diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc index b31691f09..2b0a0072d 100755 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc @@ -37,8 +37,8 @@ #include "dll_pll_veml_tracking.h" #include #include -#include #include +#include #include #include #include @@ -58,56 +58,58 @@ using google::LogMessage; dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking( - double 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, - char system, char signal[3], bool veml) + double 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, + char system, char signal[3], bool veml) { return dll_pll_veml_tracking_sptr(new dll_pll_veml_tracking( - fs_in, - vector_length, - dump, - dump_filename, - pll_bw_hz, - dll_bw_hz, - pll_bw_narrow_hz, - dll_bw_narrow_hz, - early_late_space_chips, - very_early_late_space_chips, - early_late_space_narrow_chips, - very_early_late_space_narrow_chips, - extend_correlation_symbols, - track_pilot, system, signal, veml)); + fs_in, + vector_length, + dump, + dump_filename, + pll_bw_hz, + dll_bw_hz, + pll_bw_narrow_hz, + dll_bw_narrow_hz, + early_late_space_chips, + very_early_late_space_chips, + early_late_space_narrow_chips, + very_early_late_space_narrow_chips, + extend_correlation_symbols, + track_pilot, system, signal, veml)); } -void dll_pll_veml_tracking::forecast (int noutput_items, - gr_vector_int &ninput_items_required) +void dll_pll_veml_tracking::forecast(int noutput_items, + gr_vector_int &ninput_items_required) { - if (noutput_items != 0) { ninput_items_required[0] = static_cast(d_vector_length) * 2; } + if (noutput_items != 0) + { + ninput_items_required[0] = static_cast(d_vector_length) * 2; + } } dll_pll_veml_tracking::dll_pll_veml_tracking( - double 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, char system, char signal[3], bool veml): - gr::block("dll_pll_veml_tracking", gr::io_signature::make(1, 1, sizeof(gr_complex)), - gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) + double 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, char system, char signal[3], bool veml) : gr::block("dll_pll_veml_tracking", 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")); @@ -117,6 +119,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking( // initialize internal vars d_dump = dump; d_veml = veml; + d_track_pilot = track_pilot; d_fs_in = fs_in; d_vector_length = vector_length; d_dump_filename = dump_filename; @@ -124,70 +127,99 @@ dll_pll_veml_tracking::dll_pll_veml_tracking( d_code_chip_rate = 0.0; d_signal_carrier_freq = 0.0; d_code_length_chips = 0; - - - - if((system - 'G') == 0) - { - systemName["G"] = std::string("GPS"); - sys = "G"; - if(std::string(signal).compare("1C") == 0) + d_secondary = false; + d_secondary_code_length = 0; + d_secondary_code_string = nullptr; + d_correlation_length_ms = 0; + signal_type = std::string(signal); + if (system == 'G') { - d_signal_carrier_freq = GPS_L1_FREQ_HZ; - d_code_period = GPS_L1_CA_CODE_PERIOD; - d_code_chip_rate = GPS_L1_CA_CODE_RATE_HZ; - d_code_length_chips = static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS); + systemName = "GPS"; + if (signal_type.compare("1C") == 0) + { + d_signal_carrier_freq = GPS_L1_FREQ_HZ; + d_code_period = GPS_L1_CA_CODE_PERIOD; + d_code_chip_rate = GPS_L1_CA_CODE_RATE_HZ; + d_correlation_length_ms = 1; + d_code_length_chips = static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS); + d_secondary = false; + d_track_pilot = false; + } + else if (signal_type.compare("2S") == 0) + { + d_signal_carrier_freq = GPS_L2_FREQ_HZ; + d_code_period = GPS_L2_M_PERIOD; + d_code_chip_rate = GPS_L2_M_CODE_RATE_HZ; + d_code_length_chips = static_cast(GPS_L2_M_CODE_LENGTH_CHIPS); + d_correlation_length_ms = 20; + d_secondary = false; + d_track_pilot = false; + } + else if (signal_type.compare("L5") == 0) + { + d_signal_carrier_freq = GPS_L5_FREQ_HZ; + d_code_period = GPS_L5i_PERIOD; + d_code_chip_rate = GPS_L5i_CODE_RATE_HZ; + d_correlation_length_ms = 1; + d_code_length_chips = static_cast(GPS_L5i_CODE_LENGTH_CHIPS); + d_secondary = false; + } + else + { + LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks"; + std::cout << "Invalid Signal argument when instantiating tracking blocks" << std::endl; + } } - else if(std::string(signal).compare("2S") == 0) + else if (system == 'E') { - d_signal_carrier_freq = GPS_L2_FREQ_HZ; - d_code_period = GPS_L2_M_PERIOD; - d_code_chip_rate = GPS_L2_M_CODE_RATE_HZ; - d_code_length_chips = static_cast(GPS_L2_M_CODE_LENGTH_CHIPS); + systemName = "Galileo"; + if (signal_type.compare("1B") == 0) + { + d_signal_carrier_freq = Galileo_E1_FREQ_HZ; + d_code_period = Galileo_E1_CODE_PERIOD; + d_code_chip_rate = Galileo_E1_CODE_CHIP_RATE_HZ; + d_code_length_chips = static_cast(Galileo_E1_B_CODE_LENGTH_CHIPS); + d_correlation_length_ms = 4; + d_secondary = true; + if (d_track_pilot) + { + d_secondary_code_length = static_cast(Galileo_E1_C_SECONDARY_CODE_LENGTH); + d_secondary_code_string = const_cast(&Galileo_E1_C_SECONDARY_CODE); + } + else + { + d_secondary = false; + } + } + else if (signal_type.compare("5X") == 0) + { + d_signal_carrier_freq = Galileo_E5a_FREQ_HZ; + d_code_period = GALILEO_E5a_CODE_PERIOD; + d_code_chip_rate = Galileo_E5a_CODE_CHIP_RATE_HZ; + d_correlation_length_ms = 1; + d_code_length_chips = static_cast(Galileo_E5a_CODE_LENGTH_CHIPS); + d_secondary = true; + if (d_track_pilot) + { + d_secondary_code_length = static_cast(Galileo_E5a_Q_SECONDARY_CODE_LENGTH); + } + else + { + d_secondary_code_length = static_cast(Galileo_E5a_I_SECONDARY_CODE_LENGTH); + d_secondary_code_string = const_cast(&Galileo_E5a_I_SECONDARY_CODE); + } + } + else + { + LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks"; + std::cout << "Invalid Signal argument when instantiating tracking blocks" << std::endl; + } } - else if(std::string(signal).compare("L5") == 0) - { - d_signal_carrier_freq = GPS_L5_FREQ_HZ; - d_code_period = GPS_L5i_PERIOD; - d_code_chip_rate = GPS_L5i_CODE_RATE_HZ; - d_code_length_chips = static_cast(GPS_L5i_CODE_LENGTH_CHIPS); - } - else - { - LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks"; - std::cout << "Invalid Signal argument when instantiating tracking blocks" <(Galileo_E1_B_CODE_LENGTH_CHIPS); - } - else if(std::string(signal).compare("5X") == 0) - { - d_signal_carrier_freq = Galileo_E5a_FREQ_HZ; - d_code_period = GALILEO_E5a_CODE_PERIOD; - d_code_chip_rate = Galileo_E5a_CODE_CHIP_RATE_HZ; - d_code_length_chips = static_cast(Galileo_E5a_CODE_LENGTH_CHIPS); - } - else - { - LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks"; - std::cout << "Invalid Signal argument when instantiating tracking blocks" <(volk_gnsssdr_malloc(2 * d_code_length_chips * sizeof(float), volk_gnsssdr_get_alignment())); + d_tracking_code = static_cast(volk_gnsssdr_malloc(2 * d_code_length_chips * sizeof(float), volk_gnsssdr_get_alignment())); // correlator outputs (scalar) - if(d_veml) { d_n_correlator_taps = 5; } // Very-Early, Early, Prompt, Late, Very-Late - else { d_n_correlator_taps = 3; } - - d_correlator_outs = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_local_code_shift_chips = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment())); - - for (int n = 0; n < d_n_correlator_taps; n++) + if (d_veml) { - d_correlator_outs[n] = gr_complex(0,0); + // Very-Early, Early, Prompt, Late, Very-Late + d_n_correlator_taps = 5; } - // map memory pointers of correlator outputs - if(d_veml) - { - d_Very_Early = &d_correlator_outs[0]; - d_Early = &d_correlator_outs[1]; - d_Prompt = &d_correlator_outs[2]; - d_Late = &d_correlator_outs[3]; - d_Very_Late = &d_correlator_outs[4]; - d_local_code_shift_chips[0] = - d_very_early_late_spc_chips; - d_local_code_shift_chips[1] = - d_early_late_spc_chips; - d_local_code_shift_chips[2] = 0.0; - d_local_code_shift_chips[3] = d_early_late_spc_chips; - d_local_code_shift_chips[4] = d_very_early_late_spc_chips; - - } else - { - d_Very_Early = nullptr; - d_Early = &d_correlator_outs[0]; - d_Prompt = &d_correlator_outs[1]; - d_Late = &d_correlator_outs[2]; - d_Very_Late = nullptr; - 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; - } + { + // Early, Prompt, Late + d_n_correlator_taps = 3; + } + + d_correlator_outs = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment())); + d_local_code_shift_chips = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment())); + std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0)); + + // map memory pointers of correlator outputs + if (d_veml) + { + d_Very_Early = &d_correlator_outs[0]; + d_Early = &d_correlator_outs[1]; + d_Prompt = &d_correlator_outs[2]; + d_Late = &d_correlator_outs[3]; + d_Very_Late = &d_correlator_outs[4]; + d_local_code_shift_chips[0] = -d_very_early_late_spc_chips; + d_local_code_shift_chips[1] = -d_early_late_spc_chips; + d_local_code_shift_chips[2] = 