIME
|
||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
|
||||
enable_dll_pll = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// UPDATE INTEGRATION TIME
|
||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
|
||||
enable_dll_pll = true;
|
||||
}
|
||||
|
||||
if (enable_dll_pll == true)
|
||||
{
|
||||
// ################## PLL ##########################################################
|
||||
// Update PLL discriminator [rads/Ti -> Secs/Ti]
|
||||
d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag())) / GLONASS_TWO_PI; //prompt output
|
||||
d_carrier_doppler_old_hz = d_carrier_doppler_hz;
|
||||
// Carrier discriminator filter
|
||||
// NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
|
||||
// Input [s/Ti] -> output [Hz]
|
||||
d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
|
||||
// PLL to DLL assistance [Secs/Ti]
|
||||
d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
|
||||
// code Doppler frequency update
|
||||
d_code_freq_chips = GLONASS_L2_CA_CODE_RATE_HZ + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L2_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
|
||||
|
||||
// ################## DLL ##########################################################
|
||||
// DLL discriminator
|
||||
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag())); // [chips/Ti] //early and late
|
||||
// Code discriminator filter
|
||||
d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
|
||||
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
|
||||
code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
double T_prn_seconds = T_chip_seconds * GLONASS_L2_CA_CODE_LENGTH_CHIPS;
|
||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||
double K_prn_samples = round(T_prn_samples);
|
||||
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
|
||||
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
|
||||
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
|
||||
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
|
||||
|
||||
//################### PLL COMMANDS #################################################
|
||||
//carrier phase step (NCO phase increment per sample) [rads/sample]
|
||||
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
|
||||
// UPDATE ACCUMULATED CARRIER PHASE
|
||||
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
|
||||
//remnant carrier phase [rad]
|
||||
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GLONASS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GLONASS_TWO_PI);
|
||||
|
||||
//################### DLL COMMANDS #################################################
|
||||
//code phase step (Code resampler phase increment per sample) [chips/sample]
|
||||
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
|
||||
//remnant code phase [chips]
|
||||
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)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter] = lv_cmake(static_cast<float>(d_correlator_outs_16sc[1].real()), static_cast<float>(d_correlator_outs_16sc[1].imag())); // prompt
|
||||
d_cn0_estimation_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
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, GLONASS_L2_CA_CODE_LENGTH_CHIPS);
|
||||
// Carrier lock indicator
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
||||
// Loss of lock detection
|
||||
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
|
||||
{
|
||||
d_carrier_lock_fail_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
|
||||
}
|
||||
if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail)
|
||||
{
|
||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
||||
this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); //3 -> loss of lock
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
}
|
||||
}
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
|
||||
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!)
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
|
||||
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
||||
current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
|
||||
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;
|
||||
if (d_preamble_synchronized == true)
|
||||
{
|
||||
current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
|
||||
}
|
||||
else
|
||||
{
|
||||
current_synchro_data.correlation_length_ms = 1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
|
||||
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
||||
current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
|
||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; // todo: project the carrier doppler
|
||||
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs_16sc[n] = lv_cmake(0, 0);
|
||||
}
|
||||
|
||||
current_synchro_data.System = {'R'};
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
|
||||
}
|
||||
current_synchro_data.fs = d_fs_in;
|
||||
*out[0] = current_synchro_data;
|
||||
if (d_dump)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
float tmp_float;
|
||||
prompt_I = d_correlator_outs_16sc[1].real();
|
||||
prompt_Q = d_correlator_outs_16sc[1].imag();
|
||||
tmp_E = std::abs<float>(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
|
||||
tmp_P = std::abs<float>(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
|
||||
tmp_L = std::abs<float>(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
|
||||
try
|
||||
{
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
||||
// PRN start sample stamp
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
tmp_float = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier and code frequency
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_error_filt_chips_Ti;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
}
|
||||
catch (const std::ifstream::failure *e)
|
||||
{
|
||||
LOG(WARNING) << "Exception writing trk dump file " << e->what();
|
||||
}
|
||||
}
|
||||
|
||||
consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
|
||||
d_sample_counter += d_correlation_length_samples; //count for the processed samples
|
||||
|
||||
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
|
||||
}
|
||||
|
||||
|
||||
void glonass_l2_ca_dll_pll_c_aid_tracking_sc::set_channel(unsigned int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
LOG(INFO) << "Tracking Channel set to " << d_channel;
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump == true)
|
||||
{
|
||||
if (d_dump_file.is_open() == false)
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
||||
d_dump_filename.append(".dat");
|
||||
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
||||
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
||||
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
|
||||
}
|
||||
catch (const std::ifstream::failure *e)
|
||||
{
|
||||
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void glonass_l2_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
|
||||
{
|
||||
d_acquisition_gnss_synchro = p_gnss_synchro;
|
||||
}
|
||||
@@ -0,0 +1,206 @@
|
||||
/*!
