mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-18 11:09:56 +00:00
Incremental update for the front-end calibration utility
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@383 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
parent
a487ee7cbc
commit
641692e005
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@ -6,24 +6,24 @@
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[GNSS-SDR]
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;######### INITIAL RECEIVER POSITIION ######
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;GNSS-SDR.init_latitude_deg=40.74846557442795
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;GNSS-SDR.init_longitude_deg=-73.98593961814200
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;GNSS-SDR.init_altitude_m=329.11968943169342
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GNSS-SDR.init_latitude_deg=40.74846557442795
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GNSS-SDR.init_longitude_deg=-73.98593961814200
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GNSS-SDR.init_altitude_m=329.11968943169342
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GNSS-SDR.init_latitude_deg=41.27481478485936
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GNSS-SDR.init_longitude_deg=1.98753271588628
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GNSS-SDR.init_altitude_m=25
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;GNSS-SDR.init_latitude_deg=41.27481478485936
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;GNSS-SDR.init_longitude_deg=1.98753271588628
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;GNSS-SDR.init_altitude_m=25
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;######### GLOBAL OPTIONS ##################
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;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
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GNSS-SDR.internal_fs_hz=2000000
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GNSS-SDR.internal_fs_hz=2000020
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;######### CONTROL_THREAD CONFIG ############
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ControlThread.wait_for_flowgraph=false
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;######### SUPL RRLP GPS assistance configuration #####
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GNSS-SDR.SUPL_gps_enabled=true
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GNSS-SDR.SUPL_read_gps_assistance_xml=false
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GNSS-SDR.SUPL_read_gps_assistance_xml=true
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GNSS-SDR.SUPL_gps_ephemeris_server=supl.nokia.com
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GNSS-SDR.SUPL_gps_ephemeris_port=7275
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GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
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@ -40,13 +40,13 @@ SignalSource.implementation=File_Signal_Source
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SignalSource.AGC_enabled=false
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;#filename: path to file with the captured GNSS signal samples to be processed
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SignalSource.filename=/media/DATALOGGER_/signals/Agilent GPS Generator/New York/2msps.dat
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SignalSource.filename=/media/DATALOGGER_/signals/RTL-SDR/cap_-90dBm_IF15_RF40_usb_peq.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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SignalSource.item_type=gr_complex
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;#sampling_frequency: Original Signal sampling frequency in [Hz]
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SignalSource.sampling_frequency=2000000
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SignalSource.sampling_frequency=2000020
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;#freq: RF front-end center frequency in [Hz]
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SignalSource.freq=1575420000
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@ -155,8 +155,8 @@ InputFilter.grid_density=16
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;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
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;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
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InputFilter.sampling_frequency=2000000
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InputFilter.IF=0
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InputFilter.sampling_frequency=2000020
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InputFilter.IF=-16242
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InputFilter.decimation_factor=1
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@ -181,11 +181,11 @@ Acquisition.sampled_ms=1
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;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
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Acquisition.implementation=GPS_L1_CA_PCPS_Acquisition
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;#threshold: Acquisition threshold
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Acquisition.threshold=40
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Acquisition.threshold=60
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;#doppler_max: Maximum expected Doppler shift [Hz]
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Acquisition.doppler_max=10000
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Acquisition.doppler_max=100000
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;#doppler_max: Maximum expected Doppler shift [Hz]
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Acquisition.doppler_min=-10000
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Acquisition.doppler_min=-100000
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;#doppler_step Doppler step in the grid search [Hz]
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Acquisition.doppler_step=250
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;#maximum dwells
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@ -331,70 +331,112 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
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return d_fft_size;
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}
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inline int pow2roundup (int x)
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{
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if (x < 0)
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return 0;
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--x;
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x |= x >> 1;
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x |= x >> 2;
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x |= x >> 4;
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x |= x >> 8;
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x |= x >> 16;
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return x+1;
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}
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int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star &input_items, int available_samples)
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{
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// Direct FFT
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int zero_padding_factor=8;
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int fft_size_extended=d_fft_size*zero_padding_factor;
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gr::fft::fft_complex *fft_operator=new gr::fft::fft_complex(fft_size_extended,true);
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//zero padding the entire vector
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memset(fft_operator->get_inbuf(),0,fft_size_extended*sizeof(gr_complex));
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//1. generate local code aligned with the acquisition code phase estimation
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gr_complex *code_replica;
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if (posix_memalign((void**)&code_replica, 16, d_fft_size * sizeof(gr_complex)) == 0){};
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gps_l1_ca_code_gen_complex_sampled(code_replica, d_gnss_synchro->PRN, d_fs_in, 0);
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int shift_index=(int)d_gnss_synchro->Acq_delay_samples;
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std::cout<<"shift_index="<<shift_index<<std::endl;
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//std::rotate(code_replica,code_replica+shift_index,code_replica+available_samples);
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//std::cout<<"shift_index="<<shift_index<<std::endl;
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// Rotate to align the local code replica using acquisition time delay estimation
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std::rotate(code_replica,code_replica+(d_fft_size-shift_index),code_replica+d_fft_size-1);
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//2. Perform code wipe-off
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const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
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volk_32fc_x2_multiply_32fc_u(d_fft_if->get_inbuf(), in, code_replica, d_fft_size);
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volk_32fc_x2_multiply_32fc_u(fft_operator->get_inbuf(), in, code_replica, d_fft_size);
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// 3. Perform the FFT
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d_fft_if->execute();
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// 3. Perform the FFT (zero padded!)
