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Code Issues Releases Wiki Activity

Telemetry decoders improvements

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This commit is contained in:
Javier Arribas 2018-08-07 19:39:56 +02:00
parent 856eaf1881
commit 5c24826d70
10 changed files with 193 additions and 159 deletions
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103
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
View File

@ -117,7 +117,8 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc(
d_flag_frame_sync = false; d_flag_frame_sync = false;
d_flag_parity = false; d_flag_parity = false;
d_TOW_at_current_symbol = 0; d_TOW_at_current_symbol_ms = 0;
d_TOW_at_Preamble_ms = 0;
delta_t = 0; delta_t = 0;
d_CRC_error_counter = 0; d_CRC_error_counter = 0;
flag_even_word_arrived = 0; flag_even_word_arrived = 0;
@ -251,9 +252,9 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in
DLOG(INFO) << "T0G=" << tmp_obj->t_0G_10; DLOG(INFO) << "T0G=" << tmp_obj->t_0G_10;
DLOG(INFO) << "WN_0G_10=" << tmp_obj->WN_0G_10; DLOG(INFO) << "WN_0G_10=" << tmp_obj->WN_0G_10;
DLOG(INFO) << "Current parameters:"; DLOG(INFO) << "Current parameters:";
DLOG(INFO) << "d_TOW_at_current_symbol=" << d_TOW_at_current_symbol; DLOG(INFO) << "d_TOW_at_current_symbol_ms=" << d_TOW_at_current_symbol_ms;
DLOG(INFO) << "d_nav.WN_0=" << d_nav.WN_0; DLOG(INFO) << "d_nav.WN_0=" << d_nav.WN_0;
delta_t = tmp_obj->A_0G_10 + tmp_obj->A_1G_10 * (d_TOW_at_current_symbol - tmp_obj->t_0G_10 + 604800 * (fmod((d_nav.WN_0 - tmp_obj->WN_0G_10), 64))); delta_t = tmp_obj->A_0G_10 + tmp_obj->A_1G_10 * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G_10 + 604800 * (fmod((d_nav.WN_0 - tmp_obj->WN_0G_10), 64)));
DLOG(INFO) << "delta_t=" << delta_t << "[s]"; DLOG(INFO) << "delta_t=" << delta_t << "[s]";
} }
} }
@ -406,6 +407,9 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute
LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite; LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
d_flag_frame_sync = false; d_flag_frame_sync = false;
d_stat = 0; d_stat = 0;
d_TOW_at_current_symbol_ms = 0;
d_TOW_at_Preamble_ms = 0;
d_nav.flag_TOW_set = false;
} }
} }
} }
@ -419,73 +423,76 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute
if (d_nav.flag_TOW_5 == true) // page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec) if (d_nav.flag_TOW_5 == true) // page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
{ {
// TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay // TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
d_TOW_at_current_symbol = d_nav.TOW_5 + static_cast<double>(GALILEO_INAV_PAGE_PART_SECONDS) + static_cast<double>(required_symbols + 1) * GALILEO_E1_CODE_PERIOD; d_TOW_at_Preamble_ms = static_cast<unsigned int>(d_nav.TOW_5 * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + GALILEO_INAV_PAGE_PART_MS + (required_symbols + 1) * GALILEO_E1_CODE_PERIOD_MS;
d_nav.flag_TOW_5 = false; d_nav.flag_TOW_5 = false;
} }
else if (d_nav.flag_TOW_6 == true) // page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec) else if (d_nav.flag_TOW_6 == true) // page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
{ {
// TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay // TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
d_TOW_at_current_symbol = d_nav.TOW_6 + static_cast<double>(GALILEO_INAV_PAGE_PART_SECONDS) + static_cast<double>(required_symbols + 1) * GALILEO_E1_CODE_PERIOD; d_TOW_at_Preamble_ms = static_cast<unsigned int>(d_nav.TOW_6 * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + GALILEO_INAV_PAGE_PART_MS + (required_symbols + 1) * GALILEO_E1_CODE_PERIOD_MS;
d_nav.flag_TOW_6 = false; d_nav.flag_TOW_6 = false;
} }
else else
{ {
// this page has no timing information // this page has no timing information
d_TOW_at_current_symbol += GALILEO_E1_CODE_PERIOD; // + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD; d_TOW_at_current_symbol_ms += GALILEO_E1_CODE_PERIOD_MS; // + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD;
} }
} }
else // if there is not a new preamble, we define the TOW of the current symbol else // if there is not a new preamble, we define the TOW of the current symbol
{ {
d_TOW_at_current_symbol += GALILEO_E1_CODE_PERIOD; if (d_nav.flag_TOW_set == true)
}
// if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
if (d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) // all GGTO parameters arrived
{
delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64.0)));
}
if (d_flag_frame_sync == true and d_nav.flag_TOW_set == true)
{
current_symbol.Flag_valid_word = true;
}
else
{
current_symbol.Flag_valid_word = false;
}
current_symbol.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0);
// todo: Galileo to GPS time conversion should be moved to observable block.
// current_symbol.TOW_at_current_symbol_ms -= delta_t; //Galileo to GPS TOW
if (d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{ {
double tmp_double; d_TOW_at_current_symbol_ms += GALILEO_E1_CODE_PERIOD_MS;
unsigned long int tmp_ulong_int;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));
tmp_double = 0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
} }
} }
// remove used symbols from history // remove used symbols from history
// todo: Use circular buffer here
if (d_symbol_history.size() > required_symbols) if (d_symbol_history.size() > required_symbols)
{ {
d_symbol_history.pop_front(); d_symbol_history.pop_front();
} }
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol; if (d_nav.flag_TOW_set)
return 1; {
if (d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) // all GGTO parameters arrived
{
delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64.0)));
}
current_symbol.Flag_valid_word = d_nav.flag_TOW_set;
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
// todo: Galileo to GPS time conversion should be moved to observable block.
// current_symbol.TOW_at_current_symbol_ms -= delta_t; //Galileo to GPS TOW
if (d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
unsigned long int tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));
tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;
}
else
{
return 0;
}
} }