|
||||
* \file glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
|
||||
* \brief Implementation of a code DLL + carrier PLL tracking block
|
||||
* \author Damian Miralles, 2018. dmiralles2009(at)gmail.com
|
||||
*
|
||||
*
|
||||
* 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, Birkha user, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GLONASS_L2_CA_DLL_PLL_C_AID_TRACKING_SC_H
|
||||
#define GNSS_SDR_GLONASS_L2_CA_DLL_PLL_C_AID_TRACKING_SC_H
|
||||
|
||||
#include "glonass_l2_signal_processing.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "tracking_2nd_DLL_filter.h"
|
||||
#include "tracking_FLL_PLL_filter.h"
|
||||
#include "cpu_multicorrelator_16sc.h"
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <boost/thread/thread.hpp>
|
||||
#include <gnuradio/block.h>
|
||||
#include <volk/volk.h>
|
||||
#include <fstream>
|
||||
#include <map>
|
||||
#include <string>
|
||||
|
||||
class glonass_l2_ca_dll_pll_c_aid_tracking_sc;
|
||||
|
||||
typedef boost::shared_ptr<glonass_l2_ca_dll_pll_c_aid_tracking_sc>
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_sc_sptr;
|
||||
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_sc_sptr
|
||||
glonass_l2_ca_dll_pll_c_aid_make_tracking_sc(long if_freq,
|
||||
long fs_in, unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips);
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class implements a DLL + PLL tracking loop block
|
||||
*/
|
||||
class glonass_l2_ca_dll_pll_c_aid_tracking_sc : public gr::block
|
||||
{
|
||||
public:
|
||||
~glonass_l2_ca_dll_pll_c_aid_tracking_sc();
|
||||
|
||||
void set_channel(unsigned int channel);
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
|
||||
void start_tracking();
|
||||
|
||||
int general_work(int noutput_items, gr_vector_int& ninput_items,
|
||||
gr_vector_const_void_star& input_items, gr_vector_void_star& output_items);
|
||||
|
||||
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
|
||||
|
||||
private:
|
||||
friend glonass_l2_ca_dll_pll_c_aid_tracking_sc_sptr
|
||||
glonass_l2_ca_dll_pll_c_aid_make_tracking_sc(long if_freq,
|
||||
long fs_in, unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips);
|
||||
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking_sc(long if_freq,
|
||||
long fs_in, unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips);
|
||||
|
||||
// tracking configuration vars
|
||||
unsigned int d_vector_length;
|
||||
bool d_dump;
|
||||
|
||||
Gnss_Synchro* d_acquisition_gnss_synchro;
|
||||
unsigned int d_channel;
|
||||
|
||||
long d_if_freq;
|
||||
long d_fs_in;
|
||||
long d_glonass_freq_ch;
|
||||
|
||||
double d_early_late_spc_chips;
|
||||
int d_n_correlator_taps;
|
||||
|
||||
gr_complex* d_ca_code;
|
||||
lv_16sc_t* d_ca_code_16sc;
|
||||
float* d_local_code_shift_chips;
|
||||
//gr_complex* d_correlator_outs;
|
||||
lv_16sc_t* d_correlator_outs_16sc;
|
||||
//cpu_multicorrelator multicorrelator_cpu;
|
||||
cpu_multicorrelator_16sc multicorrelator_cpu_16sc;
|
||||
|
||||
// remaining code phase and carrier phase between tracking loops
|
||||
double d_rem_code_phase_samples;
|
||||
double d_rem_code_phase_chips;
|
||||
double d_rem_carrier_phase_rad;
|
||||
int d_rem_code_phase_integer_samples;
|
||||
|
||||
// PLL and DLL filter library
|
||||
Tracking_2nd_DLL_filter d_code_loop_filter;
|
||||
Tracking_FLL_PLL_filter d_carrier_loop_filter;
|
||||
|
||||
// acquisition
|
||||
double d_acq_code_phase_samples;
|
||||
double d_acq_carrier_doppler_hz;
|
||||
|
||||
// tracking vars
|
||||
float d_dll_bw_hz;
|
||||
float d_pll_bw_hz;
|
||||
float d_dll_bw_narrow_hz;
|
||||
float d_pll_bw_narrow_hz;
|
||||
double d_code_freq_chips;
|
||||
double d_code_phase_step_chips;
|
||||
double d_carrier_doppler_hz;
|
||||
double d_carrier_frequency_hz;
|
||||
double d_carrier_doppler_old_hz;
|
||||
double d_carrier_phase_step_rad;
|
||||
double d_acc_carrier_phase_cycles;
|
||||
double d_code_phase_samples;
|
||||
double d_pll_to_dll_assist_secs_Ti;
|
||||
double d_carr_phase_error_secs_Ti;
|
||||
double d_code_error_chips_Ti;
|
||||
double d_preamble_timestamp_s;
|
||||
int d_extend_correlation_ms;
|
||||
bool d_enable_extended_integration;
|
||||
bool d_preamble_synchronized;
|
||||
double d_code_error_filt_chips_s;
|
||||
double d_code_error_filt_chips_Ti;
|
||||
void msg_handler_preamble_index(pmt::pmt_t msg);
|
||||
|
||||
// symbol history to detect bit transition
|
||||
std::deque<lv_16sc_t> d_E_history;
|
||||
std::deque<lv_16sc_t> d_P_history;
|
||||
std::deque<lv_16sc_t> d_L_history;
|
||||
|
||||
//Integration period in samples
|
||||
int d_correlation_length_samples;
|
||||
|
||||
//processing samples counters
|
||||
unsigned long int d_sample_counter;
|
||||
unsigned long int d_acq_sample_stamp;
|
||||
|
||||
// CN0 estimation and lock detector
|
||||
int d_cn0_estimation_counter;
|
||||
gr_complex* d_Prompt_buffer;
|
||||
double d_carrier_lock_test;
|
||||
double d_CN0_SNV_dB_Hz;
|
||||
double d_carrier_lock_threshold;
|
||||
int d_carrier_lock_fail_counter;
|
||||
|
||||
// control vars
|
||||
bool d_enable_tracking;
|
||||
bool d_pull_in;
|
||||
|
||||
// file dump
|
||||
std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
|
||||
std::map<std::string, std::string> systemName;
|
||||
std::string sys;
|
||||
|
||||
int save_matfile();
