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Code Issues Releases Wiki Activity

Fix building

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This commit is contained in:
Carles Fernandez 2019-07-01 11:44:04 +02:00
parent e17472d986
commit 658b001acc
2 changed files with 93 additions and 130 deletions
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220
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@ -63,9 +63,11 @@
#include <algorithm> // for fill_n
#include <cmath> // for fmod, round, floor
#include <exception> // for exception
#include <iostream> // for cout, cerr
#include <gsl/gsl>
#include <iostream> // for cout, cerr
#include <map>
#include <numeric>
#include <vector>
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
@ -152,7 +154,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_period = GPS_L2_M_PERIOD;
d_code_chip_rate = GPS_L2_M_CODE_RATE_HZ;
d_code_length_chips = static_cast<uint32_t>(GPS_L2_M_CODE_LENGTH_CHIPS);
//GPS L2C has 1 trk symbol (20 ms) per tlm bit, no symbol integration required
// GPS L2C has 1 trk symbol (20 ms) per tlm bit, no symbol integration required
d_symbols_per_bit = GPS_L2_SAMPLES_PER_SYMBOL;
d_correlation_length_ms = 20;
d_code_samples_per_chip = 1;
@ -173,19 +175,19 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_secondary = true;
if (trk_parameters.track_pilot)
{
//synchronize pilot secondary code
// synchronize pilot secondary code
d_secondary_code_length = static_cast<uint32_t>(GPS_L5Q_NH_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&GPS_L5Q_NH_CODE_STR);
//remove data secondary code
//remove Neuman-Hofman Code (see IS-GPS-705D)
// remove data secondary code
// remove Neuman-Hofman Code (see IS-GPS-705D)
d_data_secondary_code_length = static_cast<uint32_t>(GPS_L5I_NH_CODE_LENGTH);
d_data_secondary_code_string = const_cast<std::string *>(&GPS_L5I_NH_CODE_STR);
signal_pretty_name = signal_pretty_name + "Q";
}
else
{
//synchronize and remove data secondary code
//remove Neuman-Hofman Code (see IS-GPS-705D)
// synchronize and remove data secondary code
// remove Neuman-Hofman Code (see IS-GPS-705D)
d_secondary_code_length = static_cast<uint32_t>(GPS_L5I_NH_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&GPS_L5I_NH_CODE_STR);
signal_pretty_name = signal_pretty_name + "I";
@ -213,7 +215,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_period = GALILEO_E1_CODE_PERIOD;
d_code_chip_rate = GALILEO_E1_CODE_CHIP_RATE_HZ;
d_code_length_chips = static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS);
//Galileo E1b has 1 trk symbol (4 ms) per tlm bit, no symbol integration required
// Galileo E1b has 1 trk symbol (4 ms) per tlm bit, no symbol integration required
d_symbols_per_bit = 1;
d_correlation_length_ms = 4;
d_code_samples_per_chip = 2; // CBOC disabled: 2 samples per chip. CBOC enabled: 12 samples per chip
@ -244,16 +246,16 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_secondary = true;
if (trk_parameters.track_pilot)
{
//synchronize pilot secondary code
// synchronize pilot secondary code
d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_Q_SECONDARY_CODE_LENGTH);
signal_pretty_name = signal_pretty_name + "Q";
//remove data secondary code
// remove data secondary code
d_data_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
d_data_secondary_code_string = const_cast<std::string *>(&GALILEO_E5A_I_SECONDARY_CODE);
}
else
{
//synchronize and remove data secondary code
// synchronize and remove data secondary code
d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&GALILEO_E5A_I_SECONDARY_CODE);
signal_pretty_name = signal_pretty_name + "I";
@ -287,7 +289,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_samples_per_chip = 1;
d_secondary = true;
trk_parameters.track_pilot = false;
//synchronize and remove data secondary code
// synchronize and remove data secondary code
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
@ -540,7 +542,7 @@ void dll_pll_veml_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
switch (tlm_event)
{
case 1: //tlm fault in current channel
