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Fixing bugs in telemetry decoder code

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This commit is contained in:
Damian Miralles 2017-08-31 16:51:50 -06:00
parent e5ffc2b46c
commit 6b8973efe2
8 changed files with 55 additions and 41 deletions
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10
conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
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@ -12,7 +12,7 @@ SignalSource.sampling_frequency=6625000
;SignalSource.samples=66250000
SignalSource.samples=0
SignalSource.dump=false;
SignalSource.dump_filename=./signal_glonass.bin
SignalSource.dump_filename=/archive/signal_glonass.bin
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
@ -33,8 +33,8 @@ Channel2.signal=1G
Channel3.signal=1G
Channel4.signal=1G
;Channel0.satellite=2
;Channel1.satellite=21
Channel0.satellite=11
Channel1.satellite=15
;Channel2.satellite=12
;Channel3.satellite=23
; Possible list includes 2, 12, 21, 22
@ -43,7 +43,7 @@ Channel4.signal=1G
Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
Acquisition_1G.item_type=gr_complex
Acquisition_1G.threshold=0.0
Acquisition_1G.pfa=0.01
Acquisition_1G.pfa=0.0001
Acquisition_1G.if=0
Acquisition_1G.doppler_max=10000
Acquisition_1G.doppler_step=250
@ -61,7 +61,7 @@ Tracking_1G.dump=true;
Tracking_1G.dump_filename=/archive/glo_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1G.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables

24
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
View File

@ -145,15 +145,19 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
chip_acc += frame_symbols[i];
chip_acc_counter += 1;
if(chip_acc_counter == (GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT - 1))
if(chip_acc_counter == (GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT))
{
if (chip_acc > 0)
{
bi_binary_code.push_back('1');
chip_acc_counter = 0;
chip_acc = 0;
}
else
{
bi_binary_code.push_back('0');
chip_acc_counter = 0;
chip_acc = 0;
}
}
}
@ -171,18 +175,16 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
}
// 2. Call the GLONASS GNAV string decoder
d_nav.string_decoder(relative_code.c_str());
d_nav.string_decoder(relative_code);
// 3. Check operation executed correctly
if(d_nav.flag_CRC_test == true)
{
LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite " << d_satellite;
std::cout << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite ";// << d_satellite;
}
else
{
std::cout << "GLONASS GNAV CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl;
LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel << " from satellite " << d_satellite;
LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel << " from satellite " ;//<< d_satellite;
}
// 4. Push the new navigation data to the queues
@ -225,7 +227,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
consume_each(1);
d_flag_preamble = false;
unsigned int required_symbols=GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS;
unsigned int required_symbols=GLONASS_GNAV_STRING_SYMBOLS;
if (d_symbol_history.size()>required_symbols)
{
@ -264,7 +266,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
if (abs(preamble_diff - GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS) == 0)
{
//try to decode frame
LOG(INFO) << "Starting page decoder for GLONASS L1 C/A SAT " << this->d_satellite;
LOG(INFO) << "Starting string decoder for GLONASS L1 C/A SAT " << this->d_satellite;
d_preamble_index = d_sample_counter; //record the preamble sample stamp
d_stat = 2;
}
@ -274,17 +276,19 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
{
d_stat = 0; // start again
}
DLOG(INFO) << "Failed string decoder for GLONASS L1 C/A SAT " << this->d_satellite;
}
}
}
else if (d_stat == 2)
{
if (d_sample_counter == d_preamble_index + GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS)
// FIXME: The preamble index marks the first symbol of the string count. Here I just wait for another full string to be received before processing
if (d_sample_counter == d_preamble_index + GLONASS_GNAV_STRING_SYMBOLS)
{
// NEW GLONASS string received
// 0. fetch the symbols into an array
int string_length = GLONASS_GNAV_STRING_SYMBOLS - d_symbols_per_preamble;
double string_symbols[string_length];
double string_symbols[string_length] = {0};
//******* SYMBOL TO BIT *******
for (int i = 0; i < string_length; i++)

2
src/core/system_parameters/GLONASS_L1_CA.h
View File

@ -151,7 +151,7 @@ const int GLONASS_L1_CA_HISTORY_DEEP = 100;
const double GLONASS_GNAV_PREAMBLE_DURATION_S = 0.3;
const int GLONASS_GNAV_PREAMBLE_LENGTH_BITS = 30;
const int GLONASS_GNAV_PREAMBLE_LENGTH_SYMBOLS = 300;
const int GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS = 1700;
const int GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS = 2000;
const int GLONASS_GNAV_TELEMETRY_RATE_BITS_SECOND = 50; //!< NAV message bit rate [bits/s]
const int GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT = 10;
const int GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT = 10;