3
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h
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@ -105,7 +105,8 @@ private:
Gnss_Satellite d_satellite; Gnss_Satellite d_satellite;
int d_channel; int d_channel;
double d_TOW_at_current_symbol; unsigned int d_TOW_at_Preamble_ms;
unsigned int d_TOW_at_current_symbol_ms;
bool flag_TOW_set; bool flag_TOW_set;
double delta_t; //GPS-GALILEO time offset double delta_t; //GPS-GALILEO time offset

86
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
View File

@ -154,7 +154,6 @@ galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc(
// initialize internal vars // initialize internal vars
d_dump = dump; d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "GALILEO E5A TELEMETRY PROCESSING: satellite " << d_satellite;
// set the preamble // set the preamble
for (int i = 0; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++) for (int i = 0; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
@ -182,7 +181,8 @@ galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc(
d_flag_preamble = false; d_flag_preamble = false;
d_preamble_index = 0; d_preamble_index = 0;
d_flag_frame_sync = false; d_flag_frame_sync = false;
d_TOW_at_current_symbol = 0.0; d_TOW_at_current_symbol_ms = 0;
d_TOW_at_Preamble_ms = 0;
flag_TOW_set = false; flag_TOW_set = false;
d_CRC_error_counter = 0; d_CRC_error_counter = 0;
d_channel = 0; d_channel = 0;
@ -345,7 +345,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute
// ****************** Frame sync ****************** // ****************** Frame sync ******************
if ((d_stat == 0) && new_symbol) // no preamble information if ((d_stat == 0) && new_symbol) // no preamble information
{ {
if (abs(corr_value) >= GALILEO_FNAV_PREAMBLE_LENGTH_BITS) if (abs(corr_value) == GALILEO_FNAV_PREAMBLE_LENGTH_BITS)
{ {
d_preamble_index = d_sample_counter; // record the preamble sample stamp d_preamble_index = d_sample_counter; // record the preamble sample stamp
LOG(INFO) << "Preamble detection for Galileo E5a satellite " << d_satellite; LOG(INFO) << "Preamble detection for Galileo E5a satellite " << d_satellite;
@ -354,7 +354,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute
} }
else if ((d_stat == 1) && new_symbol) // possible preamble lock else if ((d_stat == 1) && new_symbol) // possible preamble lock
{ {
if (abs(corr_value) >= GALILEO_FNAV_PREAMBLE_LENGTH_BITS) if (abs(corr_value) == GALILEO_FNAV_PREAMBLE_LENGTH_BITS)
{ {
// check preamble separation // check preamble separation
preamble_diff = d_sample_counter - d_preamble_index; preamble_diff = d_sample_counter - d_preamble_index;
@ -418,6 +418,9 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute
d_flag_frame_sync = false; d_flag_frame_sync = false;
d_stat = 0; d_stat = 0;
flag_bit_start = false; flag_bit_start = false;
d_nav.flag_TOW_set = false;
d_TOW_at_current_symbol_ms = 0;
d_TOW_at_Preamble_ms = 0;
} }
} }
} }
@ -432,73 +435,72 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute
{ {
if (d_nav.flag_TOW_1 == true) if (d_nav.flag_TOW_1 == true)
{ {
d_TOW_at_current_symbol = d_nav.FNAV_TOW_1 + (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD); d_TOW_at_Preamble_ms = static_cast<unsigned int>(d_nav.FNAV_TOW_1 * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + (GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS;
