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https://github.com/gnss-sdr/gnss-sdr
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Merge pull request #146 from antonioramosdet/speed_up_observables
Modify observables history
This commit is contained in:
Javier Arribas
GitHub
commit
67ccb5b910
213
src/algorithms/libs/gnss_circular_deque.h
Normal file
213
src/algorithms/libs/gnss_circular_deque.h
Normal file
@ -0,0 +1,213 @@
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/*!
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* \file gnss_circular_deque.h
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* \brief This class implements a circular deque for Gnss_Synchro
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*
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* \author Luis Esteve, 2018. antonio.ramos(at)cttc.es
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*
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* Detailed description of the file here if needed.
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_CIRCULAR_DEQUE_H_
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#define GNSS_SDR_CIRCULAR_DEQUE_H_
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template <class T>
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class Gnss_circular_deque
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{
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public:
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Gnss_circular_deque();
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Gnss_circular_deque(const unsigned int max_size, const unsigned int nchann);
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~Gnss_circular_deque();
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unsigned int size(const unsigned int ch);
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T& at(const unsigned int ch, const unsigned int pos);
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T& front(const unsigned int ch);
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T& back(const unsigned int ch);
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void push_back(const unsigned int ch, const T& new_data);
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T pop_front(const unsigned int ch);
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void clear(const unsigned int ch);
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T* get_vector(const unsigned int ch);
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private:
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T** d_history;
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T d_return_void; // Void object for avoid compiler errors
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unsigned int* d_index_pop;
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unsigned int* d_index_push;
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unsigned int* d_size;
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unsigned int d_max_size;
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unsigned int d_nchannels;
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};
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template <class T>
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Gnss_circular_deque<T>::Gnss_circular_deque()
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{
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d_max_size = 0;
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d_nchannels = 0;
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d_size = nullptr;
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d_index_pop = nullptr;
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d_index_push = nullptr;
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d_history = nullptr;
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}
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template <class T>
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Gnss_circular_deque<T>::Gnss_circular_deque(const unsigned int max_size, const unsigned int nchann)
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{
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d_max_size = max_size;
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d_nchannels = nchann;
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if (d_max_size > 0 and d_nchannels > 0)
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{
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d_size = new unsigned int[d_nchannels];
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d_index_pop = new unsigned int[d_nchannels];
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d_index_push = new unsigned int[d_nchannels];
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d_history = new T*[d_nchannels];
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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d_size[i] = 0;
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d_index_pop[i] = 0;
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d_index_push[i] = 0;
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d_history[i] = new T[d_max_size];
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}
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}
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}
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template <class T>
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Gnss_circular_deque<T>::~Gnss_circular_deque()
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{
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if (d_max_size > 0 and d_nchannels > 0)
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{
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delete[] d_size;
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delete[] d_index_pop;
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delete[] d_index_push;
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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delete[] d_history[i];
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}
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delete[] d_history;
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}
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}
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template <class T>
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unsigned int Gnss_circular_deque<T>::size(const unsigned int ch)
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{
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return d_size[ch];
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}
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template <class T>
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T& Gnss_circular_deque<T>::back(const unsigned int ch)
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{
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if (d_size[ch] > 0)
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{
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unsigned int index = 0;
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if (d_index_push[ch] > 0)
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{
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index = d_index_push[ch] - 1;
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}
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else
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{
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index = d_max_size;
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}
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return d_history[ch][index];
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}
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else
