Added GPS L2M Tracking and its unit test. Still experimental!

conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf

@@ -74,7 +74,7 @@ DataTypeAdapter0.item_type=gr_complex
 InputFilter0.implementation=Freq_Xlating_Fir_Filter
 
 ;#dump: Dump the filtered data to a file.
-InputFilter0.dump=true
+InputFilter0.dump=false
 
 ;#dump_filename: Log path and filename.
 InputFilter0.dump_filename=../data/input_filter_ch0.dat
@@ -168,7 +168,7 @@ DataTypeAdapter1.item_type=gr_complex
 InputFilter1.implementation=Freq_Xlating_Fir_Filter
 
 ;#dump: Dump the filtered data to a file.
-InputFilter1.dump=true
+InputFilter1.dump=false
 
 ;#dump_filename: Log path and filename.
 InputFilter1.dump_filename=../data/input_filter_ch1.dat
@@ -308,23 +308,21 @@ Acquisition_GPS0.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz] 
 Acquisition_GPS0.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
-Acquisition_GPS0.coherent_integration_time_ms=1
+Acquisition_GPS0.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel: 
+;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_GPS0.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_GPS0.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
-;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
+;#threshold: Acquisition threshold
-Acquisition_GPS0.threshold=0.005
+Acquisition_GPS0.threshold=0.015
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] 
 ;Acquisition_GPS0.pfa=0.0001
 ;#doppler_max: Maximum expected Doppler shift [Hz]
 Acquisition_GPS0.doppler_max=5000
-;#doppler_max: Doppler step in the grid search [Hz]
+;#doppler_max: Maximum expected Doppler shift [Hz]
+Acquisition_GPS0.doppler_min=-5000
+;#doppler_step Doppler step in the grid search [Hz]
 Acquisition_GPS0.doppler_step=250
-;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take
+;#maximum dwells
-;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] 
+Acquisition_GPS0.max_dwells=2
-;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition])
-Acquisition_GPS0.bit_transition_flag=false
-;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
-Acquisition_GPS0.max_dwells=1
 
 ;#dump: Enable or disable the acquisition internal data file logging [true] or [false] 
 Acquisition_GPS1.dump=false
@@ -335,23 +333,21 @@ Acquisition_GPS1.item_type=gr_complex
 ;#if: Signal intermediate frequency in [Hz] 
 Acquisition_GPS1.if=0
 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
-Acquisition_GPS1.coherent_integration_time_ms=1
+Acquisition_GPS1.sampled_ms=1
-;#implementation: Acquisition algorithm selection for this channel: 
+;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
-Acquisition_GPS1.implementation=GPS_L2_M_PCPS_Acquisition
+Acquisition_GPS1.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
-;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
+;#threshold: Acquisition threshold
-Acquisition_GPS1.threshold=0.001
+Acquisition_GPS1.threshold=0.015
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] 
 ;Acquisition_GPS1.pfa=0.0001
 ;#doppler_max: Maximum expected Doppler shift [Hz]
 Acquisition_GPS1.doppler_max=5000
-;#doppler_max: Doppler step in the grid search [Hz]
+;#doppler_max: Maximum expected Doppler shift [Hz]
+Acquisition_GPS1.doppler_min=-5000
+;#doppler_step Doppler step in the grid search [Hz]
 Acquisition_GPS1.doppler_step=100
-;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take
+;#maximum dwells
-;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] 
+Acquisition_GPS1.max_dwells=2
-;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition])
-Acquisition_GPS1.bit_transition_flag=false
-;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
-Acquisition_GPS1.max_dwells=1
 
 
 ;######### ACQUISITION GLOBAL CONFIG ############
@@ -369,7 +365,7 @@ Acquisition_GPS.coherent_integration_time_ms=1
 ;#implementation: Acquisition algorithm selection for this channel: 
 Acquisition_GPS.implementation=GPS_L2_M_PCPS_Acquisition
 ;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
-Acquisition_GPS.threshold=0.001
+Acquisition_GPS.threshold=0.003
 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
 ;Acquisition_GPS.pfa=0.0001
 ;#doppler_max: Maximum expected Doppler shift [Hz]
@@ -388,34 +384,72 @@ Acquisition_GPS.max_dwells=1
 ;#The following options are specific to each channel and overwrite the generic options
 