d_nav.flag_TOW_1 = false; d_nav.flag_TOW_1 = false;
} }
else if (d_nav.flag_TOW_2 == true) else if (d_nav.flag_TOW_2 == true)
{ {
d_TOW_at_current_symbol = d_nav.FNAV_TOW_2 + (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD); d_TOW_at_Preamble_ms = static_cast<unsigned int>(d_nav.FNAV_TOW_2 * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + (GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS;
d_nav.flag_TOW_2 = false; d_nav.flag_TOW_2 = false;
} }
else if (d_nav.flag_TOW_3 == true) else if (d_nav.flag_TOW_3 == true)
{ {
d_TOW_at_current_symbol = d_nav.FNAV_TOW_3 + (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD); d_TOW_at_Preamble_ms = static_cast<unsigned int>(d_nav.FNAV_TOW_3 * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + (GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS;
d_nav.flag_TOW_3 = false; d_nav.flag_TOW_3 = false;
} }
else if (d_nav.flag_TOW_4 == true) else if (d_nav.flag_TOW_4 == true)
{ {
d_TOW_at_current_symbol = d_nav.FNAV_TOW_4 + (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD); d_TOW_at_Preamble_ms = static_cast<unsigned int>(d_nav.FNAV_TOW_4 * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + (GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS;
d_nav.flag_TOW_4 = false; d_nav.flag_TOW_4 = false;
} }
else else
{ {
d_TOW_at_current_symbol += GALILEO_E5a_CODE_PERIOD; d_TOW_at_current_symbol_ms += GALILEO_E5a_CODE_PERIOD_MS;
} }
} }
else // if there is not a new preamble, we define the TOW of the current symbol else // if there is not a new preamble, we define the TOW of the current symbol
{ {
d_TOW_at_current_symbol += GALILEO_E5a_CODE_PERIOD; if (d_nav.flag_TOW_set == true)
}
//if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
if (d_flag_frame_sync and d_nav.flag_TOW_set)
{
current_sample.Flag_valid_word = true;
}
else
{
current_sample.Flag_valid_word = false;
}
current_sample.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0);
if (d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{ {
double tmp_double; d_TOW_at_current_symbol_ms += GALILEO_E5a_CODE_PERIOD_MS;
unsigned long int tmp_ulong_int;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_sample.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));
tmp_double = 0.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing Galileo E5a Telemetry Decoder dump file " << e.what();
} }
} }
// remove used symbols from history // remove used symbols from history
// todo: Use circular buffer here
while (d_symbol_history.size() > required_symbols) while (d_symbol_history.size() > required_symbols)
{ {
d_symbol_history.pop_front(); d_symbol_history.pop_front();
} }
// 3. Make the output
if (current_sample.Flag_valid_word) if (d_nav.flag_TOW_set)
{ {
current_sample.Flag_valid_word = true;
current_sample.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
if (d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
unsigned long int tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_sample.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));
tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing Galileo E5a Telemetry Decoder dump file " << e.what();
}
}
// 3. Make the output
out[0] = current_sample; out[0] = current_sample;
return 1; return 1;
} }

