diff --git a/conf/File_input/Beidou/gnss-sdr_BDS_B1C_geb_if20k_fs18m_ibyte.conf b/conf/File_input/Beidou/gnss-sdr_BDS_B1C_geb_if20k_fs18m_ibyte.conf new file mode 100644 index 000000000..23b05a93a --- /dev/null +++ b/conf/File_input/Beidou/gnss-sdr_BDS_B1C_geb_if20k_fs18m_ibyte.conf @@ -0,0 +1,108 @@ +; BeiDou B1C (1D) file-input example (IF = +20 kHz, Fs = 18 MHz, ibyte) +; Test data: https://drive.google.com/drive/folders/1UkjJwOMlKEFZiXYUdK4HKzTASYHXMsHL +; SPDX-License-Identifier: GPL-3.0-or-later + +[GNSS-SDR] + +;######### GLOBAL OPTIONS ################## +GNSS-SDR.internal_fs_sps=18000000 +GNSS-SDR.use_acquisition_resampler=true + +ControlThread.wait_for_flowgraph=false + +;######### SIGNAL_SOURCE CONFIG ############ +SignalSource.implementation=File_Signal_Source +SignalSource.filename=./L1_IF20KHz_FS18MHz.bin +SignalSource.item_type=ibyte +SignalSource.sampling_frequency=18000000 +SignalSource.samples=0 +SignalSource.enable_throttle_control=false + +;######### SIGNAL_CONDITIONER CONFIG ############ +SignalConditioner.implementation=Signal_Conditioner +DataTypeAdapter.implementation=Ibyte_To_Complex +DataTypeAdapter.item_type=ibyte + +;######### INPUT_FILTER CONFIG ############ +InputFilter.implementation=Freq_Xlating_Fir_Filter +InputFilter.input_item_type=gr_complex +InputFilter.output_item_type=gr_complex +InputFilter.taps_item_type=float +InputFilter.number_of_taps=5 +InputFilter.number_of_bands=2 +InputFilter.band1_begin=0.0 +InputFilter.band1_end=0.45 +InputFilter.band2_begin=0.55 +InputFilter.band2_end=1.0 +InputFilter.ampl1_begin=1.0 +InputFilter.ampl1_end=1.0 +InputFilter.ampl2_begin=0.0 +InputFilter.ampl2_end=0.0 +InputFilter.band1_error=1.0 +InputFilter.band2_error=1.0 +InputFilter.filter_type=bandpass +InputFilter.grid_density=16 +InputFilter.sampling_frequency=18000000 +InputFilter.IF=20000 + +Resampler.implementation=Pass_Through + +;######### CHANNELS GLOBAL CONFIG ############ +Channels_1D.count=6 +Channels.in_acquisition=6 + +Channel.signal=1D + +Channel0.satellite=23 +Channel1.satellite=27 +Channel2.satellite=28 +Channel3.satellite=37 +Channel4.satellite=43 +Channel5.satellite=46 + +;######### ACQUISITION GLOBAL CONFIG ############ +Acquisition_1D.implementation=BEIDOU_B1C_PCPS_Ambiguous_Acquisition +Acquisition_1D.item_type=gr_complex +Acquisition_1D.acquire_pilot=true +Acquisition_1D.qmboc=true +Acquisition_1D.pfa=0.005 +Acquisition_1D.doppler_max=5000 +Acquisition_1D.doppler_step=25 + +;######### TRACKING GLOBAL CONFIG ############ +Tracking_1D.implementation=BEIDOU_B1C_DLL_PLL_VEML_Tracking +Tracking_1D.item_type=gr_complex +Tracking_1D.track_pilot=true +Tracking_1D.extend_correlation_symbols=4 +Tracking_1D.bit_synchronization_time_limit_s=90 +Tracking_1D.pull_in_time_s=5 +Tracking_1D.pll_bw_hz=10.0 +Tracking_1D.dll_bw_hz=0.5 +Tracking_1D.pll_bw_narrow_hz=5.0 +Tracking_1D.dll_bw_narrow_hz=0.2 +Tracking_1D.pll_filter_order=2 +Tracking_1D.early_late_space_chips=0.15 +Tracking_1D.very_early_late_space_chips=0.5 +Tracking_1D.cn0_min=20 +Tracking_1D.b1c_secondary_lock_ratio=0.92 + +;######### TELEMETRY DECODER CONFIG ############ +TelemetryDecoder_1D.implementation=BEIDOU_B1C_Telemetry_Decoder +TelemetryDecoder_1D.dump=false + +;######### OBSERVABLES CONFIG ############ +Observables.implementation=Hybrid_Observables + +;######### PVT CONFIG ############ +PVT.implementation=RTKLIB_PVT +PVT.positioning_mode=Single +PVT.output_rate_ms=100 +PVT.display_rate_ms=500 +PVT.iono_model=Broadcast +PVT.trop_model=Saastamoinen +PVT.flag_rtcm_server=false + +PVT.output_enabled=true +PVT.rinex_output_enabled=true +PVT.nmea_output_file_enabled=true +PVT.gpx_output_enabled=true diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc index b8defe256..0b6d2dcf0 100644 --- a/src/algorithms/PVT/adapters/rtklib_pvt.cc +++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc @@ -244,7 +244,7 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration, int num_bands = 0; - if (signal_enabled_flags.check_any_enabled(GPS_1C, GAL_1B, GLO_1G, BDS_B1, QZS_J1)) + if (signal_enabled_flags.check_any_enabled(GPS_1C, GAL_1B, GLO_1G, BDS_B1, BDS_B1C, QZS_J1)) { num_bands += 1; } @@ -396,7 +396,7 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration, { nsys += SYS_GLO; } - if (signal_enabled_flags.check_any_enabled(BDS_B1, BDS_B3)) + if (signal_enabled_flags.check_any_enabled(BDS_B1, BDS_B3, BDS_B1C)) { nsys += SYS_BDS; } diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc index 38273f091..e4ba2c62b 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc @@ -18,6 +18,10 @@ #include "Galileo_CNAV.h" #include "MATH_CONSTANTS.h" #include "an_packet_printer.h" +#include "beidou_cnav1_ephemeris.h" +#include "beidou_cnav1_iono.h" +#include "beidou_cnav1_navigation_message.h" +#include "beidou_cnav1_utc_model.h" #include "beidou_dnav_almanac.h" #include "beidou_dnav_ephemeris.h" #include "beidou_dnav_iono.h" @@ -166,6 +170,10 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels, d_beidou_dnav_iono_sptr_type_hash_code(typeid(std::shared_ptr).hash_code()), d_beidou_dnav_utc_model_sptr_type_hash_code(typeid(std::shared_ptr).hash_code()), d_beidou_dnav_almanac_sptr_type_hash_code(typeid(std::shared_ptr).hash_code()), + d_beidou_cnav1_ephemeris_sptr_type_hash_code(typeid(std::shared_ptr).hash_code()), + d_beidou_cnav1_iono_sptr_type_hash_code(typeid(std::shared_ptr).hash_code()), + d_beidou_cnav1_utc_model_sptr_type_hash_code(typeid(std::shared_ptr).hash_code()), + d_beidou_cnav1_page_data_sptr_type_hash_code(typeid(std::shared_ptr).hash_code()), d_galileo_has_data_sptr_type_hash_code(typeid(std::shared_ptr).hash_code()), d_rinex_version(conf_.rinex_version), d_rx_time(0.0), @@ -1301,6 +1309,36 @@ rtklib_pvt_gs::~rtklib_pvt_gs() { LOG(INFO) << "Failed to save BeiDou DNAV UTC model parameters, not valid data"; } + + // save BeiDou B-CNAV1 ephemeris to XML file + file_name = d_xml_base_path + "bds_cnav1_ephemeris.xml"; + if (d_internal_pvt_solver->beidou_cnav1_ephemeris_map.empty() == false) + { + std::ofstream ofs; + try + { + ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out); + boost::archive::xml_oarchive xml(ofs); + xml << boost::serialization::make_nvp("GNSS-SDR_bds_cnav1_ephemeris_map", d_internal_pvt_solver->beidou_cnav1_ephemeris_map); + LOG(INFO) << "Saved BeiDou B-CNAV1 Ephemeris map data"; + } + catch (const boost::archive::archive_exception& e) + { + LOG(WARNING) << e.what(); + } + catch (const std::ofstream::failure& e) + { + LOG(WARNING) << "Problem opening output XML file"; + } + catch (const std::exception& e) + { + LOG(WARNING) << e.what(); + } + } + else + { + LOG(INFO) << "Failed to save BeiDou B-CNAV1 Ephemeris, map is empty"; + } } if (d_log_timetag_file.is_open()) @@ -1779,6 +1817,55 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg) } DLOG(INFO) << "New BeiDou DNAV almanac record has arrived"; } + else if (msg_type_hash_code == d_beidou_cnav1_ephemeris_sptr_type_hash_code) + { + const auto bds_cnav1_eph = wht::any_cast>(pmt::any_ref(msg)); + if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) + { + const auto eph_it = d_internal_pvt_solver->beidou_cnav1_ephemeris_map.find(bds_cnav1_eph->PRN); + if (eph_it == d_internal_pvt_solver->beidou_cnav1_ephemeris_map.cend() || eph_it->second.toe != bds_cnav1_eph->toe) + { + d_rp->log_rinex_nav_bds_cnav1({{bds_cnav1_eph->PRN, *bds_cnav1_eph}}); + } + } + d_internal_pvt_solver->beidou_cnav1_ephemeris_map[bds_cnav1_eph->PRN] = *bds_cnav1_eph; + if (d_enable_rx_clock_correction == true) + { + d_user_pvt_solver->beidou_cnav1_ephemeris_map[bds_cnav1_eph->PRN] = *bds_cnav1_eph; + } + DLOG(INFO) << "New BeiDou B-CNAV1 ephemeris record has arrived from SAT ID " << bds_cnav1_eph->PRN; + } + else if (msg_type_hash_code == d_beidou_cnav1_iono_sptr_type_hash_code) + { + const auto bds_cnav1_iono = wht::any_cast>(pmt::any_ref(msg)); + d_internal_pvt_solver->beidou_cnav1_iono = *bds_cnav1_iono; + if (d_enable_rx_clock_correction == true) + { + d_user_pvt_solver->beidou_cnav1_iono = *bds_cnav1_iono; + } + DLOG(INFO) << "New BeiDou B-CNAV1 IONO record has arrived"; + } + else if (msg_type_hash_code == d_beidou_cnav1_utc_model_sptr_type_hash_code) + { + const auto bds_cnav1_utc = wht::any_cast>(pmt::any_ref(msg)); + d_internal_pvt_solver->beidou_cnav1_utc_model = *bds_cnav1_utc; + if (d_enable_rx_clock_correction == true) + { + d_user_pvt_solver->beidou_cnav1_utc_model = *bds_cnav1_utc; + } + DLOG(INFO) << "New BeiDou B-CNAV1 UTC record has arrived"; + } + else if (msg_type_hash_code == d_beidou_cnav1_page_data_sptr_type_hash_code) + { + const auto bds_cnav1_page = wht::any_cast>(pmt::any_ref(msg)); + d_internal_pvt_solver->beidou_cnav1_page_data_map[bds_cnav1_page->PRN] = bds_cnav1_page->page_data; + if (d_enable_rx_clock_correction == true) + { + d_user_pvt_solver->beidou_cnav1_page_data_map[bds_cnav1_page->PRN] = bds_cnav1_page->page_data; + } + DLOG(INFO) << "New BeiDou B-CNAV1 page data record has arrived from SAT ID " << bds_cnav1_page->PRN + << " PageID=" << bds_cnav1_page->page_data.common.page_id; + } else { LOG(WARNING) << "msg_handler_telemetry unknown object type!"; @@ -2237,6 +2324,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item const auto tmp_eph_iter_cnav = d_internal_pvt_solver->gps_cnav_ephemeris_map.find(gnss_synchro.PRN); const auto tmp_eph_iter_glo_gnav = d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_synchro.PRN); const auto tmp_eph_iter_bds_dnav = d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(gnss_synchro.PRN); + const auto tmp_eph_iter_bds_cnav1 = d_internal_pvt_solver->beidou_cnav1_ephemeris_map.find(gnss_synchro.PRN); bool store_valid_observable = false; @@ -2337,6 +2425,14 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item store_valid_observable = true; } } + if (!d_osnma_strict && tmp_eph_iter_bds_cnav1 != d_internal_pvt_solver->beidou_cnav1_ephemeris_map.cend()) + { + const uint32_t prn_aux = tmp_eph_iter_bds_cnav1->second.PRN; + if ((prn_aux == gnss_synchro.PRN) && (std::string(gnss_synchro.Signal, 2) == std::string("1D"))) + { + store_valid_observable = true; + } + } if (std::string(gnss_synchro.Signal, 2) == std::string("E6")) { if (d_osnma_strict) diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h index d2a7af331..4bda4011d 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h @@ -85,7 +85,7 @@ rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels, class rtklib_pvt_gs : public gr::sync_block { public: - ~rtklib_pvt_gs(); //!< Default destructor + ~rtklib_pvt_gs() override; //!< Default destructor /*! * \brief Get latest set of GPS ephemeris from PVT block @@ -133,7 +133,7 @@ public: time_t* UTC_time) const; int work(int noutput_items, gr_vector_const_void_star& input_items, - gr_vector_void_star& output_items); //!