0.0; + d_local_code_shift_chips[3] = d_early_late_spc_chips; + d_local_code_shift_chips[4] = d_very_early_late_spc_chips; + d_null_shift = &d_local_code_shift_chips[2]; + } + else + { + d_Very_Early = nullptr; + d_Early = &d_correlator_outs[0]; + d_Prompt = &d_correlator_outs[1]; + d_Late = &d_correlator_outs[2]; + d_Very_Late = nullptr; + 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; + d_null_shift = &d_local_code_shift_chips[1]; + } d_correlation_length_samples = d_vector_length; multicorrelator_cpu.init(2 * d_correlation_length_samples, d_n_correlator_taps); d_extend_correlation_symbols = extend_correlation_symbols; // Enable Data component prompt correlator (slave to Pilot prompt) if tracking uses Pilot signal - d_track_pilot = track_pilot; if (d_track_pilot) { // extended integration control @@ -270,12 +307,10 @@ dll_pll_veml_tracking::dll_pll_veml_tracking( d_enable_extended_integration = false; } // Extra correlator for the data component - d_local_code_data_shift_chips = static_cast(volk_gnsssdr_malloc(sizeof(float), volk_gnsssdr_get_alignment())); - d_local_code_data_shift_chips[0] = 0.0; correlator_data_cpu.init(2 * d_correlation_length_samples, 1); - d_Prompt_Data = static_cast(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_Prompt_Data[0] = gr_complex(0,0); - d_data_code = static_cast(volk_gnsssdr_malloc(2 * d_code_length_chips * sizeof(float), volk_gnsssdr_get_alignment())); + d_Prompt_Data = static_cast(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment())); + d_Prompt_Data[0] = gr_complex(0.0, 0.0); + d_data_code = static_cast(volk_gnsssdr_malloc(2 * d_code_length_chips * sizeof(float), volk_gnsssdr_get_alignment())); } else { @@ -283,7 +318,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking( d_enable_extended_integration = false; } - //--- Initializations ------------------------------ + //--- Initializations ---// // Initial code frequency basis of NCO d_code_freq_chips = d_code_chip_rate; // Residual code phase (in chips) @@ -293,7 +328,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking( // sample synchronization d_sample_counter = 0; - //d_sample_counter_seconds = 0; d_acq_sample_stamp = 0; d_current_prn_length_samples = static_cast(d_vector_length); @@ -322,7 +356,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking( d_K_blk_samples = 0.0; d_code_phase_samples = 0.0; - d_state = 0; // initial state: standby + d_state = 0; // initial state: standby } @@ -336,7 +370,7 @@ void dll_pll_veml_tracking::start_tracking() 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 = static_cast(d_sample_counter) - static_cast(d_acq_sample_stamp); //-d_vector_length; + long int acq_trk_diff_samples = static_cast(d_sample_counter) - static_cast(d_acq_sample_stamp); //-d_vector_length; DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples; double acq_trk_diff_seconds = static_cast(acq_trk_diff_samples) / d_fs_in; // Doppler effect @@ -358,7 +392,7 @@ void dll_pll_veml_tracking::start_tracking() double corrected_acq_phase_samples = fmod(d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * d_fs_in, T_prn_true_samples); if (corrected_acq_phase_samples < 0.0) { - corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples; + corrected_acq_phase_samples += T_prn_mod_samples; } double delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples; @@ -368,30 +402,27 @@ void dll_pll_veml_tracking::start_tracking() d_carrier_phase_step_rad = GALILEO_TWO_PI * d_carrier_doppler_hz / 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 + d_carrier_loop_filter.initialize(); // initialize the carrier filter + d_code_loop_filter.initialize(); // initialize the code filter if (d_track_pilot) { char pilot_signal[3] = "1C"; galileo_e1_code_gen_float_sampled(d_tracking_code, pilot_signal, false, - d_acquisition_gnss_synchro->PRN, Galileo_E1_CODE_CHIP_RATE_HZ, 0); + d_acquisition_gnss_synchro->PRN, Galileo_E1_CODE_CHIP_RATE_HZ, 0); galileo_e1_code_gen_float_sampled(d_data_code, d_acquisition_gnss_synchro->Signal, false, - d_acquisition_gnss_synchro->PRN, Galileo_E1_CODE_CHIP_RATE_HZ, 0); - d_Prompt_Data[0] = gr_complex(0,0); - correlator_data_cpu.set_local_code_and_taps(d_code_length_chips, d_data_code, d_local_code_shift_chips); + d_acquisition_gnss_synchro->PRN, Galileo_E1_CODE_CHIP_RATE_HZ, 0); + d_Prompt_Data[0] = gr_complex(0.0, 0.0); + correlator_data_cpu.set_local_code_and_taps(d_code_length_chips, d_data_code, d_null_shift); } else { galileo_e1_code_gen_float_sampled(d_tracking_code, d_acquisition_gnss_synchro->Signal, false, - d_acquisition_gnss_synchro->PRN, Galileo_E1_CODE_CHIP_RATE_HZ, 0); + d_acquisition_gnss_synchro->PRN, Galileo_E1_CODE_CHIP_RATE_HZ, 0); } multicorrelator_cpu.set_local_code_and_taps(d_code_length_chips, d_tracking_code, d_local_code_shift_chips); - for (int n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs[n] = gr_complex(0,0); - } + std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0)); d_carrier_lock_fail_counter = 0; d_rem_code_phase_samples = 0.0; @@ -402,8 +433,8 @@ void dll_pll_veml_tracking::start_tracking() d_code_phase_samples = d_acq_code_phase_samples; // DEBUG OUTPUT - std::cout << "Tracking of Galileo E1 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; + std::cout << "Tracking of " << systemName << " " << signal_type << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; + LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking pull-in d_state = 1; @@ -419,28 +450,28 @@ dll_pll_veml_tracking::~dll_pll_veml_tracking() if (d_dump_file.is_open()) { try - { + { d_dump_file.close(); - } - catch(const std::exception & ex) - { + } + catch (const std::exception &ex) + { LOG(WARNING) << "Exception in destructor " << ex.what(); - } + } } - if(d_dump) + if (d_dump) { - if(d_channel == 0) + if (d_channel == 0) { std::cout << "Writing .mat files ..."; } save_matfile(); - if(d_channel == 0) + 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_tracking_code); @@ -448,16 +479,15 @@ dll_pll_veml_tracking::~dll_pll_veml_tracking() { volk_gnsssdr_free(d_Prompt_Data); volk_gnsssdr_free(d_data_code); - volk_gnsssdr_free(d_local_code_data_shift_chips); correlator_data_cpu.free(); } delete[] d_Prompt_buffer; multicorrelator_cpu.free(); - } - catch(const std::exception & ex) - { + } + catch (const std::exception &ex) + { LOG(WARNING) << "Exception in destructor " << ex.what(); - } + } } @@ -465,11 +495,11 @@ bool dll_pll_veml_tracking::acquire_secondary() { //******* preamble correlation ******** int corr_value = 0; - for (unsigned int i = 0; i < Galileo_E1_C_SECONDARY_CODE_LENGTH; i++) + for (unsigned int i = 0; i < d_secondary_code_length; i++) { - if (d_Prompt_buffer_deque.at(i).real() < 0) // symbols clipping + if (d_Prompt_buffer_deque.at(i).real() < 0.0) // symbols clipping { - if (Galileo_E1_C_SECONDARY_CODE.at(i) == '0') + if (d_secondary_code_string->at(i) == '0') { corr_value++; } @@ -480,7 +510,7 @@ bool dll_pll_veml_tracking::acquire_secondary() } else { - if (Galileo_E1_C_SECONDARY_CODE.at(i) == '0') + if (d_secondary_code_string->at(i) == '0') { corr_value--; } @@ -491,7 +521,7 @@ bool dll_pll_veml_tracking::acquire_secondary() } } - if (abs(corr_value) == Galileo_E1_C_SECONDARY_CODE_LENGTH) + if (abs(corr_value) == d_secondary_code_length) { return true; } @@ -516,7 +546,7 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status() { d_cn0_estimation_counter = 0; // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, DLL_PLL_CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, DLL_PLL_CN0_ESTIMATION_SAMPLES, d_fs_in, static_cast(d_code_length_chips)); // Carrier lock indicator d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, DLL_PLL_CN0_ESTIMATION_SAMPLES); // Loss of lock detection @@ -532,13 +562,13 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status() { 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 + this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock d_carrier_lock_fail_counter = 0; return false; } else { - return true; + return true; } } } @@ -549,28 +579,28 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status() // - updated remnant code phase in samples (d_rem_code_phase_samples) // - d_code_freq_chips // - d_carrier_doppler_hz -void dll_pll_veml_tracking::do_correlation_step(const gr_complex* input_samples) +void dll_pll_veml_tracking::do_correlation_step(const gr_complex *input_samples) { // ################# CARRIER WIPEOFF AND CORRELATORS ############################## // perform carrier wipe-off and compute Early, Prompt and Late correlation - multicorrelator_cpu.set_input_output_vectors(d_correlator_outs,input_samples); + multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, input_samples); 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_correlation_length_samples); + d_rem_carr_phase_rad, + d_carrier_phase_step_rad, + d_rem_code_phase_chips, + d_code_phase_step_chips, + d_correlation_length_samples); // DATA