3
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h
View File

@ -104,7 +104,8 @@ private:
bool new_symbol; bool new_symbol;
double d_prompt_acum; double d_prompt_acum;
double page_symbols[GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS]; double page_symbols[GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS];
double d_TOW_at_current_symbol; unsigned int d_TOW_at_Preamble_ms;
unsigned int d_TOW_at_current_symbol_ms;
double delta_t; //GPS-GALILEO time offset double delta_t; //GPS-GALILEO time offset
std::string d_dump_filename; std::string d_dump_filename;
std::ofstream d_dump_file; std::ofstream d_dump_file;

77
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
View File

@ -419,6 +419,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
flag_TOW_set = false; flag_TOW_set = false;
d_current_subframe_symbol = 0; d_current_subframe_symbol = 0;
d_crc_error_synchronization_counter = 0; d_crc_error_synchronization_counter = 0;
d_TOW_at_current_symbol_ms = 0;
} }
} }
} }
@ -426,47 +427,57 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
//2. Add the telemetry decoder information //2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_flag_new_tow_available == true) if (this->d_flag_preamble == true and d_flag_new_tow_available == true)
{ {
d_TOW_at_current_symbol_ms = static_cast<unsigned int>(d_nav.d_TOW) * 1000 + GPS_CA_PREAMBLE_DURATION_MS; d_TOW_at_current_symbol_ms = static_cast<unsigned int>(d_nav.d_TOW * 1000.0) + GPS_CA_PREAMBLE_DURATION_MS;
d_TOW_at_Preamble_ms = d_TOW_at_current_symbol_ms; d_TOW_at_Preamble_ms = static_cast<unsigned int>(d_nav.d_TOW * 1000.0);
flag_TOW_set = true; flag_TOW_set = true;
d_flag_new_tow_available = false; d_flag_new_tow_available = false;
} }
else else
{ {
d_TOW_at_current_symbol_ms += GPS_L1_CA_CODE_PERIOD_MS; if (flag_TOW_set == true)
}
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
current_symbol.Flag_valid_word = flag_TOW_set;
if (flag_PLL_180_deg_phase_locked == true)
{
//correct the accumulated phase for the Costas loop phase shift, if required
current_symbol.Carrier_phase_rads += GPS_PI;
}
if (d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{ {
double tmp_double; d_TOW_at_current_symbol_ms += GPS_L1_CA_CODE_PERIOD_MS;
unsigned long int tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));
tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) * 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
} }
} }
//3. Make the output (copy the object contents to the GNURadio reserved memory) if (flag_TOW_set == true)
*out[0] = current_symbol; {
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
current_symbol.Flag_valid_word = flag_TOW_set;
return 1; if (flag_PLL_180_deg_phase_locked == true)
{
//correct the accumulated phase for the Costas loop phase shift, if required
current_symbol.Carrier_phase_rads += GPS_PI;
}
if (d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
unsigned long int tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));
tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
//3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;
}
else
{
return 0;
}
} }