< PVT Signal Processing + gr_vector_void_star& output_items) override; //!< PVT Signal Processing private: friend rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels, @@ -241,6 +241,10 @@ private: const size_t d_beidou_dnav_iono_sptr_type_hash_code; const size_t d_beidou_dnav_utc_model_sptr_type_hash_code; const size_t d_beidou_dnav_almanac_sptr_type_hash_code; + const size_t d_beidou_cnav1_ephemeris_sptr_type_hash_code; + const size_t d_beidou_cnav1_iono_sptr_type_hash_code; + const size_t d_beidou_cnav1_utc_model_sptr_type_hash_code; + const size_t d_beidou_cnav1_page_data_sptr_type_hash_code; const size_t d_galileo_has_data_sptr_type_hash_code; const double d_rinex_version; diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc index 32857beb4..5c2121c47 100644 --- a/src/algorithms/PVT/libs/rinex_printer.cc +++ b/src/algorithms/PVT/libs/rinex_printer.cc @@ -18,6 +18,7 @@ #include "rinex_printer.h" #include "GLONASS_L1_L2_CA.h" +#include "beidou_cnav1_ephemeris.h" #include "beidou_dnav_ephemeris.h" #include "beidou_dnav_iono.h" #include "beidou_dnav_utc_model.h" @@ -98,6 +99,8 @@ std::string signal_flag_to_string(signal_flag flag) return "B1"; case BDS_B3: return "B3"; + case BDS_B1C: + return "1D"; case QZS_J1: return "J1"; case QZS_J5: @@ -112,7 +115,7 @@ std::map string_to_signal_flag_map() { std::map convertion_map; - for (const auto flag : {GPS_1C, GPS_2S, GPS_L5, GAL_1B, GAL_E5a, GAL_E5b, GAL_E6, GLO_1G, GLO_2G, BDS_B1, BDS_B3, QZS_J1, QZS_J5}) + for (const auto flag : {GPS_1C, GPS_2S, GPS_L5, GAL_1B, GAL_E5a, GAL_E5b, GAL_E6, GLO_1G, GLO_2G, BDS_B1, BDS_B3, BDS_B1C, QZS_J1, QZS_J5}) { convertion_map[signal_flag_to_string(flag)] = flag; } @@ -132,7 +135,7 @@ std::map> get_constel_signal_flags(const Signal_Enab { std::map> constel_signal_flags; - for (const auto& it : std::map>{{'G', {GPS_1C, GPS_2S, GPS_L5}}, {'E', {GAL_1B, GAL_E5a, GAL_E5b, GAL_E6}}, {'R', {GLO_1G, GLO_2G}}, {'C', {BDS_B1, BDS_B3}}, {'J', {QZS_J1, QZS_J5}}}) + for (const auto& it : std::map>{{'G', {GPS_1C, GPS_2S, GPS_L5}}, {'E', {GAL_1B, GAL_E5a, GAL_E5b, GAL_E6}}, {'R', {GLO_1G, GLO_2G}}, {'C', {BDS_B1, BDS_B3, BDS_B1C}}, {'J', {QZS_J1, QZS_J5}}}) { for (const auto flag : it.second) { @@ -342,6 +345,7 @@ std::map getObservationCodes() {"BEIDOU_B1_I", "1I"}, {"BEIDOU_B1_Q", "1Q"}, {"BEIDOU_B1_IQ", "1X"}, + {"BEIDOU_B1C_D", "1D"}, {"BEIDOU_B3_I", "6I"}, {"BEIDOU_B3_Q", "6Q"}, {"BEIDOU_B3_IQ", "6X"}, @@ -2122,6 +2126,7 @@ void add_obs_sys_obs_type_beidou(std::fstream& out, { const std::map signal_to_code_map = { {BDS_B1, "BEIDOU_B1_I"}, + {BDS_B1C, "BEIDOU_B1C_D"}, {BDS_B3, "BEIDOU_B3_I"}, }; @@ -2492,12 +2497,14 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, const auto gps_cnav_ephemeris_iter = pvt_solver->gps_cnav_ephemeris_map.cbegin(); const auto glonass_gnav_ephemeris_iter = pvt_solver->glonass_gnav_ephemeris_map.cbegin(); const auto beidou_dnav_ephemeris_iter = pvt_solver->beidou_dnav_ephemeris_map.cbegin(); + const auto beidou_cnav1_ephemeris_iter = pvt_solver->beidou_cnav1_ephemeris_map.cbegin(); const bool has_gps_lnav_eph = !pvt_solver->gps_ephemeris_map.empty(); const bool has_gps_cnav_eph = !pvt_solver->gps_cnav_ephemeris_map.empty(); const bool has_galileo_eph = !pvt_solver->galileo_ephemeris_map.empty(); const bool has_glonass_eph = !pvt_solver->glonass_gnav_ephemeris_map.empty(); const bool has_beidou_dnav_eph = !pvt_solver->beidou_dnav_ephemeris_map.empty(); + const bool has_beidou_cnav1_eph = !pvt_solver->beidou_cnav1_ephemeris_map.empty(); // We require at least one ephemeris for an active signal of a constellation // Note: this is currently required because ephemeris are used when creating the headers, @@ -2520,7 +2527,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, { return; } - if (d_flags.has_beidou && !has_beidou_dnav_eph) + if (d_flags.has_beidou && !has_beidou_dnav_eph && !has_beidou_cnav1_eph) { return; } @@ -2557,7 +2564,14 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, } else if (d_flags.has_beidou) { - system_time = Rinex_Printer::compute_BDS_time(beidou_dnav_ephemeris_iter->second, rx_time); + if (has_beidou_cnav1_eph) + { + system_time = Rinex_Printer::compute_BDS_time(beidou_cnav1_ephemeris_iter->second, rx_time); + } + else + { + system_time = Rinex_Printer::compute_BDS_time(beidou_dnav_ephemeris_iter->second, rx_time); + } seconds = fmod(rx_time, 60); system_time_str = "BDS"; } @@ -2706,6 +2720,10 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, { log_rinex_nav_bds_dnav(pvt_solver->beidou_dnav_ephemeris_map); } + if (has_beidou_cnav1_eph) + { + log_rinex_nav_bds_cnav1(pvt_solver->beidou_cnav1_ephemeris_map); + } d_rinex_header_written = true; } @@ -3483,6 +3501,39 @@ void Rinex_Printer::log_rinex_nav_bds_dnav(const std::map& new_bds_eph) +{ + auto& out = navFile; + const auto& sys_char = satelliteSystem.at("Beidou"); + + for (const auto& bds_ephemeris_iter : new_bds_eph) + { + const auto& eph = bds_ephemeris_iter.second; + + const boost::posix_time::ptime p_utc_time = Rinex_Printer::compute_BDS_time(eph, eph.toc); + out << get_nav_sv_epoch_svclk_line(p_utc_time, sys_char, eph.PRN, eph.af0, eph.af1, eph.af2) << '\n'; + + const auto iode_d = eph.IODE; + out << get_nav_broadcast_orbit(&iode_d, &eph.Crs, &eph.delta_n, &eph.M_0) << '\n'; + out << get_nav_broadcast_orbit(&eph.Cuc, &eph.ecc, &eph.Cus, &eph.sqrtA) << '\n'; + + const auto toe_d = static_cast(eph.toe); + out << get_nav_broadcast_orbit(&toe_d, &eph.Cic, &eph.OMEGA_0, &eph.Cis) << '\n'; + out << get_nav_broadcast_orbit(&eph.i_0, &eph.Crc, &eph.omega, &eph.OMEGAdot) << '\n'; + + const auto wn_d = static_cast(eph.WN); + out << get_nav_broadcast_orbit(&eph.idot, nullptr, &wn_d, nullptr) << '\n'; + + const double zero_health = 0.0; + out << get_nav_broadcast_orbit(&zero_health, &zero_health, &eph.TGD_B1Cp, &eph.TGD_B2ap) << '\n'; + + const auto tow_d = static_cast(eph.tow); + const auto iodc_d = eph.IODC; + out << get_nav_broadcast_orbit(&tow_d, &iodc_d, nullptr, nullptr) << '\n'; + } +} + + void Rinex_Printer::rinex_nav_header(std::fstream& out, const std::vector& iono_lines, const std::vector& time_corr_lines, @@ -3828,6 +3879,15 @@ boost::posix_time::ptime Rinex_Printer::compute_BDS_time(const Beidou_Dnav_Ephem } +boost::posix_time::ptime Rinex_Printer::compute_BDS_time(const Beidou_Cnav1_Ephemeris& eph, double obs_time) const +{ + const double bds_t = obs_time; + const boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast((bds_t + 604800 * static_cast(eph.WN % 8192)) * 1000)); + boost::posix_time::ptime p_time(boost::gregorian::date(2006, 1, 1), t); + return p_time; +} + + boost::posix_time::ptime Rinex_Printer::compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const { // The RINEX v2.11 v3.00 format uses GPS time for the observations epoch, not UTC time, thus, no leap seconds needed here. diff --git a/src/algorithms/PVT/libs/rinex_printer.h b/src/algorithms/PVT/libs/rinex_printer.h index 36fb752e7..cf8767c52 100644 --- a/src/algorithms/PVT/libs/rinex_printer.h +++ b/src/algorithms/PVT/libs/rinex_printer.h @@ -55,6 +55,7 @@ * \{ */ +class Beidou_Cnav1_Ephemeris; class Beidou_Dnav_Ephemeris; class Beidou_Dnav_Iono; class Beidou_Dnav_Utc_Model; @@ -134,6 +135,11 @@ public: */ void log_rinex_nav_bds_dnav(const std::map& new_bds_eph); + /*! + * \brief Print RINEX annotation for BeiDou B-CNAV1 message + */ + void log_rinex_nav_bds_cnav1(const std::map& new_bds_eph); + /*! * \brief Returns true is the RINEX file headers are already written */ @@ -200,6 +206,7 @@ private: * \param obs_time Observation time in BDT seconds of week */ boost::posix_time::ptime compute_BDS_time(const Beidou_Dnav_Ephemeris& eph, double obs_time) const; + boost::posix_time::ptime compute_BDS_time(const Beidou_Cnav1_Ephemeris& eph, double obs_time) const; /* * Computes the UTC time and returns a boost::posix_time::ptime object diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc index fb33810f8..d020f37dd 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.cc +++ b/src/algorithms/PVT/libs/rtklib_solver.cc @@ -73,6 +73,7 @@ Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk, d_rtklib_band_index["1C"] = 0; d_rtklib_band_index["1B"] = 0; d_rtklib_band_index["B1"] = 0; + d_rtklib_band_index["1D"] = 0; d_rtklib_band_index["B3"] = 2; d_rtklib_band_index["2G"] = 1; d_rtklib_band_index["2S"] = 1; @@ -1798,6 +1799,24 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first; } } + if (sig_ == "1D") + { + const auto cnav1_iter = beidou_cnav1_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (cnav1_iter != beidou_cnav1_ephemeris_map.cend()) + { + eph_data[valid_obs] = eph_to_rtklib(cnav1_iter->second); + obsd_t newobs{}; + d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, + gnss_observables_iter->second, + cnav1_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, + d_rtklib_band_index[sig_]); + valid_obs++; + } + else + { + DLOG(INFO) << "No B-CNAV1 ephemeris data for SV " << gnss_observables_iter->second.PRN; + } + } // BeiDou B3 if (sig_ == "B3") { @@ -1926,6 +1945,18 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ d_nav_data.ion_cmp[6] = beidou_dnav_iono.beta2; d_nav_data.ion_cmp[7] = beidou_dnav_iono.beta3; } + else if (beidou_cnav1_iono.valid) + { + // B-CNAV1 BDGIM parameters mapped to RTKLIB ion_cmp slots (best-effort until BDGIM is native). + d_nav_data.ion_cmp[0] = beidou_cnav1_iono.alpha1; + d_nav_data.ion_cmp[1] = beidou_cnav1_iono.alpha2; + d_nav_data.ion_cmp[2] = beidou_cnav1_iono.alpha3; + d_nav_data.ion_cmp[3] = beidou_cnav1_iono.alpha4; + d_nav_data.ion_cmp[4] = beidou_cnav1_iono.alpha5; + d_nav_data.ion_cmp[5] = beidou_cnav1_iono.alpha6; + d_nav_data.ion_cmp[6] = beidou_cnav1_iono.alpha7; + d_nav_data.ion_cmp[7] = beidou_cnav1_iono.alpha8; + } if (gps_utc_model.valid) { d_nav_data.utc_gps[0] = gps_utc_model.A0; @@ -1979,6 +2010,14 @@ bool Rtklib_Solver::get_PVT(const std::map &gnss_observables_ d_nav_data.utc_cmp[3] = 0.0; // ?? d_nav_data.leaps = beidou_dnav_utc_model.DeltaT_LS; } + else if (beidou_cnav1_utc_model.valid) + { + d_nav_data.utc_cmp[0] = beidou_cnav1_utc_model.A0; + d_nav_data.utc_cmp[1] = beidou_cnav1_utc_model.A1; + d_nav_data.utc_cmp[2] = static_cast(beidou_cnav1_utc_model.tot); + d_nav_data.utc_cmp[3] = static_cast(beidou_cnav1_utc_model.WN_t); + d_nav_data.leaps = beidou_cnav1_utc_model.delta_t_LSF; + } /* update carrier wave length using native function call in RTKlib */ for (int i = 0; i < MAXSAT; i++) diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h index 2a85dafba..06d2a8645 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.h +++ b/src/algorithms/PVT/libs/rtklib_solver.h @@ -35,6 +35,10 @@ #define GNSS_SDR_RTKLIB_SOLVER_H +#include "beidou_cnav1_ephemeris.h" +#include "beidou_cnav1_iono.h" +#include "beidou_cnav1_navigation_message.h" +#include "beidou_cnav1_utc_model.h" #include "beidou_dnav_almanac.h" #include "beidou_dnav_ephemeris.h" #include "beidou_dnav_iono.h" @@ -125,6 +129,7 @@ public: std::map gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris std::map glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephemeris std::map beidou_dnav_ephemeris_map; //!