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Rename GPS_L1_CA_KF_VTL_Tracking to GPS_L1_CA_KF_Tracking

This commit is contained in:
Carles Fernandez 2022-08-30 12:03:41 +02:00
parent 17b03eeb3e
commit 66935170a6
No known key found for this signature in database
GPG Key ID: 4C583C52B0C3877D
8 changed files with 84 additions and 80 deletions
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2
conf/gnss-sdr_labsat_kf_vtl.conf → conf/gnss-sdr_labsat_kf.conf
View File

@ -97,7 +97,7 @@ Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_KF_VTL_Tracking
Tracking_1C.implementation=GPS_L1_CA_KF_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.dump=true
Tracking_1C.dump_filename=./tracking_ch_

4
src/algorithms/tracking/adapters/CMakeLists.txt
View File

@ -51,7 +51,7 @@ set(TRACKING_ADAPTER_SOURCES
glonass_l2_ca_dll_pll_c_aid_tracking.cc
beidou_b1i_dll_pll_tracking.cc
beidou_b3i_dll_pll_tracking.cc
gps_l1_ca_kf_vtl_tracking.cc
gps_l1_ca_kf_tracking.cc
${OPT_TRACKING_ADAPTERS_SOURCES}
)
@ -72,7 +72,7 @@ set(TRACKING_ADAPTER_HEADERS
glonass_l2_ca_dll_pll_c_aid_tracking.h
beidou_b1i_dll_pll_tracking.h
beidou_b3i_dll_pll_tracking.h
gps_l1_ca_kf_vtl_tracking.h
gps_l1_ca_kf_tracking.h
${OPT_TRACKING_ADAPTERS_HEADERS}
)

27
src/algorithms/tracking/adapters/gps_l1_ca_kf_vtl_tracking.cc → src/algorithms/tracking/adapters/gps_l1_ca_kf_tracking.cc
View File

@ -1,6 +1,7 @@
/*!
* \file gps_l1_ca_kf_vtl_tracking.h
* \brief Interface of an adapter of a code + carrier Kalman Filter tracking loop with VTL capabilities block
* \file gps_l1_ca_kf_tracking.h
* \brief Interface of an adapter of a code + carrier Kalman Filter tracking
* loop with VTL capabilities block
* for GPS L1 C/A to a TrackingInterface
* \author Javier Arribas, 2020. jarribas(at)cttc.es
*
@ -20,7 +21,7 @@
* -----------------------------------------------------------------------------
*/
#include "gps_l1_ca_kf_vtl_tracking.h"
#include "gps_l1_ca_kf_tracking.h"
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "display.h"
@ -30,7 +31,7 @@
#include <algorithm>
#include <array>
GpsL1CaKfVtlTracking::GpsL1CaKfVtlTracking(
GpsL1CaKfTracking::GpsL1CaKfTracking(
const ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
@ -65,7 +66,7 @@ GpsL1CaKfVtlTracking::GpsL1CaKfVtlTracking(
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = kf_vtl_make_tracking(trk_params);
tracking_ = kf_make_tracking(trk_params);
}
else
{
@ -85,13 +86,13 @@ GpsL1CaKfVtlTracking::GpsL1CaKfVtlTracking(
}
void GpsL1CaKfVtlTracking::stop_tracking()
void GpsL1CaKfTracking::stop_tracking()
{
tracking_->stop_tracking();
}
void GpsL1CaKfVtlTracking::start_tracking()
void GpsL1CaKfTracking::start_tracking()
{
tracking_->start_tracking();
}
@ -100,20 +101,20 @@ void GpsL1CaKfVtlTracking::start_tracking()
/*
* Set tracking channel unique ID
*/
void GpsL1CaKfVtlTracking::set_channel(unsigned int channel)
void GpsL1CaKfTracking::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_->set_channel(channel);
}
void GpsL1CaKfVtlTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
void GpsL1CaKfTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GpsL1CaKfVtlTracking::connect(gr::top_block_sptr top_block)
void GpsL1CaKfTracking::connect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
@ -122,7 +123,7 @@ void GpsL1CaKfVtlTracking::connect(gr::top_block_sptr top_block)
}
void GpsL1CaKfVtlTracking::disconnect(gr::top_block_sptr top_block)
void GpsL1CaKfTracking::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
@ -131,13 +132,13 @@ void GpsL1CaKfVtlTracking::disconnect(gr::top_block_sptr top_block)
}
gr::basic_block_sptr GpsL1CaKfVtlTracking::get_left_block()
gr::basic_block_sptr GpsL1CaKfTracking::get_left_block()
{
return tracking_;
}
gr::basic_block_sptr GpsL1CaKfVtlTracking::get_right_block()
gr::basic_block_sptr GpsL1CaKfTracking::get_right_block()
{
return tracking_;
}