case 1: // tlm fault in current channel
{
DLOG(INFO) << "Telemetry fault received in ch " << this->d_channel;
gr::thread::scoped_lock lock(d_setlock);
@ -565,7 +567,7 @@ void dll_pll_veml_tracking::start_tracking()
{
gr::thread::scoped_lock l(d_setlock);
// correct the code phase according to the delay between acq and trk
// 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;
@ -575,55 +577,58 @@ void dll_pll_veml_tracking::start_tracking()
d_carrier_phase_rate_step_rad = 0.0;
d_carr_ph_history.clear();
d_code_ph_history.clear();
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), d_acquisition_gnss_synchro->Signal, 3);
if (systemName == "GPS" and signal_type == "1C")
{
gps_l1_ca_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
gps_l1_ca_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN, 0);
}
else if (systemName == "GPS" and signal_type == "2S")
{
gps_l2c_m_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN);
gps_l2c_m_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN);
}
else if (systemName == "GPS" and signal_type == "L5")
{
if (trk_parameters.track_pilot)
{
gps_l5q_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN);
gps_l5i_code_gen_float(d_data_code, d_acquisition_gnss_synchro->PRN);
gps_l5q_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN);
gps_l5i_code_gen_float(gsl::span<float>(d_data_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN);
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
correlator_data_cpu.set_local_code_and_taps(d_code_length_chips, d_data_code, d_prompt_data_shift);
}
else
{
gps_l5i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN);
gps_l5i_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN);
}
}
else if (systemName == "Galileo" and signal_type == "1B")
{
if (trk_parameters.track_pilot)
{
char pilot_signal[3] = "1C";
galileo_e1_code_gen_sinboc11_float(d_tracking_code, pilot_signal, d_acquisition_gnss_synchro->PRN);
galileo_e1_code_gen_sinboc11_float(d_data_code, d_acquisition_gnss_synchro->Signal, d_acquisition_gnss_synchro->PRN);
std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}};
galileo_e1_code_gen_sinboc11_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), pilot_signal, d_acquisition_gnss_synchro->PRN);
galileo_e1_code_gen_sinboc11_float(gsl::span<float>(d_data_code, 2 * d_code_length_chips), Signal_, d_acquisition_gnss_synchro->PRN);
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
correlator_data_cpu.set_local_code_and_taps(d_code_samples_per_chip * d_code_length_chips, d_data_code, d_prompt_data_shift);
}
else
{
galileo_e1_code_gen_sinboc11_float(d_tracking_code, d_acquisition_gnss_synchro->Signal, d_acquisition_gnss_synchro->PRN);
galileo_e1_code_gen_sinboc11_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), Signal_, d_acquisition_gnss_synchro->PRN);
}
}
else if (systemName == "Galileo" and signal_type == "5X")
{
auto *aux_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex) * d_code_length_chips, volk_gnsssdr_get_alignment()));
galileo_e5_a_code_gen_complex_primary(aux_code, d_acquisition_gnss_synchro->PRN, const_cast<char *>(signal_type.c_str()));
std::array<char, 3> signal_type_ = {{'5', 'X', '\0'}};
galileo_e5_a_code_gen_complex_primary(gsl::span<gr_complex>(aux_code, d_code_length_chips), d_acquisition_gnss_synchro->PRN, signal_type_);
if (trk_parameters.track_pilot)
{
d_secondary_code_string = const_cast<std::string *>(&GALILEO_E5A_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN - 1]);
for (uint32_t i = 0; i < d_code_length_chips; i++)
{
d_tracking_code[i] = aux_code[i].imag();
d_data_code[i] = aux_code[i].real(); //the same because it is generated the full signal (E5aI + E5aQ)
d_data_code[i] = aux_code[i].real(); // the same because it is generated the full signal (E5aI + E5aQ)
}
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
correlator_data_cpu.set_local_code_and_taps(d_code_length_chips, d_data_code, d_prompt_data_shift);
@ -639,7 +644,7 @@ void dll_pll_veml_tracking::start_tracking()
}
else if (systemName == "Beidou" and signal_type == "B1")
