mirror of https://github.com/gnss-sdr/gnss-sdr
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Load Diff
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@ -39,7 +39,6 @@
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#include <fstream>
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#include <fstream>
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#include <string>
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#include <string>
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#include <map>
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#include <gnuradio/block.h>
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#include <gnuradio/block.h>
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#include "gnss_synchro.h"
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#include "gnss_synchro.h"
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#include "tracking_2nd_DLL_filter.h"
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#include "tracking_2nd_DLL_filter.h"
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@ -51,26 +50,26 @@ class dll_pll_veml_tracking;
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typedef boost::shared_ptr<dll_pll_veml_tracking> dll_pll_veml_tracking_sptr;
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typedef boost::shared_ptr<dll_pll_veml_tracking> dll_pll_veml_tracking_sptr;
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dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(double fs_in, unsigned int vector_length,
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dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(double fs_in, unsigned int vector_length,
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bool dump, std::string dump_filename,
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bool dump, std::string dump_filename,
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float pll_bw_hz, float dll_bw_hz,
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float pll_bw_hz, float dll_bw_hz,
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float pll_bw_narrow_hz, float dll_bw_narrow_hz,
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float pll_bw_narrow_hz, float dll_bw_narrow_hz,
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float early_late_space_chips, float very_early_late_space_chips,
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float early_late_space_chips, float very_early_late_space_chips,
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float early_late_space_narrow_chips,
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float early_late_space_narrow_chips,
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float very_early_late_space_narrow_chips,
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float very_early_late_space_narrow_chips,
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int extend_correlation_symbols, bool track_pilot,
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int extend_correlation_symbols, bool track_pilot,
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char system, char signal[3], bool veml);
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char system, char signal[3], bool veml);
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/*!
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/*!
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* \brief This class implements a code DLL + carrier PLL VEML (Very Early
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* \brief This class implements a code DLL + carrier PLL VEML (Very Early
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* Minus Late) tracking block for Galileo E1 signals
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* Minus Late) tracking block for Galileo E1 signals
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*/
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*/
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class dll_pll_veml_tracking: public gr::block
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class dll_pll_veml_tracking : public gr::block
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{
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{
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public:
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public:
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~dll_pll_veml_tracking();
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~dll_pll_veml_tracking();
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void set_channel(unsigned int channel);
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void set_channel(unsigned int channel);
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void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
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void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro);
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void start_tracking();
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void start_tracking();
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/*!
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/*!
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@ -79,38 +78,38 @@ public:
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* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
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* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
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* Birkhauser, 2007
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* Birkhauser, 2007
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*/
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*/
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int general_work (int noutput_items, gr_vector_int &ninput_items,
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int general_work(int noutput_items, gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
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void forecast(int noutput_items, gr_vector_int &ninput_items_required);
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void forecast (int noutput_items, gr_vector_int &ninput_items_required);
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private:
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private:
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friend dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(double fs_in, unsigned int vector_length,
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friend dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(double fs_in, unsigned int vector_length,
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bool dump, std::string dump_filename,
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bool dump, std::string dump_filename,
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float pll_bw_hz, float dll_bw_hz, float pll_bw_narrow_hz,
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float pll_bw_hz, float dll_bw_hz, float pll_bw_narrow_hz,