 
+;######### TRACKING CHANNEL 0 CONFIG ############
+
+;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
+Tracking_GPS0.implementation=GPS_L1_CA_DLL_PLL_Tracking
+;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+Tracking_GPS0.item_type=gr_complex
+;#sampling_frequency: Signal Intermediate Frequency in [Hz] 
+Tracking_GPS0.if=0
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] 
+Tracking_GPS0.dump=false
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_GPS0.dump_filename=./tracking_ch_
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_GPS0.pll_bw_hz=40.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_GPS0.dll_bw_hz=3.0;
+;#fll_bw_hz: FLL loop filter bandwidth [Hz]
+Tracking_GPS0.fll_bw_hz=10.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_GPS0.order=3;
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
+Tracking_GPS0.early_late_space_chips=0.5;
+
+;######### TRACKING CHANNEL 1 CONFIG ############
+
+;#implementation: Selected tracking algorithm:
+Tracking_GPS1.implementation=GPS_L2_M_DLL_PLL_Tracking
+;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
+Tracking_GPS1.item_type=gr_complex
+;#sampling_frequency: Signal Intermediate Frequency in [Hz] 
+Tracking_GPS1.if=0
+;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] 
+Tracking_GPS1.dump=false
+;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
+Tracking_GPS1.dump_filename=./tracking_ch_
+;#pll_bw_hz: PLL loop filter bandwidth [Hz]
+Tracking_GPS1.pll_bw_hz=40.0;
+;#dll_bw_hz: DLL loop filter bandwidth [Hz]
+Tracking_GPS1.dll_bw_hz=3.0;
+;#fll_bw_hz: FLL loop filter bandwidth [Hz]
+Tracking_GPS1.fll_bw_hz=10.0;
+;#order: PLL/DLL loop filter order [2] or [3]
+Tracking_GPS1.order=3;
+;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
+Tracking_GPS1.early_late_space_chips=0.5;
+
 ;######### TRACKING GLOBAL CONFIG ############
 
 ;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
 Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking
 ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
 Tracking_GPS.item_type=gr_complex
-
 ;#sampling_frequency: Signal Intermediate Frequency in [Hz] 
 Tracking_GPS.if=0
-
 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] 
 Tracking_GPS.dump=false
-
 ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
 Tracking_GPS.dump_filename=./tracking_ch_
-
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
 Tracking_GPS.pll_bw_hz=40.0;
-
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
 Tracking_GPS.dll_bw_hz=3.0;
-
 ;#fll_bw_hz: FLL loop filter bandwidth [Hz]
 Tracking_GPS.fll_bw_hz=10.0;
-
 ;#order: PLL/DLL loop filter order [2] or [3]
 Tracking_GPS.order=3;
-
 ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
 Tracking_GPS.early_late_space_chips=0.5;
 

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc

@@ -55,7 +55,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
     std::string default_item_type = "gr_complex";
     std::string default_dump_filename = "./data/acquisition.dat";
 
-    DLOG(INFO) << "role " << role;
+    LOG(INFO) << "role " << role;
 
     item_type_ = configuration_->property(role + ".item_type",
             default_item_type);

src/algorithms/libs/gps_l2c_signal.cc

@@ -52,6 +52,24 @@ void gps_l2c_m_code(int32_t * _dest, unsigned int _prn)
 	}
 }
 
+
+
+void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
+{
+	int32_t _code[GPS_L2_M_CODE_LENGTH_CHIPS];
+
+	if (_prn>0 and _prn<51)
+	{
+		gps_l2c_m_code(_code, _prn);
+	}
+
+    for (signed int i=0; i<GPS_L2_M_CODE_LENGTH_CHIPS; i++)
+        {
+        	_dest[i] = std::complex<float>(1.0-2.0*_code[i],0);
+        }
+}
+
+
 /*
  *  Generates complex GPS L2C M code for the desired SV ID and sampled to specific sampling frequency
  */
@@ -76,7 +94,6 @@ void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int
     //--- Find time constants --------------------------------------------------
     _ts = 1/(float)_fs;   // Sampling period in sec
     _tc = 1/(float)_codeFreqBasis;  // C/A chip period in sec
-    //gps_l1_ca_code_gen_complex(_code,_prn); //generate C/A code 1 sample per chip
 
     for (signed int i=0; i<_samplesPerCode; i++)
         {

src/algorithms/libs/gps_l2c_signal.h

@@ -37,7 +37,12 @@
 #include <iostream>
 #include "GPS_L2C.h"
 
-//! Generates complex GPS L2C M code for the desired SV ID and code shift
+
+//!Generates complex GPS L2C M code for the desired SV ID
+void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, unsigned int _prn);
+
+
+//! Generates complex GPS L2C M code for the desired SV ID, and sampled to specific sampling frequency
 void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs);
 