|
||||
};
|
||||
|
||||
#endif //GNSS_SDR_GLONASS_L2_CA_DLL_PLL_C_AID_TRACKING_SC_H
|
||||
@@ -1,17 +1,19 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_dll_pll_tracking_cc.cc
|
||||
* \brief Implementation of a code DLL + carrier PLL tracking block
|
||||
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
* \file glonass_l2_ca_dll_pll_tracking_cc.cc
|
||||
* \brief Implementation of a code DLL + carrier PLL tracking block
|
||||
* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
|
||||
* \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
|
||||
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
|
||||
*
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* 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
|
||||
* Approach, Birkha user, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
@@ -34,28 +36,29 @@
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gps_l1_ca_dll_pll_tracking_cc.h"
|
||||
#include "gps_sdr_signal_processing.h"
|
||||
#include "glonass_l2_ca_dll_pll_tracking_cc.h"
|
||||
#include "glonass_l2_signal_processing.h"
|
||||
#include "tracking_discriminators.h"
|
||||
#include "lock_detectors.h"
|
||||
#include "GLONASS_L1_L2_CA.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "control_message_factory.h"
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <glog/logging.h>
|
||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
||||
#include <matio.h>
|
||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
||||
#include <cmath>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <sstream>
|
||||
|
||||
#define CN0_ESTIMATION_SAMPLES 10
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
gps_l1_ca_dll_pll_tracking_cc_sptr
|
||||
gps_l1_ca_dll_pll_make_tracking_cc(
|
||||
glonass_l2_ca_dll_pll_tracking_cc_sptr
|
||||
glonass_l2_ca_dll_pll_make_tracking_cc(
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned int vector_length,
|
||||
@@ -65,12 +68,12 @@ gps_l1_ca_dll_pll_make_tracking_cc(
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips)
|
||||
{
|
||||
return gps_l1_ca_dll_pll_tracking_cc_sptr(new Gps_L1_Ca_Dll_Pll_Tracking_cc(if_freq,
|
||||
return glonass_l2_ca_dll_pll_tracking_cc_sptr(new Glonass_L2_Ca_Dll_Pll_Tracking_cc(if_freq,
|
||||
fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
|
||||
}
|
||||
|
||||
|
||||
void Gps_L1_Ca_Dll_Pll_Tracking_cc::forecast(int noutput_items,
|
||||
void Glonass_L2_Ca_Dll_Pll_Tracking_cc::forecast(int noutput_items,
|
||||
gr_vector_int &ninput_items_required)
|
||||
{
|
||||
if (noutput_items != 0)
|
||||
@@ -80,7 +83,7 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::forecast(int noutput_items,
|
||||
}
|
||||
|
||||
|
||||
Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(
|
||||
Glonass_L2_Ca_Dll_Pll_Tracking_cc::Glonass_L2_Ca_Dll_Pll_Tracking_cc(
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned int vector_length,
|
||||
@@ -88,7 +91,7 @@ Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips) : gr::block("Gps_L1_Ca_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
|
||||
float early_late_space_chips) : gr::block("Glonass_L2_Ca_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
{
|
||||
// Telemetry bit synchronization message port input
|
||||
@@ -113,7 +116,7 @@ Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(
|
||||
|
||||
// Initialization of local code replica
|
||||
// Get space for a vector with the C/A code replica sampled 1x/chip
|
||||
d_ca_code = static_cast<float *>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
|
||||
d_ca_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(static_cast<int>(GLONASS_L2_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
|
||||
|
||||
// correlator outputs (scalar)
|
||||
d_n_correlator_taps = 3; // Early, Prompt, and Late
|
||||
@@ -132,7 +135,7 @@ Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(
|
||||
|
||||
//--- Perform initializations ------------------------------
|
||||
// define initial code frequency basis of NCO
|
||||
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
|
||||
d_code_freq_chips = GLONASS_L2_CA_CODE_RATE_HZ;
|
||||
// define residual code phase (in chips)
|
||||
d_rem_code_phase_samples = 0.0;
|
||||
// define residual carrier phase
|
||||
@@ -154,27 +157,29 @@ Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_carrier_lock_threshold = FLAGS_carrier_lock_th;
|
||||
|
||||
systemName["G"] = std::string("GPS");
|
||||
systemName["S"] = std::string("SBAS");
|
||||
systemName["R"] = std::string("Glonass");
|
||||
|
||||
d_acquisition_gnss_synchro = 0;
|
||||
d_channel = 0;
|
||||
d_acq_code_phase_samples = 0.0;
|
||||
d_acq_carrier_doppler_hz = 0.0;
|
||||
d_carrier_doppler_hz = 0.0;
|
||||
d_carrier_doppler_phase_step_rad = 0.0;
|
||||
d_carrier_frequency_hz = 0.0;
|
||||
d_acc_carrier_phase_rad = 0.0;
|
||||
d_code_phase_samples = 0.0;
|
||||
d_rem_code_phase_chips = 0.0;
|
||||
d_code_phase_step_chips = 0.0;
|
||||
d_carrier_phase_step_rad = 0.0;
|
||||
|
||||
d_glonass_freq_ch = 0;
|
||||
|
||||
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
|
||||
}
|
||||
|
||||
|
||||
void Gps_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
|
||||
void Glonass_L2_Ca_Dll_Pll_Tracking_cc::start_tracking()
|
||||
{
|
||||
gr::thread::scoped_lock lk(d_setlock);
|
||||
/*
|
||||