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float dll_bw_narrow_hz, float early_late_space_chips,
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float dll_bw_narrow_hz, float early_late_space_chips,
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float very_early_late_space_chips, float early_late_space_narrow_chips,
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float very_early_late_space_chips, float early_late_space_narrow_chips,
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float very_early_late_space_narrow_chips,
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float very_early_late_space_narrow_chips,
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int extend_correlation_symbols, bool track_pilot,
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int extend_correlation_symbols, bool track_pilot,
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char system, char signal[3], bool veml);
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char system, char signal[3], bool veml);
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dll_pll_veml_tracking(double fs_in, unsigned
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dll_pll_veml_tracking(double fs_in, unsigned int vector_length,
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int vector_length,
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bool dump,
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bool dump,
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std::string dump_filename,
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std::string dump_filename,
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float pll_bw_hz,
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float pll_bw_hz,
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float dll_bw_hz,
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float dll_bw_hz,
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float pll_bw_narrow_hz,
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float pll_bw_narrow_hz,
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float dll_bw_narrow_hz,
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float dll_bw_narrow_hz,
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float early_late_space_chips,
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float early_late_space_chips,
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float very_early_late_space_chips,
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float very_early_late_space_chips,
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float early_late_space_narrow_chips,
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float early_late_space_narrow_chips,
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float very_early_late_space_narrow_chips,
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float very_early_late_space_narrow_chips,
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int extend_correlation_symbols,
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int extend_correlation_symbols,
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bool track_pilot,
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bool track_pilot,
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char system, char signal[3], bool veml);
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char system, char signal[3], bool veml);
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bool cn0_and_tracking_lock_status();
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bool cn0_and_tracking_lock_status();
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void do_correlation_step(const gr_complex* input_samples);
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void do_correlation_step(const gr_complex *input_samples);
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void run_dll_pll(bool disable_costas_loop);
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void run_dll_pll(bool disable_costas_loop);
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void update_local_code();
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void update_local_code();
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void update_local_carrier();
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void update_local_carrier();
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@ -121,10 +120,13 @@ private:
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void log_data();
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void log_data();
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// tracking configuration vars
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// tracking configuration vars
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unsigned int d_vector_length;
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bool d_dump;
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bool d_dump;
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bool d_veml;
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bool d_veml;
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Gnss_Synchro* d_acquisition_gnss_synchro;
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bool d_secondary;
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unsigned int d_secondary_code_length;
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std::string *d_secondary_code_string;
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Gnss_Synchro *d_acquisition_gnss_synchro;
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unsigned int d_vector_length;
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unsigned int d_channel;
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unsigned int d_channel;
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// long d_fs_in;
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// long d_fs_in;
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double d_fs_in;
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double d_fs_in;
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//Integration period in samples
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//Integration period in samples
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int d_correlation_length_samples;
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int d_correlation_length_samples;
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int d_correlation_length_ms;
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int d_n_correlator_taps;
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int d_n_correlator_taps;
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double d_early_late_spc_chips;
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double d_early_late_spc_chips;
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double d_very_early_late_spc_chips;
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double d_very_early_late_spc_chips;
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double d_early_late_spc_narrow_chips;
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double d_early_late_spc_narrow_chips;
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double d_very_early_late_spc_narrow_chips;
