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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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This commit is contained in:
Carles Fernandez 2018-03-29 15:31:44 +02:00
commit 678680ff1c
12 changed files with 73 additions and 2546 deletions
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41
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
View File

@ -63,7 +63,6 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
float very_early_late_space_chips; float very_early_late_space_chips;
float early_late_space_narrow_chips; float early_late_space_narrow_chips;
float very_early_late_space_narrow_chips; float very_early_late_space_narrow_chips;
unified_ = configuration->property(role + ".unified", false);
item_type = configuration->property(role + ".item_type", default_item_type); item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000); int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
@ -92,10 +91,9 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
if (item_type.compare("gr_complex") == 0) if (item_type.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
if (unified_)
{
char sig_[3] = "1B"; char sig_[3] = "1B";
tracking_unified_ = dll_pll_veml_make_tracking( tracking_ = dll_pll_veml_make_tracking(
fs_in, fs_in,
vector_length, vector_length,
dump, dump,
@ -111,26 +109,6 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
extend_correlation_symbols, extend_correlation_symbols,
track_pilot, 'E', sig_); track_pilot, 'E', sig_);
} }
else
{
tracking_ = galileo_e1_dll_pll_veml_make_tracking_cc(
0,
fs_in,
vector_length,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
pll_bw_narrow_hz,
dll_bw_narrow_hz,
early_late_space_chips,
very_early_late_space_chips,
early_late_space_narrow_chips,
very_early_late_space_narrow_chips,
extend_correlation_symbols,
track_pilot);
}
}
else else
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
@ -150,9 +128,6 @@ GalileoE1DllPllVemlTracking::~GalileoE1DllPllVemlTracking()
void GalileoE1DllPllVemlTracking::start_tracking() void GalileoE1DllPllVemlTracking::start_tracking()
{ {
if (unified_)
tracking_unified_->start_tracking();
else
tracking_->start_tracking(); tracking_->start_tracking();
} }
@ -163,18 +138,12 @@ void GalileoE1DllPllVemlTracking::start_tracking()
void GalileoE1DllPllVemlTracking::set_channel(unsigned int channel) void GalileoE1DllPllVemlTracking::set_channel(unsigned int channel)
{ {
channel_ = channel; channel_ = channel;
if (unified_)
tracking_unified_->set_channel(channel);
else
tracking_->set_channel(channel); tracking_->set_channel(channel);
} }
void GalileoE1DllPllVemlTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) void GalileoE1DllPllVemlTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{ {
if (unified_)
tracking_unified_->set_gnss_synchro(p_gnss_synchro);
else
tracking_->set_gnss_synchro(p_gnss_synchro); tracking_->set_gnss_synchro(p_gnss_synchro);
} }
@ -199,17 +168,11 @@ void GalileoE1DllPllVemlTracking::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GalileoE1DllPllVemlTracking::get_left_block() gr::basic_block_sptr GalileoE1DllPllVemlTracking::get_left_block()
{ {
if (unified_)
return tracking_unified_;
else
return tracking_; return tracking_;
} }
gr::basic_block_sptr GalileoE1DllPllVemlTracking::get_right_block() gr::basic_block_sptr GalileoE1DllPllVemlTracking::get_right_block()
{ {
if (unified_)
return tracking_unified_;
else
return tracking_; return tracking_;
} }

5
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.h
View File

@ -38,7 +38,6 @@
#define GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_H_ #define GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_H_
#include "tracking_interface.h" #include "tracking_interface.h"
#include "galileo_e1_dll_pll_veml_tracking_cc.h"
#include "dll_pll_veml_tracking.h" #include "dll_pll_veml_tracking.h"
#include <string> #include <string>
@ -95,14 +94,12 @@ public:
void start_tracking() override; void start_tracking() override;
private: private:
galileo_e1_dll_pll_veml_tracking_cc_sptr tracking_; dll_pll_veml_tracking_sptr tracking_;
dll_pll_veml_tracking_sptr tracking_unified_;
size_t item_size_; size_t item_size_;
unsigned int channel_; unsigned int channel_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;
bool unified_;
}; };
#endif // GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_H_ #endif // GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_H_

