mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-11-06 01:56:25 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
Carles Fernandez
commit
678680ff1c
@ -63,7 +63,6 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
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float very_early_late_space_chips;
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float very_early_late_space_chips;
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float early_late_space_narrow_chips;
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float early_late_space_narrow_chips;
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float very_early_late_space_narrow_chips;
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float very_early_late_space_narrow_chips;
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unified_ = configuration->property(role + ".unified", false);
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item_type = configuration->property(role + ".item_type", default_item_type);
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item_type = configuration->property(role + ".item_type", default_item_type);
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int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
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int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
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fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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@ -92,44 +91,23 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
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if (item_type.compare("gr_complex") == 0)
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if (item_type.compare("gr_complex") == 0)
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{
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{
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item_size_ = sizeof(gr_complex);
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item_size_ = sizeof(gr_complex);
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if (unified_)
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{
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char sig_[3] = "1B";
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char sig_[3] = "1B";
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tracking_ = dll_pll_veml_make_tracking(
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tracking_unified_ = dll_pll_veml_make_tracking(
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fs_in,
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fs_in,
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vector_length,
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vector_length,
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dump,
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dump,
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dump_filename,
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dump_filename,
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pll_bw_hz,
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pll_bw_hz,
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dll_bw_hz,
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dll_bw_hz,
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pll_bw_narrow_hz,
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pll_bw_narrow_hz,
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dll_bw_narrow_hz,
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dll_bw_narrow_hz,
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early_late_space_chips,
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early_late_space_chips,
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very_early_late_space_chips,
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very_early_late_space_chips,
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early_late_space_narrow_chips,
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early_late_space_narrow_chips,
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very_early_late_space_narrow_chips,
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very_early_late_space_narrow_chips,
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extend_correlation_symbols,
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extend_correlation_symbols,
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track_pilot, 'E', sig_);
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track_pilot, 'E', sig_);
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}
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else
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{
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tracking_ = galileo_e1_dll_pll_veml_make_tracking_cc(
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0,
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fs_in,
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vector_length,
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dump,
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dump_filename,
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pll_bw_hz,
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dll_bw_hz,
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pll_bw_narrow_hz,
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dll_bw_narrow_hz,
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early_late_space_chips,
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very_early_late_space_chips,
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early_late_space_narrow_chips,
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very_early_late_space_narrow_chips,
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extend_correlation_symbols,
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track_pilot);
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}
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}
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}
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else
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else
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{
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{
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@ -150,10 +128,7 @@ GalileoE1DllPllVemlTracking::~GalileoE1DllPllVemlTracking()
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void GalileoE1DllPllVemlTracking::start_tracking()
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void GalileoE1DllPllVemlTracking::start_tracking()
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{
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{
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if (unified_)
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tracking_->start_tracking();
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tracking_unified_->start_tracking();
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else
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tracking_->start_tracking();
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}
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}
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@ -163,19 +138,13 @@ void GalileoE1DllPllVemlTracking::start_tracking()
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void GalileoE1DllPllVemlTracking::set_channel(unsigned int channel)
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void GalileoE1DllPllVemlTracking::set_channel(unsigned int channel)
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{
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{
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channel_ = channel;
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channel_ = channel;
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if (unified_)
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tracking_->set_channel(channel);
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tracking_unified_->set_channel(channel);
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else
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tracking_->set_channel(channel);
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}
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}
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void GalileoE1DllPllVemlTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
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void GalileoE1DllPllVemlTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
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{
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{
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if (unified_)
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tracking_->set_gnss_synchro(p_gnss_synchro);
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tracking_unified_->set_gnss_synchro(p_gnss_synchro);
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else
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tracking_->set_gnss_synchro(p_gnss_synchro);
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}
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}
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@ -199,17 +168,11 @@ void GalileoE1DllPllVemlTracking::disconnect(gr::top_block_sptr top_block)
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gr::basic_block_sptr GalileoE1DllPllVemlTracking::get_left_block()
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gr::basic_block_sptr GalileoE1DllPllVemlTracking::get_left_block()
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{
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{
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if (unified_)
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return tracking_;
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return tracking_unified_;
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else
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return tracking_;
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}
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}
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gr::basic_block_sptr GalileoE1DllPllVemlTracking::get_right_block()
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gr::basic_block_sptr GalileoE1DllPllVemlTracking::get_right_block()
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{
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{
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if (unified_)
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return tracking_;
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return tracking_unified_;
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else
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return tracking_;
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}
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}
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@ -38,7 +38,6 @@
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#define GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_H_
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#define GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_H_
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#include "tracking_interface.h"
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#include "tracking_interface.h"
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#include "galileo_e1_dll_pll_veml_tracking_cc.h"
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#include "dll_pll_veml_tracking.h"
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#include "dll_pll_veml_tracking.h"
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#include <string>
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#include <string>
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@ -95,14 +94,12 @@ public:
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void start_tracking() override;
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void start_tracking() override;
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private:
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private:
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galileo_e1_dll_pll_veml_tracking_cc_sptr tracking_;
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dll_pll_veml_tracking_sptr tracking_;
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dll_pll_veml_tracking_sptr tracking_unified_;
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size_t item_size_;
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size_t item_size_;
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unsigned int channel_;
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unsigned int channel_;
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std::string role_;
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std::string role_;
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unsigned int in_streams_;
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unsigned int in_streams_;
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unsigned int out_streams_;