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double d_very_early_late_spc_narrow_chips;
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float* d_tracking_code;
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float *d_tracking_code;
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float* d_data_code;
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float *d_data_code;
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float* d_local_code_shift_chips;
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float *d_local_code_shift_chips;
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gr_complex* d_correlator_outs;
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float *d_null_shift;
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gr_complex *d_correlator_outs;
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cpu_multicorrelator_real_codes multicorrelator_cpu;
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cpu_multicorrelator_real_codes multicorrelator_cpu;
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//todo: currently the multicorrelator does not support adding extra correlator
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//TODO: currently the multicorrelator does not support adding extra correlator
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//with different local code, thus we need extra multicorrelator instance.
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//with different local code, thus we need extra multicorrelator instance.
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//Implement this functionality inside multicorrelator class
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//Implement this functionality inside multicorrelator class
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//as an enhancement to increase the performance
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//as an enhancement to increase the performance
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float* d_local_code_data_shift_chips;
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cpu_multicorrelator_real_codes correlator_data_cpu; //for data channel
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cpu_multicorrelator_real_codes correlator_data_cpu; //for data channel
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gr_complex *d_Very_Early;
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gr_complex *d_Very_Early;
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gr_complex *d_Early;
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gr_complex *d_Early;
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gr_complex *d_Late;
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gr_complex *d_Late;
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gr_complex *d_Very_Late;
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gr_complex *d_Very_Late;
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bool d_enable_extended_integration;
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int d_extend_correlation_symbols;
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int d_extend_correlation_symbols;
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int d_extend_correlation_symbols_count;
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int d_extend_correlation_symbols_count;
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bool d_enable_extended_integration;
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int d_current_symbol;
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int d_current_symbol;
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gr_complex d_VE_accu;
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gr_complex d_VE_accu;
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// CN0 estimation and lock detector
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// CN0 estimation and lock detector
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int d_cn0_estimation_counter;
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int d_cn0_estimation_counter;
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std::deque<gr_complex> d_Prompt_buffer_deque;
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std::deque<gr_complex> d_Prompt_buffer_deque;
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gr_complex* d_Prompt_buffer;
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gr_complex *d_Prompt_buffer;
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double d_carrier_lock_test;
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double d_carrier_lock_test;
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double d_CN0_SNV_dB_Hz;
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double d_CN0_SNV_dB_Hz;
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double d_carrier_lock_threshold;
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double d_carrier_lock_threshold;
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std::string d_dump_filename;
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std::string d_dump_filename;
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std::ofstream d_dump_file;
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std::ofstream d_dump_file;
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std::map<std::string, std::string> systemName;
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std::string systemName;
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std::string sys;
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std::string signal_type;
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int save_matfile();
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int save_matfile();
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};
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};
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#endif //GNSS_SDR_DLL_PLL_VEML_TRACKING_H
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#endif //GNSS_SDR_DLL_PLL_VEML_TRACKING_H
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@ -122,7 +122,7 @@ bool cpu_multicorrelator_real_codes::Carrier_wipeoff_multicorrelator_resampler(
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lv_32fc_t phase_offset_as_complex[1];
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lv_32fc_t phase_offset_as_complex[1];
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phase_offset_as_complex[0] = lv_cmake(std::cos(rem_carrier_phase_in_rad), -std::sin(rem_carrier_phase_in_rad));
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phase_offset_as_complex[0] = lv_cmake(std::cos(rem_carrier_phase_in_rad), -std::sin(rem_carrier_phase_in_rad));
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// call VOLK_GNSSSDR kernel
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// call VOLK_GNSSSDR kernel
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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);
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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);
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return true;