33
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
View File

@ -60,7 +60,6 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000); int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump = configuration->property(role + ".dump", false); dump = configuration->property(role + ".dump", false);
unified_ = configuration->property(role + ".unified", false);
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0); float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz); if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0); float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
@ -78,10 +77,8 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
if (item_type.compare("gr_complex") == 0) if (item_type.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
if (unified_)
{
char sig_[3] = "1C"; char sig_[3] = "1C";
tracking_unified_ = dll_pll_veml_make_tracking( tracking_ = dll_pll_veml_make_tracking(
fs_in, fs_in,
vector_length, vector_length,
dump, dump,
@ -98,19 +95,6 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
false, false,
'G', sig_); 'G', sig_);
} }
else
{
tracking_ = gps_l1_ca_dll_pll_make_tracking_cc(
0,
fs_in,
vector_length,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
early_late_space_chips);
}
}
else else
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
@ -128,9 +112,6 @@ GpsL1CaDllPllTracking::~GpsL1CaDllPllTracking()
void GpsL1CaDllPllTracking::start_tracking() void GpsL1CaDllPllTracking::start_tracking()
{ {
if (unified_)
tracking_unified_->start_tracking();
else
tracking_->start_tracking(); tracking_->start_tracking();
} }
@ -141,18 +122,12 @@ void GpsL1CaDllPllTracking::start_tracking()
void GpsL1CaDllPllTracking::set_channel(unsigned int channel) void GpsL1CaDllPllTracking::set_channel(unsigned int channel)
{ {
channel_ = channel; channel_ = channel;
if (unified_)
tracking_unified_->set_channel(channel);
else
tracking_->set_channel(channel); tracking_->set_channel(channel);
} }
void GpsL1CaDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) void GpsL1CaDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{ {
if (unified_)
tracking_unified_->set_gnss_synchro(p_gnss_synchro);
else
tracking_->set_gnss_synchro(p_gnss_synchro); tracking_->set_gnss_synchro(p_gnss_synchro);
} }
@ -177,17 +152,11 @@ void GpsL1CaDllPllTracking::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GpsL1CaDllPllTracking::get_left_block() gr::basic_block_sptr GpsL1CaDllPllTracking::get_left_block()
{ {
if (unified_)
return tracking_unified_;
else
return tracking_; return tracking_;
} }
gr::basic_block_sptr GpsL1CaDllPllTracking::get_right_block() gr::basic_block_sptr GpsL1CaDllPllTracking::get_right_block()
{ {
if (unified_)
return tracking_unified_;
else
return tracking_; return tracking_;
} }

5
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.h
View File

@ -39,7 +39,6 @@
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_H_ #define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_H_
#include "tracking_interface.h" #include "tracking_interface.h"
#include "gps_l1_ca_dll_pll_tracking_cc.h"
#include "dll_pll_veml_tracking.h" #include "dll_pll_veml_tracking.h"
#include <string> #include <string>
@ -93,14 +92,12 @@ public:
void start_tracking() override; void start_tracking() override;
private: private:
gps_l1_ca_dll_pll_tracking_cc_sptr tracking_; dll_pll_veml_tracking_sptr tracking_;
dll_pll_veml_tracking_sptr tracking_unified_;
size_t item_size_; size_t item_size_;
unsigned int channel_; unsigned int channel_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;
bool unified_;
}; };
#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_H_ #endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_H_

2
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
View File

@ -27,9 +27,7 @@ if(ENABLE_FPGA)
endif(ENABLE_FPGA) endif(ENABLE_FPGA)
set(TRACKING_GR_BLOCKS_SOURCES set(TRACKING_GR_BLOCKS_SOURCES
galileo_e1_dll_pll_veml_tracking_cc.cc
galileo_e1_tcp_connector_tracking_cc.cc galileo_e1_tcp_connector_tracking_cc.cc
gps_l1_ca_dll_pll_tracking_cc.cc
gps_l1_ca_tcp_connector_tracking_cc.cc gps_l1_ca_tcp_connector_tracking_cc.cc
galileo_e5a_dll_pll_tracking_cc.cc galileo_e5a_dll_pll_tracking_cc.cc
gps_l2_m_dll_pll_tracking_cc.cc gps_l2_m_dll_pll_tracking_cc.cc