< Map storing new BeiDou DNAV Ephmeris + std::map beidou_cnav1_ephemeris_map; //!< Map storing BeiDou B-CNAV1 ephemeris Galileo_Utc_Model galileo_utc_model; Galileo_Iono galileo_iono; @@ -148,7 +153,10 @@ public: Beidou_Dnav_Utc_Model beidou_dnav_utc_model; Beidou_Dnav_Iono beidou_dnav_iono; + Beidou_Cnav1_Iono beidou_cnav1_iono; + Beidou_Cnav1_Utc_Model beidou_cnav1_utc_model; std::map beidou_dnav_almanac_map; + std::map beidou_cnav1_page_data_map; private: friend class GalileoEphemerisSourceTest_E6SlotsFollowRtklibGalileoPolicy_Test; diff --git a/src/algorithms/PVT/libs/signal_enabled_flags.cc b/src/algorithms/PVT/libs/signal_enabled_flags.cc index 2765ac34b..86d85d130 100644 --- a/src/algorithms/PVT/libs/signal_enabled_flags.cc +++ b/src/algorithms/PVT/libs/signal_enabled_flags.cc @@ -36,6 +36,7 @@ uint32_t flags_from_config(const ConfigurationInterface* configuration) {GLO_2G, "Channels_2G.count"}, {BDS_B1, "Channels_B1.count"}, {BDS_B3, "Channels_B3.count"}, + {BDS_B1C, "Channels_1D.count"}, {QZS_J1, "Channels_J1.count"}, {QZS_J5, "Channels_J5.count"}}; @@ -66,7 +67,7 @@ Signal_Enabled_Flags::Signal_Enabled_Flags(uint32_t flags_) has_gps(check_any_enabled(GPS_1C, GPS_2S, GPS_L5)), has_galileo(check_any_enabled(GAL_1B, GAL_E5a, GAL_E5b, GAL_E6)), has_glonass(check_any_enabled(GLO_1G, GLO_2G)), - has_beidou(check_any_enabled(BDS_B1, BDS_B3)), + has_beidou(check_any_enabled(BDS_B1, BDS_B3, BDS_B1C)), has_qzss(check_any_enabled(QZS_J1, QZS_J5)), only_gps(has_gps && !(has_galileo || has_glonass || has_beidou || has_qzss)), only_galileo(has_galileo && !(has_gps || has_glonass || has_beidou || has_qzss)), diff --git a/src/algorithms/acquisition/adapters/CMakeLists.txt b/src/algorithms/acquisition/adapters/CMakeLists.txt index 047a68a0f..01c994c0e 100644 --- a/src/algorithms/acquisition/adapters/CMakeLists.txt +++ b/src/algorithms/acquisition/adapters/CMakeLists.txt @@ -8,11 +8,15 @@ set(ACQ_ADAPTER_SOURCES pcps_acquisition_adapter.cc pcps_acquisition_adapter_custom.cc + base_pcps_acquisition.cc + beidou_b1c_pcps_ambiguous_acquisition.cc ) set(ACQ_ADAPTER_HEADERS pcps_acquisition_adapter.h pcps_acquisition_adapter_custom.h + base_pcps_acquisition.h + beidou_b1c_pcps_ambiguous_acquisition.h ) if(ENABLE_FPGA) diff --git a/src/algorithms/acquisition/adapters/base_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/base_pcps_acquisition.cc new file mode 100644 index 000000000..79befc399 --- /dev/null +++ b/src/algorithms/acquisition/adapters/base_pcps_acquisition.cc @@ -0,0 +1,222 @@ +/*! + * \file base_ca_pcps_acquisition.h + * \brief Adapts a PCPS acquisition block to an AcquisitionInterface + * \authors
    + *
  • Mathieu Favreau, 2025. favreau.mathieu(at)hotmail.com + *
+ * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2025 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#include "base_pcps_acquisition.h" +#include "acq_conf.h" +#include "configuration_interface.h" +#include "gnss_sdr_flags.h" + +#if USE_GLOG_AND_GFLAGS +#include +#else +#include +#endif + +#if HAS_STD_SPAN +#include +namespace own = std; +#else +#include +namespace own = gsl_lite; +#endif + +namespace +{ +Acq_Conf get_acq_conf(const ConfigurationInterface* configuration, const std::string& role, double chip_rate, double opt_freq, uint32_t ms_per_code) +{ + Acq_Conf acq_parameters; + acq_parameters.ms_per_code = ms_per_code; + acq_parameters.sampled_ms = ms_per_code; // Set as default value + acq_parameters.SetFromConfiguration(configuration, role, chip_rate, opt_freq); + +#if USE_GLOG_AND_GFLAGS + if (FLAGS_doppler_max != 0) + { + acq_parameters.doppler_max = FLAGS_doppler_max; + } + if (FLAGS_doppler_step != 0) + { + acq_parameters.doppler_step = FLAGS_doppler_step; + } +#else + if (absl::GetFlag(FLAGS_doppler_max) != 0) + { + acq_parameters.doppler_max = absl::GetFlag(FLAGS_doppler_max); + } + if (absl::GetFlag(FLAGS_doppler_step) != 0) + { + acq_parameters.doppler_step = absl::GetFlag(FLAGS_doppler_step); + } +#endif + + return acq_parameters; +} +} // namespace + +BasePcpsAcquisition::BasePcpsAcquisition( + const ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams, + double chip_rate, + double opt_freq, + double code_length_chips, + uint32_t ms_per_code) : acq_parameters_(get_acq_conf(configuration, role, chip_rate, opt_freq, ms_per_code)), + gnss_synchro_(nullptr), + role_(role), + vector_length_(std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2.0 : 1.0)), + code_length_(static_cast(std::floor(static_cast(acq_parameters_.resampled_fs) / (chip_rate / code_length_chips)))), + code_(vector_length_), + acquisition_(pcps_make_acquisition(acq_parameters_)) +{ + DLOG(INFO) << "role " << role; + DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")"; + + if (acq_parameters_.item_type == "cbyte") + { + cbyte_to_float_x2_ = make_complex_byte_to_float_x2(); + float_to_complex_ = gr::blocks::float_to_complex::make(); + } + + if (in_streams > 1) + { + LOG(ERROR) << "This implementation only supports one input stream"; + } + if (out_streams > 0) + { + LOG(ERROR) << "This implementation does not provide an output stream"; + } +} + + +void BasePcpsAcquisition::stop_acquisition() +{ + acquisition_->set_active(false); +} + + +void BasePcpsAcquisition::set_doppler_center(int doppler_center) +{ + acquisition_->set_doppler_center(doppler_center); +} + + +void BasePcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro) +{ + gnss_synchro_ = gnss_synchro; + acquisition_->set_gnss_synchro(gnss_synchro_); +} + + +signed int BasePcpsAcquisition::mag() +{ + return acquisition_->mag(); +} + + +void BasePcpsAcquisition::reset() +{ + acquisition_->set_active(true); +} + + +void BasePcpsAcquisition::connect(gr::top_block_sptr top_block) +{ + if (acq_parameters_.item_type == "gr_complex" || acq_parameters_.item_type == "cshort") + { + // nothing to connect + } + else if (acq_parameters_.item_type == "cbyte") + { + // Since a byte-based acq implementation is not available, + // we just convert cshorts to gr_complex + top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0); + top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1); + top_block->connect(float_to_complex_, 0, acquisition_, 0); + } + else + { + LOG(WARNING) << acq_parameters_.item_type << " unknown acquisition item type"; + } +} + + +void BasePcpsAcquisition::disconnect(gr::top_block_sptr top_block) +{ + if (acq_parameters_.item_type == "gr_complex" || acq_parameters_.item_type == "cshort") + { + // nothing to disconnect + } + else if (acq_parameters_.item_type == "cbyte") + { + top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0); + top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1); + top_block->disconnect(float_to_complex_, 0, acquisition_, 0); + } + else + { + LOG(WARNING) << acq_parameters_.item_type << " unknown acquisition item type"; + } +} + + +gr::basic_block_sptr BasePcpsAcquisition::get_left_block() +{ + if (acq_parameters_.item_type == "gr_complex" || acq_parameters_.item_type == "cshort") + { + return acquisition_; + } + if (acq_parameters_.item_type == "cbyte") + { + return cbyte_to_float_x2_; + } + + LOG(WARNING) << acq_parameters_.item_type << " unknown acquisition item type"; + return nullptr; +} + + +gr::basic_block_sptr BasePcpsAcquisition::get_right_block() +{ + return acquisition_; +} + + +void BasePcpsAcquisition::set_resampler_latency(uint32_t latency_samples) +{ + acquisition_->set_resampler_latency(latency_samples); +} + + +void BasePcpsAcquisition::set_local_code() +{ + volk_gnsssdr::vector> code(code_length_); + + const auto sampling_freq = acq_parameters_.use_automatic_resampler ? acq_parameters_.resampled_fs : acq_parameters_.fs_in; + code_gen_complex_sampled(code, gnss_synchro_->PRN, sampling_freq); + + const auto num_codes = acq_parameters_.sampled_ms / acq_parameters_.ms_per_code; + + own::span code_span(code_.data(), vector_length_); + for (unsigned int i = 0; i < num_codes; i++) + { + std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); + } + + acquisition_->set_local_code(code_.data()); +} diff --git a/src/algorithms/acquisition/adapters/base_pcps_acquisition.h b/src/algorithms/acquisition/adapters/base_pcps_acquisition.h new file mode 100644 index 000000000..6d4fd5906 --- /dev/null +++ b/src/algorithms/acquisition/adapters/base_pcps_acquisition.h @@ -0,0 +1,146 @@ +/*! + * \file base_ca_pcps_acquisition.h + * \brief Adapts a PCPS acquisition block to an AcquisitionInterface + * \authors
    + *
  • Mathieu Favreau, 2025. favreau.mathieu(at)hotmail.com + *
+ * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2025 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_BASE_PCPS_ACQUISITION_H +#define GNSS_SDR_BASE_PCPS_ACQUISITION_H + +#include "acq_conf.h" +#include "channel_fsm.h" +#include "complex_byte_to_float_x2.h" +#include "gnss_synchro.h" +#include "pcps_acquisition.h" +#include +#include + +/** \addtogroup Acquisition + * Classes for GNSS signal acquisition + * \{ */ +/** \addtogroup Acq_adapters acquisition_adapters + * Wrap GNU Radio acquisition blocks with an AcquisitionInterface + * \{ */ + + +class ConfigurationInterface; + +/*! + * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface + */ +class BasePcpsAcquisition : public AcquisitionInterface +{ +public: + BasePcpsAcquisition( + const ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams, + double chip_rate, + double opt_freq, + double code_length_chips, + uint32_t ms_per_code); + + ~BasePcpsAcquisition() override = default; + + inline std::string role() override + { + return role_; + } + + inline size_t item_size() override + { + return acq_parameters_.it_size; + } + + void connect(gr::top_block_sptr top_block) override; + void disconnect(gr::top_block_sptr top_block) override; + gr::basic_block_sptr get_left_block() override; + gr::basic_block_sptr get_right_block() override; + + /*! + * \brief Set acquisition/tracking common Gnss_Synchro object pointer + * to efficiently exchange synchronization data between acquisition and + * tracking blocks + */ + void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override; + + /*! + * \brief Set acquisition channel unique ID + */ + inline void set_channel(unsigned int channel) override + { + acquisition_->set_channel(channel); + } + + /*! + * \brief Set channel fsm associated to