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{
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return d_return_void;
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}
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}
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template <class T>
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T& Gnss_circular_deque<T>::front(const unsigned int ch)
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{
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if (d_size[ch] > 0)
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{
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return d_history[ch][d_index_pop[ch]];
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}
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else
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{
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return d_return_void;
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}
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}
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template <class T>
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T& Gnss_circular_deque<T>::at(const unsigned int ch, const unsigned int pos)
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{
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if (d_size[ch] > 0 and pos < d_size[ch])
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{
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unsigned int index = (d_index_pop[ch] + pos) % d_max_size;
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return d_history[ch][index];
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}
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else
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{
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return d_return_void;
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}
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}
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template <class T>
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void Gnss_circular_deque<T>::clear(const unsigned int ch)
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{
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d_size[ch] = 0;
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d_index_pop[ch] = 0;
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d_index_push[ch] = 0;
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}
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template <class T>
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T Gnss_circular_deque<T>::pop_front(const unsigned int ch)
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{
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T result;
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if (d_size[ch] > 0)
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{
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d_size[ch]--;
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result = d_history[ch][d_index_pop[ch]];
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d_index_pop[ch]++;
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d_index_pop[ch] %= d_max_size;
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}
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return result;
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}
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template <class T>
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void Gnss_circular_deque<T>::push_back(const unsigned int ch, const T& new_data)
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{
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d_history[ch][d_index_push[ch]] = new_data;
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d_index_push[ch]++;
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d_index_push[ch] %= d_max_size;
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if (d_size[ch] < d_max_size)
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{
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d_size[ch]++;
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}
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else
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{
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d_index_pop[ch]++;
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d_index_pop[ch] %= d_max_size;
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}
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}
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template <class T>
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T* Gnss_circular_deque<T>::get_vector(const unsigned int ch)
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{
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return d_history[ch];
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}
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#endif /* GNSS_SDR_CIRCULAR_DEQUE_H_ */
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@ -26,6 +26,7 @@ include_directories(
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${CMAKE_SOURCE_DIR}/src/core/interfaces
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${CMAKE_SOURCE_DIR}/src/core/receiver
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${CMAKE_SOURCE_DIR}/src/algorithms/observables/gnuradio_blocks
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${CMAKE_SOURCE_DIR}/src/algorithms/libs
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${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
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${GLOG_INCLUDE_DIRS}
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${GFlags_INCLUDE_DIRS}
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@ -39,8 +39,8 @@ list(SORT OBS_GR_BLOCKS_HEADERS)
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add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} ${OBS_GR_BLOCKS_HEADERS})
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source_group(Headers FILES ${OBS_GR_BLOCKS_HEADERS})
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if(MATIO_FOUND)
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add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
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add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
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else(MATIO_FOUND)
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add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
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add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
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endif(MATIO_FOUND)
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target_link_libraries(obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES})
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target_link_libraries(obs_gr_blocks gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES})
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@ -66,11 +66,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in,
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max_delta = 0.15; // 150 ms
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valid_channels.resize(d_nchannels, false);
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d_num_valid_channels = 0;
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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d_gnss_synchro_history.push_back(std::deque<Gnss_Synchro>());
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}
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d_gnss_synchro_history = Gnss_circular_deque<Gnss_Synchro>(200, d_nchannels);
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump)