* correct the code phase according to the delay between acq and trk
|
||||
*/
|
||||
@@ -185,24 +190,25 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
|
||||
long int acq_trk_diff_samples;
|
||||
double acq_trk_diff_seconds;
|
||||
acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp); //-d_vector_length;
|
||||
DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples;
|
||||
DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
|
||||
acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
|
||||
// Doppler effect
|
||||
// Fd=(C/(C+Vr))*F
|
||||
double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
|
||||
d_glonass_freq_ch = GLONASS_L2_CA_FREQ_HZ + (DFRQ2_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
|
||||
double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
|
||||
// new chip and prn sequence periods based on acq Doppler
|
||||
double T_chip_mod_seconds;
|
||||
double T_prn_mod_seconds;
|
||||
double T_prn_mod_samples;
|
||||
d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
|
||||
d_code_freq_chips = radial_velocity * GLONASS_L2_CA_CODE_RATE_HZ;
|
||||
d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
|
||||
T_chip_mod_seconds = 1 / d_code_freq_chips;
|
||||
T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L2_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
|
||||
|
||||
d_current_prn_length_samples = round(T_prn_mod_samples);
|
||||
|
||||
double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
|
||||
double T_prn_true_seconds = GLONASS_L2_CA_CODE_LENGTH_CHIPS / GLONASS_L2_CA_CODE_RATE_HZ;
|
||||
double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
|
||||
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
|
||||
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
|
||||
@@ -216,17 +222,19 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
|
||||
|
||||
d_acq_code_phase_samples = corrected_acq_phase_samples;
|
||||
|
||||
d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ2_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
||||
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
||||
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
|
||||
d_carrier_doppler_phase_step_rad = GLONASS_TWO_PI * (d_carrier_doppler_hz) / static_cast<double>(d_fs_in);
|
||||
|
||||
// DLL/PLL filter initialization
|
||||
d_carrier_loop_filter.initialize(); // initialize the carrier filter
|
||||
d_code_loop_filter.initialize(); // initialize the code filter
|
||||
|
||||
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
|
||||
gps_l1_ca_code_gen_float(d_ca_code, d_acquisition_gnss_synchro->PRN, 0);
|
||||
glonass_l2_ca_code_gen_complex(d_ca_code, 0);
|
||||
|
||||
multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
|
||||
multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(GLONASS_L2_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs[n] = gr_complex(0, 0);
|
||||
@@ -244,20 +252,60 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
|
||||
sys = sys_.substr(0, 1);
|
||||
|
||||
// DEBUG OUTPUT
|
||||
std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
|
||||
std::cout << "Tracking of GLONASS L2 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
|
||||
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
|
||||
|
||||
// enable tracking
|
||||
d_pull_in = true;
|
||||
d_enable_tracking = true;
|
||||
|
||||
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
|
||||
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_frequency_hz
|
||||
<< " Code Phase correction [samples]=" << delay_correction_samples
|
||||
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
|
||||
}
|
||||
|
||||
|
||||
int Gps_L1_Ca_Dll_Pll_Tracking_cc::save_matfile()
|
||||
Glonass_L2_Ca_Dll_Pll_Tracking_cc::~Glonass_L2_Ca_Dll_Pll_Tracking_cc()
|
||||
{
|
||||
if (d_dump_file.is_open())
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
catch (const std::exception &ex)
|
||||
{
|
||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
||||
}
|
||||
}
|
||||
if (d_dump)
|
||||
{
|
||||
if (d_channel == 0)
|
||||
{
|
||||
std::cout << "Writing .mat files ...";
|
||||
}
|
||||
Glonass_L2_Ca_Dll_Pll_Tracking_cc::save_matfile();
|
||||
if (d_channel == 0)
|
||||
{
|
||||
std::cout << " done." << std::endl;
|
||||
}
|
||||
}
|
||||
try
|
||||
{
|
||||
volk_gnsssdr_free(d_local_code_shift_chips);
|
||||
volk_gnsssdr_free(d_correlator_outs);
|
||||
volk_gnsssdr_free(d_ca_code);
|
||||
delete[] d_Prompt_buffer;
|
||||
multicorrelator_cpu.free();
|
||||
}
|
||||
catch (const std::exception &ex)
|
||||
{
|
||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int Glonass_L2_Ca_Dll_Pll_Tracking_cc::save_matfile()
|
||||
{
|
||||
// READ DUMP FILE
|
||||
std::ifstream::pos_type size;
|
||||
@@ -464,52 +512,9 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::save_matfile()
|
||||
}
|
||||
|
||||
|
||||
Gps_L1_Ca_Dll_Pll_Tracking_cc::~Gps_L1_Ca_Dll_Pll_Tracking_cc()
|
||||
{
|
||||
if (d_dump_file.is_open())
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
catch (const std::exception &ex)
|
||||
{
|
||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
||||
}
|
||||
}
|
||||
|
||||
if (d_dump)
|
||||
{
|
||||
if (d_channel == 0)
|
||||
{
|
||||
std::cout << "Writing .mat files ...";
|
||||
}
|
||||
Gps_L1_Ca_Dll_Pll_Tracking_cc::save_matfile();