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return true;
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}
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}
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*/
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*/
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float cn0_svn_estimator(gr_complex* Prompt_buffer, int length, long fs_in, double code_length)
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float cn0_svn_estimator(gr_complex* Prompt_buffer, int length, long fs_in, double code_length)
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{
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{
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double SNR = 0;
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double SNR = 0.0;
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double SNR_dB_Hz = 0;
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double SNR_dB_Hz = 0.0;
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double Psig = 0;
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double Psig = 0.0;
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double Ptot = 0;
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double Ptot = 0.0;
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for (int i = 0; i < length; i++)
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for (int i = 0; i < length; i++)
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{
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{
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Psig += std::abs(static_cast<double>(Prompt_buffer[i].real()));
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Psig += std::abs(static_cast<double>(Prompt_buffer[i].real()));
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Ptot += static_cast<double>(Prompt_buffer[i].imag()) * static_cast<double>(Prompt_buffer[i].imag()) + static_cast<double>(Prompt_buffer[i].real()) * static_cast<double>(Prompt_buffer[i].real());
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Ptot += static_cast<double>(Prompt_buffer[i].imag()) * static_cast<double>(Prompt_buffer[i].imag()) + static_cast<double>(Prompt_buffer[i].real()) * static_cast<double>(Prompt_buffer[i].real());
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}
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}
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Psig = Psig / static_cast<double>(length);
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Psig /= static_cast<double>(length);
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Psig = Psig * Psig;
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Psig = Psig * Psig;
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Ptot = Ptot / static_cast<double>(length);
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Ptot /= static_cast<double>(length);
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SNR = Psig / (Ptot - Psig);
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SNR = Psig / (Ptot - Psig);
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SNR_dB_Hz = 10 * log10(SNR) + 10 * log10(static_cast<double>(fs_in) / 2) - 10 * log10(code_length);
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SNR_dB_Hz = 10.0 * log10(SNR) + 10.0 * log10(static_cast<double>(fs_in) / 2.0) - 10.0 * log10(code_length);
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return static_cast<float>(SNR_dB_Hz);
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return static_cast<float>(SNR_dB_Hz);
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}
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}
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*/
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*/
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float carrier_lock_detector(gr_complex* Prompt_buffer, int length)
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float carrier_lock_detector(gr_complex* Prompt_buffer, int length)
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{
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{
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float tmp_sum_I = 0;
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float tmp_sum_I = 0.0;
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float tmp_sum_Q = 0;
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float tmp_sum_Q = 0.0;
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float NBD = 0;
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float NBD = 0.0;
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float NBP = 0;
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float NBP = 0.0;
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for (int i = 0; i < length; i++)
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for (int i = 0; i < length; i++)
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{
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{
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tmp_sum_I += Prompt_buffer[i].real();
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tmp_sum_I += Prompt_buffer[i].real();
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void Tracking_2nd_DLL_filter::calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k)
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void Tracking_2nd_DLL_filter::calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k)
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{
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{
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// Solve natural frequency
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// Solve natural frequency
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float Wn;
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float Wn = lbw * 8.0 * zeta / (4.0 * zeta * zeta + 1.0);
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Wn = lbw * 8 * zeta / (4 * zeta * zeta + 1);
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// solve for t1 & t2
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// solve for t1 & t2
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*tau1 = k / (Wn * Wn);
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*tau1 = k / (Wn * Wn);
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*tau2 = (2.0 * zeta) / Wn;
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*tau2 = 2.0 * zeta / Wn;
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}
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}
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@ -67,9 +66,7 @@ void Tracking_2nd_DLL_filter::initialize()
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float Tracking_2nd_DLL_filter::get_code_nco(float DLL_discriminator)
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float Tracking_2nd_DLL_filter::get_code_nco(float DLL_discriminator)
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{
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{
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float code_nco;