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@ -302,15 +298,37 @@ int hybrid_observables_cc::save_matfile()
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}
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bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque<Gnss_Synchro> &data, const double &ti)
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bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned int &ch, const double &ti)
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{
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if ((ti < data.front().RX_time) or (ti > data.back().RX_time))
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if ((ti < d_gnss_synchro_history.front(ch).RX_time) or (ti > d_gnss_synchro_history.back(ch).RX_time))
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{
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return false;
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}
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std::deque<Gnss_Synchro>::iterator it;
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std::pair<unsigned int, unsigned int> ind = find_interp_elements(ch, ti);
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arma::vec t = arma::vec(data.size());
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double m = 0.0;
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double c = 0.0;
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// CARRIER PHASE INTERPOLATION
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m = (d_gnss_synchro_history.at(ch, ind.first).Carrier_phase_rads - d_gnss_synchro_history.at(ch, ind.second).Carrier_phase_rads) / (d_gnss_synchro_history.at(ch, ind.first).RX_time - d_gnss_synchro_history.at(ch, ind.second).RX_time);
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c = d_gnss_synchro_history.at(ch, ind.first).Carrier_phase_rads - m * d_gnss_synchro_history.at(ch, ind.first).RX_time;
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out.Carrier_phase_rads = m * ti + c;
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// CARRIER DOPPLER INTERPOLATION
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m = (d_gnss_synchro_history.at(ch, ind.first).Carrier_Doppler_hz - d_gnss_synchro_history.at(ch, ind.second).Carrier_Doppler_hz) / (d_gnss_synchro_history.at(ch, ind.first).RX_time - d_gnss_synchro_history.at(ch, ind.second).RX_time);
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c = d_gnss_synchro_history.at(ch, ind.first).Carrier_Doppler_hz - m * d_gnss_synchro_history.at(ch, ind.first).RX_time;
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out.Carrier_Doppler_hz = m * ti + c;
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// TOW INTERPOLATION
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m = (d_gnss_synchro_history.at(ch, ind.first).TOW_at_current_symbol_s - d_gnss_synchro_history.at(ch, ind.second).TOW_at_current_symbol_s) / (d_gnss_synchro_history.at(ch, ind.first).RX_time - d_gnss_synchro_history.at(ch, ind.second).RX_time);
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c = d_gnss_synchro_history.at(ch, ind.first).TOW_at_current_symbol_s - m * d_gnss_synchro_history.at(ch, ind.first).RX_time;
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out.TOW_at_current_symbol_s = m * ti + c;
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return true;
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/*
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arma::vec t = arma::vec(d_gnss_synchro_history.size(ch));
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arma::vec dop = t;
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arma::vec cph = t;
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arma::vec tow = t;
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@ -336,6 +354,7 @@ bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque<Gnss_
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out.TOW_at_current_symbol_s = result(0);
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return result.is_finite();
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*/
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}
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@ -351,6 +370,48 @@ double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a)
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}
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}
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std::pair<unsigned int, unsigned int> hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const double &ti)
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{
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unsigned int closest = 0;
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double dif = std::numeric_limits<double>::max();
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double dt = 0.0;
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for (unsigned int i = 0; i < d_gnss_synchro_history.size(ch); i++)
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{
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dt = std::fabs(ti - d_gnss_synchro_history.at(ch, i).RX_time);
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if (dt < dif)
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{
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dif = dt;
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closest = i;
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}
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}
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unsigned int index1;
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unsigned int index2;
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if (closest == 0)
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{
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index1 = 0;
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index2 = 1;
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}
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else if (closest == (d_gnss_synchro_history.size(ch) - 1))
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{
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index1 = d_gnss_synchro_history.size(ch) - 2;
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index2 = d_gnss_synchro_history.size(ch) - 1;
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}
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else
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{
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if (d_gnss_synchro_history.at(ch, closest).RX_time < ti)
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{
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index1 = closest;
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index2 = closest + 1;
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}
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else
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{
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index1 = closest - 1;
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index2 = closest;
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}
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}
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return std::pair<unsigned int, unsigned int>(index1, index2);
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}
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void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
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gr_vector_int &ninput_items_required)
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@ -363,13 +424,13 @@ void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)),
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}