19
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -193,6 +193,14 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(
{ {
LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks"; LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks";
std::cerr << "Invalid Signal argument when instantiating tracking blocks" << std::endl; std::cerr << "Invalid Signal argument when instantiating tracking blocks" << std::endl;
d_correlation_length_ms = 1;
d_secondary = false;
interchange_iq = false;
d_signal_carrier_freq = 0.0;
d_code_period = 0.0;
d_code_length_chips = 0;
d_code_samples_per_chip = 0;
d_symbols_per_bit = 0;
} }
} }
else if (system == 'E') else if (system == 'E')
@ -246,6 +254,14 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(
{ {
LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks"; LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks";
std::cout << "Invalid Signal argument when instantiating tracking blocks" << std::endl; std::cout << "Invalid Signal argument when instantiating tracking blocks" << std::endl;
d_correlation_length_ms = 1;
d_secondary = false;
interchange_iq = false;
d_signal_carrier_freq = 0.0;
d_code_period = 0.0;
d_code_length_chips = 0;
d_code_samples_per_chip = 0;
d_symbols_per_bit = 0;
} }
} }
else else
@ -901,6 +917,8 @@ void dll_pll_veml_tracking::log_data(bool integrating)
if (integrating) if (integrating)
{ {
// It compensates the amplitude difference while integrating // It compensates the amplitude difference while integrating
if (d_extend_correlation_symbols_count > 0)
{
float scale_factor = static_cast<float>(d_extend_correlation_symbols) / static_cast<float>(d_extend_correlation_symbols_count); float scale_factor = static_cast<float>(d_extend_correlation_symbols) / static_cast<float>(d_extend_correlation_symbols_count);
tmp_VE *= scale_factor; tmp_VE *= scale_factor;
tmp_E *= scale_factor; tmp_E *= scale_factor;
@ -908,6 +926,7 @@ void dll_pll_veml_tracking::log_data(bool integrating)
tmp_L *= scale_factor; tmp_L *= scale_factor;
tmp_VL *= scale_factor; tmp_VL *= scale_factor;
} }
}
try try
{ {

1236
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
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File diff suppressed because it is too large Load Diff