|
||||
if (d_channel == 0)
|
||||
{
|
||||
std::cout << " done." << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
volk_gnsssdr_free(d_local_code_shift_chips);
|
||||
volk_gnsssdr_free(d_correlator_outs);
|
||||
volk_gnsssdr_free(d_ca_code);
|
||||
delete[] d_Prompt_buffer;
|
||||
multicorrelator_cpu.free();
|
||||
}
|
||||
catch (const std::exception &ex)
|
||||
{
|
||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
||||
int Glonass_L2_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||
{
|
||||
gr::thread::scoped_lock lk(d_setlock);
|
||||
// process vars
|
||||
double carr_error_hz = 0.0;
|
||||
double carr_error_filt_hz = 0.0;
|
||||
@@ -517,7 +522,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__(
|
||||
double code_error_filt_chips = 0.0;
|
||||
|
||||
// Block input data and block output stream pointers
|
||||
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]);
|
||||
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); // PRN start block alignment
|
||||
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
|
||||
|
||||
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
||||
@@ -540,13 +545,14 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__(
|
||||
d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples
|
||||
d_pull_in = false;
|
||||
// take into account the carrier cycles accumulated in the pull in signal alignment
|
||||
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
|
||||
d_acc_carrier_phase_rad -= d_carrier_doppler_phase_step_rad * samples_offset;
|
||||
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 = 1;
|
||||
*out[0] = current_synchro_data;
|
||||
consume_each(samples_offset); // shift input to perform alignment with local replica
|
||||
return 0;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
|
||||
@@ -561,13 +567,13 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__(
|
||||
// ################## PLL ##########################################################
|
||||
// PLL discriminator
|
||||
// Update PLL discriminator [rads/Ti -> Secs/Ti]
|
||||
carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; // prompt output
|
||||
carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GLONASS_TWO_PI; // prompt output
|
||||
// Carrier discriminator filter
|
||||
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
|
||||
// New carrier Doppler frequency estimation
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
|
||||
// New code Doppler frequency estimation
|
||||
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ);
|
||||
d_carrier_frequency_hz += carr_error_filt_hz;
|
||||
d_carrier_doppler_hz += carr_error_filt_hz;
|
||||
d_code_freq_chips = GLONASS_L2_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L2_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
|
||||
|
||||
// ################## DLL ##########################################################
|
||||
// DLL discriminator
|
||||
@@ -575,27 +581,28 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__(
|
||||
// Code discriminator filter
|
||||
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_L1_CA_CODE_LENGTH_CHIPS;
|
||||
double T_prn_seconds = T_chip_seconds * GLONASS_L2_CA_CODE_LENGTH_CHIPS;
|
||||
double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips * T_chip_seconds); //[seconds]
|
||||
//double code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; // [seconds]
|
||||
//double code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GLONASS_L1_CA_CODE_RATE_HZ; // [seconds]
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
//double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
|
||||
//double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
//double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||
double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
|
||||
d_current_prn_length_samples = round(K_blk_samples); // round to a discrete number of samples
|
||||
|
||||
//################### PLL COMMANDS #################################################
|
||||
// carrier phase step (NCO phase increment per sample) [rads/sample]
|
||||
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
||||
d_carrier_doppler_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
||||
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
|
||||
// remnant carrier phase to prevent overflow in the code NCO
|
||||
d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
|
||||
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
|
||||
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GLONASS_TWO_PI);
|
||||
// carrier phase accumulator
|
||||
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples;
|
||||
d_acc_carrier_phase_rad -= d_carrier_doppler_phase_step_rad * d_current_prn_length_samples;
|
||||
|
||||
//################### DLL COMMANDS #################################################
|
||||
// code phase step (Code resampler phase increment per sample) [chips/sample]
|
||||
@@ -605,7 +612,7 @@ 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 < FLAGS_cn0_samples)
|
||||
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; //prompt
|
||||
@@ -615,9 +622,9 @@ 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, FLAGS_cn0_samples, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
|
||||