67
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc
View File

@ -64,8 +64,8 @@ gps_l5_telemetry_decoder_cc::gps_l5_telemetry_decoder_cc(
DLOG(INFO) << "GPS L5 TELEMETRY PROCESSING: satellite " << d_satellite; DLOG(INFO) << "GPS L5 TELEMETRY PROCESSING: satellite " << d_satellite;
d_channel = 0; d_channel = 0;
d_flag_valid_word = false; d_flag_valid_word = false;
d_TOW_at_current_symbol = 0.0; d_TOW_at_current_symbol_ms = 0;
d_TOW_at_Preamble = 0.0; d_TOW_at_Preamble_ms = 0;
//initialize the CNAV frame decoder (libswiftcnav) //initialize the CNAV frame decoder (libswiftcnav)
cnav_msg_decoder_init(&d_cnav_decoder); cnav_msg_decoder_init(&d_cnav_decoder);
for (int aux = 0; aux < GPS_L5i_NH_CODE_LENGTH; aux++) for (int aux = 0; aux < GPS_L5i_NH_CODE_LENGTH; aux++)
@ -236,47 +236,56 @@ int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((u
} }
//update TOW at the preamble instant //update TOW at the preamble instant
d_TOW_at_Preamble = static_cast<double>(msg.tow) * 6.0; d_TOW_at_Preamble_ms = msg.tow * 6000;
//* The time of the last input symbol can be computed from the message ToW and //* The time of the last input symbol can be computed from the message ToW and
//* delay by the formulae: //* delay by the formulae:
//* \code //* \code
//* symbolTime_ms = msg->tow * 6000 + *pdelay * 10 + (12 * 10); 12 symbols of the encoder's transitory //* symbolTime_ms = msg->tow * 6000 + *pdelay * 10 + (12 * 10); 12 symbols of the encoder's transitory
d_TOW_at_current_symbol = (static_cast<double>(msg.tow) * 6.0) + (static_cast<double>(delay) + 12.0) * GPS_L5i_SYMBOL_PERIOD; //d_TOW_at_current_symbol_ms = msg.tow * 6000 + (delay + 12) * GPS_L5i_SYMBOL_PERIOD_MS;
d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
d_TOW_at_current_symbol_ms = msg.tow * 6000 + (delay + 12) * GPS_L5i_SYMBOL_PERIOD_MS;
d_flag_valid_word = true; d_flag_valid_word = true;
} }
else else
{ {
d_TOW_at_current_symbol += GPS_L5i_PERIOD; d_TOW_at_current_symbol_ms += GPS_L5i_PERIOD_MS;
if (current_synchro_data.Flag_valid_symbol_output == false) if (current_synchro_data.Flag_valid_symbol_output == false)
{ {
d_flag_valid_word = false; d_flag_valid_word = false;
} }
} }
current_synchro_data.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0);
current_synchro_data.Flag_valid_word = d_flag_valid_word;
if (d_dump == true) if (d_flag_valid_word == true)
{ {
// MULTIPLEXED FILE RECORDING - Record results to file current_synchro_data.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
try current_synchro_data.Flag_valid_word = d_flag_valid_word;
{
double tmp_double;
unsigned long int tmp_ulong_int;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_synchro_data.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing Telemetry GPS L5 dump file " << e.what();
}
}
//3. Make the output (copy the object contents to the GNURadio reserved memory) if (d_dump == true)
out[0] = current_synchro_data; {
return 1; // MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
unsigned long int tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_synchro_data.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));
tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing Telemetry GPS L5 dump file " << e.what();
}
}
//3. Make the output (copy the object contents to the GNURadio reserved memory)
out[0] = current_synchro_data;
return 1;
}
else
{
return 0;
}
} }

7
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h
View File

@ -41,8 +41,7 @@
#include <utility> #include <utility>
#include <vector> #include <vector>
extern "C" extern "C" {
{
#include "cnav_msg.h" #include "cnav_msg.h"
#include "edc.h" #include "edc.h"
#include "bits.h" #include "bits.h"
@ -85,8 +84,8 @@ private:
cnav_msg_decoder_t d_cnav_decoder; cnav_msg_decoder_t d_cnav_decoder;
double d_TOW_at_current_symbol; unsigned int d_TOW_at_current_symbol_ms;
double d_TOW_at_Preamble; unsigned int d_TOW_at_Preamble_ms;
bool d_flag_valid_word; bool d_flag_valid_word;
Gps_CNAV_Navigation_Message d_CNAV_Message; Gps_CNAV_Navigation_Message d_CNAV_Message;