244
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h
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@ -1,244 +0,0 @@
/*!
* \file galileo_e1_dll_pll_veml_tracking_cc.h
* \brief Implementation of a code DLL + carrier PLL VEML (Very Early
* Minus Late) tracking block for Galileo E1 signals
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_CC_H
#define GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_CC_H
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include "cpu_multicorrelator_real_codes.h"
#include <gnuradio/block.h>
#include <fstream>
#include <string>
#include <map>
class galileo_e1_dll_pll_veml_tracking_cc;
typedef boost::shared_ptr<galileo_e1_dll_pll_veml_tracking_cc> galileo_e1_dll_pll_veml_tracking_cc_sptr;
galileo_e1_dll_pll_veml_tracking_cc_sptr
galileo_e1_dll_pll_veml_make_tracking_cc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
float early_late_space_chips,
float very_early_late_space_chips,
float early_late_space_narrow_chips,
float very_early_late_space_narrow_chips,
int extend_correlation_symbols,
bool track_pilot);
/*!
* \brief This class implements a code DLL + carrier PLL VEML (Very Early
* Minus Late) tracking block for Galileo E1 signals
*/
class galileo_e1_dll_pll_veml_tracking_cc : public gr::block
{
public:
~galileo_e1_dll_pll_veml_tracking_cc();
void set_channel(unsigned int channel);
void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro);
void start_tracking();
/*!
* \brief Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
* Birkhauser, 2007
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
void forecast(int noutput_items, gr_vector_int &ninput_items_required);
private:
friend galileo_e1_dll_pll_veml_tracking_cc_sptr
galileo_e1_dll_pll_veml_make_tracking_cc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
float early_late_space_chips,
float very_early_late_space_chips,
float early_late_space_narrow_chips,
float very_early_late_space_narrow_chips,
int extend_correlation_symbols,
bool track_pilot);
galileo_e1_dll_pll_veml_tracking_cc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
float early_late_space_chips,
float very_early_late_space_chips,
float early_late_space_narrow_chips,
float very_early_late_space_narrow_chips,
int extend_correlation_symbols,
bool track_pilot);
bool cn0_and_tracking_lock_status();
void do_correlation_step(const gr_complex *input_samples);
void run_dll_pll(bool disable_costas_loop);
void update_local_code();
void update_local_carrier();
bool acquire_secondary();
void clear_tracking_vars();
void log_data();
// tracking configuration vars
unsigned int d_vector_length;
bool d_dump;
Gnss_Synchro *d_acquisition_gnss_synchro;
unsigned int d_channel;
long d_if_freq;
long d_fs_in;
//tracking state machine
int d_state;
//Integration period in samples
int d_correlation_length_samples;
int d_n_correlator_taps;
double d_early_late_spc_chips;
double d_very_early_late_spc_chips;
double d_early_late_spc_narrow_chips;
double d_very_early_late_spc_narrow_chips;
float *d_tracking_code;
float *d_data_code;
float *d_local_code_shift_chips;
gr_complex *d_correlator_outs;
cpu_multicorrelator_real_codes multicorrelator_cpu;
//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
//as an enhancement to increase the performance
float *d_local_code_data_shift_chips;
cpu_multicorrelator_real_codes correlator_data_cpu; //for data channel
gr_complex *d_Very_Early;
gr_complex *d_Early;
gr_complex *d_Prompt;
gr_complex *d_Late;
gr_complex *d_Very_Late;
int d_extend_correlation_symbols;
int d_extend_correlation_symbols_count;
bool d_enable_extended_integration;
int d_current_symbol;
gr_complex d_VE_accu;
gr_complex d_E_accu;
gr_complex d_P_accu;
gr_complex d_L_accu;
gr_complex d_VL_accu;
bool d_track_pilot;
gr_complex *d_Prompt_Data;
double d_code_phase_step_chips;
double d_carrier_phase_step_rad;
// remaining code phase and carrier phase between tracking loops
double d_rem_code_phase_samples;
double d_rem_carr_phase_rad;
// PLL and DLL filter library
Tracking_2nd_DLL_filter d_code_loop_filter;
Tracking_2nd_PLL_filter d_carrier_loop_filter;
// acquisition
double d_acq_code_phase_samples;
double d_acq_carrier_doppler_hz;
// tracking parameters
float d_dll_bw_hz;
float d_pll_bw_hz;
float d_dll_bw_narrow_hz;
float d_pll_bw_narrow_hz;
// tracking vars
double d_carr_error_hz;
double d_carr_error_filt_hz;
double d_code_error_chips;
double d_code_error_filt_chips;
double d_K_blk_samples;
double d_code_freq_chips;
double d_carrier_doppler_hz;
double d_acc_carrier_phase_rad;
double d_rem_code_phase_chips;
double d_code_phase_samples;
//PRN period in samples
int d_current_prn_length_samples;
//processing samples counters
unsigned long int d_sample_counter;
unsigned long int d_acq_sample_stamp;
// CN0 estimation and lock detector
int d_cn0_estimation_counter;
std::deque<gr_complex> d_Prompt_buffer_deque;
gr_complex *d_Prompt_buffer;
double d_carrier_lock_test;
double d_CN0_SNV_dB_Hz;
double d_carrier_lock_threshold;
int d_carrier_lock_fail_counter;
// file dump
std::string d_dump_filename;
std::ofstream d_dump_file;
std::map<std::string, std::string> systemName;
std::string sys;
int save_matfile();
};
#endif //GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_CC_H