31
src/algorithms/tracking/adapters/gps_l1_ca_kf_vtl_tracking.h → src/algorithms/tracking/adapters/gps_l1_ca_kf_tracking.h
View File

@ -1,6 +1,7 @@
/*!
* \file gps_l1_ca_kf_vtl_tracking.h
* \brief Interface of an adapter of a code + carrier Kalman Filter tracking loop with VTL capabilities block
* \file gps_l1_ca_kf_tracking.h
* \brief Interface of an adapter of a code + carrier Kalman Filter tracking
* loop with VTL capabilities block
* for GPS L1 C/A to a TrackingInterface
* \author Javier Arribas, 2020. jarribas(at)cttc.es
*
@ -19,38 +20,39 @@
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L1_CA_kf_vtl_TRACKING_H
#define GNSS_SDR_GPS_L1_CA_kf_vtl_TRACKING_H
#ifndef GNSS_SDR_GPS_L1_CA_KF_TRACKING_H
#define GNSS_SDR_GPS_L1_CA_KF_TRACKING_H
#include "kf_vtl_tracking.h"
#include "kf_tracking.h"
#include "tracking_interface.h"
#include <string>
class ConfigurationInterface;
/*!
* \brief This class implements a code + carrier Kalman Filter tracking loop with VTL capabilities
* \brief This class implements a code + carrier Kalman Filter tracking loop
* with VTL capabilities
*/
class GpsL1CaKfVtlTracking : public TrackingInterface
class GpsL1CaKfTracking : public TrackingInterface
{
public:
GpsL1CaKfVtlTracking(
GpsL1CaKfTracking(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
~GpsL1CaKfVtlTracking() = default;
~GpsL1CaKfTracking() = default;
inline std::string role() override
{
return role_;
}
//! Returns "GPS_L1_CA_kf_vtl_Tracking"
//! Returns "GPS_L1_CA_KF_Tracking"
inline std::string implementation() override
{
return "GPS_L1_CA_KF_VTL_Tracking";
return "GPS_L1_CA_KF_Tracking";
}
inline size_t item_size() override
@ -70,7 +72,8 @@ public:
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and tracking blocks
* to efficiently exchange synchronization data between acquisition
* and tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
@ -82,7 +85,7 @@ public:
void stop_tracking() override;
private:
kf_vtl_tracking_sptr tracking_;
kf_tracking_sptr tracking_;
size_t item_size_;
unsigned int channel_;
std::string role_;
@ -90,4 +93,4 @@ private:
unsigned int out_streams_;
};
#endif // GNSS_SDR_GPS_L1_CA_kf_vtl_TRACKING_H
#endif // GNSS_SDR_GPS_L1_CA_KF_TRACKING_H

4
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
View File

@ -39,7 +39,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
dll_pll_veml_tracking.cc
kf_vtl_tracking.cc
kf_tracking.cc
${OPT_TRACKING_BLOCKS_SOURCES}
)
@ -54,7 +54,7 @@ set(TRACKING_GR_BLOCKS_HEADERS
glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
dll_pll_veml_tracking.h
kf_vtl_tracking.h
kf_tracking.h
${OPT_TRACKING_BLOCKS_HEADERS}
)

64
src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc → src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc
View File