 #endif /* GNSS_GPS_L2C_SIGNAL_H_ */

src/algorithms/tracking/adapters/CMakeLists.txt

@@ -26,6 +26,7 @@ set(TRACKING_ADAPTER_SOURCES
      gps_l1_ca_dll_pll_tracking.cc
      gps_l1_ca_tcp_connector_tracking.cc
      galileo_e5a_dll_pll_tracking.cc
+     gps_l2_m_dll_pll_tracking.cc
 )
 
 include_directories(

src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt

@@ -25,6 +25,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
      gps_l1_ca_dll_pll_tracking_cc.cc
      gps_l1_ca_tcp_connector_tracking_cc.cc
      galileo_e5a_dll_pll_tracking_cc.cc
+     gps_l2_m_dll_pll_tracking_cc.cc
 )
       
 include_directories(

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc

@@ -162,6 +162,11 @@ Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(
 
     systemName["G"] = std::string("GPS");
     systemName["S"] = std::string("SBAS");
+
+
+    set_relative_rate(1.0/((double)d_vector_length*2));
+
+    //set_min_output_buffer((long int)300);
 }
 
 
@@ -324,6 +329,14 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
     float code_error_chips;
     float code_error_filt_chips;
 
+    // Block input data and block output stream pointers
+    const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
+    Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+    // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+    Gnss_Synchro current_synchro_data;
+
+
     if (d_enable_tracking == true)
         {
             // Receiver signal alignment
@@ -340,19 +353,16 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
                     d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
                     d_pull_in = false;
                     //std::cout<<" samples_offset="<<samples_offset<<"\r\n";
+                    // Fill the acquisition data
+                    current_synchro_data = *d_acquisition_gnss_synchro;
+                    *out[0] = current_synchro_data;
                     consume_each(samples_offset); //shift input to perform alignment with local replica
                     return 1;
                 }
 
-            // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
-            Gnss_Synchro current_synchro_data;
             // Fill the acquisition data
             current_synchro_data = *d_acquisition_gnss_synchro;
 
-            // Block input data and block output stream pointers
-            const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
-            Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
-
             // Generate local code and carrier replicas (using \hat{f}_d(k-1))
             update_local_code();
             update_local_carrier();
@@ -387,7 +397,6 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
                     current_synchro_data.Flag_valid_pseudorange = false;
 
                     *out[0] = current_synchro_data;
-
                     return 1;
                 }
 
@@ -538,10 +547,9 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
             *d_Early = gr_complex(0,0);
             *d_Prompt = gr_complex(0,0);
             *d_Late = gr_complex(0,0);
-            Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
+
-            // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+            current_synchro_data.Flag_valid_pseudorange = false;
-            d_acquisition_gnss_synchro->Flag_valid_pseudorange = false;
+            *out[0] = current_synchro_data;
-            *out[0] = *d_acquisition_gnss_synchro;
         }
 
     if(d_dump)

src/core/receiver/gnss_block_factory.cc

@@ -82,6 +82,7 @@
 #include "galileo_volk_e1_dll_pll_veml_tracking.h"
 #include "galileo_e1_tcp_connector_tracking.h"
 #include "galileo_e5a_dll_pll_tracking.h"
+#include "gps_l2_m_dll_pll_tracking.h"
 #include "gps_l1_ca_telemetry_decoder.h"
 #include "galileo_e1b_telemetry_decoder.h"
 #include "galileo_e5a_telemetry_decoder.h"
@@ -307,7 +308,7 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
 {
     std::string default_implementation = "Pass_Through";
     unsigned int channel_count;
-    std::string tracking;
+    std::string tracking_implementation;
     std::string telemetry_decoder;
     std::string acquisition_implementation;
 
@@ -320,12 +321,14 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
 
     LOG(INFO) << "Getting " << channel_count << " GPS channels";
 
-    tracking = configuration->property("Tracking_GPS.implementation", default_implementation);
+    tracking_implementation = configuration->property("Tracking_GPS.implementation", default_implementation);
     telemetry_decoder = configuration->property("TelemetryDecoder_GPS.implementation", default_implementation);
     acquisition_implementation = configuration->property("Acquisition_GPS.implementation", default_implementation);
 
     for (unsigned int i = 0; i < channel_count; i++)
         {
+    		// Search for specific implementation of that particular channel in config file
+    	    //(i.e. Acquisition_GPS0.implementation=xxxx)
             std::string acquisition_implementation_specific = configuration->property(
                         "Acquisition_GPS" + boost::lexical_cast<std::string>(i) + ".implementation",
                         default_implementation);
@@ -334,8 +337,16 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
                 acquisition_implementation = acquisition_implementation_specific;
             }
 