768
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
View File

@ -1,768 +0,0 @@
/*!
* \file gps_l1_ca_dll_pll_tracking_cc.cc
* \brief Implementation of a code DLL + carrier PLL tracking block
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_dll_pll_tracking_cc.h"
#include "gps_sdr_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
#include "gnss_sdr_flags.h"
#include "GPS_L1_CA.h"
#include "control_message_factory.h"
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <matio.h>
#include <cmath>
#include <iostream>
#include <memory>
#include <sstream>
using google::LogMessage;
gps_l1_ca_dll_pll_tracking_cc_sptr
gps_l1_ca_dll_pll_make_tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips)
{
return gps_l1_ca_dll_pll_tracking_cc_sptr(new Gps_L1_Ca_Dll_Pll_Tracking_cc(if_freq,
fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::forecast(int noutput_items,
gr_vector_int &ninput_items_required)
{
if (noutput_items != 0)
{
ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
}
}
Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips) : gr::block("Gps_L1_Ca_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->message_port_register_out(pmt::mp("events"));
// initialize internal vars
d_dump = dump;
d_if_freq = if_freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_dump_filename = dump_filename;
d_current_prn_length_samples = static_cast<int>(d_vector_length);
// Initialize tracking ==========================================
d_code_loop_filter.set_DLL_BW(dll_bw_hz);
d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
//--- DLL variables --------------------------------------------------------
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
// Initialization of local code replica
// Get space for a vector with the C/A code replica sampled 1x/chip
d_ca_code = static_cast<float *>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
// correlator outputs (scalar)
d_n_correlator_taps = 3; // Early, Prompt, and Late
d_correlator_outs = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs[n] = gr_complex(0, 0);
}
d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment()));
// Set TAPs delay values [chips]
d_local_code_shift_chips[0] = -d_early_late_spc_chips;
d_local_code_shift_chips[1] = 0.0;
d_local_code_shift_chips[2] = d_early_late_spc_chips;
multicorrelator_cpu.init(2 * d_current_prn_length_samples, d_n_correlator_taps);
//--- Perform initializations ------------------------------
// define initial code frequency basis of NCO
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
// define residual code phase (in chips)
d_rem_code_phase_samples = 0.0;
// define residual carrier phase
d_rem_carr_phase_rad = 0.0;
// sample synchronization
d_sample_counter = 0;
//d_sample_counter_seconds = 0;
d_acq_sample_stamp = 0;
d_enable_tracking = false;
d_pull_in = false;
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = FLAGS_carrier_lock_th;
systemName["G"] = std::string("GPS");
systemName["S"] = std::string("SBAS");
d_acquisition_gnss_synchro = 0;
d_channel = 0;
d_acq_code_phase_samples = 0.0;
d_acq_carrier_doppler_hz = 0.0;
d_carrier_doppler_hz = 0.0;
d_acc_carrier_phase_rad = 0.0;
d_code_phase_samples = 0.0;
d_rem_code_phase_chips = 0.0;
d_code_phase_step_chips = 0.0;
d_carrier_phase_step_rad = 0.0;
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
{
gr::thread::scoped_lock lk(d_setlock);
/*
* 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;
long int acq_trk_diff_samples;
double acq_trk_diff_seconds;
acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp); //-d_vector_length;
DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples;
acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
// Doppler effect
// Fd=(C/(C+Vr))*F
double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
// new chip and prn sequence periods based on acq Doppler
double T_chip_mod_seconds;
double T_prn_mod_seconds;
double T_prn_mod_samples;
d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
T_chip_mod_seconds = 1 / d_code_freq_chips;
T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
d_current_prn_length_samples = round(T_prn_mod_samples);
double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
double corrected_acq_phase_samples, delay_correction_samples;
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
if (corrected_acq_phase_samples < 0)
{
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
}
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
d_acq_code_phase_samples = corrected_acq_phase_samples;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); // initialize the carrier filter
d_code_loop_filter.initialize(); // initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
gps_l1_ca_code_gen_float(d_ca_code, d_acquisition_gnss_synchro->PRN, 0);
multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs[n] = gr_complex(0, 0);
}
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0;
d_rem_carr_phase_rad = 0.0;
d_rem_code_phase_chips = 0.0;
d_acc_carrier_phase_rad = 0.0;
d_code_phase_samples = d_acq_code_phase_samples;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