CORRELATOR (if tracking tracks the pilot signal) if (d_track_pilot) { - correlator_data_cpu.set_input_output_vectors(d_Prompt_Data,input_samples); + correlator_data_cpu.set_input_output_vectors(d_Prompt_Data, input_samples); correlator_data_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_correlation_length_samples); + d_rem_carr_phase_rad, + d_carrier_phase_step_rad, + d_rem_code_phase_chips, + d_code_phase_step_chips, + d_correlation_length_samples); } } @@ -595,23 +625,26 @@ void dll_pll_veml_tracking::run_dll_pll(bool disable_costas_loop) // New carrier Doppler frequency estimation d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_carr_error_filt_hz; // New code Doppler frequency estimation - d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ); + d_code_freq_chips = (1.0 + d_carrier_doppler_hz / d_signal_carrier_freq) * d_code_chip_rate; // ################## DLL ########################################################## // DLL discriminator - d_code_error_chips = dll_nc_vemlp_normalized(d_VE_accu, d_E_accu, d_L_accu, d_VL_accu); // [chips/Ti] + d_code_error_chips = dll_nc_vemlp_normalized(d_VE_accu, d_E_accu, d_L_accu, d_VL_accu); // [chips/Ti] // Code discriminator filter - d_code_error_filt_chips = d_code_loop_filter.get_code_nco(d_code_error_chips); // [chips/second] + d_code_error_filt_chips = d_code_loop_filter.get_code_nco(d_code_error_chips); // [chips/second] } void dll_pll_veml_tracking::clear_tracking_vars() { - *d_Very_Early = gr_complex(0,0); - *d_Early = gr_complex(0,0); - *d_Prompt = gr_complex(0,0); - *d_Late = gr_complex(0,0); - *d_Very_Late= gr_complex(0,0); + if (d_veml) + { + *d_Very_Early = gr_complex(0.0, 0.0); + *d_Very_Late = gr_complex(0.0, 0.0); + } + *d_Early = gr_complex(0.0, 0.0); + *d_Prompt = gr_complex(0.0, 0.0); + *d_Late = gr_complex(0.0, 0.0); d_carr_error_hz = 0.0; d_carr_error_filt_hz = 0.0; d_code_error_chips = 0.0; @@ -622,7 +655,7 @@ void dll_pll_veml_tracking::clear_tracking_vars() void dll_pll_veml_tracking::log_data() { - if(d_dump) + if (d_dump) { // Dump results to file float prompt_I; @@ -634,382 +667,391 @@ void dll_pll_veml_tracking::log_data() prompt_I = static_cast(d_P_accu.real()); prompt_Q = static_cast(d_P_accu.imag()); - tmp_VE = std::abs(d_VE_accu); + if (d_veml) + { + tmp_VE = std::abs(d_VE_accu); + tmp_VL = std::abs(d_VL_accu); + } + else + { + tmp_VE = 0.0; + tmp_VL = 0.0; + } tmp_E = std::abs(d_E_accu); tmp_P = std::abs(d_P_accu); tmp_L = std::abs(d_L_accu); - tmp_VL = std::abs(d_VL_accu); try - { + { // Dump correlators output - d_dump_file.write(reinterpret_cast(&tmp_VE), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_E), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_P), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_L), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_VL), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_VE), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_E), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_P), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_L), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_VL), sizeof(float)); // PROMPT I and Q (to analyze navigation symbols) - d_dump_file.write(reinterpret_cast(&prompt_I), sizeof(float)); - d_dump_file.write(reinterpret_cast(&prompt_Q), sizeof(float)); + d_dump_file.write(reinterpret_cast(&prompt_I), sizeof(float)); + d_dump_file.write(reinterpret_cast(&prompt_Q), sizeof(float)); // PRN start sample stamp - d_dump_file.write(reinterpret_cast(&d_sample_counter), sizeof(unsigned long int)); + d_dump_file.write(reinterpret_cast(&d_sample_counter), sizeof(unsigned long int)); // accumulated carrier phase tmp_float = d_acc_carrier_phase_rad; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); // carrier and code frequency tmp_float = d_carrier_doppler_hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); tmp_float = d_code_freq_chips; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); // PLL commands tmp_float = d_carr_error_hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); tmp_float = d_carr_error_filt_hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); // DLL commands tmp_float = d_code_error_chips; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); tmp_float = d_code_error_filt_chips; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); // CN0 and carrier lock test tmp_float = d_CN0_SNV_dB_Hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); tmp_float = d_carrier_lock_test; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); // AUX vars (for debug purposes) tmp_float = d_rem_code_phase_samples; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); tmp_double = static_cast(d_sample_counter + d_current_prn_length_samples); - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); // PRN unsigned int prn_ = d_acquisition_gnss_synchro->PRN; - d_dump_file.write(reinterpret_cast(&prn_), sizeof(unsigned int)); - } + d_dump_file.write(reinterpret_cast(&prn_), sizeof(unsigned int)); + } catch (const std::ifstream::failure &e) - { + { LOG(WARNING) << "Exception writing trk dump file " << e.what(); - } + } } } -int dll_pll_veml_tracking::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) +int dll_pll_veml_tracking::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 l(d_setlock); - - // Block input data and block output stream pointers - const gr_complex* in = reinterpret_cast(input_items[0]); + const gr_complex *in = reinterpret_cast(input_items[0]); Gnss_Synchro **out = reinterpret_cast(&output_items[0]); - // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder Gnss_Synchro current_synchro_data = Gnss_Synchro(); - switch(d_state) - { - case 0: // standby - bypass + switch (d_state) { - current_synchro_data.Tracking_sample_counter = d_sample_counter; - break; + case 0: // Standby - Pass Through + { + break; + } + case 1: // Pull-in + { + // Signal alignment (skip samples until the incoming signal is aligned with local replica) + // Fill the acquisition data + int acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp; + double acq_trk_shif_correction_samples = d_current_prn_length_samples - std::fmod(static_cast(acq_to_trk_delay_samples), static_cast(d_current_prn_length_samples)); + int samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); + d_sample_counter += samples_offset; // count for the processed samples + consume_each(samples_offset); // shift input to perform alignment with local replica + d_state = 2; // next state is the symbol synchronization + return 0; + } + case 2: // Wide tracking and symbol synchronization + { + // Fill the acquisition data + current_synchro_data = *d_acquisition_gnss_synchro; + // Current NCO and code generator parameters + d_carrier_phase_step_rad = GALILEO_TWO_PI * d_carrier_doppler_hz / d_fs_in; + d_code_phase_step_chips = d_code_freq_chips / d_fs_in; + d_rem_code_phase_chips = d_rem_code_phase_samples * d_code_phase_step_chips; + // Perform a correlation step + do_correlation_step(in); + // Save single correlation step variables + if (d_veml) + { + d_VE_accu = *d_Very_Early; + d_VL_accu = *d_Very_Late; + } + d_E_accu = *d_Early; + d_P_accu = *d_Prompt; + d_L_accu = *d_Late; + + // Check lock status + if (!cn0_and_tracking_lock_status()) + { + clear_tracking_vars(); + d_state = 0; // loss-of-lock detected + } + else + { + // Perform DLL/PLL tracking loop computations + run_dll_pll(false); + + // ################## PLL COMMANDS ################################################# + // carrier phase accumulator for (K) Doppler estimation- + d_acc_carrier_phase_rad -= GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples) / d_fs_in; + // remanent carrier phase to prevent overflow in the code NCO + d_rem_carr_phase_rad = d_rem_carr_phase_rad + GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples) / d_fs_in; + d_rem_carr_phase_rad = std::fmod(d_rem_carr_phase_rad, GALILEO_TWO_PI); + + // ################## DLL COMMANDS ################################################# + // Code error from DLL + double code_error_filt_secs = d_code_period * d_code_error_filt_chips / d_code_chip_rate; // [seconds] + + // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT ####################### + // 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 / d_code_freq_chips; + double T_prn_seconds = T_chip_seconds * static_cast(d_code_length_chips); + double T_prn_samples = T_prn_seconds * d_fs_in; + double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * d_fs_in; + d_current_prn_length_samples = round(K_blk_samples); // round to a discrete number of samples + + // ########### Output the tracking results to Telemetry block ########## + if (d_track_pilot) + { + current_synchro_data.Prompt_I = static_cast((*d_Prompt_Data).real()); + current_synchro_data.Prompt_Q = static_cast((*d_Prompt_Data).imag()); + } + else + { + current_synchro_data.Prompt_I = static_cast((*d_Prompt).real()); + current_synchro_data.Prompt_Q = static_cast((*d_Prompt).imag()); + } + current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; + // compute remnant code phase samples AFTER the Tracking timestamp + d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; // rounding error < 1 sample + 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 = d_correlation_length_ms; + + // enable write dump file this cycle (valid DLL/PLL cycle) + log_data(); + + if (d_enable_extended_integration) + { + // ####### SECONDARY CODE LOCK ##### + d_Prompt_buffer_deque.push_back(*d_Prompt); + if (d_Prompt_buffer_deque.size() == d_secondary_code_length) + { + if (acquire_secondary()) + { + d_extend_correlation_symbols_count = 0; + // reset extended correlator + d_VE_accu = gr_complex(0.0, 0.0); + d_E_accu = gr_complex(0.0, 0.0); + d_P_accu = gr_complex(0.0, 0.0); + d_L_accu = gr_complex(0.0, 0.0); + d_VL_accu = gr_complex(0.0, 0.0); + d_Prompt_buffer_deque.clear(); + d_current_symbol = 0; + d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz); + d_carrier_loop_filter.set_PLL_BW(d_pll_bw_narrow_hz); + + // Set narrow taps delay values [chips] + if (d_veml) + { + d_local_code_shift_chips[0] = -d_very_early_late_spc_narrow_chips; + d_local_code_shift_chips[1] = -d_early_late_spc_narrow_chips; + d_local_code_shift_chips[3] = d_early_late_spc_narrow_chips; + d_local_code_shift_chips[4] = d_very_early_late_spc_narrow_chips; + } + else + { + d_local_code_shift_chips[0] = -d_early_late_spc_narrow_chips; + d_local_code_shift_chips[2] = d_early_late_spc_narrow_chips; + } + LOG(INFO) << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH " + << d_channel + << " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN); + std::cout << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH " + << d_channel + << " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; + + // UPDATE INTEGRATION TIME + float new_correlation_time_s = static_cast(d_extend_correlation_symbols) * static_cast(d_code_period); + d_carrier_loop_filter.set_pdi(new_correlation_time_s); + d_code_loop_filter.set_pdi(new_correlation_time_s); + + d_state = 3; // next state is the extended correlator integrator + } + + d_Prompt_buffer_deque.pop_front(); + } + } + } + break; + } + case 3: // coherent integration (correlation time extension) + { + // Fill the acquisition data + current_synchro_data = *d_acquisition_gnss_synchro; + // Current NCO and code generator parameters + d_carrier_phase_step_rad = GALILEO_TWO_PI * d_carrier_doppler_hz / d_fs_in; + d_code_phase_step_chips = d_code_freq_chips / d_fs_in; + d_rem_code_phase_chips = d_rem_code_phase_samples * d_code_freq_chips / d_fs_in; + // perform a correlation step + do_correlation_step(in); + // correct the integration sign using the current symbol of the secondary code + if (d_secondary_code_string->at(d_current_symbol) == '0') + { + if (d_veml) + { + d_VE_accu += *d_Very_Early; + d_VL_accu += *d_Very_Late; + } + d_E_accu += *d_Early; + d_P_accu += *d_Prompt; + d_L_accu += *d_Late; + } + else + { + if (d_veml) + { + d_VE_accu -= *d_Very_Early; + d_VL_accu -= *d_Very_Late; + } + d_E_accu -= *d_Early; + d_P_accu -= *d_Prompt; + d_L_accu -= *d_Late; + } + d_current_symbol++; + // secondary code roll-up + d_current_symbol %= d_secondary_code_length; + + // PLL/DLL not enabled, we are in the middle of a coherent integration + // 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 + + // ################## PLL ########################################################## + // carrier phase accumulator for (K) Doppler estimation- + d_acc_carrier_phase_rad -= GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples) / d_fs_in; + // remnant carrier phase to prevent overflow in the code NCO + d_rem_carr_phase_rad = d_rem_carr_phase_rad + GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples) / d_fs_in; + d_rem_carr_phase_rad = std::fmod(d_rem_carr_phase_rad, GALILEO_TWO_PI); + + // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT ####################### + // 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 / d_code_freq_chips; + double T_prn_seconds = T_chip_seconds * static_cast(d_code_length_chips); + double T_prn_samples = T_prn_seconds * d_fs_in; + double K_blk_samples = T_prn_samples + d_rem_code_phase_samples; + d_current_prn_length_samples = static_cast(round(K_blk_samples)); //round to a discrete samples + + // ########### Output the tracking results to Telemetry block ########## + current_synchro_data.Prompt_I = static_cast((*d_Prompt_Data).real()); + current_synchro_data.Prompt_Q = static_cast((*d_Prompt_Data).imag()); + current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; + // compute remnant code phase samples AFTER the Tracking timestamp + d_rem_code_phase_samples = K_blk_samples - static_cast(d_current_prn_length_samples); //rounding error < 1 sample + 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 = d_correlation_length_ms; + + d_extend_correlation_symbols_count++; + if (d_extend_correlation_symbols_count >= (d_extend_correlation_symbols - 1)) + { + d_extend_correlation_symbols_count = 0; + d_state = 4; + } + break; + } + case 4: // narrow tracking + { + // Fill the acquisition data + current_synchro_data = *d_acquisition_gnss_synchro; + // perform a correlation step + do_correlation_step(in); + + // correct the integration using the current symbol + if (d_secondary_code_string->at(d_current_symbol) == '0') + { + if (d_veml) + { + d_VE_accu += *d_Very_Early; + d_VL_accu += *d_Very_Late; + } + d_E_accu += *d_Early; + d_P_accu += *d_Prompt; + d_L_accu += *d_Late; + } + else + { + if (d_veml) + { + d_VE_accu -= *d_Very_Early; + d_VL_accu -= *d_Very_Late; + } + d_E_accu -= *d_Early; + d_P_accu -= *d_Prompt; + d_L_accu -= *d_Late; + } + d_current_symbol++; + // secondary code roll-up + d_current_symbol %= d_secondary_code_length; + + // check lock status + if (!cn0_and_tracking_lock_status()) + { + clear_tracking_vars(); + d_state = 0; // loss-of-lock detected + } + else + { + run_dll_pll(true); // Costas loop disabled, use four quadrant atan + + // ################## PLL ########################################################## + // carrier phase accumulator for (K) Doppler estimation- + d_acc_carrier_phase_rad -= GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples) / d_fs_in; + // remnant carrier phase to prevent overflow in the code NCO + d_rem_carr_phase_rad = d_rem_carr_phase_rad + GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples) / d_fs_in; + d_rem_carr_phase_rad = std::fmod(d_rem_carr_phase_rad, GALILEO_TWO_PI); + + // ################## DLL ########################################################## + // Code phase accumulator + double code_error_filt_secs = d_code_period * d_code_error_filt_chips / d_code_chip_rate; //[seconds] + + // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT ####################### + // 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 / d_code_freq_chips; + double T_prn_seconds = T_chip_seconds * static_cast(d_code_length_chips); + double T_prn_samples = T_prn_seconds * d_fs_in; + double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * d_fs_in; + d_current_prn_length_samples = static_cast(round(K_blk_samples)); // round to a discrete number of samples + + // ########### Output the tracking results to Telemetry block ########## + current_synchro_data.Prompt_I = static_cast((*d_Prompt_Data).real()); + current_synchro_data.Prompt_Q = static_cast((*d_Prompt_Data).imag()); + current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; + // compute remnant code phase samples AFTER the Tracking timestamp + d_rem_code_phase_samples = K_blk_samples - static_cast(d_current_prn_length_samples); //rounding error < 1 sample + 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 = d_correlation_length_ms; + // enable write dump file this cycle (valid DLL/PLL cycle) + log_data(); + // reset extended correlator + d_VE_accu = gr_complex(0.0, 0.0); + d_E_accu = gr_complex(0.0, 0.0); + d_P_accu = gr_complex(0.0, 0.0); + d_L_accu = gr_complex(0.0, 0.0); + d_VL_accu = gr_complex(0.0, 0.0); + d_state = 3; //new coherent integration (correlation time extension) cycle + } + } } - case 1: // pull-in - { - /* - * Signal alignment (skip samples until the incoming signal is aligned with local replica) - */ - // Fill the acquisition data - current_synchro_data = *d_acquisition_gnss_synchro; - 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 - std::fmod(static_cast(acq_to_trk_delay_samples), static_cast(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; - current_synchro_data.fs = d_fs_in; - *out[0] = current_synchro_data; - d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples - consume_each(samples_offset); // shift input to perform alignment with local replica - d_state = 2; // next state is the symbol synchronization - return 0; - } - case 2: // wide tracking and symbol synchronization - { - // Fill the acquisition data - current_synchro_data = *d_acquisition_gnss_synchro; - // Current NCO and code generator parameters - d_carrier_phase_step_rad = GALILEO_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); - d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); - d_rem_code_phase_chips = d_rem_code_phase_samples * d_code_freq_chips / d_fs_in; - // perform a correlation step - do_correlation_step(in); - // save single correlation step variables - d_VE_accu = *d_Very_Early; - d_E_accu = *d_Early; - d_P_accu = *d_Prompt; - d_L_accu = *d_Late; - d_VL_accu = *d_Very_Late; - // check lock status - if (cn0_and_tracking_lock_status() == false) - { - clear_tracking_vars(); - d_state = 0; // loss-of-lock detected - } - else - { - // perform DLL/PLL tracking loop computations - run_dll_pll(false); - - // ################## PLL COMMANDS ################################################# - // carrier phase accumulator for (K) Doppler estimation- - d_acc_carrier_phase_rad -= GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples) / static_cast(d_fs_in); - // remnant carrier phase to prevent overflow in the code NCO - d_rem_carr_phase_rad = d_rem_carr_phase_rad + GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples) / static_cast(d_fs_in); - d_rem_carr_phase_rad = std::fmod(d_rem_carr_phase_rad, GALILEO_TWO_PI); - - // ################## DLL COMMANDS ################################################# - // Code error from DLL - double code_error_filt_secs; - code_error_filt_secs = (Galileo_E1_CODE_PERIOD * d_code_error_filt_chips) / Galileo_E1_CODE_CHIP_RATE_HZ; // [seconds] - - // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT ####################### - // 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 / d_code_freq_chips; - double T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS; - double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast(d_fs_in); - d_current_prn_length_samples = round(K_blk_samples); // round to a discrete number of samples - - // ########### Output the tracking results to Telemetry block ########## - if (d_track_pilot) - { - current_synchro_data.Prompt_I = static_cast((*d_Prompt_Data).real()); - current_synchro_data.Prompt_Q = static_cast((*d_Prompt_Data).imag()); - } - else - { - current_synchro_data.Prompt_I = static_cast((*d_Prompt).real()); - current_synchro_data.Prompt_Q = static_cast((*d_Prompt).imag()); - } - current_synchro_data.Tracking_sample_counter = d_sample_counter; - current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; - // compute remnant code phase samples AFTER the Tracking timestamp - d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; // rounding error < 1 sample - 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 = Galileo_E1_CODE_PERIOD_MS; - - // enable write dump file this cycle (valid DLL/PLL cycle) - log_data(); - - //std::cout<<(d_Prompt->real()>0); - if (d_enable_extended_integration) - { - // ####### SECONDARY CODE LOCK ##### - d_Prompt_buffer_deque.push_back(*d_Prompt); - if (d_Prompt_buffer_deque.size() == Galileo_E1_C_SECONDARY_CODE_LENGTH) - { - if (acquire_secondary() == true) - { - d_extend_correlation_symbols_count = 0; - // reset extended correlator - d_VE_accu = gr_complex(0,0); - d_E_accu = gr_complex(0,0); - d_P_accu = gr_complex(0,0); - d_L_accu = gr_complex(0,0); - d_VL_accu = gr_complex(0,0); - d_Prompt_buffer_deque.clear(); - d_current_symbol = 0; - d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz); - d_carrier_loop_filter.set_PLL_BW(d_pll_bw_narrow_hz); - - // Set TAPs delay values [chips] - d_local_code_shift_chips[0] = - d_very_early_late_spc_narrow_chips; - d_local_code_shift_chips[1] = - d_early_late_spc_narrow_chips; - d_local_code_shift_chips[2] = 0.0; - d_local_code_shift_chips[3] = d_early_late_spc_narrow_chips; - d_local_code_shift_chips[4] = d_very_early_late_spc_narrow_chips; - - LOG(INFO) << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH " - << d_channel - << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN); - std::cout << "Enabled " << d_extend_correlation_symbols << " [symbols] extended correlator for CH " - << d_channel - << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - //std::cout << " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl; - //std::cout << " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl; - - // UPDATE INTEGRATION TIME - double new_correlation_time_s = static_cast(d_extend_correlation_symbols) * Galileo_E1_CODE_PERIOD; - d_carrier_loop_filter.set_pdi(new_correlation_time_s); - d_code_loop_filter.set_pdi(new_correlation_time_s); - - d_state = 3; // next state is the extended correlator integrator - } - - d_Prompt_buffer_deque.pop_front(); - } - } - } - break; - } - case 3: // coherent integration (correlation time extension) - { - // Fill the acquisition data - current_synchro_data = *d_acquisition_gnss_synchro; - // Current NCO and code generator parameters - d_carrier_phase_step_rad = GALILEO_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); - d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); - d_rem_code_phase_chips = d_rem_code_phase_samples * d_code_freq_chips / d_fs_in; - // perform a correlation step - do_correlation_step(in); - // correct the integration sign using the current symbol of the secondary code - if (Galileo_E1_C_SECONDARY_CODE.at(d_current_symbol) == '0') - { - d_VE_accu += *d_Very_Early; - d_E_accu += *d_Early; - d_P_accu += *d_Prompt; - d_L_accu += *d_Late; - d_VL_accu += *d_Very_Late; - } - else - { - d_VE_accu -= *d_Very_Early; - d_E_accu -= *d_Early; - d_P_accu -= *d_Prompt; - d_L_accu -= *d_Late; - d_VL_accu -= *d_Very_Late; - } - d_current_symbol++; - // secondary code roll-up - d_current_symbol = d_current_symbol % Galileo_E1_C_SECONDARY_CODE_LENGTH; - - // PLL/DLL not enabled, we are in the middle of a coherent integration - // 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 - - // ################## PLL ########################################################## - // carrier phase accumulator for (K) Doppler estimation- - d_acc_carrier_phase_rad -= GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples) / static_cast(d_fs_in); - // remnant carrier phase to prevent overflow in the code NCO - d_rem_carr_phase_rad = d_rem_carr_phase_rad + GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples) / static_cast(d_fs_in); - d_rem_carr_phase_rad = std::fmod(d_rem_carr_phase_rad, GALILEO_TWO_PI); - - // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT ####################### - // 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 / d_code_freq_chips; - double T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS; - double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - double K_blk_samples = T_prn_samples + d_rem_code_phase_samples; - d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples - - // ########### Output the tracking results to Telemetry block ########## - current_synchro_data.Prompt_I = static_cast((*d_Prompt_Data).real()); - current_synchro_data.Prompt_Q = static_cast((*d_Prompt_Data).imag()); - current_synchro_data.Tracking_sample_counter = d_sample_counter; - current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; - // compute remnant code phase samples AFTER the Tracking timestamp - d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample - 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 = Galileo_E1_CODE_PERIOD_MS; - - d_extend_correlation_symbols_count++; - if (d_extend_correlation_symbols_count >= (d_extend_correlation_symbols - 1)) - { - d_extend_correlation_symbols_count = 0; - d_state = 4; - } - break; - } - case 4: // narrow tracking - { - // Fill the acquisition data - current_synchro_data = *d_acquisition_gnss_synchro; - // perform a correlation step - do_correlation_step(in); - - // correct the integration using the current symbol - if (Galileo_E1_C_SECONDARY_CODE.at(d_current_symbol) == '0') - { - d_VE_accu += *d_Very_Early; - d_E_accu += *d_Early; - d_P_accu += *d_Prompt; - d_L_accu += *d_Late; - d_VL_accu += *d_Very_Late; - } - else - { - d_VE_accu -= *d_Very_Early; - d_E_accu -= *d_Early; - d_P_accu -= *d_Prompt; - d_L_accu -= *d_Late; - d_VL_accu -= *d_Very_Late; - } - d_current_symbol++; - // secondary code roll-up - d_current_symbol = d_current_symbol % Galileo_E1_C_SECONDARY_CODE_LENGTH; - - // check lock status - if (cn0_and_tracking_lock_status() == false) - { - clear_tracking_vars(); - d_state = 0; // loss-of-lock detected - } - else - { - run_dll_pll(true); // Costas loop disabled, use