this acquisition instance + */ + inline void set_channel_fsm(std::weak_ptr channel_fsm) override + { + acquisition_->set_channel_fsm(std::move(channel_fsm)); + } + + /*! + * \brief Set Doppler center for the grid search + */ + void set_doppler_center(int doppler_center) override; + + /*! + * \brief Returns the maximum peak of grid search + */ + signed int mag() override; + + /*! + * \brief Restart acquisition algorithm + */ + void reset() override; + + /*! + * \brief Stop running acquisition + */ + void stop_acquisition() override; + + /*! + * \brief Sets the resampler latency to account it in the acquisition code delay estimation + */ + void set_resampler_latency(uint32_t latency_samples) override; + + /*! + * \brief Sets local code + */ + void set_local_code() override; + +private: + /*! + * \brief Generate code + */ + virtual void code_gen_complex_sampled(own::span> dest, uint32_t prn, int32_t sampling_freq) = 0; + + const Acq_Conf acq_parameters_; + gr::blocks::float_to_complex::sptr float_to_complex_; + complex_byte_to_float_x2_sptr cbyte_to_float_x2_; + Gnss_Synchro* gnss_synchro_; + const std::string role_; + const unsigned int vector_length_; + const unsigned int code_length_; + volk_gnsssdr::vector> code_; + pcps_acquisition_sptr acquisition_; +}; + + +/** \} */ +/** \} */ +#endif // GNSS_SDR_BASE_PCPS_ACQUISITION_H diff --git a/src/algorithms/acquisition/adapters/beidou_b1c_pcps_ambiguous_acquisition.cc b/src/algorithms/acquisition/adapters/beidou_b1c_pcps_ambiguous_acquisition.cc new file mode 100644 index 000000000..456195c20 --- /dev/null +++ b/src/algorithms/acquisition/adapters/beidou_b1c_pcps_ambiguous_acquisition.cc @@ -0,0 +1,64 @@ +/*! + * \file beidou_b1c_pcps_ambiguous_acquisition.cc + * \brief Adapts a PCPS acquisition block to an AcquisitionInterface for + * BeiDou B1C Signals + * \author GNSS-SDR contributors + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#include "beidou_b1c_pcps_ambiguous_acquisition.h" +#include "Beidou_B1C.h" +#include "beidou_b1c_signal_replica.h" + +BeidouB1cPcpsAmbiguousAcquisition::BeidouB1cPcpsAmbiguousAcquisition( + const ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams) + : BasePcpsAcquisition(configuration, + role, + in_streams, + out_streams, + BEIDOU_B1C_CODE_RATE_CPS, + BEIDOU_B1C_OPT_ACQ_FS_SPS, + BEIDOU_B1C_CODE_LENGTH_CHIPS, + BEIDOU_B1C_CODE_PERIOD_MS), + acquire_pilot_(configuration->property(role + ".acquire_pilot", true)), + qmboc_(configuration->property(role + ".qmboc", true)), + gnss_synchro_(nullptr) +{ +} + + +void BeidouB1cPcpsAmbiguousAcquisition::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) +{ + gnss_synchro_ = p_gnss_synchro; + BasePcpsAcquisition::set_gnss_synchro(p_gnss_synchro); +} + + +void BeidouB1cPcpsAmbiguousAcquisition::code_gen_complex_sampled(own::span> dest, uint32_t prn, int32_t sampling_freq) +{ + if (acquire_pilot_) + { + const std::array pilot_signal = {{'1', 'P', '\0'}}; + beidou_b1c_code_gen_complex_sampled(dest, pilot_signal, qmboc_, prn, sampling_freq, 0, false); + } + else + { + std::array signal_id{}; + signal_id[0] = gnss_synchro_->Signal[0]; + signal_id[1] = gnss_synchro_->Signal[1]; + signal_id[2] = '\0'; + beidou_b1c_code_gen_complex_sampled(dest, signal_id, qmboc_, prn, sampling_freq, 0, false); + } +} diff --git a/src/algorithms/acquisition/adapters/beidou_b1c_pcps_ambiguous_acquisition.h b/src/algorithms/acquisition/adapters/beidou_b1c_pcps_ambiguous_acquisition.h new file mode 100644 index 000000000..5dbde5879 --- /dev/null +++ b/src/algorithms/acquisition/adapters/beidou_b1c_pcps_ambiguous_acquisition.h @@ -0,0 +1,56 @@ +/*! + * \file beidou_b1c_pcps_ambiguous_acquisition.h + * \brief Adapts a PCPS acquisition block to an AcquisitionInterface for + * BeiDou B1C Signals + * \author GNSS-SDR contributors + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_BEIDOU_B1C_PCPS_AMBIGUOUS_ACQUISITION_H +#define GNSS_SDR_BEIDOU_B1C_PCPS_AMBIGUOUS_ACQUISITION_H + +#include "base_pcps_acquisition.h" + +/** \addtogroup Acquisition + * \{ */ +/** \addtogroup Acq_adapters + * \{ */ + +class BeidouB1cPcpsAmbiguousAcquisition : public BasePcpsAcquisition +{ +public: + BeidouB1cPcpsAmbiguousAcquisition( + const ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams); + + ~BeidouB1cPcpsAmbiguousAcquisition() override = default; + + inline std::string implementation() override + { + return "BEIDOU_B1C_PCPS_Ambiguous_Acquisition"; + } + + void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override; + +private: + void code_gen_complex_sampled(own::span> dest, uint32_t prn, int32_t sampling_freq) override; + + const bool acquire_pilot_; + const bool qmboc_; + Gnss_Synchro* gnss_synchro_; +}; + +/** \} */ +/** \} */ +#endif // GNSS_SDR_BEIDOU_B1C_PCPS_AMBIGUOUS_ACQUISITION_H diff --git a/src/algorithms/libs/CMakeLists.txt b/src/algorithms/libs/CMakeLists.txt index dc564821a..8f51a823d 100644 --- a/src/algorithms/libs/CMakeLists.txt +++ b/src/algorithms/libs/CMakeLists.txt @@ -9,6 +9,7 @@ add_subdirectory(rtklib) set(GNSS_SPLIBS_SOURCES beidou_b1i_signal_replica.cc + beidou_b1c_signal_replica.cc beidou_b3i_signal_replica.cc galileo_e1_signal_replica.cc galileo_e5_signal_replica.cc @@ -37,6 +38,7 @@ set(GNSS_SPLIBS_SOURCES set(GNSS_SPLIBS_HEADERS beidou_b1i_signal_replica.h + beidou_b1c_signal_replica.h beidou_b3i_signal_replica.h galileo_e1_signal_replica.h galileo_e5_signal_replica.h diff --git a/src/algorithms/libs/beidou_b1c_signal_replica.cc b/src/algorithms/libs/beidou_b1c_signal_replica.cc new file mode 100644 index 000000000..9833b19c7 --- /dev/null +++ b/src/algorithms/libs/beidou_b1c_signal_replica.cc @@ -0,0 +1,246 @@ +/*! + * \file beidou_b1c_signal_replica.cc + * \brief Library for BeiDou B1C signal replica generation + * \author GNSS-SDR contributors + * + * Primary codes loaded from precomputed hex tables (Galileo E1 style). + * Pilot secondary codes from per-PRN binary strings (Galileo E5a-Q style). + * BDS-SIS-ICD-B1C-1.0 §5.2. + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#include "beidou_b1c_signal_replica.h" +#include "Beidou_B1C.h" +#include "gnss_signal_replica.h" +#include +#include +#include + +namespace +{ +void hex_primary_to_chip_int(own::span dest, const char* hex_code) +{ + int32_t index = 0; + for (size_t i = 0; i < BEIDOU_B1C_PRIMARY_CODE_STR_LENGTH - 1; i++) + { + std::array bipolar{}; + hex_to_binary_converter(bipolar, hex_code[i]); + for (int32_t j = 0; j < 4; j++) + { + dest[index++] = (bipolar[j] == 1) ? 0 : 1; + } + } + std::array last{}; + hex_to_binary_converter(last, hex_code[BEIDOU_B1C_PRIMARY_CODE_STR_LENGTH - 1]); + dest[index++] = (last[0] == 1) ? 0 : 1; + dest[index++] = (last[1] == 1) ? 0 : 1; +} +} // namespace + + +void beidou_b1c_code_gen_int(own::span dest, const std::array& signal_id, int32_t prn) +{ + if (prn < 1 || prn > BEIDOU_B1C_NUMBER_OF_PRNS) + { + return; + } + const int32_t prn_index = prn - 1; + const std::string sig = signal_id.data(); + const char* hex_code = nullptr; + if (sig.rfind("1P") != std::string::npos) + { + hex_code = BEIDOU_B1C_PILOT_PRIMARY_CODE[prn_index]; + } + else + { + hex_code = BEIDOU_B1C_DATA_PRIMARY_CODE[prn_index]; + } + hex_primary_to_chip_int(dest, hex_code); +} + + +void beidou_b1c_sinboc_11_gen_int(own::span dest, own::span prn) +{ + constexpr auto length_in = static_cast(BEIDOU_B1C_CODE_LENGTH_CHIPS); + const auto period = static_cast(dest.size() / length_in); + for (uint32_t i = 0; i < length_in; i++) + { + for (uint32_t j = 0; j < (period / 2); j++) + { + dest[i * period + j] = prn[i]; + } + for (uint32_t j = (period / 2); j < period; j++) + { + dest[i * period + j] = -prn[i]; + } + } +} + + +void beidou_b1c_sinboc_61_gen_int(own::span dest, own::span prn) +{ + constexpr auto length_in = static_cast(BEIDOU_B1C_CODE_LENGTH_CHIPS); + const auto period = static_cast(dest.size() / length_in); + for (uint32_t i = 0; i < length_in; i++) + { + for (uint32_t j = 0; j < period; j += 2) + { + dest[i * period + j] = prn[i]; + } + for (uint32_t j = 1; j < period; j += 2) + { + dest[i * period + j] = -prn[i]; + } + } +} + + +void beidou_b1c_qmboc_gen_float(own::span dest, own::span prn, bool pilot) +{ + const auto code_length = dest.size(); + const float alpha = std::sqrt(29.0F / 44.0F); + const float beta = std::sqrt(4.0F / 44.0F); + std::vector sinboc_11(code_length); + std::vector sinboc_61(code_length); + beidou_b1c_sinboc_11_gen_int(sinboc_11, prn); + beidou_b1c_sinboc_61_gen_int(sinboc_61, prn); + if (pilot) + { + for (size_t i = 0; i < code_length; i++) + { + dest[i] = alpha * static_cast(sinboc_11[i]) + beta * static_cast(sinboc_61[i]); + } + } + else + { + for (size_t i = 0; i < code_length; i++) + { + dest[i] = static_cast(sinboc_11[i]); + } + } +} + + +void beidou_b1c_code_gen_sinboc11_float(own::span dest, const std::array& signal_id, uint32_t prn) +{ + std::array primary_code{}; + beidou_b1c_code_gen_int(primary_code, signal_id, static_cast(prn)); + const auto code_length = static_cast(BEIDOU_B1C_CODE_LENGTH_CHIPS); + for (uint32_t i = 0; i < code_length; i++) + { + const float chip = primary_code[i] == 0 ? 1.0F : -1.0F; + dest[2 * i] = chip; + dest[2 * i + 1] = -chip; + } +} + + +void beidou_b1c_code_gen_float_sampled(own::span dest, const std::array& signal_id, + bool qmboc, uint32_t prn, int32_t sampling_freq, uint32_t chip_shift, bool secondary_flag) +{ + constexpr auto code_freq_basis = static_cast(BEIDOU_B1C_CODE_RATE_CPS); + const int32_t samples_per_chip = qmboc ? 12 : 2; + const uint32_t code_length = samples_per_chip * static_cast(BEIDOU_B1C_CODE_LENGTH_CHIPS); + const std::string b1c_signal = signal_id.data(); + const bool is_pilot = b1c_signal.rfind("1P") != std::string::npos; + auto samples_per_code = static_cast(static_cast(sampling_freq) / + (static_cast(code_freq_basis) / BEIDOU_B1C_CODE_LENGTH_CHIPS)); + const uint32_t delay = ((static_cast(BEIDOU_B1C_CODE_LENGTH_CHIPS) - static_cast(chip_shift)) % + static_cast(BEIDOU_B1C_CODE_LENGTH_CHIPS)) * + samples_per_code / static_cast(BEIDOU_B1C_CODE_LENGTH_CHIPS); + + std::array primary_code{}; + beidou_b1c_code_gen_int(primary_code, signal_id, static_cast(prn)); + + std::array primary_bipolar{}; + for (uint32_t i = 0; i < static_cast(BEIDOU_B1C_CODE_LENGTH_CHIPS); i++) + { + primary_bipolar[i] = primary_code[i] == 0 ? 