+            std::string tracking_implementation_specific = configuration->property(
+                        "Tracking_GPS" + boost::lexical_cast<std::string>(i) + ".implementation",
+                        default_implementation);
+            if(tracking_implementation_specific.compare(default_implementation) != 0)
+            {
+            	tracking_implementation = tracking_implementation_specific;
+            }
+
             channels->push_back(std::move(GetChannel_GPS(configuration,
-                    acquisition_implementation, tracking, telemetry_decoder, channel_absolute_id, queue)));
+                    acquisition_implementation, tracking_implementation, telemetry_decoder, channel_absolute_id, queue)));
             channel_absolute_id++;
         }
 
@@ -344,12 +355,14 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
 
     LOG(INFO) << "Getting " << channel_count << " Galileo channels";
 
-    tracking = configuration->property("Tracking_Galileo.implementation", default_implementation);
+    tracking_implementation = configuration->property("Tracking_Galileo.implementation", default_implementation);
     telemetry_decoder = configuration->property("TelemetryDecoder_Galileo.implementation", default_implementation);
     acquisition_implementation = configuration->property("Acquisition_Galileo.implementation", default_implementation);
 
     for (unsigned int i = 0; i < channel_count; i++)
         {
+		// Search for specific implementation of that particular channel in config file
+	    //(i.e. Acquisition_Galileo0.implementation=xxxx)
             std::string acquisition_implementation_specific = configuration->property(
                         "Acquisition_Galileo" + boost::lexical_cast<std::string>(i) + ".implementation",
                         default_implementation);
@@ -357,8 +370,18 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
             {
                 acquisition_implementation = acquisition_implementation_specific;
             }
+
+            std::string tracking_implementation_specific = configuration->property(
+                        "Tracking_Galileo" + boost::lexical_cast<std::string>(i) + ".implementation",
+                        default_implementation);
+            if(tracking_implementation_specific.compare(default_implementation) != 0)
+            {
+            	tracking_implementation = tracking_implementation_specific;
+            }
+
+
             channels->push_back(std::move(GetChannel_Galileo(configuration,
-                    acquisition_implementation, tracking, telemetry_decoder, channel_absolute_id, queue)));
+                    acquisition_implementation, tracking_implementation, telemetry_decoder, channel_absolute_id, queue)));
             channel_absolute_id++;
         }
     return channels;
@@ -942,7 +965,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
                     out_streams, queue));
             block = std::move(block_);
         }
-
+    else if (implementation.compare("GPS_L2_M_DLL_PLL_Tracking") == 0)
+        {
+            std::unique_ptr<TrackingInterface> block_(new GpsL2MDllPllTracking(configuration.get(), role, in_streams,
+                    out_streams, queue));
+            block = std::move(block_);
+        }
     else
         {
             // Log fatal. This causes execution to stop.

src/core/receiver/gnss_flowgraph.cc

@@ -700,14 +700,14 @@ void GNSSFlowgraph::set_signals_list()
 
     //    **** FOR DEBUGGING THE LIST OF GNSS SIGNALS ****
 
-        std::cout<<"default_system="<<default_system<<std::endl;
+//        std::cout<<"default_system="<<default_system<<std::endl;
-        std::cout<<"default_signal="<<default_signal<<std::endl;
+//        std::cout<<"default_signal="<<default_signal<<std::endl;
-            std::list<Gnss_Signal>::iterator available_gnss_list_iter;
+//            std::list<Gnss_Signal>::iterator available_gnss_list_iter;
-            for (available_gnss_list_iter = available_GNSS_signals_.begin(); available_gnss_list_iter
+//            for (available_gnss_list_iter = available_GNSS_signals_.begin(); available_gnss_list_iter
-            != available_GNSS_signals_.end(); available_gnss_list_iter++)
+//            != available_GNSS_signals_.end(); available_gnss_list_iter++)
-            {
+//            {
-              std::cout << *available_gnss_list_iter << std::endl;
+//              std::cout << *available_gnss_list_iter << std::endl;
-            }
+//            }
 }
 
 

src/tests/test_main.cc

@@ -108,6 +108,7 @@ DECLARE_string(log_dir);
 //#include "gnss_block/galileo_e5a_pcps_acquisition_test_2.cc"
 #include "gnss_block/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc"
 #include "gnss_block/galileo_e5a_tracking_test.cc"
+#include "gnss_block/gps_l2_m_dll_pll_tracking_test.cc"