four quadrant atan - - // ################## PLL ########################################################## - // carrier phase accumulator for (K) Doppler estimation- - d_acc_carrier_phase_rad -= GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples) / static_cast(d_fs_in); - // remnant carrier phase to prevent overflow in the code NCO - d_rem_carr_phase_rad = d_rem_carr_phase_rad + GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples) / static_cast(d_fs_in); - d_rem_carr_phase_rad = std::fmod(d_rem_carr_phase_rad, GALILEO_TWO_PI); - - // ################## DLL ########################################################## - // Code phase accumulator - double code_error_filt_secs; - code_error_filt_secs = (Galileo_E1_CODE_PERIOD * d_code_error_filt_chips) / Galileo_E1_CODE_CHIP_RATE_HZ; //[seconds] - - // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT ####################### - // 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 / d_code_freq_chips; - double T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS; - double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast(d_fs_in); - d_current_prn_length_samples = round(K_blk_samples); // round to a discrete number of samples - - // ########### Output the tracking results to Telemetry block ########## - current_synchro_data.Prompt_I = static_cast((*d_Prompt_Data).real()); - current_synchro_data.Prompt_Q = static_cast((*d_Prompt_Data).imag()); - current_synchro_data.Tracking_sample_counter = d_sample_counter; - current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; - // compute remnant code phase samples AFTER the Tracking timestamp - d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample - 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 = Galileo_E1_CODE_PERIOD_MS; - // enable write dump file this cycle (valid DLL/PLL cycle) - log_data(); - // reset extended correlator - d_VE_accu = gr_complex(0,0); - d_E_accu = gr_complex(0,0); - d_P_accu = gr_complex(0,0); - d_L_accu = gr_complex(0,0); - d_VL_accu = gr_complex(0,0); - d_state = 3; //new coherent integration (correlation time extension) cycle - } - } - } //assign the GNURadio block output data // current_synchro_data.System = {'E'}; @@ -1017,14 +1059,14 @@ int dll_pll_veml_tracking::general_work (int noutput_items __attribute__((unused // const char * str = str_aux.c_str(); // get a C style null terminated string // std::memcpy(static_cast(current_synchro_data.Signal), str, 3); - current_synchro_data.fs = d_fs_in; - *out[0] = current_synchro_data; - - consume_each(d_current_prn_length_samples); // this is required for gr_block derivates - d_sample_counter += d_current_prn_length_samples; // count for the processed samples + consume_each(d_current_prn_length_samples); + d_sample_counter += d_current_prn_length_samples; if (current_synchro_data.Flag_valid_symbol_output) { + current_synchro_data.fs = static_cast(d_fs_in); + current_synchro_data.Tracking_sample_counter = d_sample_counter; + *out[0] = current_synchro_data; return 1; } else @@ -1041,18 +1083,18 @@ int dll_pll_veml_tracking::save_matfile() int number_of_double_vars = 1; int number_of_float_vars = 17; int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars + - sizeof(float) * number_of_float_vars + sizeof(unsigned int); + 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; + } + 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()) @@ -1065,32 +1107,32 @@ int dll_pll_veml_tracking::save_matfile() { return 1; } - float * abs_VE = new float [num_epoch]; - float * abs_E = new float [num_epoch]; - float * abs_P = new float [num_epoch]; - float * abs_L = new float [num_epoch]; - float * abs_VL = 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]; - float * acc_carrier_phase_rad = new float [num_epoch]; - float * carrier_doppler_hz = new float [num_epoch]; - float * code_freq_chips = new float [num_epoch]; - float * carr_error_hz = new float [num_epoch]; - float * carr_error_filt_hz = new float [num_epoch]; - float * code_error_chips = new float [num_epoch]; - float * code_error_filt_chips = new float [num_epoch]; - float * CN0_SNV_dB_Hz = new float [num_epoch]; - float * carrier_lock_test = new float [num_epoch]; - float * aux1 = new float [num_epoch]; - double * aux2 = new double [num_epoch]; - unsigned int * PRN = new unsigned int [num_epoch]; + float *abs_VE = new float[num_epoch]; + float *abs_E = new float[num_epoch]; + float *abs_P = new float[num_epoch]; + float *abs_L = new float[num_epoch]; + float *abs_VL = 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]; + float *acc_carrier_phase_rad = new float[num_epoch]; + float *carrier_doppler_hz = new float[num_epoch]; + float *code_freq_chips = new float[num_epoch]; + float *carr_error_hz = new float[num_epoch]; + float *carr_error_filt_hz = new float[num_epoch]; + float *code_error_chips = new float[num_epoch]; + float *code_error_filt_chips = new float[num_epoch]; + float *CN0_SNV_dB_Hz = new float[num_epoch]; + float *carrier_lock_test = new float[num_epoch]; + float *aux1 = new float[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++) + for (long int i = 0; i < num_epoch; i++) { dump_file.read(reinterpret_cast(&abs_VE[i]), sizeof(float)); dump_file.read(reinterpret_cast(&abs_E[i]), sizeof(float)); @@ -1115,10 +1157,10 @@ int dll_pll_veml_tracking::save_matfile() } } dump_file.close(); - } + } catch (const std::ifstream::failure &e) - { - std::cerr << "Problem reading dump file:" << e.what() << std::endl; + { + std::cerr << "Problem reading dump file:" << e.what() << std::endl; delete[] abs_VE; delete[] abs_E; delete[] abs_P; @@ -1140,7 +1182,7 @@ int dll_pll_veml_tracking::save_matfile() delete[] aux2; delete[] PRN; return 1; - } + } // WRITE MAT FILE mat_t *matfp; @@ -1149,87 +1191,87 @@ int dll_pll_veml_tracking::save_matfile() filename.erase(filename.length() - 4, 4); filename.append(".mat"); matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73); - if(reinterpret_cast(matfp) != NULL) + if (reinterpret_cast(matfp) != NULL) { size_t dims[2] = {1, static_cast(num_epoch)}; matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); 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_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_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_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + 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_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_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_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, acc_carrier_phase_rad, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_filt_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_filt_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, CN0_SNV_dB_Hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_lock_test, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, aux1, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE + 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_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_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarFree(matvar); } Mat_Close(matfp); @@ -1260,34 +1302,32 @@ int dll_pll_veml_tracking::save_matfile() void dll_pll_veml_tracking::set_channel(unsigned int channel) { gr::thread::scoped_lock l(d_setlock); - d_channel = channel; LOG(INFO) << "Tracking Channel set to " << d_channel; // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) + if (d_dump) { - if (d_dump_file.is_open() == false) + if (!d_dump_file.is_open()) { try - { + { d_dump_filename.append(boost::lexical_cast(d_channel)); d_dump_filename.append(".dat"); - d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit); + 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 dll_pll_veml_tracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) +void dll_pll_veml_tracking::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) { gr::thread::scoped_lock l(d_setlock); - d_acquisition_gnss_synchro = p_gnss_synchro; } diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h index a1a7fbfd3..6538de571 100755 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h @@ -39,7 +39,6 @@ #include #include -#include #include #include "gnss_synchro.h" #include "tracking_2nd_DLL_filter.h" @@ -51,26 +50,26 @@ class dll_pll_veml_tracking; typedef boost::shared_ptr dll_pll_veml_tracking_sptr; dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(double 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, - char system, char signal[3], bool veml); + 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, + char system, char signal[3], bool veml); /*! * \brief This class implements a code DLL + carrier PLL VEML (Very Early * Minus Late) tracking block for Galileo E1 signals */ -class dll_pll_veml_tracking: public gr::block +class dll_pll_veml_tracking : public gr::block { public: ~dll_pll_veml_tracking(); void set_channel(unsigned int channel); - void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro); + void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro); void start_tracking(); /*! @@ -79,38 +78,38 @@ public: * 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); + 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); - void forecast (int noutput_items, gr_vector_int &ninput_items_required); private: friend dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(double 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, - char system, char signal[3], bool veml); + 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, + char system, char signal[3], bool veml); - dll_pll_veml_tracking(double 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, - char system, char signal[3], bool veml); + dll_pll_veml_tracking(double 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, + char system, char signal[3], bool veml); bool cn0_and_tracking_lock_status(); - void do_correlation_step(const gr_complex* input_samples); + 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(); @@ -121,10 +120,13 @@ private: void log_data(); // tracking configuration vars - unsigned int d_vector_length; bool d_dump; bool d_veml; - Gnss_Synchro* d_acquisition_gnss_synchro; + bool d_secondary; + unsigned int d_secondary_code_length; + std::string *d_secondary_code_string; + Gnss_Synchro *d_acquisition_gnss_synchro; + unsigned int d_vector_length; unsigned int d_channel; // long d_fs_in; double d_fs_in; @@ -141,24 +143,24 @@ private: //Integration period in samples int d_correlation_length_samples; + int d_correlation_length_ms; 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; + float *d_tracking_code; + float *d_data_code; + float *d_local_code_shift_chips; + float *d_null_shift; + gr_complex *d_correlator_outs; cpu_multicorrelator_real_codes multicorrelator_cpu; - //todo: currently the multicorrelator does not support adding extra correlator + //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 + cpu_multicorrelator_real_codes correlator_data_cpu; //for data channel gr_complex *d_Very_Early; gr_complex *d_Early; @@ -166,9 +168,9 @@ private: gr_complex *d_Late; gr_complex *d_Very_Late; + bool d_enable_extended_integration; 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; @@ -223,7 +225,7 @@ private: // CN0 estimation and lock detector int d_cn0_estimation_counter; std::deque d_Prompt_buffer_deque; - gr_complex* d_Prompt_buffer; + gr_complex *d_Prompt_buffer; double d_carrier_lock_test; double d_CN0_SNV_dB_Hz; double d_carrier_lock_threshold; @@ -233,10 +235,10 @@ private: std::string d_dump_filename; std::ofstream d_dump_file; - std::map systemName; - std::string sys; + std::string systemName; + std::string signal_type; int save_matfile(); }; -#endif //GNSS_SDR_DLL_PLL_VEML_TRACKING_H +#endif //GNSS_SDR_DLL_PLL_VEML_TRACKING_H diff --git a/src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc b/src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc index 5de891064..4c7735aa2 100644 --- a/src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc +++ b/src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc @@ -122,7 +122,7 @@ bool cpu_multicorrelator_real_codes::Carrier_wipeoff_multicorrelator_resampler( lv_32fc_t phase_offset_as_complex[1]; phase_offset_as_complex[0] = lv_cmake(std::cos(rem_carrier_phase_in_rad), -std::sin(rem_carrier_phase_in_rad)); // call VOLK_GNSSSDR kernel - volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn(d_corr_out, d_sig_in, std::exp(lv_32fc_t(0, -phase_step_rad)), phase_offset_as_complex, (const float**)d_local_codes_resampled, d_n_correlators, signal_length_samples); + volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn(d_corr_out, d_sig_in, std::exp(lv_32fc_t(0.0, -phase_step_rad)), phase_offset_as_complex, (const float**)d_local_codes_resampled, d_n_correlators, signal_length_samples); return true; } diff --git a/src/algorithms/tracking/libs/lock_detectors.cc b/src/algorithms/tracking/libs/lock_detectors.cc index 331391978..4457e361f 100644 --- a/src/algorithms/tracking/libs/lock_detectors.cc +++ b/src/algorithms/tracking/libs/lock_detectors.cc @@ -67,20 +67,20 @@ */ float cn0_svn_estimator(gr_complex* Prompt_buffer, int length, long fs_in, double code_length) { - double SNR = 0; - double SNR_dB_Hz = 0; - double Psig = 0; - double Ptot = 0; + double SNR = 0.0; + double SNR_dB_Hz = 0.0; + double Psig = 0.0; + double Ptot = 0.0; for (int i = 0; i < length; i++) { Psig += std::abs(static_cast(Prompt_buffer[i].real())); Ptot += static_cast(Prompt_buffer[i].imag()) * static_cast(Prompt_buffer[i].imag()) + static_cast(Prompt_buffer[i].real()) * static_cast(Prompt_buffer[i].real()); } - Psig = Psig / static_cast(length); + Psig /= static_cast(length); Psig = Psig * Psig; - Ptot = Ptot / static_cast(length); + Ptot /= static_cast(length); SNR = Psig / (Ptot - Psig); - SNR_dB_Hz = 10 * log10(SNR) + 10 * log10(static_cast(fs_in) / 2) - 10 * log10(code_length); + SNR_dB_Hz = 10.0 * log10(SNR) + 10.0 * log10(static_cast(fs_in) / 2.0) - 10.0 * log10(code_length); return static_cast(SNR_dB_Hz); } @@ -96,10 +96,10 @@ float cn0_svn_estimator(gr_complex* Prompt_buffer, int length, long fs_in, doubl */ float carrier_lock_detector(gr_complex* Prompt_buffer, int length) { - float tmp_sum_I = 0; - float tmp_sum_Q = 0; - float NBD = 0; - float NBP = 0; + float tmp_sum_I = 0.0; + float tmp_sum_Q = 0.0; + float NBD = 0.0; + float NBP = 0.0; for (int i = 0; i < length; i++) { tmp_sum_I += Prompt_buffer[i].real(); diff --git a/src/algorithms/tracking/libs/tracking_2nd_DLL_filter.cc b/src/algorithms/tracking/libs/tracking_2nd_DLL_filter.cc index fe234322e..3c9fdb117 100644 --- a/src/algorithms/tracking/libs/tracking_2nd_DLL_filter.cc +++ b/src/algorithms/tracking/libs/tracking_2nd_DLL_filter.cc @@ -41,11 +41,10 @@ void Tracking_2nd_DLL_filter::calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k) { // Solve natural frequency - float Wn; - Wn = lbw * 8 * zeta / (4 * zeta * zeta + 1); + float Wn = lbw * 8.0 * zeta / (4.0 * zeta * zeta + 1.0); // solve for t1 & t2 *tau1 = k / (Wn * Wn); - *tau2 = (2.0 * zeta) / Wn; + *tau2 = 2.0 * zeta / Wn; } @@ -67,9 +66,7 @@ void Tracking_2nd_DLL_filter::initialize() float Tracking_2nd_DLL_filter::get_code_nco(float DLL_discriminator) { - float code_nco; - code_nco = d_old_code_nco + (d_tau2_code / d_tau1_code) * (DLL_discriminator - d_old_code_error) + (DLL_discriminator + d_old_code_error) * (d_pdi_code / (2 * d_tau1_code)); - //code_nco = d_old_code_nco + (d_tau2_code/d_tau1_code)*(DLL_discriminator - d_old_code_error) + DLL_discriminator * (d_pdi_code/d_tau1_code); + float code_nco = d_old_code_nco + (d_tau2_code / d_tau1_code) * (DLL_discriminator - d_old_code_error) + (DLL_discriminator + d_old_code_error) * (d_pdi_code / (2.0 * d_tau1_code)); d_old_code_nco = code_nco; d_old_code_error = DLL_discriminator; //[chips] return code_nco; diff --git a/src/algorithms/tracking/libs/tracking_2nd_DLL_filter.h b/src/algorithms/tracking/libs/tracking_2nd_DLL_filter.h index 57660c682..62c570a21 100644 --- a/src/algorithms/tracking/libs/tracking_2nd_DLL_filter.h +++ b/src/algorithms/tracking/libs/tracking_2nd_DLL_filter.h @@ -49,13 +49,13 @@ class Tracking_2nd_DLL_filter { private: // PLL filter parameters - float d_tau1_code = 0; - float d_tau2_code = 0; - float d_pdi_code = 0; - float d_dllnoisebandwidth = 0; - float d_dlldampingratio = 0; - float d_old_code_error = 0; - float d_old_code_nco = 0; + float d_tau1_code = 0.0; + float d_tau2_code = 0.0; + float d_pdi_code = 0.0; + float d_dllnoisebandwidth = 0.0; + float d_dlldampingratio = 0.0; + float d_old_code_error = 0.0; + float d_old_code_nco = 0.0; void calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k); public: diff --git a/src/algorithms/tracking/libs/tracking_2nd_PLL_filter.cc b/src/algorithms/tracking/libs/tracking_2nd_PLL_filter.cc index 90ec3331f..b455ce546 100644 --- a/src/algorithms/tracking/libs/tracking_2nd_PLL_filter.cc +++ b/src/algorithms/tracking/libs/tracking_2nd_PLL_filter.cc @@ -40,11 +40,10 @@ void Tracking_2nd_PLL_filter::calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k) { // Solve natural frequency - float Wn; - Wn = lbw * 8 * zeta / (4 * zeta * zeta + 1); + float Wn = lbw * 8.0 * zeta / (4.0 * zeta * zeta + 1.0); // solve for t1 & t2 *tau1 = k / (Wn * Wn); - *tau2 = (2.0 * zeta) / Wn; + *tau2 = 2.0 * zeta / Wn; } @@ -71,8 +70,7 @@ void Tracking_2nd_PLL_filter::initialize() */ float Tracking_2nd_PLL_filter::get_carrier_nco(float PLL_discriminator) { - float carr_nco; - carr_nco = d_old_carr_nco + (d_tau2_carr / d_tau1_carr) * (PLL_discriminator - d_old_carr_error) + (PLL_discriminator + d_old_carr_error) * (d_pdi_carr / (2 * d_tau1_carr)); + float