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L2_CA_CODE_LENGTH_CHIPS);
|
||||
// Carrier lock indicator
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples);
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
||||
// Loss of lock detection
|
||||
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
|
||||
{
|
||||
@@ -655,7 +662,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__(
|
||||
}
|
||||
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
|
||||
current_synchro_data.System = {'G'};
|
||||
current_synchro_data.System = {'R'};
|
||||
current_synchro_data.correlation_length_ms = 1;
|
||||
}
|
||||
|
||||
@@ -668,8 +675,9 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__(
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
double tmp_double;
|
||||
unsigned long int tmp_long;
|
||||
float tmp_float;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
prompt_I = d_correlator_outs[1].real();
|
||||
prompt_Q = d_correlator_outs[1].imag();
|
||||
tmp_E = std::abs<float>(d_correlator_outs[0]);
|
||||
@@ -677,41 +685,45 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__(
|
||||
tmp_L = std::abs<float>(d_correlator_outs[2]);
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
||||
// PRN start sample stamp
|
||||
tmp_long = d_sample_counter + d_current_prn_length_samples;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_long), sizeof(unsigned long int));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_rad), sizeof(double));
|
||||
|
||||
tmp_float = d_acc_carrier_phase_rad;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier and code frequency
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
|
||||
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&carr_error_hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(double));
|
||||
|
||||
tmp_float = carr_error_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = carr_error_filt_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&code_error_chips), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&code_error_filt_chips), sizeof(double));
|
||||
|
||||
tmp_float = code_error_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = code_error_filt_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
|
||||
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_double = d_rem_code_phase_samples;
|
||||
tmp_float = d_rem_code_phase_samples;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = static_cast<double>(d_sample_counter);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
@@ -724,19 +736,11 @@ 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 (current_synchro_data.Flag_valid_symbol_output)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
return 1; // output tracking result ALWAYS even in the case of d_enable_tracking==false
|
||||
}
|
||||
|
||||
|
||||
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
|
||||
void Glonass_L2_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
LOG(INFO) << "Tracking Channel set to " << d_channel;
|
||||
@@ -762,7 +766,7 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
|
||||
}
|
||||
|
||||
|
||||
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
|
||||
void Glonass_L2_Ca_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
|
||||
{
|
||||
d_acquisition_gnss_synchro = p_gnss_synchro;
|
||||
}
|
||||
@@ -1,18 +1,17 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_dll_pll_tracking_cc.h
|
||||
* \brief Interface of a code DLL + carrier PLL tracking block
|
||||
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
* Cillian O'Driscoll, 2017. cillian.odriscoll(at)gmail.com
|
||||
* \file glonass_l2_ca_dll_pll_tracking_cc.h
|
||||
* \brief Implementation of a code DLL + carrier PLL tracking block
|
||||
* \author Damian Miralles, 2018. dmiralles2009(at)gmail.com
|
||||
*
|
||||
*
|
||||
* 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
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
||||
* Approach, Birkha user, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
@@ -35,25 +34,25 @@
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_CC_H
|
||||
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_CC_H
|
||||
#ifndef GNSS_SDR_GLONASS_L2_CA_DLL_PLL_TRACKING_CC_H
|
||||
#define GNSS_SDR_GLONASS_L2_CA_DLL_PLL_TRACKING_CC_H
|
||||
|
||||
#include "gnss_synchro.h"
|
||||
#include "tracking_2nd_DLL_filter.h"
|
||||
#include "tracking_2nd_PLL_filter.h"
|
||||
#include "cpu_multicorrelator_real_codes.h"
|
||||
#include "cpu_multicorrelator.h"
|
||||
#include <gnuradio/block.h>
|
||||
#include <fstream>
|
||||
#include <map>
|
||||
#include <string>
|
||||
|
||||
class Gps_L1_Ca_Dll_Pll_Tracking_cc;
|
||||
class Glonass_L2_Ca_Dll_Pll_Tracking_cc;
|
||||
|
||||
typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Tracking_cc>
|
||||
gps_l1_ca_dll_pll_tracking_cc_sptr;
|
||||
typedef boost::shared_ptr<Glonass_L2_Ca_Dll_Pll_Tracking_cc>
|
||||
glonass_l2_ca_dll_pll_tracking_cc_sptr;
|
||||
|
||||
gps_l1_ca_dll_pll_tracking_cc_sptr
|
||||
gps_l1_ca_dll_pll_make_tracking_cc(long if_freq,
|
||||
glonass_l2_ca_dll_pll_tracking_cc_sptr
|
||||
glonass_l2_ca_dll_pll_make_tracking_cc(long if_freq,
|
||||
long fs_in, unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
@@ -65,10 +64,10 @@ gps_l1_ca_dll_pll_make_tracking_cc(long if_freq,
|
||||
/*!