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fft_operator->execute();
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// 4. Compute the magnitude and find the maximum
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float* p_tmp_vector;
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if (posix_memalign((void**)&p_tmp_vector, 16, d_fft_size * sizeof(float)) == 0){};
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volk_32fc_magnitude_squared_32f_a(p_tmp_vector, d_fft_if->get_outbuf(), d_fft_size);
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if (posix_memalign((void**)&p_tmp_vector, 16, fft_size_extended * sizeof(float)) == 0){};
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volk_32fc_magnitude_squared_32f_a(p_tmp_vector, fft_operator->get_outbuf(), fft_size_extended);
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unsigned int tmp_index_freq;
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volk_32f_index_max_16u_a(&tmp_index_freq,p_tmp_vector,d_fft_size);
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volk_32f_index_max_16u_a(&tmp_index_freq,p_tmp_vector,fft_size_extended);
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float fftFreqBins[d_fft_size];
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float curr_normal_freq=-1.0;
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for (unsigned int i=0;i<d_fft_size;i++)
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//std::cout<<"FFT maximum index present at "<<tmp_index_freq<<std::endl;
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//case even
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int counter=0;
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float fftFreqBins[fft_size_extended];
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for (int k=0;k<(fft_size_extended/2);k++)
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{
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fftFreqBins[i]=(d_fs_in/2.0)*curr_normal_freq;
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curr_normal_freq+=2/d_fft_size;
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fftFreqBins[counter]=((d_fs_in/2)*k)/(fft_size_extended/2);
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counter++;
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}
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for (int k=fft_size_extended/2;k>0;k--)
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{
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fftFreqBins[counter]=((-d_fs_in/2)*k)/(fft_size_extended/2);
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counter++;
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}
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std::stringstream filename;
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std::streamsize n = sizeof(gr_complex) * (d_fft_size);
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// 5. Update the Doppler estimation in Hz
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if (abs(fftFreqBins[tmp_index_freq]-d_gnss_synchro->Acq_doppler_hz)<1000)
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{
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d_gnss_synchro->Acq_doppler_hz=(double)fftFreqBins[tmp_index_freq];
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//std::cout<<"FFT maximum present at "<<fftFreqBins[tmp_index_freq]<<" [Hz]"<<std::endl;
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}else{
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//std::cout<<"Error estimating fine frequency Doppler"<<std::endl;
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//debug log
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//
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// std::cout<<"FFT maximum present at "<<fftFreqBins[tmp_index_freq]<<" [Hz]"<<std::endl;
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// std::stringstream filename;
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// std::streamsize n = sizeof(gr_complex) * (d_fft_size);
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//
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// filename.str("");
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// filename << "../data/code_prn_" << d_gnss_synchro->PRN << ".dat";
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// d_dump_file.open(filename.str().c_str(), std::ios::out
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// | std::ios::binary);
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// d_dump_file.write((char*)code_replica, n); //write directly |abs(x)|^2 in this Doppler bin?
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// d_dump_file.close();
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//
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// filename.str("");
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// filename << "../data/signal_prn_" << d_gnss_synchro->PRN << ".dat";
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// d_dump_file.open(filename.str().c_str(), std::ios::out
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// | std::ios::binary);
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// d_dump_file.write((char*)in, n); //write directly |abs(x)|^2 in this Doppler bin?
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// d_dump_file.close();
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//
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//
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// n = sizeof(float) * (fft_size_extended);
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// filename.str("");
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// filename << "../data/fft_prn_" << d_gnss_synchro->PRN << ".dat";
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// d_dump_file.open(filename.str().c_str(), std::ios::out
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// | std::ios::binary);
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// d_dump_file.write((char*)p_tmp_vector, n); //write directly |abs(x)|^2 in this Doppler bin?
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// d_dump_file.close();
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}
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filename.str("");
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filename << "../data/code_prn_" << d_gnss_synchro->PRN << ".dat";
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d_dump_file.open(filename.str().c_str(), std::ios::out
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d_dump_file.write((char*)code_replica, n); //write directly |abs(x)|^2 in this Doppler bin?