carr_nco = d_old_carr_nco + (d_tau2_carr / d_tau1_carr) * (PLL_discriminator - d_old_carr_error) + (PLL_discriminator + d_old_carr_error) * (d_pdi_carr / (2.0 * d_tau1_carr)); //carr_nco = d_old_carr_nco + (d_tau2_carr/d_tau1_carr)*(PLL_discriminator - d_old_carr_error) + PLL_discriminator * (d_pdi_carr/d_tau1_carr); d_old_carr_nco = carr_nco; d_old_carr_error = PLL_discriminator; diff --git a/src/algorithms/tracking/libs/tracking_2nd_PLL_filter.h b/src/algorithms/tracking/libs/tracking_2nd_PLL_filter.h index d02cc17df..833e8a2c6 100644 --- a/src/algorithms/tracking/libs/tracking_2nd_PLL_filter.h +++ b/src/algorithms/tracking/libs/tracking_2nd_PLL_filter.h @@ -48,15 +48,15 @@ class Tracking_2nd_PLL_filter { private: // PLL filter parameters - float d_tau1_carr = 0; - float d_tau2_carr = 0; - float d_pdi_carr = 0; + float d_tau1_carr = 0.0; + float d_tau2_carr = 0.0; + float d_pdi_carr = 0.0; - float d_pllnoisebandwidth = 0; - float d_plldampingratio = 0; + float d_pllnoisebandwidth = 0.0; + float d_plldampingratio = 0.0; - float d_old_carr_error = 0; - float d_old_carr_nco = 0; + float d_old_carr_error = 0.0; + float d_old_carr_nco = 0.0; void calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k); diff --git a/src/algorithms/tracking/libs/tracking_discriminators.cc b/src/algorithms/tracking/libs/tracking_discriminators.cc index d4c9b2a48..0ab876591 100644 --- a/src/algorithms/tracking/libs/tracking_discriminators.cc +++ b/src/algorithms/tracking/libs/tracking_discriminators.cc @@ -83,7 +83,7 @@ double pll_cloop_two_quadrant_atan(gr_complex prompt_s1) } else { - return 0; + return 0.0; } } @@ -107,7 +107,7 @@ double dll_nc_e_minus_l_normalized(gr_complex early_s1, gr_complex late_s1) } else { - return 0.5 * (P_early - P_late) / ((P_early + P_late)); + return 0.5 * (P_early - P_late) / (P_early + P_late); } } @@ -131,6 +131,6 @@ double dll_nc_vemlp_normalized(gr_complex very_early_s1, gr_complex early_s1, gr } else { - return (P_early - P_late) / ((P_early + P_late)); + return (P_early - P_late) / (P_early + P_late); } } diff --git a/src/algorithms/tracking/libs/tracking_loop_filter.cc b/src/algorithms/tracking/libs/tracking_loop_filter.cc index 2571202c3..156a60d92 100644 --- a/src/algorithms/tracking/libs/tracking_loop_filter.cc +++ b/src/algorithms/tracking/libs/tracking_loop_filter.cc @@ -37,9 +37,6 @@ #include -#define MAX_LOOP_ORDER 3 -#define MAX_HISTORY_LENGTH 4 - Tracking_loop_filter::Tracking_loop_filter(float update_interval, float noise_bandwidth, int loop_order, @@ -50,8 +47,8 @@ Tracking_loop_filter::Tracking_loop_filter(float update_interval, d_noise_bandwidth(noise_bandwidth), d_update_interval(update_interval) { - d_inputs.resize(MAX_HISTORY_LENGTH, 0.0); - d_outputs.resize(MAX_HISTORY_LENGTH, 0.0); + d_inputs.resize(MAX_LOOP_HISTORY_LENGTH, 0.0); + d_outputs.resize(MAX_LOOP_HISTORY_LENGTH, 0.0); update_coefficients(); } @@ -62,8 +59,8 @@ Tracking_loop_filter::Tracking_loop_filter() d_noise_bandwidth(15.0), d_update_interval(0.001) { - d_inputs.resize(MAX_HISTORY_LENGTH, 0.0); - d_outputs.resize(MAX_HISTORY_LENGTH, 0.0); + d_inputs.resize(MAX_LOOP_HISTORY_LENGTH, 0.0); + d_outputs.resize(MAX_LOOP_HISTORY_LENGTH, 0.0); update_coefficients(); } @@ -75,12 +72,12 @@ Tracking_loop_filter::~Tracking_loop_filter() float Tracking_loop_filter::apply(float current_input) { // Now apply the filter coefficients: - float result = 0; + float result = 0.0; // Hanlde the old outputs first: for (unsigned int ii = 0; ii < d_output_coefficients.size(); ++ii) { - result += d_output_coefficients[ii] * d_outputs[(d_current_index + ii) % MAX_HISTORY_LENGTH]; + result += d_output_coefficients[ii] * d_outputs[(d_current_index + ii) % MAX_LOOP_HISTORY_LENGTH]; } // Now update the index to handle the inputs. @@ -93,7 +90,7 @@ float Tracking_loop_filter::apply(float current_input) d_current_index--; if (d_current_index < 0) { - d_current_index += MAX_HISTORY_LENGTH; + d_current_index += MAX_LOOP_HISTORY_LENGTH; } d_inputs[d_current_index] = current_input; @@ -101,7 +98,7 @@ float Tracking_loop_filter::apply(float current_input) for (unsigned int ii = 0; ii < d_input_coefficients.size(); ++ii) { - result += d_input_coefficients[ii] * d_inputs[(d_current_index + ii) % MAX_HISTORY_LENGTH]; + result += d_input_coefficients[ii] * d_inputs[(d_current_index + ii) % MAX_LOOP_HISTORY_LENGTH]; } @@ -122,7 +119,7 @@ void Tracking_loop_filter::update_coefficients(void) float wn; float T = d_update_interval; - float zeta = 1 / std::sqrt(2); + float zeta = 1.0 / std::sqrt(2.0); // The following is based on the bilinear transform approximation of // the analog integrator. The loop format is from Kaplan & Hegarty @@ -146,7 +143,7 @@ void Tracking_loop_filter::update_coefficients(void) d_input_coefficients[1] = g1 * T / 2.0; d_output_coefficients.resize(1); - d_output_coefficients[0] = 1; + d_output_coefficients[0] = 1.0; } else { @@ -157,28 +154,28 @@ void Tracking_loop_filter::update_coefficients(void) } break; case 2: - wn = d_noise_bandwidth * (8 * zeta) / (4 * zeta * zeta + 1); + wn = d_noise_bandwidth * (8.0 * zeta) / (4.0 * zeta * zeta + 1.0); g1 = wn * wn; - g2 = wn * 2 * zeta; + g2 = wn * 2.0 * zeta; if (d_include_last_integrator) { d_input_coefficients.resize(3); - d_input_coefficients[0] = T / 2 * (g1 * T / 2 + g2); - d_input_coefficients[1] = T * T / 2 * g1; - d_input_coefficients[2] = T / 2 * (g1 * T / 2 - g2); + d_input_coefficients[0] = T / 2.0 * (g1 * T / 2.0 + g2); + d_input_coefficients[1] = T * T / 2.0 * g1; + d_input_coefficients[2] = T / 2.0 * (g1 * T / 2.0 - g2); d_output_coefficients.resize(2); - d_output_coefficients[0] = 2; - d_output_coefficients[1] = -1; + d_output_coefficients[0] = 2.0; + d_output_coefficients[1] = -1.0; } else { d_input_coefficients.resize(2); d_input_coefficients[0] = (g1 * T / 2.0 + g2); - d_input_coefficients[1] = g1 * T / 2 - g2; + d_input_coefficients[1] = g1 * T / 2.0 - g2; d_output_coefficients.resize(1); - d_output_coefficients[0] = 1; + d_output_coefficients[0] = 1.0; } break; @@ -193,27 +190,27 @@ void Tracking_loop_filter::update_coefficients(void) if (d_include_last_integrator) { d_input_coefficients.resize(4); - d_input_coefficients[0] = T / 2 * (g3 + T / 2 * (g2 + T / 2 * g1)); - d_input_coefficients[1] = T / 2 * (-g3 + T / 2 * (g2 + 3 * T / 2 * g1)); - d_input_coefficients[2] = T / 2 * (-g3 - T / 2 * (g2 - 3 * T / 2 * g1)); - d_input_coefficients[3] = T / 2 * (g3 - T / 2 * (g2 - T / 2 * g1)); + d_input_coefficients[0] = T / 2.0 * (g3 + T / 2.0 * (g2 + T / 2.0 * g1)); + d_input_coefficients[1] = T / 2.0 * (-g3 + T / 2.0 * (g2 + 3.0 * T / 2.0 * g1)); + d_input_coefficients[2] = T / 2.0 * (-g3 - T / 2.0 * (g2 - 3.0 * T / 2.0 * g1)); + d_input_coefficients[3] = T / 2.0 * (g3 - T / 2.0 * (g2 - T / 2.0 * g1)); d_output_coefficients.resize(3); - d_output_coefficients[0] = 3; - d_output_coefficients[1] = -3; - d_output_coefficients[2] = 1; + d_output_coefficients[0] = 3.0; + d_output_coefficients[1] = -3.0; + d_output_coefficients[2] = 1.0; } else { d_input_coefficients.resize(3); - d_input_coefficients[0] = g3 + T / 2 * (g2 + T / 2 * g1); - d_input_coefficients[1] = g1 * T * T / 2 - 2 * g3; - d_input_coefficients[2] = g3 + T / 2 * (-g2 + T / 2 * g1); + d_input_coefficients[0] = g3 + T / 2.0 * (g2 + T / 2.0 * g1); + d_input_coefficients[1] = g1 * T * T / 2.0 - 2.0 * g3; + d_input_coefficients[2] = g3 + T / 2.0 * (-g2 + T / 2.0 * g1); d_output_coefficients.resize(2); - d_output_coefficients[0] = 2; - d_output_coefficients[1] = -1; + d_output_coefficients[0] = 2.0; + d_output_coefficients[1] = -1.0; } break; }; @@ -254,7 +251,7 @@ bool Tracking_loop_filter::get_include_last_integrator(void) const void Tracking_loop_filter::set_order(int loop_order) { - if (loop_order < 1 || loop_order > MAX_LOOP_ORDER) + if (loop_order < 1 or loop_order > MAX_LOOP_ORDER) { LOG(ERROR) << "Ignoring attempt to set loop order to " << loop_order << ". Maximum allowed order is: " << MAX_LOOP_ORDER @@ -274,7 +271,7 @@ int Tracking_loop_filter::get_order(void) const void Tracking_loop_filter::initialize(float initial_output) { - d_inputs.assign(MAX_HISTORY_LENGTH, 0.0); - d_outputs.assign(MAX_HISTORY_LENGTH, initial_output); - d_current_index = MAX_HISTORY_LENGTH - 1; + d_inputs.assign(MAX_LOOP_HISTORY_LENGTH, 0.0); + d_outputs.assign(MAX_LOOP_HISTORY_LENGTH, initial_output); + d_current_index = MAX_LOOP_HISTORY_LENGTH - 1; } diff --git a/src/algorithms/tracking/libs/tracking_loop_filter.h b/src/algorithms/tracking/libs/tracking_loop_filter.h index 7fa486960..9a852ba68 100644 --- a/src/algorithms/tracking/libs/tracking_loop_filter.h +++ b/src/algorithms/tracking/libs/tracking_loop_filter.h @@ -33,6 +33,8 @@ #ifndef GNSS_SDR_TRACKING_LOOP_FILTER_H_ #define GNSS_SDR_TRACKING_LOOP_FILTER_H_ +#define MAX_LOOP_ORDER 3 +#define MAX_LOOP_HISTORY_LENGTH 4 #include