|
||||
* \brief This class implements a DLL + PLL tracking loop block
|
||||
*/
|
||||
class Gps_L1_Ca_Dll_Pll_Tracking_cc : public gr::block
|
||||
class Glonass_L2_Ca_Dll_Pll_Tracking_cc : public gr::block
|
||||
{
|
||||
public:
|
||||
~Gps_L1_Ca_Dll_Pll_Tracking_cc();
|
||||
~Glonass_L2_Ca_Dll_Pll_Tracking_cc();
|
||||
|
||||
void set_channel(unsigned int channel);
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
|
||||
@@ -80,8 +79,8 @@ public:
|
||||
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
|
||||
|
||||
private:
|
||||
friend gps_l1_ca_dll_pll_tracking_cc_sptr
|
||||
gps_l1_ca_dll_pll_make_tracking_cc(long if_freq,
|
||||
friend glonass_l2_ca_dll_pll_tracking_cc_sptr
|
||||
glonass_l2_ca_dll_pll_make_tracking_cc(long if_freq,
|
||||
long fs_in, unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
@@ -89,7 +88,7 @@ private:
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips);
|
||||
|
||||
Gps_L1_Ca_Dll_Pll_Tracking_cc(long if_freq,
|
||||
Glonass_L2_Ca_Dll_Pll_Tracking_cc(long if_freq,
|
||||
long fs_in, unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
@@ -97,7 +96,6 @@ private:
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips);
|
||||
|
||||
int save_matfile();
|
||||
// tracking configuration vars
|
||||
unsigned int d_vector_length;
|
||||
bool d_dump;
|
||||
@@ -107,6 +105,7 @@ private:
|
||||
|
||||
long d_if_freq;
|
||||
long d_fs_in;
|
||||
long d_glonass_freq_ch;
|
||||
|
||||
double d_early_late_spc_chips;
|
||||
|
||||
@@ -124,15 +123,18 @@ private:
|
||||
double d_acq_carrier_doppler_hz;
|
||||
// correlator
|
||||
int d_n_correlator_taps;
|
||||
float* d_ca_code;
|
||||
gr_complex* d_ca_code;
|
||||
float* d_local_code_shift_chips;
|
||||
gr_complex* d_correlator_outs;
|
||||
cpu_multicorrelator_real_codes multicorrelator_cpu;
|
||||
cpu_multicorrelator multicorrelator_cpu;
|
||||
|
||||
|
||||
// tracking vars
|
||||
double d_code_freq_chips;
|
||||
double d_code_phase_step_chips;
|
||||
double d_carrier_doppler_hz;
|
||||
double d_carrier_doppler_phase_step_rad;
|
||||
double d_carrier_frequency_hz;
|
||||
double d_carrier_phase_step_rad;
|
||||
double d_acc_carrier_phase_rad;
|
||||
double d_code_phase_samples;
|
||||
@@ -162,6 +164,8 @@ private:
|
||||
|
||||
std::map<std::string, std::string> systemName;
|
||||
std::string sys;
|
||||
|
||||
int save_matfile();
|
||||
};
|
||||
|
||||
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_CC_H
|
||||
#endif //GNSS_SDR_GLONASS_L2_CA_DLL_PLL_TRACKING_CC_H
|
||||
@@ -587,7 +587,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attrib
|
||||
d_code_phase_step_chips,
|
||||
d_correlation_length_samples);
|
||||
|
||||
// ####### coherent intergration extension
|
||||
// ####### coherent integration extension
|
||||
// keep the last symbols
|
||||
d_E_history.push_back(d_correlator_outs[0]); // save early output
|
||||
d_P_history.push_back(d_correlator_outs[1]); // save prompt output
|
||||
@@ -701,7 +701,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attrib
|
||||
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
|
||||
code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
@@ -810,7 +810,9 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attrib
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
double tmp_double;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
float tmp_float;
|
||||
prompt_I = d_correlator_outs[1].real();
|
||||
prompt_Q = d_correlator_outs[1].imag();
|
||||
tmp_E = std::abs<float>(d_correlator_outs[0]);
|
||||
@@ -818,41 +820,45 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attrib
|
||||
tmp_L = std::abs<float>(d_correlator_outs[2]);
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
||||
// PRN start sample stamp
|
||||
//tmp_float=(float)d_sample_counter;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
|
||||
|
||||
tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier and code frequency
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
|
||||
|
||||
//PLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carr_phase_error_secs_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
|
||||
|
||||
//DLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_chips_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_filt_chips_Ti), sizeof(double));
|
||||
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_error_filt_chips_Ti;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
|
||||
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
|
||||
@@ -387,7 +387,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work(
|
||||
d_rem_code_phase_chips, d_code_phase_step_chips,
|
||||
d_correlation_length_samples);
|
||||
|
||||
// ####### coherent intergration extension
|
||||
// ####### coherent integration extension
|
||||
// keep the last symbols
|
||||
d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output
|
||||
d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output
|
||||
@@ -517,7 +517,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work(
|
||||
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
|
||||
code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
@@ -632,49 +632,55 @@ int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work(
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
double tmp_double;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
float tmp_float;
|
||||
prompt_I = d_correlator_outs_16sc[1].real();
|
||||
prompt_Q = d_correlator_outs_16sc[1].imag();
|
||||
tmp_E = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
|
||||
tmp_P = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
|
||||
tmp_L = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
|
||||
tmp_E = std::abs<float>(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
|
||||
tmp_P = std::abs<float>(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
|
||||
tmp_L = std::abs<float>(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
||||
// PRN start sample stamp
|
||||
//tmp_float=(float)d_sample_counter;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
|
||||
|
||||
tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier and code frequency
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
|
||||
|
||||
//PLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carr_phase_error_secs_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
|
||||
|
||||
//DLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_chips_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_filt_chips_Ti), sizeof(double));
|
||||
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_error_filt_chips_Ti;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
|
||||
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
|
||||
@@ -590,7 +590,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attrib
|
||||
d_code_phase_step_chips,
|
||||
d_correlation_length_samples);
|
||||
|
||||
// ####### coherent intergration extension
|
||||