// DEBUG OUTPUT
std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
// enable tracking
d_pull_in = true;
d_enable_tracking = true;
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
<< " Code Phase correction [samples]=" << delay_correction_samples
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
}
int Gps_L1_Ca_Dll_Pll_Tracking_cc::save_matfile()
{
// READ DUMP FILE
std::ifstream::pos_type size;
int number_of_double_vars = 11;
int number_of_float_vars = 5;
int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars +
sizeof(float) * number_of_float_vars + sizeof(unsigned int);
std::ifstream dump_file;
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
try
{
dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
}
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem opening dump file:" << e.what() << std::endl;
return 1;
}
// count number of epochs and rewind
long int num_epoch = 0;
if (dump_file.is_open())
{
size = dump_file.tellg();
num_epoch = static_cast<long int>(size) / static_cast<long int>(epoch_size_bytes);
dump_file.seekg(0, std::ios::beg);
}
else
{
return 1;
}
float *abs_E = new float[num_epoch];
float *abs_P = new float[num_epoch];
float *abs_L = new float[num_epoch];
float *Prompt_I = new float[num_epoch];
float *Prompt_Q = new float[num_epoch];
unsigned long int *PRN_start_sample_count = new unsigned long int[num_epoch];
double *acc_carrier_phase_rad = new double[num_epoch];
double *carrier_doppler_hz = new double[num_epoch];
double *code_freq_chips = new double[num_epoch];
double *carr_error_hz = new double[num_epoch];
double *carr_error_filt_hz = new double[num_epoch];
double *code_error_chips = new double[num_epoch];
double *code_error_filt_chips = new double[num_epoch];
double *CN0_SNV_dB_Hz = new double[num_epoch];
double *carrier_lock_test = new double[num_epoch];
double *aux1 = new double[num_epoch];
double *aux2 = new double[num_epoch];
unsigned int *PRN = new unsigned int[num_epoch];
try
{
if (dump_file.is_open())
{
for (long int i = 0; i < num_epoch; i++)
{
dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(unsigned long int));
dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(unsigned int));
}
}
dump_file.close();
}
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
delete[] abs_E;
delete[] abs_P;
delete[] abs_L;
delete[] Prompt_I;
delete[] Prompt_Q;
delete[] PRN_start_sample_count;
delete[] acc_carrier_phase_rad;
delete[] carrier_doppler_hz;
delete[] code_freq_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;
}
// WRITE MAT FILE
mat_t *matfp;
matvar_t *matvar;
std::string filename = d_dump_filename;
filename.erase(filename.length() - 4, 4);
filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if (reinterpret_cast<long *>(matfp) != NULL)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 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);
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);
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);
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);
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);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 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);
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);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp);
delete[] abs_E;
delete[] abs_P;
delete[] abs_L;
delete[] Prompt_I;
delete[] Prompt_Q;
delete[] PRN_start_sample_count;
delete[] acc_carrier_phase_rad;
delete[] carrier_doppler_hz;
delete[] code_freq_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;
}
Gps_L1_Ca_Dll_Pll_Tracking_cc::~Gps_L1_Ca_Dll_Pll_Tracking_cc()
{
if (d_dump_file.is_open())
{
try
{
d_dump_file.close();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor " << ex.what();
}
}
if (d_dump)
{
if (d_channel == 0)
{
std::cout << "Writing .mat files ...";
}
Gps_L1_Ca_Dll_Pll_Tracking_cc::save_matfile();
if (d_channel == 0)
{
std::cout << " done." << std::endl;
}
}
try
{
volk_gnsssdr_free(d_local_code_shift_chips);
volk_gnsssdr_free(d_correlator_outs);
volk_gnsssdr_free(d_ca_code);
delete[] d_Prompt_buffer;
multicorrelator_cpu.free();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor " << ex.what();
}
}
int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
gr::thread::scoped_lock lk(d_setlock);
// process vars
double carr_error_hz = 0.0;
double carr_error_filt_hz = 0.0;
double code_error_chips = 0.0;
double code_error_filt_chips = 0.0;
// Block input data and block output stream pointers
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]);
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data = Gnss_Synchro();
if (d_enable_tracking == true)
{
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
// Receiver signal alignment
if (d_pull_in == true)
{
int samples_offset;
double acq_trk_shif_correction_samples;
int acq_to_trk_delay_samples;
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples
d_pull_in = false;
// take into account the carrier cycles accumulated in the pull in signal alignment