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d_dump_file.close();
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filename.str("");
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filename << "../data/signal_prn_" << d_gnss_synchro->PRN << ".dat";
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d_dump_file.open(filename.str().c_str(), std::ios::out
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d_dump_file.write((char*)in, n); //write directly |abs(x)|^2 in this Doppler bin?
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d_dump_file.close();
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n = sizeof(float) * (d_fft_size);
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filename.str("");
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filename << "../data/fft_prn_" << d_gnss_synchro->PRN << ".dat";
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d_dump_file.open(filename.str().c_str(), std::ios::out
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d_dump_file.write((char*)p_tmp_vector, n); //write directly |abs(x)|^2 in this Doppler bin?
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d_dump_file.close();
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std::cout<<"FFT maximum present at "<<fftFreqBins[tmp_index_freq]<<" [Hz]"<<std::endl;
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return d_fft_size;
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}
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@ -444,7 +486,8 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
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d_state=3;
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}
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d_sample_counter+=consumed_samples;
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consume_each(consumed_samples);
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//consume_each(consumed_samples);
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consume_each(0);
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break;
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case 3: // Compute test statistics and decide
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d_input_power=estimate_input_power(input_items);
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@ -462,8 +505,9 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
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d_state=7; //negative acquisition
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}
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}
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d_sample_counter += ninput_items[0]; // sample counter
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consume_each(ninput_items[0]);
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//d_sample_counter += ninput_items[0]; // sample counter
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//consume_each(ninput_items[0]);
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consume_each(0);
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break;
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case 4: // RedefineGrid
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free_grid_memory();
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@ -475,7 +519,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
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break;
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case 5: // Fine doppler estimation
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DLOG(INFO) << "Performing fine Doppler estimation";
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//estimate_Doppler(input_items, ninput_items[0]); //disabled in repo
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estimate_Doppler(input_items, ninput_items[0]); //disabled in repo
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d_sample_counter += ninput_items[0]; // sample counter
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consume_each(ninput_items[0]);
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d_state=6;
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@ -181,6 +181,6 @@ void FreqXlatingFirFilter::init()
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for (std::vector<double>::iterator it = taps_d.begin(); it != taps_d.end(); it++)
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{
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taps_.push_back(float(*it));
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std::cout<<"TAP="<<float(*it)<<std::endl;
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//std::cout<<"TAP="<<float(*it)<<std::endl;
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}
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}
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@ -366,13 +366,19 @@ int main(int argc, char** argv)
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std::map<int,double> f_fs_estimation_Hz_map;
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std::map<int,double> f_ppm_estimation_Hz_map;
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std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<
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"Doppler analysis results:"<<std::endl;
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std::cout << "SV ID Measured [Hz] Predicted [Hz]" <<std::endl;
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for (std::map<int,double>::iterator it = doppler_measurements_map.begin() ; it != doppler_measurements_map.end(); ++it)
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{
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std::cout << "Doppler measured for (SV=" << it->first<<")="<<it->second<<" [Hz]"<<std::endl;
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//std::cout << "Doppler measured for (SV=" << it->first<<")="<<it->second<<" [Hz]"<<std::endl;
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try{
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double doppler_estimated_hz;
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doppler_estimated_hz=front_end_cal.estimate_doppler_from_eph(it->first,current_TOW,lat_deg,lon_deg,altitude_m);
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std::cout << "Doppler estimated for (SV=" << it->first<<")="<<doppler_estimated_hz<<" [Hz]"<<std::endl;
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//std::cout << "Doppler estimated for (SV=" << it->first<<")="<<doppler_estimated_hz<<" [Hz]"<<std::endl;
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std::cout << " "<<it->first<<" "<<it->second<<" "<<doppler_estimated_hz<<std::endl;
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// 7. Compute front-end IF and sampling frequency estimation
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// Compare with the measurements and compute clock drift using FE model
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double estimated_fs_Hz, estimated_f_if_Hz,f_osc_err_ppm;
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@ -384,7 +390,8 @@ int main(int argc, char** argv)
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}catch(int ex)
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{
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std::cout<<"Eph not found for SV "<<it->first<<std::endl;
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//std::cout<<"Eph not found for SV "<<it->first<<std::endl;
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std::cout << " "<<it->first<<" "<<it->second<<" (Eph not found)"<<std::endl;
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}
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}
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@ -421,7 +428,7 @@ int main(int argc, char** argv)
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delete gnss_synchro;
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google::ShutDownCommandLineFlags();
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std::cout << "GNSS-SDR program ended." << std::endl;
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std::cout << "GNSS-SDR Front-end calibration program ended." << std::endl;
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// if (global_gps_acq_assist_map.size()>0)
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// {
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