// ####### coherent integration extension
|
||||
// keep the last symbols
|
||||
d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output
|
||||
d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output
|
||||
@@ -703,7 +703,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attrib
|
||||
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
|
||||
code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
@@ -812,49 +812,55 @@ int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attrib
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
double tmp_double;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
float tmp_float;
|
||||
prompt_I = d_correlator_outs_16sc[1].real();
|
||||
prompt_Q = d_correlator_outs_16sc[1].imag();
|
||||
tmp_E = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
|
||||
tmp_P = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
|
||||
tmp_L = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
|
||||
tmp_E = std::abs<float>(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
|
||||
tmp_P = std::abs<float>(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
|
||||
tmp_L = std::abs<float>(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
||||
// PRN start sample stamp
|
||||
//tmp_float=(float)d_sample_counter;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
|
||||
|
||||
tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier and code frequency
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
|
||||
|
||||
//PLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carr_phase_error_secs_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
|
||||
|
||||
//DLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_chips_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_error_filt_chips_Ti), sizeof(double));
|
||||
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_error_filt_chips_Ti;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
|
||||
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
|
||||
@@ -368,7 +368,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
|
||||
// TODO: PLL carrier aid to DLL is disabled. Re-enable it and measure performance
|
||||
dll_code_error_secs_Ti = -code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti;
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
double T_chip_seconds;
|
||||
double T_prn_seconds;
|
||||
@@ -468,7 +468,9 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
double tmp_double;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
float tmp_float;
|
||||
prompt_I = d_correlator_outs[1].real();
|
||||
prompt_Q = d_correlator_outs[1].imag();
|
||||
tmp_E = std::abs<float>(d_correlator_outs[0]);
|
||||
@@ -476,41 +478,45 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
|
||||
tmp_L = std::abs<float>(d_correlator_outs[2]);
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
||||
// PRN start sample stamp
|
||||
//tmp_float=(float)d_sample_counter;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_cycles), sizeof(double));
|
||||
|
||||
tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier and code frequency
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
|
||||
|
||||
//PLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&carr_phase_error_secs_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
|
||||
|
||||
//DLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&code_error_chips_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&code_error_filt_chips), sizeof(double));
|
||||
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_error_filt_chips_Ti;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
|
||||
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_double = d_rem_code_phase_samples;
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
|
||||
@@ -333,7 +333,7 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attrib
|
||||
d_sample_counter_seconds = d_sample_counter_seconds + (static_cast<double>(samples_offset) / static_cast<double>(d_fs_in));
|
||||
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
|
||||
d_pull_in = false;
|
||||
consume_each(samples_offset); //shift input to perform alignement with local replica
|
||||
consume_each(samples_offset); //shift input to perform alignment with local replica
|
||||
return 1;
|
||||
}
|
||||
|
||||
@@ -482,48 +482,55 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attrib
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
float tmp_float;
|
||||
prompt_I = (*d_Prompt).real();
|
||||
prompt_Q = (*d_Prompt).imag();
|
||||
tmp_E = std::abs<float>(*d_Early);
|
||||
tmp_P = std::abs<float>(*d_Prompt);
|
||||
tmp_L = std::abs<float>(*d_Late);
|
||||
prompt_I = d_correlator_outs[1].real();
|
||||
prompt_Q = d_correlator_outs[1].imag();
|
||||
tmp_E = std::abs<float>(d_correlator_outs[0]);
|
||||
tmp_P = std::abs<float>(d_correlator_outs[1]);
|
||||
tmp_L = std::abs<float>(d_correlator_outs[2]);
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
||||
// PRN start sample stamp
|
||||
//tmp_float=(float)d_sample_counter;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_rad), sizeof(float));
|
||||
|
||||
// carrier and code frequency
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_hz), sizeof(float));
|
||||
|
||||
//PLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&carr_error), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&carr_nco), sizeof(float));
|
||||
|
||||
//DLL commands
|
||||
d_dump_file.write(reinterpret_cast<char *>(&code_error), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&code_nco), sizeof(float));
|
||||
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(float));
|
||||
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_float = 0;
|
||||
tmp_float = d_acc_carrier_phase_rad;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter_seconds), sizeof(double));
|
||||
|
||||
// carrier and code frequency
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
tmp_float = 0.0;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = carr_error;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
tmp_float = 0.0;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = code_error;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_float = 0.0;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
|
||||
@@ -579,7 +579,7 @@ int gps_l2_m_dll_pll_tracking_cc::general_work(int noutput_items __attribute__((
|
||||
double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips * T_chip_seconds); //[seconds]
|
||||
//double code_error_filt_secs = (GPS_L2_M_PERIOD * code_error_filt_chips) / GPS_L2_M_CODE_RATE_HZ; //[seconds]
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||
|
||||
@@ -580,7 +580,7 @@ int gps_l5i_dll_pll_tracking_cc::general_work(int noutput_items __attribute__((u
|
||||
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 #######################
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||
|
||||
Reference in New Issue
Block a user