@ -1,5 +1,5 @@
/*!
* \file kf_vtl_tracking.cc
* \file kf_tracking.cc
* \brief Implementation of a Kalman filter based tracking with optional Vector
* Tracking Loop message receiver block.
* \author Javier Arribas, 2020. jarribas(at)cttc.es
@ -18,7 +18,7 @@
* -----------------------------------------------------------------------------
*/
#include "kf_vtl_tracking.h"
#include "kf_tracking.h"
#include "Beidou_B1I.h"
#include "Beidou_B3I.h"
#include "GPS_L1_CA.h"
@ -71,14 +71,14 @@ namespace wht = boost;
namespace wht = std;
#endif
kf_vtl_tracking_sptr kf_vtl_make_tracking(const Kf_Conf &conf_)
kf_tracking_sptr kf_make_tracking(const Kf_Conf &conf_)
{
return kf_vtl_tracking_sptr(new kf_vtl_tracking(conf_));
return kf_tracking_sptr(new kf_tracking(conf_));
}
kf_vtl_tracking::kf_vtl_tracking(const Kf_Conf &conf_)
: gr::block("kf_vtl_tracking",
kf_tracking::kf_tracking(const Kf_Conf &conf_)
: gr::block("kf_tracking",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))),
d_trk_parameters(conf_),
@ -146,9 +146,9 @@ kf_vtl_tracking::kf_vtl_tracking(const Kf_Conf &conf_)
[this](auto &&PH1) { msg_handler_telemetry_to_trk(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&kf_vtl_tracking::msg_handler_telemetry_to_trk, this, boost::placeholders::_1));
boost::bind(&kf_tracking::msg_handler_telemetry_to_trk, this, boost::placeholders::_1));
#else
boost::bind(&kf_vtl_tracking::msg_handler_telemetry_to_trk, this, _1));
boost::bind(&kf_tracking::msg_handler_telemetry_to_trk, this, _1));
#endif
#endif
@ -160,9 +160,9 @@ kf_vtl_tracking::kf_vtl_tracking(const Kf_Conf &conf_)
[this](auto &&PH1) { msg_handler_pvt_to_trk(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&kf_vtl_tracking::msg_handler_pvt_to_trk, this, boost::placeholders::_1));
boost::bind(&kf_tracking::msg_handler_pvt_to_trk, this, boost::placeholders::_1));
#else
boost::bind(&kf_vtl_tracking::msg_handler_pvt_to_trk, this, _1));
boost::bind(&kf_tracking::msg_handler_pvt_to_trk, this, _1));
#endif
#endif
@ -587,7 +587,7 @@ kf_vtl_tracking::kf_vtl_tracking(const Kf_Conf &conf_)
}
void kf_vtl_tracking::forecast(int noutput_items,
void kf_tracking::forecast(int noutput_items,
gr_vector_int &ninput_items_required)
{
if (noutput_items != 0)
@ -597,7 +597,7 @@ void kf_vtl_tracking::forecast(int noutput_items,
}
void kf_vtl_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
void kf_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
{
try
{
@ -619,7 +619,7 @@ void kf_vtl_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
}
void kf_vtl_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
void kf_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
{
try
{
@ -641,7 +641,7 @@ void kf_vtl_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
}
void kf_vtl_tracking::start_tracking()
void kf_tracking::start_tracking()
{
gr::thread::scoped_lock l(d_setlock);
// correct the code phase according to the delay between acq and trk
@ -854,7 +854,7 @@ void kf_vtl_tracking::start_tracking()
}
void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz)
void kf_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz)
{
// Kalman Filter class variables
const double Ti = d_current_correlation_time_s;
@ -895,7 +895,7 @@ void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz
}
void kf_vtl_tracking::update_kf_narrow_integration_time()
void kf_tracking::update_kf_narrow_integration_time()
{
// Kalman Filter class variables
const double Ti = d_current_correlation_time_s;
@ -935,7 +935,7 @@ void kf_vtl_tracking::update_kf_narrow_integration_time()
}
void kf_vtl_tracking::update_kf_cn0(double current_cn0_dbhz)
void kf_tracking::update_kf_cn0(double current_cn0_dbhz)
{
// Kalman Filter class variables