39
src/core/system_parameters/glonass_gnav_navigation_message.cc
View File

@ -81,6 +81,10 @@ void Glonass_Gnav_Navigation_Message::reset()
d_TOW_F4 = 0.0; //!< Time of GPS Week from HOW word of Subframe 4 [s]
d_TOW_F5 = 0.0; //!< Time of GPS Week from HOW word of Subframe 5 [s]
flag_CRC_test = false;
d_frame_ID = 0;
d_string_ID = 0;
// Clock terms
d_satClkCorr = 0.0;
d_dtr = 0.0;
@ -310,6 +314,7 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
return frame_ID;
}
double Glonass_Gnav_Navigation_Message::get_TOW()
{
double TOW = 0.0;
@ -329,20 +334,21 @@ double Glonass_Gnav_Navigation_Message::get_TOW()
return TOW;
}
int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
{
int string_ID = 0;
int J = 0;
frame_ID = 0;
d_string_ID = 0;
d_frame_ID = 0;
// UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
std::bitset<GLONASS_GNAV_STRING_BITS> string_bits = std::bitset<GLONASS_GNAV_STRING_BITS>((frame_string));
string_ID = static_cast<int>(read_navigation_unsigned(string_bits, STRING_ID));
d_string_ID = static_cast<unsigned int>(read_navigation_unsigned(string_bits, STRING_ID));
CRC_test(string_bits);
flag_CRC_test = CRC_test(string_bits);
// Decode all 15 string messages
switch (string_ID)
switch (d_string_ID)
{
case 1:
//--- It is string 1 -----------------------------------------------
@ -454,7 +460,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
case 6:
// --- It is string 6 ----------------------------------------------
i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
frame_ID = get_frame_number(i_satellite_slot_number);
d_frame_ID = get_frame_number(i_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@ -499,7 +505,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
case 8:
// --- It is string 8 ----------------------------------------------
i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
frame_ID = get_frame_number(i_satellite_slot_number);
d_frame_ID = get_frame_number(i_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@ -538,7 +544,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
case 10:
// --- It is string 10 ---------------------------------------------
i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
frame_ID = get_frame_number(i_satellite_slot_number);
d_frame_ID = get_frame_number(i_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@ -577,7 +583,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
case 12:
// --- It is string 12 ---------------------------------------------
i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
frame_ID = get_frame_number(i_satellite_slot_number);
d_frame_ID = get_frame_number(i_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@ -615,7 +621,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
break;
case 14:
// --- It is string 14 ---------------------------------------------
if( frame_ID == 5)
if( d_frame_ID == 5)
{
gnav_utc_model.d_B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
gnav_utc_model.d_B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
@ -623,7 +629,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
else
{
i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
frame_ID = get_frame_number(i_satellite_slot_number);
d_frame_ID = get_frame_number(i_satellite_slot_number);
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
@ -641,7 +647,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
case 15:
// --- It is string 9 ----------------------------------------------
if (frame_ID != 5 and flag_almanac_str_14 == true )
if (d_frame_ID != 5 and flag_almanac_str_14 == true )
{
gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
gnav_almanac[i_satellite_slot_number - 1].d_t_lambda_n_A = static_cast<double>(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5;
@ -662,10 +668,13 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
}
break;
default:
break;
} // switch subframeID ...
LOG(INFO) << "GLONASS GNAV: Invalid String ID of received. Received " << d_string_ID << ", but acceptable range is from 1-15";
return frame_ID;
break;
} // switch string ID ...
return d_string_ID;
}

3
src/core/system_parameters/glonass_gnav_navigation_message.h
View File

@ -61,7 +61,8 @@ private:
public:
bool flag_CRC_test;
unsigned int frame_ID;
unsigned int d_frame_ID;
unsigned int d_string_ID;
Glonass_Gnav_Ephemeris gnav_ephemeris; //!< Ephemeris information decoded
Glonass_Gnav_Utc_Model gnav_utc_model; //!< UTC model information

2
src/core/system_parameters/gnss_satellite.cc
View File

@ -356,7 +356,7 @@ std::string Gnss_Satellite::what_block(const std::string& system_, unsigned int
}
if (system_.compare("GLONASS") == 0)
if (system_.compare("Glonass") == 0)
{
switch ( PRN_ )
{

8
src/core/system_parameters/rtcm.cc
View File

@ -3960,7 +3960,7 @@ int Rtcm::set_DF041(const Gnss_Synchro & gnss_synchro)
int Rtcm::set_DF042(const Gnss_Synchro & gnss_synchro)
{
const double lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN)));
const double lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_DFREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN)));
double ambiguity = std::floor( gnss_synchro.Pseudorange_m / 599584.92 );
double glonass_L1_pseudorange = std::round(( gnss_synchro.Pseudorange_m - ambiguity * 599584.92) / 0.02 );
double glonass_L1_pseudorange_c = glonass_L1_pseudorange * 0.02 + ambiguity * 299792.458;
@ -5270,7 +5270,7 @@ int Rtcm::set_DF401(const Gnss_Synchro & gnss_synchro)
}
if ((sig.compare("1C") == 0) && (sys.compare("R") == 0 ))
{
lambda = GLONASS_C_m_s / ((GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN))));
lambda = GLONASS_C_m_s / ((GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_DFREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN))));
}
if ((sig.compare("2C") == 0) && (sys.compare("R") == 0 ))
{
@ -5379,7 +5379,7 @@ int Rtcm::set_DF404(const Gnss_Synchro & gnss_synchro)
}
if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
{
lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN)));
lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_DFREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN)));
}
if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
{
@ -5467,7 +5467,7 @@ int Rtcm::set_DF406(const Gnss_Synchro & gnss_synchro)
}
if ((sig_.compare("1C") == 0) && (sys_.compare("R") == 0 ))
{
lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN)));
lambda = GLONASS_C_m_s / (GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_DFREQ_HZ * GLONASS_PRN.at(gnss_synchro.PRN)));
}
if ((sig_.compare("2C") == 0) && (sys_.compare("R") == 0 ))
{

8
src/utils/matlab/gps_l1_ca_dll_pll_plot_sample.m
View File

@ -35,14 +35,14 @@ if ~exist('gps_l1_ca_dll_pll_read_tracking_dump.m','file')
end
samplingFreq = 2600000; %[Hz]
channels = 2;
samplingFreq = 6625000; %[Hz]
channels = 5;
first_channel = 0;
path = '/home/javier/git/gnss-sdr/build/'; %% CHANGE THIS PATH
path = '/archive/'; %% CHANGE THIS PATH
for N=1:1:channels
tracking_log_path = [path 'tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
tracking_log_path = [path 'glo_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
GNSS_tracking(N)= gps_l1_ca_dll_pll_read_tracking_dump(tracking_log_path);
end