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.fs = d_fs_in;
current_synchro_data.correlation_length_ms = 1;
consume_each(samples_offset); // shift input to perform alignment with local replica
return 0;
}
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
// perform carrier wipe-off and compute Early, Prompt and Late correlation
multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, in);
multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carr_phase_rad,
d_carrier_phase_step_rad,
d_rem_code_phase_chips,
d_code_phase_step_chips,
d_current_prn_length_samples);
// ################## PLL ##########################################################
// PLL discriminator
// Update PLL discriminator [rads/Ti -> Secs/Ti]
carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; // prompt output
// Carrier discriminator filter
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
// New carrier Doppler frequency estimation
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
// New code Doppler frequency estimation
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ);
// ################## DLL ##########################################################
// DLL discriminator
code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
// Code discriminator filter
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second]
double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips * T_chip_seconds); //[seconds]
//double code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; // [seconds]
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
// keep alignment parameters for the next input buffer
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
//double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
//double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
d_current_prn_length_samples = round(K_blk_samples); // round to a discrete number of samples
//################### PLL COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample]
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
// remnant carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
// carrier phase accumulator
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples;
//################### DLL COMMANDS #################################################
// code phase step (Code resampler phase increment per sample) [chips/sample]
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
// remnant code phase [chips]
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; // rounding error < 1 sample
d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast<double>(d_fs_in));
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < FLAGS_cn0_samples)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; //prompt
d_cn0_estimation_counter++;
}
else
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}
}
// ########### Output the tracking data to navigation and PVT ##########
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
current_synchro_data.correlation_length_ms = 1;
}
else
{
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs[n] = gr_complex(0, 0);
}
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
current_synchro_data.System = {'G'};
current_synchro_data.correlation_length_ms = 1;
}
//assign the GNURadio block output data
current_synchro_data.fs = d_fs_in;
*out[0] = current_synchro_data;
if (d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
unsigned long int tmp_long;
prompt_I = d_correlator_outs[1].real();
prompt_Q = d_correlator_outs[1].imag();
tmp_E = std::abs<float>(d_correlator_outs[0]);
tmp_P = std::abs<float>(d_correlator_outs[1]);
tmp_L = std::abs<float>(d_correlator_outs[2]);
try
{
// EPR
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
// PRN start sample stamp
tmp_long = d_sample_counter + d_current_prn_length_samples;
d_dump_file.write(reinterpret_cast<char *>(&tmp_long), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_rad), sizeof(double));
// carrier and code frequency
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
// PLL commands
d_dump_file.write(reinterpret_cast<char *>(&carr_error_hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(double));
// DLL commands
d_dump_file.write(reinterpret_cast<char *>(&code_error_chips), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&code_error_filt_chips), sizeof(double));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
// AUX vars (for debug purposes)
tmp_double = d_rem_code_phase_samples;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing trk dump file " << e.what();
}
}
consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
d_sample_counter += d_current_prn_length_samples; // count for the processed samples
if (current_synchro_data.Flag_valid_symbol_output)
{
return 1;
}
else
{
return 0;
}
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
{
d_channel = channel;
LOG(INFO) << "Tracking Channel set to " << d_channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
}
}
}
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
{
d_acquisition_gnss_synchro = p_gnss_synchro;
}