const double Ti = d_current_correlation_time_s; // d_correlation_length_ms * 0.001;
@ -955,7 +955,7 @@ void kf_vtl_tracking::update_kf_cn0(double current_cn0_dbhz)
}
kf_vtl_tracking::~kf_vtl_tracking()
kf_tracking::~kf_tracking()
{
if (d_dump_file.is_open())
{
@ -994,7 +994,7 @@ kf_vtl_tracking::~kf_vtl_tracking()
}
bool kf_vtl_tracking::acquire_secondary()
bool kf_tracking::acquire_secondary()
{
// ******* preamble correlation ********
int32_t corr_value = 0;
@ -1033,7 +1033,7 @@ bool kf_vtl_tracking::acquire_secondary()
}
bool kf_vtl_tracking::cn0_and_tracking_lock_status(double coh_integration_time_s)
bool kf_tracking::cn0_and_tracking_lock_status(double coh_integration_time_s)
{
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < d_trk_parameters.cn0_samples)
@ -1098,7 +1098,7 @@ bool kf_vtl_tracking::cn0_and_tracking_lock_status(double coh_integration_time_s
// - updated remnant code phase in samples (d_rem_code_phase_samples)
// - d_code_freq_chips
// - d_carrier_doppler_hz
void kf_vtl_tracking::do_correlation_step(const gr_complex *input_samples)
void kf_tracking::do_correlation_step(const gr_complex *input_samples)
{
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
// perform carrier wipe-off and compute Early, Prompt and Late correlation
@ -1126,7 +1126,7 @@ void kf_vtl_tracking::do_correlation_step(const gr_complex *input_samples)
}
void kf_vtl_tracking::run_Kf()
void kf_tracking::run_Kf()
{
// Carrier discriminator
if (d_cloop)
@ -1204,7 +1204,7 @@ void kf_vtl_tracking::run_Kf()
}
void kf_vtl_tracking::check_carrier_phase_coherent_initialization()
void kf_tracking::check_carrier_phase_coherent_initialization()
{
if (d_acc_carrier_phase_initialized == false)
{
@ -1214,7 +1214,7 @@ void kf_vtl_tracking::check_carrier_phase_coherent_initialization()
}
void kf_vtl_tracking::clear_tracking_vars()
void kf_tracking::clear_tracking_vars()
{
std::fill_n(d_correlator_outs.begin(), d_n_correlator_taps, gr_complex(0.0, 0.0));
if (d_trk_parameters.track_pilot)
@ -1234,7 +1234,7 @@ void kf_vtl_tracking::clear_tracking_vars()
// todo: IT DOES NOT WORK WHEN NO KF IS RUNNING (extended correlation epochs!!)
void kf_vtl_tracking::update_tracking_vars()
void kf_tracking::update_tracking_vars()
{
d_T_chip_seconds = 1.0 / d_code_freq_kf_chips_s;
d_T_prn_seconds = d_T_chip_seconds * static_cast<double>(d_code_length_chips);
@ -1313,7 +1313,7 @@ void kf_vtl_tracking::update_tracking_vars()
}
void kf_vtl_tracking::save_correlation_results()
void kf_tracking::save_correlation_results()
{
if (d_secondary)
{
@ -1426,7 +1426,7 @@ void kf_vtl_tracking::save_correlation_results()
}
void kf_vtl_tracking::log_data()
void kf_tracking::log_data()
{
if (d_dump)
{
@ -1525,7 +1525,7 @@ void kf_vtl_tracking::log_data()
}
int32_t kf_vtl_tracking::save_matfile() const
int32_t kf_tracking::save_matfile() const
{
// READ DUMP FILE
std::ifstream::pos_type size;
@ -1725,7 +1725,7 @@ int32_t kf_vtl_tracking::save_matfile() const
}
void kf_vtl_tracking::set_channel(uint32_t channel)
void kf_tracking::set_channel(uint32_t channel)
{
gr::thread::scoped_lock l(d_setlock);
d_channel = channel;
@ -1756,21 +1756,21 @@ void kf_vtl_tracking::set_channel(uint32_t channel)
}
void kf_vtl_tracking::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
void kf_tracking::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
{
gr::thread::scoped_lock l(d_setlock);
d_acquisition_gnss_synchro = p_gnss_synchro;
}
void kf_vtl_tracking::stop_tracking()
void kf_tracking::stop_tracking()
{
gr::thread::scoped_lock l(d_setlock);
d_state = 0;
}
int kf_vtl_tracking::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items,
int kf_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)
{
gr::thread::scoped_lock l(d_setlock);