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void hybrid_observables_cc::clean_history(std::deque<Gnss_Synchro> &data)
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void hybrid_observables_cc::clean_history(Gnss_circular_deque<Gnss_Synchro> &data, unsigned int pos)
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{
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while (data.size() > 0)
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while (data.size(pos) > 0)
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{
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if ((T_rx_s - data.front().RX_time) > max_delta)
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if ((T_rx_s - data.front(pos).RX_time) > max_delta)
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{
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data.pop_front();
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data.pop_front(pos);
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}
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else
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{
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@ -454,11 +515,9 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
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}
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//////////////////////////////////////////////////////////////////////////
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std::vector<std::deque<Gnss_Synchro>>::iterator it;
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if (total_input_items > 0)
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{
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i = 0;
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for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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if (ninput_items[i] > 0)
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{
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@ -467,26 +526,25 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
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{
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if (in[i][aux].Flag_valid_word)
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{
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it->push_back(in[i][aux]);
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it->back().RX_time = compute_T_rx_s(in[i][aux]);
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d_gnss_synchro_history.push_back(i, in[i][aux]);
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d_gnss_synchro_history.back(i).RX_time = compute_T_rx_s(in[i][aux]);
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// Check if the last Gnss_Synchro comes from the same satellite as the previous ones
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if (it->size() > 1)
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if (d_gnss_synchro_history.size(i) > 1)
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{
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if (it->front().PRN != it->back().PRN)
|
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if (d_gnss_synchro_history.front(i).PRN != d_gnss_synchro_history.back(i).PRN)
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{
|
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it->clear();
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d_gnss_synchro_history.clear(i);
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}
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}
|
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}
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}
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consume(i, ninput_items[i]);
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}
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i++;
|
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}
|
||||
}
|
||||
for (i = 0; i < d_nchannels; i++)
|
||||
{
|
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if (d_gnss_synchro_history.at(i).size() > 2)
|
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if (d_gnss_synchro_history.size(i) > 2)
|
||||
{
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valid_channels[i] = true;
|
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}
|
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@ -506,8 +564,8 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
{
|
||||
if (valid_channels[i])
|
||||
{
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clean_history(d_gnss_synchro_history.at(i));
|
||||
if (d_gnss_synchro_history.at(i).size() < 2)
|
||||
clean_history(d_gnss_synchro_history, i);
|
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if (d_gnss_synchro_history.size(i) < 2)
|
||||
{
|
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valid_channels[i] = false;
|
||||
}
|
||||
@ -523,13 +581,12 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
}
|
||||
|
||||
std::vector<Gnss_Synchro> epoch_data;
|
||||
i = 0;
|
||||
for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++)
|
||||
for (unsigned int i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
if (valid_channels[i])
|
||||
{
|
||||
Gnss_Synchro interpolated_gnss_synchro = it->back();
|
||||
if (interpolate_data(interpolated_gnss_synchro, *it, T_rx_s_out))
|
||||
Gnss_Synchro interpolated_gnss_synchro = d_gnss_synchro_history.back(i);
|
||||
if (interpolate_data(interpolated_gnss_synchro, i, T_rx_s_out))
|
||||
{
|
||||
epoch_data.push_back(interpolated_gnss_synchro);
|
||||
}
|
||||
@ -538,7 +595,6 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
valid_channels[i] = false;
|
||||
}
|
||||
}
|
||||
i++;
|
||||
}
|
||||
d_num_valid_channels = valid_channels.count();
|
||||
if (d_num_valid_channels == 0)
|
||||
@ -546,14 +602,14 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
|
||||
return 0;
|
||||
}
|
||||
correct_TOW_and_compute_prange(epoch_data);
|
||||
std::vector<Gnss_Synchro>::iterator it2 = epoch_data.begin();
|
||||
std::vector<Gnss_Synchro>::iterator it = epoch_data.begin();
|
||||
for (i = 0; i < d_nchannels; i++)
|
||||
{
|
||||
if (valid_channels[i])
|
||||
{
|
||||
out[i][0] = (*it2);
|
||||
out[i][0] = (*it);
|
||||
out[i][0].Flag_valid_pseudorange = true;
|
||||
it2++;
|
||||
it++;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
@ -35,12 +35,12 @@
|
||||
#define GNSS_SDR_HYBRID_OBSERVABLES_CC_H
|
||||
|
||||
#include "gnss_synchro.h"
|
||||
#include "gnss_circular_deque.h"
|
||||
#include <gnuradio/block.h>
|
||||
#include <boost/dynamic_bitset.hpp>
|
||||
#include <fstream>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <deque>
|
||||
#include <utility>
|
||||
|
||||
|
||||
class hybrid_observables_cc;
|
||||
@ -65,14 +65,15 @@ private:
|
||||
friend hybrid_observables_cc_sptr
|
||||
hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
|
||||
hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename);
|
||||
void clean_history(std::deque<Gnss_Synchro>& data);
|
||||
void clean_history(Gnss_circular_deque<Gnss_Synchro>& data, unsigned int pos);
|
||||
double compute_T_rx_s(const Gnss_Synchro& a);
|
||||
bool interpolate_data(Gnss_Synchro& out, std::deque<Gnss_Synchro>& data, const double& ti);
|
||||
bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti);
|
||||
std::pair<unsigned int, unsigned int> find_interp_elements(const unsigned int& ch, const double& ti);
|
||||
void correct_TOW_and_compute_prange(std::vector<Gnss_Synchro>& data);
|
||||
int save_matfile();
|
||||
|
||||
//Tracking observable history
|
||||
std::vector<std::deque<Gnss_Synchro>> d_gnss_synchro_history;
|
||||
Gnss_circular_deque<Gnss_Synchro> d_gnss_synchro_history;
|
||||
boost::dynamic_bitset<> valid_channels;
|
||||
double T_rx_s;
|
||||
double T_rx_step_s;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user