2
src/core/system_parameters/GPS_L1_CA.h
View File

@ -68,7 +68,7 @@ const double MAX_TOA_DELAY_MS = 20;
//#define NAVIGATION_SOLUTION_RATE_MS 1000 // this cannot go here //#define NAVIGATION_SOLUTION_RATE_MS 1000 // this cannot go here
//const double GPS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here) //const double GPS_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)
const double GPS_STARTOFFSET_ms = 69.0; const double GPS_STARTOFFSET_ms = 60.0;
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION // OBSERVABLE HISTORY DEEP FOR INTERPOLATION
const int GPS_L1_CA_HISTORY_DEEP = 100; const int GPS_L1_CA_HISTORY_DEEP = 100;

2
src/core/system_parameters/GPS_L5.h
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@ -55,7 +55,9 @@ const double GPS_L5_FREQ_HZ = FREQ5; //!< L5 [Hz]
const double GPS_L5i_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s] const double GPS_L5i_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s]
const int GPS_L5i_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips] const int GPS_L5i_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
const double GPS_L5i_PERIOD = 0.001; //!< GPS L5 code period [seconds] const double GPS_L5i_PERIOD = 0.001; //!< GPS L5 code period [seconds]
const int GPS_L5i_PERIOD_MS = 1; //!< GPS L5 code period [ms]
const double GPS_L5i_SYMBOL_PERIOD = 0.01; //!< GPS L5 symbol period [seconds] const double GPS_L5i_SYMBOL_PERIOD = 0.01; //!< GPS L5 symbol period [seconds]
const int GPS_L5i_SYMBOL_PERIOD_MS = 10; //!< GPS L5 symbol period [ms]
const double GPS_L5q_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s] const double GPS_L5q_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s]
const int GPS_L5q_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips] const int GPS_L5q_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]

2
src/core/system_parameters/Galileo_E1.h
View File

@ -80,6 +80,7 @@ const int GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS = 250;
const int GALILEO_INAV_PAGE_PART_SYMBOLS = 250; //!< Each Galileo INAV pages are composed of two parts (even and odd) each of 250 symbols, including preamble. See Galileo ICD 4.3.2 const int GALILEO_INAV_PAGE_PART_SYMBOLS = 250; //!< Each Galileo INAV pages are composed of two parts (even and odd) each of 250 symbols, including preamble. See Galileo ICD 4.3.2
const int GALILEO_INAV_PAGE_SYMBOLS = 500; //!< The complete Galileo INAV page length const int GALILEO_INAV_PAGE_SYMBOLS = 500; //!< The complete Galileo INAV page length
const int GALILEO_INAV_PAGE_PART_SECONDS = 1; // a page part last 1 sec const int GALILEO_INAV_PAGE_PART_SECONDS = 1; // a page part last 1 sec
const int GALILEO_INAV_PAGE_PART_MS = 1000; // a page part last 1 sec
const int GALILEO_INAV_PAGE_SECONDS = 2; // a full page last 2 sec const int GALILEO_INAV_PAGE_SECONDS = 2; // a full page last 2 sec
const int GALILEO_INAV_INTERLEAVER_ROWS = 8; const int GALILEO_INAV_INTERLEAVER_ROWS = 8;
const int GALILEO_INAV_INTERLEAVER_COLS = 30; const int GALILEO_INAV_INTERLEAVER_COLS = 30;
@ -89,6 +90,7 @@ const int GALILEO_DATA_JK_BITS = 128;
const int GALILEO_DATA_FRAME_BITS = 196; const int GALILEO_DATA_FRAME_BITS = 196;
const int GALILEO_DATA_FRAME_BYTES = 25; const int GALILEO_DATA_FRAME_BYTES = 25;
const double GALILEO_E1_CODE_PERIOD = 0.004; const double GALILEO_E1_CODE_PERIOD = 0.004;
const int GALILEO_E1_CODE_PERIOD_MS = 4;
const std::vector<std::pair<int, int>> type({{1, 6}}); const std::vector<std::pair<int, int>> type({{1, 6}});
const std::vector<std::pair<int, int>> PAGE_TYPE_bit({{1, 6}}); const std::vector<std::pair<int, int>> PAGE_TYPE_bit({{1, 6}});