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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));
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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));
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//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);
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d_old_code_nco = code_nco;
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d_old_code_nco = code_nco;
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d_old_code_error = DLL_discriminator; //[chips]
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d_old_code_error = DLL_discriminator; //[chips]
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return code_nco;
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return code_nco;
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@ -49,13 +49,13 @@ class Tracking_2nd_DLL_filter
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{
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{
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private:
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private:
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// PLL filter parameters
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// PLL filter parameters
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float d_tau1_code = 0;
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float d_tau1_code = 0.0;
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float d_tau2_code = 0;
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float d_tau2_code = 0.0;
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float d_pdi_code = 0;
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float d_pdi_code = 0.0;
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float d_dllnoisebandwidth = 0;
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float d_dllnoisebandwidth = 0.0;
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float d_dlldampingratio = 0;
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float d_dlldampingratio = 0.0;
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float d_old_code_error = 0;
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float d_old_code_error = 0.0;
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float d_old_code_nco = 0;
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float d_old_code_nco = 0.0;
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void calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k);
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void calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k);
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public:
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public:
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@ -40,11 +40,10 @@
|
||||||
void Tracking_2nd_PLL_filter::calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k)
|
void Tracking_2nd_PLL_filter::calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k)
|
||||||
{
|
{
|
||||||
// Solve natural frequency
|
// Solve natural frequency
|
||||||
float Wn;
|
float Wn = lbw * 8.0 * zeta / (4.0 * zeta * zeta + 1.0);
|
||||||
Wn = lbw * 8 * zeta / (4 * zeta * zeta + 1);
|
|
||||||
// solve for t1 & t2
|
// solve for t1 & t2
|
||||||
*tau1 = k / (Wn * Wn);
|
*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 Tracking_2nd_PLL_filter::get_carrier_nco(float PLL_discriminator)
|
||||||
{
|
{
|
||||||
float carr_nco;
|
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_old_carr_error) * (d_pdi_carr / (2 * 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);
|
//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_nco = carr_nco;
|
||||||
d_old_carr_error = PLL_discriminator;
|
d_old_carr_error = PLL_discriminator;
|
||||||
|
|
|
@ -48,15 +48,15 @@ class Tracking_2nd_PLL_filter
|
||||||
{
|
{
|
||||||
private:
|
private:
|
||||||
// PLL filter parameters
|
// PLL filter parameters
|
||||||
float d_tau1_carr = 0;
|
float d_tau1_carr = 0.0;
|
||||||
float d_tau2_carr = 0;
|
float d_tau2_carr = 0.0;
|
||||||
float d_pdi_carr = 0;
|
float d_pdi_carr = 0.0;
|
||||||
|
|
||||||
float d_pllnoisebandwidth = 0;
|
float d_pllnoisebandwidth = 0.0;
|
||||||
float d_plldampingratio = 0;
|
float d_plldampingratio = 0.0;
|
||||||
|
|
||||||
float d_old_carr_error = 0;
|
float d_old_carr_error = 0.0;
|
||||||
float d_old_carr_nco = 0;
|
float d_old_carr_nco = 0.0;
|
||||||
|
|
||||||
void calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k);
|
void calculate_lopp_coef(float* tau1, float* tau2, float lbw, float zeta, float k);
|
||||||
|
|
||||||
|
|
|
@ -83,7 +83,7 @@ double pll_cloop_two_quadrant_atan(gr_complex prompt_s1)
|
||||||
}
|
}
|
||||||
else
|
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
|
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
|
else
|
||||||
{
|
{
|
||||||
return (P_early - P_late) / ((P_early + P_late));
|
return (P_early - P_late) / (P_early + P_late);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
@ -37,9 +37,6 @@
|
||||||
#include <glog/logging.h>
|
#include <glog/logging.h>
|
||||||
|
|
||||||
|
|
||||||
#define MAX_LOOP_ORDER 3
|
|
||||||
#define MAX_HISTORY_LENGTH 4
|
|
||||||
|
|
||||||
Tracking_loop_filter::Tracking_loop_filter(float update_interval,
|
Tracking_loop_filter::Tracking_loop_filter(float update_interval,
|
||||||
float noise_bandwidth,
|
float noise_bandwidth,
|
||||||
int loop_order,
|
int loop_order,
|
||||||
|
@ -50,8 +47,8 @@ Tracking_loop_filter::Tracking_loop_filter(float update_interval,
|
||||||
d_noise_bandwidth(noise_bandwidth),
|
d_noise_bandwidth(noise_bandwidth),
|
||||||
d_update_interval(update_interval)
|
d_update_interval(update_interval)
|
||||||
{
|
{
|
||||||
d_inputs.resize(MAX_HISTORY_LENGTH, 0.0);
|
d_inputs.resize(MAX_LOOP_HISTORY_LENGTH, 0.0);
|
||||||
d_outputs.resize(MAX_HISTORY_LENGTH, 0.0);
|
d_outputs.resize(MAX_LOOP_HISTORY_LENGTH, 0.0);
|
||||||
update_coefficients();
|
update_coefficients();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -62,8 +59,8 @@ Tracking_loop_filter::Tracking_loop_filter()
|
||||||
d_noise_bandwidth(15.0),
|
d_noise_bandwidth(15.0),
|
||||||
d_update_interval(0.001)
|
d_update_interval(0.001)
|
||||||
{
|
{
|
||||||
d_inputs.resize(MAX_HISTORY_LENGTH, 0.0);
|
d_inputs.resize(MAX_LOOP_HISTORY_LENGTH, 0.0);
|
||||||
d_outputs.resize(MAX_HISTORY_LENGTH, 0.0);
|
d_outputs.resize(MAX_LOOP_HISTORY_LENGTH, 0.0);
|
||||||
update_coefficients();
|
update_coefficients();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -75,12 +72,12 @@ Tracking_loop_filter::~Tracking_loop_filter()
|
||||||
float Tracking_loop_filter::apply(float current_input)
|
float Tracking_loop_filter::apply(float current_input)
|
||||||
{
|
{
|
||||||
// Now apply the filter coefficients:
|
// Now apply the filter coefficients:
|
||||||
float result = 0;
|
float result = 0.0;
|
||||||
|
|
||||||
// Hanlde the old outputs first:
|
// Hanlde the old outputs first:
|
||||||
for (unsigned int ii = 0; ii < d_output_coefficients.size(); ++ii)
|
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.
|
// Now update the index to handle the inputs.