1 : -1; + } + + std::vector signal_b1c(code_length); + if (qmboc && is_pilot) + { + beidou_b1c_qmboc_gen_float(signal_b1c, primary_bipolar, true); + } + else + { + std::vector signal_b1c_int(code_length); + beidou_b1c_sinboc_11_gen_int(signal_b1c_int, primary_bipolar); + for (uint32_t ii = 0; ii < code_length; ++ii) + { + signal_b1c[ii] = static_cast(signal_b1c_int[ii]); + } + } + + if (sampling_freq != samples_per_chip * code_freq_basis) + { + std::vector resampled_signal(samples_per_code); + resampler(signal_b1c, resampled_signal, static_cast(samples_per_chip * code_freq_basis), sampling_freq); + signal_b1c = std::move(resampled_signal); + } + else + { + samples_per_code = code_length; + } + + if (is_pilot && secondary_flag) + { + const int32_t prn_index = static_cast(prn) - 1; + const char* sec_code = BEIDOU_B1C_PILOT_SECONDARY_CODE[prn_index]; + + std::vector signal_with_secondary(BEIDOU_B1C_PILOT_SECONDARY_CODE_LENGTH * samples_per_code); + for (int32_t i = 0; i < BEIDOU_B1C_PILOT_SECONDARY_CODE_LENGTH; i++) + { + const float sec_chip = sec_code[i] == '0' ? 1.0F : -1.0F; + for (uint32_t k = 0; k < samples_per_code; k++) + { + signal_with_secondary[static_cast(i) * samples_per_code + k] = signal_b1c[k] * sec_chip; + } + } + samples_per_code *= static_cast(BEIDOU_B1C_PILOT_SECONDARY_CODE_LENGTH); + signal_b1c = std::move(signal_with_secondary); + } + + for (uint32_t i = 0; i < samples_per_code; i++) + { + dest[(i + delay) % samples_per_code] = signal_b1c[i]; + } +} + + +void beidou_b1c_code_gen_complex_sampled(own::span> dest, const std::array& signal_id, + bool qmboc, uint32_t prn, int32_t sampling_freq, uint32_t chip_shift, bool secondary_flag) +{ + const std::string b1c_signal = signal_id.data(); + const bool is_pilot = b1c_signal.rfind("1P") != std::string::npos; + auto samples_per_code = static_cast(static_cast(sampling_freq) / + (BEIDOU_B1C_CODE_RATE_CPS / BEIDOU_B1C_CODE_LENGTH_CHIPS)); + if (is_pilot && secondary_flag) + { + samples_per_code *= static_cast(BEIDOU_B1C_PILOT_SECONDARY_CODE_LENGTH); + } + + std::vector real_code(samples_per_code); + beidou_b1c_code_gen_float_sampled(real_code, signal_id, qmboc, prn, sampling_freq, chip_shift, secondary_flag); + for (uint32_t ii = 0; ii < samples_per_code; ++ii) + { + dest[ii] = std::complex(real_code[ii], 0.0F); + } +} + + +void beidou_b1c_code_gen_complex_sampled(own::span> dest, const std::array& signal_id, + bool qmboc, uint32_t prn, int32_t sampling_freq, uint32_t chip_shift) +{ + beidou_b1c_code_gen_complex_sampled(dest, signal_id, qmboc, prn, sampling_freq, chip_shift, false); +} diff --git a/src/algorithms/libs/beidou_b1c_signal_replica.h b/src/algorithms/libs/beidou_b1c_signal_replica.h new file mode 100644 index 000000000..8ee1ca601 --- /dev/null +++ b/src/algorithms/libs/beidou_b1c_signal_replica.h @@ -0,0 +1,47 @@ +/*! + * \file beidou_b1c_signal_replica.h + * \brief Library for BeiDou B1C signal replica generation + * \author GNSS-SDR contributors + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_BEIDOU_B1C_SIGNAL_REPLICA_H +#define GNSS_SDR_BEIDOU_B1C_SIGNAL_REPLICA_H + +#include +#include +#include +#if HAS_STD_SPAN +#include +namespace own = std; +#else +#include +namespace own = gsl_lite; +#endif + +/** \addtogroup Algorithms_Library + * \{ */ +/** \addtogroup Algorithm_libs algorithms_libs + * \{ */ + +void beidou_b1c_code_gen_int(own::span dest, const std::array& signal_id, int32_t prn); +void beidou_b1c_code_gen_sinboc11_float(own::span dest, const std::array& signal_id, uint32_t prn); +void beidou_b1c_code_gen_float_sampled(own::span dest, const std::array& signal_id, + bool qmboc, uint32_t prn, int32_t sampling_freq, uint32_t chip_shift, bool secondary_flag); +void beidou_b1c_code_gen_complex_sampled(own::span> dest, const std::array& signal_id, + bool qmboc, uint32_t prn, int32_t sampling_freq, uint32_t chip_shift, bool secondary_flag); +void beidou_b1c_code_gen_complex_sampled(own::span> dest, const std::array& signal_id, + bool qmboc, uint32_t prn, int32_t sampling_freq, uint32_t chip_shift); + +/** \} */ +/** \} */ +#endif // GNSS_SDR_BEIDOU_B1C_SIGNAL_REPLICA_H diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc index 3857f8421..2776e9c7a 100644 --- a/src/algorithms/libs/rtklib/rtklib_conversions.cc +++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc @@ -16,6 +16,7 @@ #include "rtklib_conversions.h" #include "MATH_CONSTANTS.h" // for GNSS_PI, TWO_PI +#include "beidou_cnav1_ephemeris.h" // for Beidou_Cnav1_Ephemeris #include "beidou_dnav_ephemeris.h" // for Beidou_Dnav_Ephemeris #include "galileo_almanac.h" // for Galileo_Almanac #include "galileo_ephemeris.h" // for Galileo_Ephemeris @@ -227,6 +228,10 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, { rtklib_obs.code[band] = static_cast(CODE_L6I); } + else if (sig_ == "1D") + { + rtklib_obs.code[band] = static_cast(CODE_L1D); + } break; case 'J': @@ -709,6 +714,70 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph) } +eph_t eph_to_rtklib(const Beidou_Cnav1_Ephemeris& bei_eph) +{ + eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, false, 0, 0, 0, 0, 0.0, -1, 0}; + rtklib_sat.sat = bei_eph.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS; + rtklib_sat.A = bei_eph.sqrtA * bei_eph.sqrtA; + rtklib_sat.M0 = bei_eph.M_0; + rtklib_sat.deln = bei_eph.delta_n; + rtklib_sat.OMG0 = bei_eph.OMEGA_0; + rtklib_sat.OMGd = bei_eph.OMEGAdot; + rtklib_sat.omg = bei_eph.omega; + rtklib_sat.i0 = bei_eph.i_0; + rtklib_sat.idot = bei_eph.idot; + rtklib_sat.e = bei_eph.ecc; + rtklib_sat.svh = 0; + rtklib_sat.sva = 0; + rtklib_sat.code = bei_eph.sig_type; + rtklib_sat.flag = bei_eph.nav_type; + rtklib_sat.iode = static_cast(bei_eph.IODE); + rtklib_sat.iodc = static_cast(bei_eph.IODC); + rtklib_sat.week = bei_eph.WN; + rtklib_sat.cic = bei_eph.Cic; + rtklib_sat.cis = bei_eph.Cis; + rtklib_sat.cuc = bei_eph.Cuc; + rtklib_sat.cus = bei_eph.Cus; + rtklib_sat.crc = bei_eph.Crc; + rtklib_sat.crs = bei_eph.Crs; + rtklib_sat.f0 = bei_eph.af0; + rtklib_sat.f1 = bei_eph.af1; + rtklib_sat.f2 = bei_eph.af2; + rtklib_sat.tgd[0] = bei_eph.TGD_B1Cp; + rtklib_sat.tgd[1] = bei_eph.TGD_B2ap; + rtklib_sat.tgd[2] = bei_eph.ISC_B1Cd; + rtklib_sat.toes = bei_eph.toe; + rtklib_sat.toe = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.toe)); + rtklib_sat.toc = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.toc)); + rtklib_sat.ttr = bdt2gpst(bdt2time(rtklib_sat.week, bei_eph.tow)); + + double tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week); + const double toc = time2gpst(rtklib_sat.toc, nullptr); + const double toe = time2gpst(rtklib_sat.toe, nullptr); + if (rtklib_sat.toes < tow - 302400.0) + { + rtklib_sat.week++; + tow -= 604800.0; + } + else if (rtklib_sat.toes > tow + 302400.0) + { + rtklib_sat.week--; + tow += 604800.0; + } + rtklib_sat.toe = gpst2time(rtklib_sat.week, toe); + rtklib_sat.toc = gpst2time(rtklib_sat.week, toc); + rtklib_sat.ttr = gpst2time(rtklib_sat.week, tow); + + rtklib_sat.has_orbit_radial_correction_m = 0.0; + rtklib_sat.has_orbit_in_track_correction_m = 0.0; + rtklib_sat.has_orbit_cross_track_correction_m = 0.0; + rtklib_sat.has_clock_correction_m = 0.0; + rtklib_sat.apply_has_corrections = false; + return rtklib_sat; +} + + eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph) { eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0, diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.h b/src/algorithms/libs/rtklib/rtklib_conversions.h index c39509a1c..73d4026b9 100644 --- a/src/algorithms/libs/rtklib/rtklib_conversions.h +++ b/src/algorithms/libs/rtklib/rtklib_conversions.h @@ -28,6 +28,7 @@ * \{ */ +class Beidou_Cnav1_Ephemeris; class Beidou_Dnav_Ephemeris; class Galileo_Almanac; class Galileo_Ephemeris; @@ -102,6 +103,8 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph); eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph); +eph_t eph_to_rtklib(const Beidou_Cnav1_Ephemeris& bei_eph); + alm_t alm_to_rtklib(const Gps_Almanac& gps_alm); alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm); diff --git a/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc b/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc index 025f8fce0..47f08a1f0 100644 --- a/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc +++ b/src/algorithms/libs/rtklib/rtklib_rtkcmn.cc @@ -108,7 +108,7 @@ char obscodes[][3] = { "2W", "2Y", "2M", "2N", "5I", "5Q", "5X", "7I", "7Q", "7X", /* 20-29 */ "6A", "6B", "6C", "6X", "6Z", "6S", "6L", "8L", "8Q", "8X", /* 30-39 */ "2I", "2Q", "6I", "6Q", "3I", "3Q", "3X", "1I", "1Q", "5A", /* 40-49 */ - "5B", "5C", "9A", "9B", "9C", "9X", "", "", "", "" /* 50-59 */ + "5B", "5C", "9A", "9B", "9C", "9X", "1D", "", "", "" /* 50-59 */ }; @@ -119,7 +119,7 @@ unsigned char obsfreqs[] = { 2, 2, 2, 2, 3, 3, 3, 5, 5, 5, /* 20-29 */ 4, 4, 4, 4, 4, 4, 4, 6, 6, 6, /* 30-39 */ 2, 2, 4, 4, 3, 3, 3, 1, 1, 3, /* 40-49 */ - 3, 3, 7, 7, 7, 7, 0, 0, 0, 0 /* 50-59 */ + 3, 3, 7, 7, 7, 7, 1, 0, 0, 0 /* 50-59 */ }; diff --git a/src/algorithms/telemetry_decoder/adapters/CMakeLists.txt b/src/algorithms/telemetry_decoder/adapters/CMakeLists.txt index bd198243e..71e1d30a3 100644 --- a/src/algorithms/telemetry_decoder/adapters/CMakeLists.txt +++ b/src/algorithms/telemetry_decoder/adapters/CMakeLists.txt @@ -7,10 +7,14 @@ set(TELEMETRY_DECODER_ADAPTER_SOURCES telemetry_decoder_adapter.cc + telemetry_decoder_adapter_base.cc + beidou_b1c_telemetry_decoder.cc ) set(TELEMETRY_DECODER_ADAPTER_HEADERS telemetry_decoder_adapter.h + telemetry_decoder_adapter_base.h + beidou_b1c_telemetry_decoder.h ) list(SORT TELEMETRY_DECODER_ADAPTER_HEADERS) diff --git a/src/algorithms/telemetry_decoder/adapters/beidou_b1c_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/beidou_b1c_telemetry_decoder.cc new file mode 100644 index 000000000..fd6c9336f --- /dev/null +++ b/src/algorithms/telemetry_decoder/adapters/beidou_b1c_telemetry_decoder.cc @@ -0,0 +1,17 @@ +/*! + * \file beidou_b1c_telemetry_decoder.cc + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#include "beidou_b1c_telemetry_decoder.h" +#include "beidou_b1c_telemetry_decoder_gs.h" + +BeidouB1cTelemetryDecoder::BeidouB1cTelemetryDecoder( + const ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams) + : TelemetryDecoderAdapterBase(configuration, role, in_streams, out_streams) +{ + InitializeDecoder(beidou_b1c_make_telemetry_decoder_gs(satellite(), tlm_parameters_)); +} diff --git a/src/algorithms/telemetry_decoder/adapters/beidou_b1c_telemetry_decoder.h b/src/algorithms/telemetry_decoder/adapters/beidou_b1c_telemetry_decoder.h new file mode 100644 index 000000000..9e81b5536 --- /dev/null +++ b/src/algorithms/telemetry_decoder/adapters/beidou_b1c_telemetry_decoder.h @@ -0,0 +1,25 @@ +/*! + * \file beidou_b1c_telemetry_decoder.h + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#ifndef GNSS_SDR_BEIDOU_B1C_TELEMETRY_DECODER_H +#define GNSS_SDR_BEIDOU_B1C_TELEMETRY_DECODER_H + +#include "telemetry_decoder_adapter_base.h" + +class BeidouB1cTelemetryDecoder : public TelemetryDecoderAdapterBase +{ +public: + BeidouB1cTelemetryDecoder(const ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams); + + inline std::string