167
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.h
View File

@ -1,167 +0,0 @@
/*!
* \file gps_l1_ca_dll_pll_tracking_cc.h
* \brief Interface of a code DLL + carrier PLL tracking block
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
* Cillian O'Driscoll, 2017. cillian.odriscoll(at)gmail.com
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
* Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_CC_H
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_CC_H
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include "cpu_multicorrelator_real_codes.h"
#include <gnuradio/block.h>
#include <fstream>
#include <map>
#include <string>
class Gps_L1_Ca_Dll_Pll_Tracking_cc;
typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Tracking_cc>
gps_l1_ca_dll_pll_tracking_cc_sptr;
gps_l1_ca_dll_pll_tracking_cc_sptr
gps_l1_ca_dll_pll_make_tracking_cc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips);
/*!
* \brief This class implements a DLL + PLL tracking loop block
*/
class Gps_L1_Ca_Dll_Pll_Tracking_cc : public gr::block
{
public:
~Gps_L1_Ca_Dll_Pll_Tracking_cc();
void set_channel(unsigned int channel);
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
void start_tracking();
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items, gr_vector_void_star& output_items);
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
private:
friend gps_l1_ca_dll_pll_tracking_cc_sptr
gps_l1_ca_dll_pll_make_tracking_cc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips);
Gps_L1_Ca_Dll_Pll_Tracking_cc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips);
int save_matfile();
// tracking configuration vars
unsigned int d_vector_length;
bool d_dump;
Gnss_Synchro* d_acquisition_gnss_synchro;
unsigned int d_channel;
long d_if_freq;
long d_fs_in;
double d_early_late_spc_chips;
// remaining code phase and carrier phase between tracking loops
double d_rem_code_phase_samples;
double d_rem_code_phase_chips;
double d_rem_carr_phase_rad;
// PLL and DLL filter library
Tracking_2nd_DLL_filter d_code_loop_filter;
Tracking_2nd_PLL_filter d_carrier_loop_filter;
// acquisition
double d_acq_code_phase_samples;
double d_acq_carrier_doppler_hz;
// correlator
int d_n_correlator_taps;
float* d_ca_code;
float* d_local_code_shift_chips;
gr_complex* d_correlator_outs;
cpu_multicorrelator_real_codes multicorrelator_cpu;
// tracking vars
double d_code_freq_chips;
double d_code_phase_step_chips;
double d_carrier_doppler_hz;
double d_carrier_phase_step_rad;
double d_acc_carrier_phase_rad;
double d_code_phase_samples;
//PRN period in samples
int d_current_prn_length_samples;
//processing samples counters
unsigned long int d_sample_counter;
unsigned long int d_acq_sample_stamp;
// CN0 estimation and lock detector
int d_cn0_estimation_counter;
gr_complex* d_Prompt_buffer;
double d_carrier_lock_test;
double d_CN0_SNV_dB_Hz;
double d_carrier_lock_threshold;
int d_carrier_lock_fail_counter;
// control vars
bool d_enable_tracking;
bool d_pull_in;
// file dump
std::string d_dump_filename;
std::ofstream d_dump_file;
std::map<std::string, std::string> systemName;
std::string sys;
};
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_CC_H

1
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc
View File

@ -228,7 +228,6 @@ void GpsL1CADllPllTrackingTest::configure_receiver()
config->set_property("Tracking_1C.pll_bw_narrow_hz", "20.0"); config->set_property("Tracking_1C.pll_bw_narrow_hz", "20.0");
config->set_property("Tracking_1C.dll_bw_narrow_hz", "2.0"); config->set_property("Tracking_1C.dll_bw_narrow_hz", "2.0");
config->set_property("Tracking_1C.early_late_space_narrow_chips", "0.5"); config->set_property("Tracking_1C.early_late_space_narrow_chips", "0.5");
config->set_property("Tracking_1C.unified", "true");
config->set_property("Tracking_1C.extend_correlation_ms", "1"); config->set_property("Tracking_1C.extend_correlation_ms", "1");
config->set_property("Tracking_1C.dump", "true"); config->set_property("Tracking_1C.dump", "true");
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_"); config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");