|
||||||
|
@ -93,7 +90,7 @@ float Tracking_loop_filter::apply(float current_input)
|
||||||
d_current_index--;
|
d_current_index--;
|
||||||
if (d_current_index < 0)
|
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;
|
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)
|
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 wn;
|
||||||
float T = d_update_interval;
|
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 following is based on the bilinear transform approximation of
|
||||||
// the analog integrator. The loop format is from Kaplan & Hegarty
|
// 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_input_coefficients[1] = g1 * T / 2.0;
|
||||||
|
|
||||||
d_output_coefficients.resize(1);
|
d_output_coefficients.resize(1);
|
||||||
d_output_coefficients[0] = 1;
|
d_output_coefficients[0] = 1.0;
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
|
@ -157,28 +154,28 @@ void Tracking_loop_filter::update_coefficients(void)
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
case 2:
|
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;
|
g1 = wn * wn;
|
||||||
g2 = wn * 2 * zeta;
|
g2 = wn * 2.0 * zeta;
|
||||||
if (d_include_last_integrator)
|
if (d_include_last_integrator)
|
||||||
{
|
{
|
||||||
d_input_coefficients.resize(3);
|
d_input_coefficients.resize(3);
|
||||||
d_input_coefficients[0] = 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 * g1;
|
d_input_coefficients[1] = T * T / 2.0 * g1;
|
||||||
d_input_coefficients[2] = T / 2 * (g1 * T / 2 - g2);
|
d_input_coefficients[2] = T / 2.0 * (g1 * T / 2.0 - g2);
|
||||||
|
|
||||||
d_output_coefficients.resize(2);
|
d_output_coefficients.resize(2);
|
||||||
d_output_coefficients[0] = 2;
|
d_output_coefficients[0] = 2.0;
|
||||||
d_output_coefficients[1] = -1;
|
d_output_coefficients[1] = -1.0;
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
d_input_coefficients.resize(2);
|
d_input_coefficients.resize(2);
|
||||||
d_input_coefficients[0] = (g1 * T / 2.0 + g2);
|
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.resize(1);
|
||||||
d_output_coefficients[0] = 1;
|
d_output_coefficients[0] = 1.0;
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
|
|
||||||
|
@ -193,27 +190,27 @@ void Tracking_loop_filter::update_coefficients(void)
|
||||||
if (d_include_last_integrator)
|
if (d_include_last_integrator)
|
||||||
{
|
{
|
||||||
d_input_coefficients.resize(4);
|
d_input_coefficients.resize(4);
|
||||||
d_input_coefficients[0] = 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 * (-g3 + T / 2 * (g2 + 3 * T / 2 * 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 * (-g3 - T / 2 * (g2 - 3 * T / 2 * 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 * (g3 - T / 2 * (g2 - T / 2 * 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.resize(3);
|
||||||
d_output_coefficients[0] = 3;
|
d_output_coefficients[0] = 3.0;
|
||||||
d_output_coefficients[1] = -3;
|
d_output_coefficients[1] = -3.0;
|
||||||
d_output_coefficients[2] = 1;
|
d_output_coefficients[2] = 1.0;
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
d_input_coefficients.resize(3);
|
d_input_coefficients.resize(3);
|
||||||
d_input_coefficients[0] = 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 - 2 * g3;
|
d_input_coefficients[1] = g1 * T * T / 2.0 - 2.0 * g3;
|
||||||
d_input_coefficients[2] = g3 + T / 2 * (-g2 + T / 2 * g1);
|
d_input_coefficients[2] = g3 + T / 2.0 * (-g2 + T / 2.0 * g1);
|
||||||
|
|
||||||
|
|
||||||
d_output_coefficients.resize(2);
|
d_output_coefficients.resize(2);
|
||||||
d_output_coefficients[0] = 2;
|
d_output_coefficients[0] = 2.0;
|
||||||
d_output_coefficients[1] = -1;
|
d_output_coefficients[1] = -1.0;
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
};
|
};
|
||||||
|
@ -254,7 +251,7 @@ bool Tracking_loop_filter::get_include_last_integrator(void) const
|
||||||
|
|
||||||
void Tracking_loop_filter::set_order(int loop_order)
|
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
|
LOG(ERROR) << "Ignoring attempt to set loop order to " << loop_order
|
||||||
<< ". Maximum allowed order is: " << MAX_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)
|
void Tracking_loop_filter::initialize(float initial_output)
|
||||||
{
|
{
|
||||||
d_inputs.assign(MAX_HISTORY_LENGTH, 0.0);
|
d_inputs.assign(MAX_LOOP_HISTORY_LENGTH, 0.0);
|
||||||
d_outputs.assign(MAX_HISTORY_LENGTH, initial_output);
|
d_outputs.assign(MAX_LOOP_HISTORY_LENGTH, initial_output);
|
||||||
d_current_index = MAX_HISTORY_LENGTH - 1;
|
d_current_index = MAX_LOOP_HISTORY_LENGTH - 1;
|
||||||
}
|
}
|
||||||
|
|
|
@ -33,6 +33,8 @@
|
||||||
|
|
||||||
#ifndef GNSS_SDR_TRACKING_LOOP_FILTER_H_
|
#ifndef GNSS_SDR_TRACKING_LOOP_FILTER_H_
|
||||||
#define 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 <vector>
|
#include <vector>
|
||||||
|
|
||||||
|
|
Loading…
Reference in New Issue