{
beidou_b1i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
beidou_b1i_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN, 0);
// Update secondary code settings for geo satellites
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
{
@ -658,7 +663,7 @@ void dll_pll_veml_tracking::start_tracking()
else if (systemName == "Beidou" and signal_type == "B3")
{
beidou_b3i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
beidou_b3i_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN, 0);
// Update secondary code settings for geo satellites
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
{
@ -830,11 +835,9 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status(double coh_integration_
d_CN0_SNV_dB_Hz = d_cn0_smoother.smooth(d_CN0_SNV_dB_Hz_raw);
// Carrier lock indicator
d_carrier_lock_test = d_carrier_lock_test_smoother.smooth(carrier_lock_detector(d_Prompt_buffer.data(), 1));
//d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, trk_parameters.cn0_samples);
// Loss of lock detection
if (!d_pull_in_transitory)
{
//d_carrier_lock_test < d_carrier_lock_threshold or
if (d_carrier_lock_test < d_carrier_lock_threshold)
{
d_carrier_lock_fail_counter++;
@ -925,20 +928,20 @@ void dll_pll_veml_tracking::run_dll_pll()
if ((d_pull_in_transitory == true and trk_parameters.enable_fll_pull_in == true) or trk_parameters.enable_fll_steady_state)
{
// FLL discriminator
//d_carr_freq_error_hz = fll_four_quadrant_atan(d_P_accu_old, d_P_accu, 0, d_current_correlation_time_s) / GPS_TWO_PI;
// d_carr_freq_error_hz = fll_four_quadrant_atan(d_P_accu_old, d_P_accu, 0, d_current_correlation_time_s) / GPS_TWO_PI;
d_carr_freq_error_hz = fll_diff_atan(d_P_accu_old, d_P_accu, 0, d_current_correlation_time_s) / GPS_TWO_PI;
d_P_accu_old = d_P_accu;
//std::cout << "d_carr_freq_error_hz: " << d_carr_freq_error_hz << std::endl;
// std::cout << "d_carr_freq_error_hz: " << d_carr_freq_error_hz << std::endl;
// Carrier discriminator filter
if ((d_pull_in_transitory == true and trk_parameters.enable_fll_pull_in == true))
{
//pure FLL, disable PLL
// pure FLL, disable PLL
d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(d_carr_freq_error_hz, 0, d_current_correlation_time_s);
}
else
{
//FLL-aided PLL
// FLL-aided PLL
d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(d_carr_freq_error_hz, d_carr_phase_error_hz, d_current_correlation_time_s);
}
}
@ -953,6 +956,7 @@ void dll_pll_veml_tracking::run_dll_pll()
// std::cout << "d_carrier_doppler_hz: " << d_carrier_doppler_hz << std::endl;
// std::cout << "d_CN0_SNV_dB_Hz: " << this->d_CN0_SNV_dB_Hz << std::endl;
// ################## DLL ##########################################################
// DLL discriminator
if (d_veml)
@ -1021,7 +1025,6 @@ void dll_pll_veml_tracking::update_tracking_vars()
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
T_prn_samples = T_prn_seconds * trk_parameters.fs_in;
K_blk_samples = T_prn_samples + d_rem_code_phase_samples;
//d_current_prn_length_samples = static_cast<int32_t>(round(K_blk_samples)); // round to a discrete number of samples
d_current_prn_length_samples = static_cast<int32_t>(std::floor(K_blk_samples)); // round to a discrete number of samples
//################### PLL COMMANDS #################################################
@ -1047,15 +1050,15 @@ void dll_pll_veml_tracking::update_tracking_vars()
d_carrier_phase_rate_step_rad = (tmp_cp2 - tmp_cp1) / tmp_samples;
}
}
//std::cout << d_carrier_phase_rate_step_rad * trk_parameters.fs_in * trk_parameters.fs_in / PI_2 << std::endl;
// std::cout << d_carrier_phase_rate_step_rad * trk_parameters.fs_in * trk_parameters.fs_in / PI_2 << std::endl;
// remnant carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad += static_cast<float>(d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, PI_2);
// carrier phase accumulator
//double a = d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
//double b = 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples);
//std::cout << fmod(b, PI_2) / fmod(a, PI_2) << std::endl;