22
src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.h → src/algorithms/tracking/gnuradio_blocks/kf_tracking.h
View File

@ -1,5 +1,5 @@
/*!
* \file kf_vtl_tracking.cc
* \file kf_tracking.cc
* \brief Implementation of a Kalman filter based tracking with optional Vector
* Tracking Loop message receiver block.
* \author Javier Arribas, 2020. jarribas(at)cttc.es
@ -18,8 +18,8 @@
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_KF_VTL_TRACKING_H
#define GNSS_SDR_KF_VTL_TRACKING_H
#ifndef GNSS_SDR_KF_TRACKING_H
#define GNSS_SDR_KF_TRACKING_H
#if ARMA_NO_BOUND_CHECKING
#define ARMA_NO_DEBUG 1
@ -48,19 +48,19 @@
#include <utility> // for pair
class Gnss_Synchro;
class kf_vtl_tracking;
class kf_tracking;
using kf_vtl_tracking_sptr = gnss_shared_ptr<kf_vtl_tracking>;
using kf_tracking_sptr = gnss_shared_ptr<kf_tracking>;
kf_vtl_tracking_sptr kf_vtl_make_tracking(const Kf_Conf &conf_);
kf_tracking_sptr kf_make_tracking(const Kf_Conf &conf_);
/*!
* \brief This class implements a code DLL + carrier PLL tracking block.
*/
class kf_vtl_tracking : public gr::block
class kf_tracking : public gr::block
{
public:
~kf_vtl_tracking();
~kf_tracking();
void set_channel(uint32_t channel);
void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro);
@ -73,8 +73,8 @@ public:
void forecast(int noutput_items, gr_vector_int &ninput_items_required);
private:
friend kf_vtl_tracking_sptr kf_vtl_make_tracking(const Kf_Conf &conf_);
explicit kf_vtl_tracking(const Kf_Conf &conf_);
friend kf_tracking_sptr kf_make_tracking(const Kf_Conf &conf_);
explicit kf_tracking(const Kf_Conf &conf_);
void init_kf(double acq_code_phase_chips, double acq_doppler_hz);
void update_kf_narrow_integration_time();
@ -233,4 +233,4 @@ private:
bool d_enable_extended_integration;
};
#endif // GNSS_SDR_KF_VTL_TRACKING_H
#endif // GNSS_SDR_KF_TRACKING_H

10
src/core/receiver/gnss_block_factory.cc
View File

@ -73,7 +73,7 @@
#include "gnss_sdr_string_literals.h"
#include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_gaussian_tracking.h"
#include "gps_l1_ca_kf_vtl_tracking.h"
#include "gps_l1_ca_kf_tracking.h"
#include "gps_l1_ca_pcps_acquisition.h"
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
#include "gps_l1_ca_pcps_assisted_acquisition.h"
@ -1085,9 +1085,9 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
out_streams);
block = std::move(block_);
}
else if (implementation == "GPS_L1_CA_KF_VTL_Tracking")
else if (implementation == "GPS_L1_CA_KF_Tracking")
{
std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<GpsL1CaKfVtlTracking>(configuration, role, in_streams,
std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<GpsL1CaKfTracking>(configuration, role, in_streams,
out_streams);
block = std::move(block_);
}
@ -1541,9 +1541,9 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
out_streams);
block = std::move(block_);
}
else if (implementation == "GPS_L1_CA_KF_VTL_Tracking")
else if (implementation == "GPS_L1_CA_KF_Tracking")
{
std::unique_ptr<TrackingInterface> block_ = std::make_unique<GpsL1CaKfVtlTracking>(configuration, role, in_streams,
std::unique_ptr<TrackingInterface> block_ = std::make_unique<GpsL1CaKfTracking>(configuration, role, in_streams,
out_streams);
block = std::move(block_);
}