implementation() override + { + return "BEIDOU_B1C_Telemetry_Decoder"; + } +}; + +#endif diff --git a/src/algorithms/telemetry_decoder/adapters/telemetry_decoder_adapter_base.cc b/src/algorithms/telemetry_decoder/adapters/telemetry_decoder_adapter_base.cc new file mode 100644 index 000000000..1832efd86 --- /dev/null +++ b/src/algorithms/telemetry_decoder/adapters/telemetry_decoder_adapter_base.cc @@ -0,0 +1,135 @@ +/*! + * \file telemetry_decoder_adapter_base.cc + * \brief Common functionality for telemetry decoder adapters + * \author Carles Fernandez-Prades, 2025 cfernandez@cttc.es + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2025 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + + +#include "telemetry_decoder_adapter_base.h" +#include + +#if USE_GLOG_AND_GFLAGS +#include +#else +#include +#endif + + +TelemetryDecoderAdapterBase::TelemetryDecoderAdapterBase(const ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams) : role_(role), + in_streams_(in_streams), + out_streams_(out_streams) +{ + DLOG(INFO) << "role " << role_; + if (configuration != nullptr) + { + tlm_parameters_.SetFromConfiguration(configuration, role_); + } + if (in_streams_ > 1) + { + LOG(ERROR) << "This implementation only supports one input stream (" + << in_streams_ << " provided)"; + } + if (out_streams_ > 1) + { + LOG(ERROR) << "This implementation only supports one output stream (" + << out_streams_ << " provided)"; + } +} + + +void TelemetryDecoderAdapterBase::InitializeDecoder(telemetry_impl_interface_sptr decoder) +{ + telemetry_decoder_ = std::move(decoder); + DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")"; +} + + +void TelemetryDecoderAdapterBase::connect(gr::top_block_sptr top_block) +{ + if (top_block) + { + /* top_block is not null */ + } + DLOG(INFO) << "nothing to connect internally"; +} + + +void TelemetryDecoderAdapterBase::disconnect(gr::top_block_sptr top_block) +{ + if (top_block) + { + /* top_block is not null */ + } +} + + +gr::basic_block_sptr TelemetryDecoderAdapterBase::get_left_block() +{ + return telemetry_decoder_; +} + + +gr::basic_block_sptr TelemetryDecoderAdapterBase::get_right_block() +{ + return telemetry_decoder_; +} + + +void TelemetryDecoderAdapterBase::set_satellite(const Gnss_Satellite& satellite) +{ + satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + if (telemetry_decoder_) + { + telemetry_decoder_->set_satellite(satellite_); + DLOG(INFO) << "TELEMETRY DECODER: satellite set to " << satellite_; + } +} + + +std::string TelemetryDecoderAdapterBase::role() +{ + return role_; +} + + +void TelemetryDecoderAdapterBase::set_channel(int channel) +{ + if (telemetry_decoder_) + { + telemetry_decoder_->set_channel(channel); + } +} + + +void TelemetryDecoderAdapterBase::reset() +{ + if (telemetry_decoder_) + { + telemetry_decoder_->reset(); + } +} + + +size_t TelemetryDecoderAdapterBase::item_size() +{ + return sizeof(Gnss_Synchro); +} + + +const Gnss_Satellite& TelemetryDecoderAdapterBase::satellite() const +{ + return satellite_; +} \ No newline at end of file diff --git a/src/algorithms/telemetry_decoder/adapters/telemetry_decoder_adapter_base.h b/src/algorithms/telemetry_decoder/adapters/telemetry_decoder_adapter_base.h new file mode 100644 index 000000000..20edfad7f --- /dev/null +++ b/src/algorithms/telemetry_decoder/adapters/telemetry_decoder_adapter_base.h @@ -0,0 +1,88 @@ +/*! + * \file telemetry_decoder_adapter_base.h + * \brief Common functionality for telemetry decoder adapters + * \author Carles Fernandez-Prades, 2025 cfernandez@cttc.es + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2025 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_TELEMETRY_DECODER_ADAPTER_BASE_CLASS_H +#define GNSS_SDR_TELEMETRY_DECODER_ADAPTER_BASE_CLASS_H + +#include "configuration_interface.h" +#include "gnss_satellite.h" +#include "gnss_synchro.h" +#include "telemetry_decoder_interface.h" +#include "telemetry_impl_interface.h" +#include "tlm_conf.h" +#include +#include +#include + +class ConfigurationInterface; + +/** \addtogroup Telemetry_Decoder + * \{ + */ +/** \addtogroup Telemetry_Decoder_adapters + * \{ + */ + +/*! + * \brief Base class for Telemetry Decoder adapters + */ +class TelemetryDecoderAdapterBase : public TelemetryDecoderInterface +{ +public: + TelemetryDecoderAdapterBase(const ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams); + + ~TelemetryDecoderAdapterBase() override = default; + + void connect(gr::top_block_sptr top_block) override; + + void disconnect(gr::top_block_sptr top_block) override; + + gr::basic_block_sptr get_left_block() override; + + gr::basic_block_sptr get_right_block() override; + + void set_satellite(const Gnss_Satellite& satellite) override; + + std::string role() override; + + void set_channel(int channel) override; + + void reset() override; + + size_t item_size() override; + +protected: + void InitializeDecoder(telemetry_impl_interface_sptr decoder); + + const Gnss_Satellite& satellite() const; + + Tlm_Conf tlm_parameters_; + +private: + telemetry_impl_interface_sptr telemetry_decoder_; + Gnss_Satellite satellite_; + std::string role_; + unsigned int in_streams_ = 0; + unsigned int out_streams_ = 0; +}; + +/** \} */ +/** \} */ + +#endif // GNSS_SDR_TELEMETRY_DECODER_ADAPTER_BASE_CLASS_H diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt b/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt index e668b8d0c..7fda8f107 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt @@ -14,6 +14,7 @@ set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES glonass_gnav_telemetry_decoder_gs.cc galileo_telemetry_decoder_gs.cc beidou_dnav_telemetry_decoder_gs.cc + beidou_b1c_telemetry_decoder_gs.cc ) set(TELEMETRY_DECODER_GR_BLOCKS_HEADERS @@ -25,6 +26,7 @@ set(TELEMETRY_DECODER_GR_BLOCKS_HEADERS glonass_gnav_telemetry_decoder_gs.h galileo_telemetry_decoder_gs.h beidou_dnav_telemetry_decoder_gs.h + beidou_b1c_telemetry_decoder_gs.h ) list(SORT TELEMETRY_DECODER_GR_BLOCKS_HEADERS) diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1c_telemetry_decoder_gs.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1c_telemetry_decoder_gs.cc new file mode 100644 index 000000000..76c62b889 --- /dev/null +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1c_telemetry_decoder_gs.cc @@ -0,0 +1,719 @@ +/*! + * \file beidou_b1c_telemetry_decoder_gs.cc + * \brief BeiDou B1C B-CNAV1 telemetry decoder block + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#include "beidou_b1c_telemetry_decoder_gs.h" +#include "Beidou_B1C.h" +#include "Beidou_B1C_codes.h" +#include "Beidou_CNAV1.h" +#include "Beidou_DNAV.h" +#include "MATH_CONSTANTS.h" +#include "beidou_cnav1_ephemeris.h" +#include "beidou_cnav1_iono.h" +#include "beidou_cnav1_utc_model.h" +#include "display.h" +#include "gnss_sdr_make_unique.h" +#include "gnss_synchro.h" +#include "tlm_crc_stats.h" +#include "tlm_utils.h" +#include "tow_to_trk.h" +#include +#include +#include +#include +#include +#include +#include +#include + +#if USE_GLOG_AND_GFLAGS +#include +#else +#include +#endif + +#define CRC_ERROR_LIMIT 8 + +namespace +{ +// SOH/HOW in CNAV1 refers to the start of the 1800-symbol frame in the decode buffer. +// Current symbol is the newest entry (index BEIDOU_CNAV1_FRAME_SYMBOLS - 1), matching +// BeiDou B1I (preamble + required_symbols) and Galileo INAV (preamble + page offset) TOW tagging. +int32_t resolve_b1c_frame_soh_offset(int32_t matched_offset, int32_t prev_candidate_offset) +{ + if (matched_offset >= 0) + { + return matched_offset; + } + if (matched_offset == -2 && prev_candidate_offset >= 0) + { + return prev_candidate_offset; + } + return 0; +} + + +uint32_t compute_b1c_tow_ms_at_current_symbol( + double tow_soh_bdt_s, + int32_t frame_soh_offset, + int32_t symbol_duration_ms) +{ + const int32_t clamped_offset = std::max(0, std::min(frame_soh_offset, BEIDOU_CNAV1_FRAME_SYMBOLS - 1)); + const int32_t symbols_since_soh = (BEIDOU_CNAV1_FRAME_SYMBOLS - 1) - clamped_offset; + const double tow_gpst_s = tow_soh_bdt_s + static_cast(BEIDOU_DNAV_BDT2GPST_LEAP_SEC_OFFSET) + + static_cast(symbols_since_soh) * static_cast(symbol_duration_ms) / 1000.0; + const double tow_ms = std::fmod(tow_gpst_s * 1000.0, 604800000.0); + if (tow_ms < 0.0) + { + return static_cast(tow_ms + 604800000.0); + } + return static_cast(tow_ms); +} +} // namespace + +beidou_b1c_telemetry_decoder_gs_sptr beidou_b1c_make_telemetry_decoder_gs( + const Gnss_Satellite& satellite, + const Tlm_Conf& conf) +{ + return beidou_b1c_telemetry_decoder_gs_sptr(new beidou_b1c_telemetry_decoder_gs(satellite, conf)); +} + + +beidou_b1c_telemetry_decoder_gs::beidou_b1c_telemetry_decoder_gs( + const Gnss_Satellite& satellite, + const Tlm_Conf& conf) + : telemetry_impl_interface("beidou_b1c_telemetry_decoder_gs", + gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), + gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))), + d_dump_filename(conf.dump_filename), + + d_symbol_duration_ms(BEIDOU_B1C_CODE_PERIOD_MS), + d_dump(conf.dump), + d_dump_mat(conf.dump_mat), + d_remove_dat(conf.remove_dat), + d_enable_navdata_monitor(conf.enable_navdata_monitor), + d_dump_crc_stats(conf.dump_crc_stats), + d_tow_to_trk(conf.tow_to_trk) +{ + configure_basic_outputs(); + d_symbol_history.set_capacity(BEIDOU_CNAV1_FRAME_SYMBOLS); + d_symbol_history_q.set_capacity(BEIDOU_CNAV1_FRAME_SYMBOLS); + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "Initializing BeiDou B1C B-CNAV1 telemetry decoder for satellite " << d_satellite; + if (d_enable_navdata_monitor) + { + message_port_register_out(pmt::mp("Nav_msg_from_TLM")); + d_nav_msg_packet.system = std::string("C"); + d_nav_msg_packet.signal = std::string("1D"); + } + configure_dump_file(d_channel, d_dump, d_dump_filename, d_dump_file); + configure_crc_stats_channel(d_channel, d_dump_crc_stats, d_Tlm_CRC_Stats); +} + + +beidou_b1c_telemetry_decoder_gs::~beidou_b1c_telemetry_decoder_gs() +{ + if (d_dump_file.is_open()) + { + d_dump_file.close(); + } +} + + +void beidou_b1c_telemetry_decoder_gs::set_satellite(const Gnss_Satellite& satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "BeiDou B1C telemetry decoder set to satellite " << d_satellite; +} + + +void beidou_b1c_telemetry_decoder_gs::set_channel(int channel) +{ + d_channel = channel; + DLOG(INFO) << "BeiDou B1C B-CNAV1 telemetry channel set to " << channel; + configure_dump_file(d_channel, d_dump, d_dump_filename, d_dump_file); + configure_crc_stats_channel(d_channel, d_dump_crc_stats, d_Tlm_CRC_Stats); +} + + +void beidou_b1c_telemetry_decoder_gs::reset() +{ + d_sample_counter = 0; + d_frame_sync_index = 0; + d_TOW_at_current_symbol_ms = 0; + d_flag_valid_word = false; + d_flag_frame_sync = false; + d_flag_PLL_180_deg_phase_locked = false; + d_stat = 