// double a = d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
// double b = 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples);
// std::cout << fmod(b, PI_2) / fmod(a, PI_2) << std::endl;
d_acc_carrier_phase_rad -= (d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
//################### DLL COMMANDS #################################################
@ -1128,7 +1131,7 @@ void dll_pll_veml_tracking::save_correlation_results()
d_L_accu += *d_Late;
}
//data secondary code roll-up
// data secondary code roll-up
if (d_symbols_per_bit > 1)
{
if (d_data_secondary_code_length > 0)
@ -1155,7 +1158,7 @@ void dll_pll_veml_tracking::save_correlation_results()
d_P_data_accu -= *d_Prompt;
}
}
//std::cout << "s[" << d_current_data_symbol << "]=" << (int)((*d_Prompt).real() > 0) << std::endl;
// std::cout << "s[" << d_current_data_symbol << "]=" << (int)((*d_Prompt).real() > 0) << std::endl;
d_current_data_symbol++;
// data secondary code roll-up
d_current_data_symbol %= d_data_secondary_code_length;
@ -1197,6 +1200,7 @@ void dll_pll_veml_tracking::save_correlation_results()
}
}
void dll_pll_veml_tracking::log_data()
{
if (d_dump)
@ -1329,29 +1333,28 @@ int32_t dll_pll_veml_tracking::save_matfile()
{
return 1;
}
auto *abs_VE = new float[num_epoch];
auto *abs_E = new float[num_epoch];
auto *abs_P = new float[num_epoch];
auto *abs_L = new float[num_epoch];
auto *abs_VL = new float[num_epoch];
auto *Prompt_I = new float[num_epoch];
auto *Prompt_Q = new float[num_epoch];
auto *PRN_start_sample_count = new uint64_t[num_epoch];
auto *acc_carrier_phase_rad = new float[num_epoch];
auto *carrier_doppler_hz = new float[num_epoch];
auto *carrier_doppler_rate_hz = new float[num_epoch];
auto *code_freq_chips = new float[num_epoch];
auto *code_freq_rate_chips = new float[num_epoch];
auto *carr_error_hz = new float[num_epoch];
auto *carr_error_filt_hz = new float[num_epoch];
auto *code_error_chips = new float[num_epoch];
auto *code_error_filt_chips = new float[num_epoch];
auto *CN0_SNV_dB_Hz = new float[num_epoch];
auto *carrier_lock_test = new float[num_epoch];
auto *aux1 = new float[num_epoch];
auto *aux2 = new double[num_epoch];
auto *PRN = new uint32_t[num_epoch];
auto abs_VE = std::vector<float>(num_epoch);
auto abs_E = std::vector<float>(num_epoch);
auto abs_P = std::vector<float>(num_epoch);
auto abs_L = std::vector<float>(num_epoch);
auto abs_VL = std::vector<float>(num_epoch);
auto Prompt_I = std::vector<float>(num_epoch);
auto Prompt_Q = std::vector<float>(num_epoch);
auto PRN_start_sample_count = std::vector<uint64_t>(num_epoch);
auto acc_carrier_phase_rad = std::vector<float>(num_epoch);
auto carrier_doppler_hz = std::vector<float>(num_epoch);
auto carrier_doppler_rate_hz = std::vector<float>(num_epoch);
auto code_freq_chips = std::vector<float>(num_epoch);
auto code_freq_rate_chips = std::vector<float>(num_epoch);
auto carr_error_hz = std::vector<float>(num_epoch);
auto carr_error_filt_hz = std::vector<float>(num_epoch);
auto code_error_chips = std::vector<float>(num_epoch);
auto code_error_filt_chips = std::vector<float>(num_epoch);
auto CN0_SNV_dB_Hz = std::vector<float>(num_epoch);
auto carrier_lock_test = std::vector<float>(num_epoch);
auto aux1 = std::vector<float>(num_epoch);
auto aux2 = std::vector<double>(num_epoch);
auto PRN = std::vector<uint32_t>(num_epoch);
try
{
if (dump_file.is_open())
@ -1387,28 +1390,6 @@ int32_t dll_pll_veml_tracking::save_matfile()
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
delete[] abs_VE;
delete[] abs_E;
delete[] abs_P;
delete[] abs_L;
delete[] abs_VL;
delete[] Prompt_I;
delete[] Prompt_Q;
delete[] PRN_start_sample_count;
delete[] acc_carrier_phase_rad;
delete[] carrier_doppler_hz;
delete[] carrier_doppler_rate_hz;
delete[] code_freq_chips;
delete[] code_freq_rate_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;
}
@ -1422,117 +1403,95 @@ int32_t dll_pll_veml_tracking::save_matfile()
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VE, 0);