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unsigned int out_streams_;
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bool unified_;
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};
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};
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#endif // GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_H_
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#endif // GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_H_
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@ -60,7 +60,6 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
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int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
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int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
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fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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dump = configuration->property(role + ".dump", false);
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dump = configuration->property(role + ".dump", false);
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unified_ = configuration->property(role + ".unified", false);
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float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
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float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
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if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
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if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
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float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
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float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
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@ -78,38 +77,23 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
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if (item_type.compare("gr_complex") == 0)
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if (item_type.compare("gr_complex") == 0)
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{
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{
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item_size_ = sizeof(gr_complex);
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item_size_ = sizeof(gr_complex);
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if (unified_)
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char sig_[3] = "1C";
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{
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tracking_ = dll_pll_veml_make_tracking(
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char sig_[3] = "1C";
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fs_in,
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tracking_unified_ = dll_pll_veml_make_tracking(
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vector_length,
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fs_in,
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dump,
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vector_length,
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dump_filename,
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dump,
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pll_bw_hz,
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dump_filename,
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dll_bw_hz,
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pll_bw_hz,
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pll_bw_narrow_hz,
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dll_bw_hz,
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dll_bw_narrow_hz,
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pll_bw_narrow_hz,
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early_late_space_chips,
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dll_bw_narrow_hz,
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early_late_space_chips,
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early_late_space_chips,
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early_late_space_narrow_chips,
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early_late_space_chips,
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early_late_space_narrow_chips,
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early_late_space_narrow_chips,
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symbols_extended_correlator,
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early_late_space_narrow_chips,
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false,
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symbols_extended_correlator,
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'G', sig_);
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false,
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'G', sig_);
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}
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else
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{
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tracking_ = gps_l1_ca_dll_pll_make_tracking_cc(
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0,
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fs_in,
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vector_length,
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dump,
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dump_filename,
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pll_bw_hz,
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dll_bw_hz,
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early_late_space_chips);
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}
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}
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}
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else
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else
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{
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{
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@ -128,10 +112,7 @@ GpsL1CaDllPllTracking::~GpsL1CaDllPllTracking()
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void GpsL1CaDllPllTracking::start_tracking()
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void GpsL1CaDllPllTracking::start_tracking()
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{
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{
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if (unified_)
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tracking_->start_tracking();
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tracking_unified_->start_tracking();
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else
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tracking_->start_tracking();
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}
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}
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@ -141,19 +122,13 @@ void GpsL1CaDllPllTracking::start_tracking()
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void GpsL1CaDllPllTracking::set_channel(unsigned int channel)
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void GpsL1CaDllPllTracking::set_channel(unsigned int channel)
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{
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{
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channel_ = channel;
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channel_ = channel;
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if (unified_)
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tracking_->set_channel(channel);
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tracking_unified_->set_channel(channel);
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else
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tracking_->set_channel(channel);
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}
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}
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void GpsL1CaDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
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void GpsL1CaDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
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{
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{
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if (unified_)
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tracking_->set_gnss_synchro(p_gnss_synchro);
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tracking_unified_->set_gnss_synchro(p_gnss_synchro);
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else
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tracking_->set_gnss_synchro(p_gnss_synchro);
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}
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}
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@ -177,17 +152,11 @@ void GpsL1CaDllPllTracking::disconnect(gr::top_block_sptr top_block)
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|
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gr::basic_block_sptr GpsL1CaDllPllTracking::get_left_block()
|
gr::basic_block_sptr GpsL1CaDllPllTracking::get_left_block()
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{
|
{
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if (unified_)
|
return tracking_;
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return tracking_unified_;
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else
|
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return tracking_;
|
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}
|
}
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gr::basic_block_sptr GpsL1CaDllPllTracking::get_right_block()
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gr::basic_block_sptr GpsL1CaDllPllTracking::get_right_block()
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{
|
{
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if (unified_)
|
return tracking_;
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return tracking_unified_;
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else
|
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return tracking_;
|
|
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}
|
}
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@ -39,7 +39,6 @@
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#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_H_
|
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_H_
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|
|
||||||
#include "tracking_interface.h"
|
#include "tracking_interface.h"
|
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#include "gps_l1_ca_dll_pll_tracking_cc.h"
|
|
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#include "dll_pll_veml_tracking.h"
|
#include "dll_pll_veml_tracking.h"
|
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#include <string>
|
#include <string>
|
||||||
|
|
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@ -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_;
|
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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_;
|
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bool unified_;
|
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_H_
|
#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_H_
|
||||||
|
|||||||
@ -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
|
||||||
|
|||||||
@ -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;
|
||||||
}
|
}
|
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}
|
}
|
||||||
else if (system == 'E')
|
else if (system == 'E')
|
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@ -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
|
||||||
@ -901,12 +917,15 @@ 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
|
||||||
float scale_factor = static_cast<float>(d_extend_correlation_symbols) / static_cast<float>(d_extend_correlation_symbols_count);
|
if (d_extend_correlation_symbols_count > 0)
|
||||||
tmp_VE *= scale_factor;
|
{
|
||||||
tmp_E *= scale_factor;
|
float scale_factor = static_cast<float>(d_extend_correlation_symbols) / static_cast<float>(d_extend_correlation_symbols_count);
|
||||||
tmp_P *= scale_factor;
|
tmp_VE *= scale_factor;
|
||||||
tmp_L *= scale_factor;
|
tmp_E *= scale_factor;
|
||||||
tmp_VL *= scale_factor;
|
tmp_P *= scale_factor;
|
||||||
|
tmp_L *= scale_factor;
|
||||||
|
tmp_VL *= scale_factor;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
try
|
try
|
||||||
|
|||||||
File diff suppressed because it is too large
Load Diff
@ -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
|
|
||||||
@ -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;
|
|
||||||
}
|
|
||||||
@ -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
|
|
||||||
@ -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_");
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user