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VE.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E.data(), 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);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P.data(), 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);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VL, 0);
matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VL.data(), 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);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I.data(), 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);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q.data(), 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);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, acc_carrier_phase_rad, 0);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, acc_carrier_phase_rad.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_hz, 0);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_rate_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_rate_hz, 0);
matvar = Mat_VarCreate("carrier_doppler_rate_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_rate_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_chips, 0);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_rate_chips, 0);
matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_rate_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz, 0);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_filt_hz, 0);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_filt_hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_chips, 0);
matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_filt_chips, 0);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_filt_chips.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, CN0_SNV_dB_Hz, 0);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, CN0_SNV_dB_Hz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_lock_test, 0);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_lock_test.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, aux1, 0);
matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, aux1.data(), 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);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2.data(), 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);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp);
delete[] abs_VE;
delete[] abs_E;
delete[] abs_P;
delete[] abs_L;
delete[] abs_VL;
delete[] Prompt_I;
delete[] Prompt_Q;
delete[] PRN_start_sample_count;
delete[] acc_carrier_phase_rad;
delete[] carrier_doppler_hz;
delete[] carrier_doppler_rate_hz;
delete[] code_freq_chips;
delete[] code_freq_rate_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;
}
@ -1569,18 +1528,21 @@ void dll_pll_veml_tracking::set_channel(uint32_t channel)
}
}
void dll_pll_veml_tracking::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
{
gr::thread::scoped_lock l(d_setlock);
d_acquisition_gnss_synchro = p_gnss_synchro;
}
void dll_pll_veml_tracking::stop_tracking()
{
gr::thread::scoped_lock l(d_setlock);
d_state = 0;
}
int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{

3
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
View File

@ -113,7 +113,6 @@ private:
int32_t *d_preambles_symbols;
int32_t d_preamble_length_symbols;
//boost::circular_buffer<float> d_symbol_history;
// dll filter buffer
boost::circular_buffer<float> d_dll_filt_history;
@ -130,6 +129,7 @@ private:
float *d_prompt_data_shift;
Cpu_Multicorrelator_Real_Codes multicorrelator_cpu;
Cpu_Multicorrelator_Real_Codes correlator_data_cpu; //for data channel
/* TODO: currently the multicorrelator does not support adding extra correlator
with different local code, thus we need extra multicorrelator instance.
Implement this functionality inside multicorrelator class
@ -163,6 +163,7 @@ private:
double d_carrier_phase_step_rad;
double d_carrier_phase_rate_step_rad;
boost::circular_buffer<std::pair<double, double>> d_carr_ph_history;
// remaining code phase and carrier phase between tracking loops
double d_rem_code_phase_samples;
float d_rem_carr_phase_rad;