0; + d_CRC_error_counter = 0; + d_symbol_history.clear(); + d_symbol_history_q.clear(); + d_prev_candidate_frame.clear(); + d_prev_candidate_offset = -1; + d_have_prev_candidate_frame = false; + d_prev_valid_symbol_output = false; + d_await_post_lock_frame_decode = false; + d_post_lock_valid_symbols = 0U; + d_nav.clear_flags(); + DLOG(INFO) << "BeiDou B1C telemetry decoder reset for satellite " << d_satellite; +} + + +bool beidou_b1c_telemetry_decoder_gs::decode_frame_from_history(bool invert) +{ + std::vector frame(d_symbol_history.begin(), d_symbol_history.end()); + if (invert) + { + for (auto& sample : frame) + { + sample = -sample; + } + } + return d_nav.decode_frame_symbols(frame.data(), BEIDOU_CNAV1_FRAME_SYMBOLS, d_satellite.get_PRN()); +} + + +bool beidou_b1c_telemetry_decoder_gs::decode_frame_from_history_with_offset(int32_t start_offset, bool invert) +{ + std::vector history(d_symbol_history.begin(), d_symbol_history.end()); + if (history.size() < static_cast(BEIDOU_CNAV1_FRAME_SYMBOLS)) + { + return false; + } + std::vector frame(BEIDOU_CNAV1_FRAME_SYMBOLS); + const int32_t n = BEIDOU_CNAV1_FRAME_SYMBOLS; + for (int32_t i = 0; i < n; i++) + { + float sample = history[static_cast((start_offset + i) % n)]; + if (invert) + { + sample = -sample; + } + frame[static_cast(i)] = sample; + } + return d_nav.decode_frame_symbols(frame.data(), BEIDOU_CNAV1_FRAME_SYMBOLS, d_satellite.get_PRN()); +} + + +bool beidou_b1c_telemetry_decoder_gs::probe_frame_from_history_with_offset(int32_t start_offset, bool invert) const +{ + std::vector history(d_symbol_history.begin(), d_symbol_history.end()); + if (history.size() < static_cast(BEIDOU_CNAV1_FRAME_SYMBOLS)) + { + return false; + } + std::vector frame(BEIDOU_CNAV1_FRAME_SYMBOLS); + const int32_t n = BEIDOU_CNAV1_FRAME_SYMBOLS; + for (int32_t i = 0; i < n; i++) + { + float sample = history[static_cast((start_offset + i) % n)]; + if (invert) + { + sample = -sample; + } + frame[static_cast(i)] = sample; + } + return d_nav.probe_subframe1_prn(frame.data(), BEIDOU_CNAV1_FRAME_SYMBOLS, d_satellite.get_PRN()); +} + + +namespace +{ +bool decode_frame_from_buffer_with_offset( + const boost::circular_buffer& symbol_history, + Beidou_Cnav1_Navigation_Message& nav, + int32_t expected_prn, + int32_t start_offset, + bool invert, + float cn0_db_hz, + int32_t* fail_stage = nullptr) +{ + std::vector history(symbol_history.begin(), symbol_history.end()); + if (history.size() < static_cast(BEIDOU_CNAV1_FRAME_SYMBOLS)) + { + return false; + } + std::vector frame(BEIDOU_CNAV1_FRAME_SYMBOLS); + const int32_t n = BEIDOU_CNAV1_FRAME_SYMBOLS; + for (int32_t i = 0; i < n; i++) + { + float sample = history[static_cast((start_offset + i) % n)]; + if (invert) + { + sample = -sample; + } + frame[static_cast(i)] = sample; + } + + // LLR calibration: normalize by frame RMS and scale by CN0-derived symbol SNR. + double rms_acc = 0.0; + for (const float v : frame) + { + rms_acc += static_cast(v) * static_cast(v); + } + const double rms = std::sqrt(rms_acc / static_cast(n)) + 1e-6; + const double cn0_linear = std::pow(10.0, static_cast(cn0_db_hz) / 10.0); + const double snr_sym = std::max(cn0_linear * (BEIDOU_B1C_CODE_PERIOD_MS * 1e-3), 1e-4); + const double llr_scale = std::min(std::max(std::sqrt(snr_sym) / rms, 0.05), 50.0); + for (auto& v : frame) + { + v = static_cast(static_cast(v) * llr_scale); + } + return nav.decode_frame_symbols(frame.data(), BEIDOU_CNAV1_FRAME_SYMBOLS, expected_prn, fail_stage); +} + +bool build_frame_from_buffer_with_offset( + const boost::circular_buffer& symbol_history, + int32_t start_offset, + bool invert, + std::vector& frame_out) +{ + std::vector history(symbol_history.begin(), symbol_history.end()); + if (history.size() < static_cast(BEIDOU_CNAV1_FRAME_SYMBOLS)) + { + return false; + } + const int32_t n = BEIDOU_CNAV1_FRAME_SYMBOLS; + frame_out.resize(static_cast(n)); + for (int32_t i = 0; i < n; i++) + { + float sample = history[static_cast((start_offset + i) % n)]; + if (invert) + { + sample = -sample; + } + frame_out[static_cast(i)] = sample; + } + return true; +} + +bool probe_frame_from_buffer_with_offset( + const boost::circular_buffer& symbol_history, + const Beidou_Cnav1_Navigation_Message& nav, + int32_t expected_prn, + int32_t start_offset, + bool invert) +{ + std::vector history(symbol_history.begin(), symbol_history.end()); + if (history.size() < static_cast(BEIDOU_CNAV1_FRAME_SYMBOLS)) + { + return false; + } + std::vector frame(BEIDOU_CNAV1_FRAME_SYMBOLS); + const int32_t n = BEIDOU_CNAV1_FRAME_SYMBOLS; + for (int32_t i = 0; i < n; i++) + { + float sample = history[static_cast((start_offset + i) % n)]; + if (invert) + { + sample = -sample; + } + frame[static_cast(i)] = sample; + } + return nav.probe_subframe1_prn(frame.data(), BEIDOU_CNAV1_FRAME_SYMBOLS, expected_prn); +} + +std::pair> find_secondary_code_candidates( + const boost::circular_buffer& pilot_symbol_history, + int32_t prn) +{ + std::vector history(pilot_symbol_history.begin(), pilot_symbol_history.end()); + if (history.size() < static_cast(BEIDOU_CNAV1_FRAME_SYMBOLS) || + prn < 1 || prn > static_cast(BEIDOU_B1C_NUMBER_OF_PRNS)) + { + return {0, {}}; + } + + const char* sec_code = BEIDOU_B1C_PILOT_SECONDARY_CODE[static_cast(prn - 1)]; + const int32_t n = BEIDOU_CNAV1_FRAME_SYMBOLS; + int32_t best_corr = 0; + int32_t best_lag = 0; + std::vector candidates; + for (int32_t lag = 0; lag < n; lag++) + { + int32_t corr = 0; + for (int32_t i = 0; i < n; i++) + { + const float sym = history[static_cast((lag + i) % n)]; + const int32_t sym_sign = (sym >= 0.0F) ? 1 : -1; + const int32_t sec_sign = (sec_code[static_cast(i)] == '0') ? 1 : -1; + corr += sym_sign * sec_sign; + } + if (std::abs(corr) > std::abs(best_corr)) + { + best_corr = corr; + best_lag = lag; + } + if (std::abs(corr) >= 1799) + { + candidates.push_back(lag); + } + } + + if (candidates.empty() && std::abs(best_corr) >= 1650) + { + candidates.push_back(best_lag); + } + return {best_corr, candidates}; +} + +bool build_rotated_bpsk_frame_from_iq( + const boost::circular_buffer& symbol_history_i, + const boost::circular_buffer& symbol_history_q, + int32_t start_offset, + bool invert, + std::vector& frame_out) +{ + std::vector history_i(symbol_history_i.begin(), symbol_history_i.end()); + std::vector history_q(symbol_history_q.begin(), symbol_history_q.end()); + if (history_i.size() < static_cast(BEIDOU_CNAV1_FRAME_SYMBOLS) || + history_q.size() < static_cast(BEIDOU_CNAV1_FRAME_SYMBOLS)) + { + return false; + } + + const int32_t n = BEIDOU_CNAV1_FRAME_SYMBOLS; + std::vector> z(static_cast(n)); + std::complex sum_z2(0.0F, 0.0F); + for (int32_t i = 0; i < n; i++) + { + const auto idx = static_cast((start_offset + i) % n); + const std::complex zi(history_i[idx], history_q[idx]); + z[static_cast(i)] = zi; + sum_z2 += zi * zi; + } + + const float theta = 0.5F * std::arg(sum_z2); + const std::complex rot(std::cos(theta), -std::sin(theta)); + frame_out.resize(static_cast(n)); + for (int32_t i = 0; i < n; i++) + { + float sample = (z[static_cast(i)] * rot).real(); + if (invert) + { + sample = -sample; + } + frame_out[static_cast(i)] = sample; + } + return true; +} + +bool probe_frame_from_iq_buffers_with_offset( + const boost::circular_buffer& symbol_history_i, + const boost::circular_buffer& symbol_history_q, + const Beidou_Cnav1_Navigation_Message& nav, + int32_t expected_prn, + int32_t start_offset, + bool invert) +{ + std::vector frame; + if (!build_rotated_bpsk_frame_from_iq(symbol_history_i, symbol_history_q, start_offset, invert, frame)) + { + return false; + } + return nav.probe_subframe1_prn(frame.data(), BEIDOU_CNAV1_FRAME_SYMBOLS, expected_prn); +} + +bool decode_frame_from_iq_buffers_with_offset( + const boost::circular_buffer& symbol_history_i, + const boost::circular_buffer& symbol_history_q, + Beidou_Cnav1_Navigation_Message& nav, + int32_t expected_prn, + int32_t start_offset, + bool invert, + float cn0_db_hz, + int32_t* fail_stage = nullptr) +{ + std::vector frame; + if (!build_rotated_bpsk_frame_from_iq(symbol_history_i, symbol_history_q, start_offset, invert, frame)) + { + return false; + } + double rms_acc = 0.0; + for (const float v : frame) + { + rms_acc += static_cast(v) * static_cast(v); + } + const double rms = std::sqrt(rms_acc / static_cast(BEIDOU_CNAV1_FRAME_SYMBOLS)) + 1e-6; + const double cn0_linear = std::pow(10.0, static_cast(cn0_db_hz) / 10.0); + const double snr_sym = std::max(cn0_linear * (BEIDOU_B1C_CODE_PERIOD_MS * 1e-3), 1e-4); + const double llr_scale = std::min(std::max(std::sqrt(snr_sym) / rms, 0.05), 50.0); + for (auto& v : frame) + { + v = static_cast(static_cast(v) * llr_scale); + } + return nav.decode_frame_symbols(frame.data(), BEIDOU_CNAV1_FRAME_SYMBOLS, expected_prn, fail_stage); +} +} // namespace + + +void beidou_b1c_telemetry_decoder_gs::publish_navigation(double cn0_db_hz) +{ + if (d_nav.have_new_ephemeris()) + { + auto eph = std::make_shared(d_nav.get_ephemeris()); + eph->PRN = d_satellite.get_PRN(); + message_port_pub(pmt::mp("telemetry"), pmt::make_any(eph)); +#if __cplusplus == 201103L + const int default_precision = std::cout.precision(); +#else + const auto default_precision{std::cout.precision()}; +#endif + std::cout << TEXT_BLUE << "New BeiDou B-CNAV1 ephemeris in channel " << d_channel + << " from satellite " << d_satellite + << " with CN0=" << std::setprecision(2) << cn0_db_hz << std::setprecision(default_precision) + << " dB-Hz" << TEXT_RESET << std::endl; + LOG(INFO) << "New BeiDou B-CNAV1 ephemeris from PRN " << d_satellite.get_PRN() + << " in channel " << d_channel << " with CN0=" << cn0_db_hz << " dB-Hz"; + } + if (d_nav.have_new_iono()) + { + auto iono = std::make_shared(d_nav.get_iono()); + iono->valid = true; + message_port_pub(pmt::mp("telemetry"), pmt::make_any(iono)); + DLOG(INFO) << "New BeiDou B-CNAV1 iono model from PRN " << d_satellite.get_PRN() + << " in channel " << d_channel; + } + if (d_nav.have_new_utc_model()) + { + auto utc = std::make_shared(d_nav.get_utc_model()); + utc->valid = true; + message_port_pub(pmt::mp("telemetry"), pmt::make_any(utc)); + DLOG(INFO) << "New BeiDou B-CNAV1 UTC model from PRN " << d_satellite.get_PRN() + << " in channel " << d_channel; + } + if (d_nav.have_new_page_data()) + { + Beidou_Cnav1_PageData_Message page_msg{}; + page_msg.PRN = d_satellite.get_PRN(); + page_msg.page_data = d_nav.get_page_data(); + message_port_pub(pmt::mp("telemetry"), pmt::make_any(std::make_shared(page_msg))); + DLOG(INFO) << "New BeiDou B-CNAV1 page data from PRN " << d_satellite.get_PRN() + << " in channel " << d_channel + << " PageID=" << d_nav.get_page_data().common.page_id; + } + d_nav.clear_flags(); + d_prev_candidate_frame.clear(); + d_prev_candidate_offset = -1; + d_have_prev_candidate_frame = false; +} + + +int beidou_b1c_telemetry_decoder_gs::general_work( + int noutput_items, + gr_vector_int& ninput_items, + gr_vector_const_void_star& input_items, + gr_vector_void_star& output_items) +{ + const auto* in = reinterpret_cast(input_items[0]); + auto* out = reinterpret_cast(output_items[0]); + if (ninput_items[0] <= 0 || noutput_items <= 0) + { + return 0; + } + + Gnss_Synchro current_symbol = in[0]; + current_symbol.PRN = d_satellite.get_PRN(); + d_sample_counter++; + consume_each(1); + d_symbol_history.push_back(current_symbol.Prompt_I); + d_symbol_history_q.push_back(current_symbol.Prompt_Q); + const bool just_locked_event = current_symbol.Flag_valid_symbol_output && !d_prev_valid_symbol_output; + d_prev_valid_symbol_output = current_symbol.Flag_valid_symbol_output; + + if (current_symbol.Flag_valid_symbol_output && d_await_post_lock_frame_decode && !just_locked_event) + { + d_post_lock_valid_symbols++; + } + + // After pilot-secondary lock (first valid symbol): decode once if 18 s history is ready. + // While tracking: only decode on 18 s frame boundaries (no periodic LDPC polling). + const bool at_frame_boundary = + d_flag_frame_sync && + (d_sample_counter > d_frame_sync_index) && + ((d_sample_counter - d_frame_sync_index) % static_cast(BEIDOU_CNAV1_FRAME_SYMBOLS) == 0U); + const bool post_lock_frame_ready = + d_await_post_lock_frame_decode && + d_post_lock_valid_symbols >= static_cast(BEIDOU_CNAV1_FRAME_SYMBOLS); + bool frame_decoded = false; + if (static_cast(d_symbol_history.size()) >= BEIDOU_CNAV1_FRAME_SYMBOLS) + { + const bool should_try_decode = + current_symbol.Flag_valid_symbol_output && + ((d_stat == 0 && just_locked_event) || + (d_stat == 0 && post_lock_frame_ready && !just_locked_event) || + (d_stat == 2 && at_frame_boundary && + d_sample_counter >= d_frame_sync_index + static_cast(BEIDOU_CNAV1_FRAME_SYMBOLS))); + + if (should_try_decode) + { + bool invert = false; + int32_t matched_offset = -1; + if (d_stat == 0 && just_locked_event) + { + // One-shot sync-decode on pilot-secondary lock (no periodic LDPC polling). + const int32_t expected_prn_scan = d_satellite.get_PRN(); + const auto sec_candidates = + find_secondary_code_candidates(d_symbol_history_q, expected_prn_scan); + const auto& candidate_offsets = sec_candidates.second; + constexpr int32_t local_offset_span = 32; + const auto cn0_db_hz = static_cast(current_symbol.CN0_dB_hz); + + if (!candidate_offsets.empty()) + { + for (const int32_t candidate_offset : candidate_offsets) + { + for (int32_t delta = -local_offset_span; delta <= local_offset_span; delta++) + { + const int32_t start_offset = + (candidate_offset + delta + BEIDOU_CNAV1_FRAME_SYMBOLS) % BEIDOU_CNAV1_FRAME_SYMBOLS; + for (const bool inv : {false, true}) + { + if (!probe_frame_from_iq_buffers_with_offset( + d_symbol_history, d_symbol_history_q, d_nav, expected_prn_scan, start_offset, inv)) + { + continue; + } + int32_t fail_stage = -1; + if (decode_frame_from_iq_buffers_with_offset( + d_symbol_history, d_symbol_history_q, d_nav, expected_prn_scan, start_offset, inv, + cn0_db_hz, &fail_stage)) + { + frame_decoded = true; + invert = inv; + matched_offset = start_offset; + break; + } + } + if (frame_decoded) + { + break; + } + } + if (frame_decoded) + { + break; + } + } + } + + if (frame_decoded) + { + d_await_post_lock_frame_decode = false; + d_post_lock_valid_symbols = 0U; + } + else + { + d_await_post_lock_frame_decode = true; + d_post_lock_valid_symbols = 1U; + } + } + else if (d_stat == 0 && post_lock_frame_ready) + { + frame_decoded = decode_frame_from_history(false); + if (!frame_decoded) + { + frame_decoded = decode_frame_from_history(true); + } + if (frame_decoded) + { + d_await_post_lock_frame_decode = false; + d_post_lock_valid_symbols = 0U; + } + } + else + { + frame_decoded = decode_frame_from_history(false); + if (!frame_decoded) + { + frame_decoded = decode_frame_from_history(true); + invert = frame_decoded; + } + } + + if (frame_decoded) + { + d_CRC_error_counter = 0; + d_flag_PLL_180_deg_phase_locked = invert; + d_frame_sync_index = d_sample_counter; + const int32_t frame_soh_offset = resolve_b1c_frame_soh_offset(matched_offset, d_prev_candidate_offset); + d_TOW_at_current_symbol_ms = compute_b1c_tow_ms_at_current_symbol( + d_nav.get_tow_s(), frame_soh_offset, d_symbol_duration_ms); + d_flag_valid_word = true; + publish_navigation(current_symbol.CN0_dB_hz); + + if (!d_flag_frame_sync) + { + d_flag_frame_sync = true; + d_stat = 2; + LOG(INFO) << "Successful frame synchronization in channel " << d_channel + << " for satellite " << d_satellite + << " with CN0=" << current_symbol.CN0_dB_hz << " dB-Hz"; +#if __cplusplus == 201103L + const int default_precision = std::cout.precision(); +#else + const auto default_precision{std::cout.precision()}; +#endif + std::cout << TEXT_GREEN << "B-CNAV1 frame sync on channel " << d_channel + << ", satellite " << d_satellite + << ", TOW=" << std::setprecision(3) << d_nav.get_tow_s() + << std::setprecision(default_precision) << " s" << TEXT_RESET << std::endl; + } + } + else if (d_stat == 2) + { + d_CRC_error_counter++; + if (d_CRC_error_counter > CRC_ERROR_LIMIT) + { + DLOG(INFO) << "B-CNAV1 frame sync lost for satellite " << d_satellite + << " in channel " << d_channel; + d_flag_frame_sync = false; + d_flag_valid_word = false; + d_stat = 0; + d_CRC_error_counter = 0; + } + } + } + } + + if (d_flag_valid_word && !frame_decoded) + { + d_TOW_at_current_symbol_ms += d_symbol_duration_ms; + if (!current_symbol.Flag_valid_symbol_output) + { + d_flag_valid_word = false; + } + } + + if (d_flag_PLL_180_deg_phase_locked) + { + current_symbol.Carrier_phase_rads += GNSS_PI; + current_symbol.Flag_PLL_180_deg_phase_locked = true; + } + else + { + current_symbol.Flag_PLL_180_deg_phase_locked = false; + } + + if (d_flag_valid_word) + { + current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms; + current_symbol.Flag_valid_word = true; + if (d_tow_to_trk) + { + const auto tow_obj = std::make_shared(TOW_to_trk( + std::string(current_symbol.Signal), + d_channel, + d_TOW_at_current_symbol_ms, + current_symbol.Tracking_sample_counter, + d_nav.get_ephemeris().WN, + d_satellite.get_PRN())); + message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(tow_obj)); + } + out[0] = std::move(current_symbol); + return 1; + } + return 0; +} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1c_telemetry_decoder_gs.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1c_telemetry_decoder_gs.h new file mode 100644 index 000000000..6415ec0a0 --- /dev/null +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1c_telemetry_decoder_gs.h @@ -0,0 +1,76 @@ +/*! + * \file beidou_b1c_telemetry_decoder_gs.h + * \brief BeiDou B1C B-CNAV1 telemetry decoder block + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#ifndef GNSS_SDR_BEIDOU_B1C_TELEMETRY_DECODER_GS_H +#define GNSS_SDR_BEIDOU_B1C_TELEMETRY_DECODER_GS_H + +#include "beidou_cnav1_navigation_message.h" +#include "nav_message_packet.h" +#include "telemetry_impl_interface.h" +#include "tlm_conf.h" +#include +#include + +class beidou_b1c_telemetry_decoder_gs; +using beidou_b1c_telemetry_decoder_gs_sptr = gnss_shared_ptr; + +beidou_b1c_telemetry_decoder_gs_sptr beidou_b1c_make_telemetry_decoder_gs( + const Gnss_Satellite& satellite, + const Tlm_Conf& conf); + +class beidou_b1c_telemetry_decoder_gs : public telemetry_impl_interface +{ +public: + ~beidou_b1c_telemetry_decoder_gs() override; + void set_satellite(const Gnss_Satellite& satellite) override; + void set_channel(int channel) override; + void reset() override; + int general_work(int noutput_items, gr_vector_int& ninput_items, + gr_vector_const_void_star& input_items, gr_vector_void_star& output_items) override; + +private: + friend beidou_b1c_telemetry_decoder_gs_sptr beidou_b1c_make_telemetry_decoder_gs( + const Gnss_Satellite& satellite, const Tlm_Conf& conf); + + beidou_b1c_telemetry_decoder_gs(const Gnss_Satellite& satellite, const Tlm_Conf& conf); + bool decode_frame_from_history(bool invert); + bool decode_frame_from_history_with_offset(int32_t start_offset, bool invert); + bool probe_frame_from_history_with_offset(int32_t start_offset, bool invert) const; + void publish_navigation(double cn0_db_hz); + + Beidou_Cnav1_Navigation_Message d_nav; + Nav_Message_Packet d_nav_msg_packet; + Gnss_Satellite d_satellite; + boost::circular_buffer d_symbol_history; + boost::circular_buffer d_symbol_history_q; + std::string d_dump_filename; + std::ofstream d_dump_file; + std::unique_ptr d_Tlm_CRC_Stats; + uint64_t d_sample_counter{}; + uint64_t d_frame_sync_index{}; + int32_t d_channel{}; + int32_t d_stat{}; + int32_t d_CRC_error_counter{}; + uint32_t d_TOW_at_current_symbol_ms{}; + uint32_t d_symbol_duration_ms{}; + bool d_flag_valid_word{false}; + bool d_flag_frame_sync{false}; + bool d_flag_PLL_180_deg_phase_locked{false}; + bool d_dump{false}; + bool d_dump_mat{false}; + bool d_remove_dat{false}; + bool d_enable_navdata_monitor{false}; + bool d_dump_crc_stats{false}; + bool d_tow_to_trk{false}; + bool d_prev_valid_symbol_output{false}; + bool d_await_post_lock_frame_decode{false}; + uint32_t d_post_lock_valid_symbols{0U}; + std::vector d_prev_candidate_frame; + int32_t d_prev_candidate_offset{-1}; + bool d_have_prev_candidate_frame{false}; +}; + +#endif diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt index 97ee94048..449dc723b 100644 --- a/src/algorithms/tracking/adapters/CMakeLists.txt +++ b/src/algorithms/tracking/adapters/CMakeLists.txt @@ -28,6 +28,8 @@ endif() set(TRACKING_ADAPTER_SOURCES dll_pll_tracking_adapter.cc + base_dll_pll_tracking.cc + beidou_b1c_dll_pll_veml_tracking.cc galileo_e1_tcp_connector_tracking.cc gps_l1_ca_tcp_connector_tracking.cc gps_l1_ca_gaussian_tracking.cc @@ -37,6 +39,8 @@ set(TRACKING_ADAPTER_SOURCES set(TRACKING_ADAPTER_HEADERS dll_pll_tracking_adapter.h + base_dll_pll_tracking.h + beidou_b1c_dll_pll_veml_tracking.h galileo_e1_tcp_connector_tracking.h gps_l1_ca_tcp_connector_tracking.h gps_l1_ca_gaussian_tracking.h diff --git a/src/algorithms/tracking/adapters/base_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/base_dll_pll_tracking.cc new file mode 100644 index 000000000..957d3b968 --- /dev/null +++ b/src/algorithms/tracking/adapters/base_dll_pll_tracking.cc @@ -0,0 +1,98 @@ +/*! + * \file base_dll_pll_tracking.cc + * \brief Base class providing shared logic for DLL+PLL VEML tracking adapters. + * \authors Carles Fernandez, 2025. carles.fernandez(at)cttc.cat + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2025 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#include "base_dll_pll_tracking.h" +#include "configuration_interface.h" + +#if USE_GLOG_AND_GFLAGS +#include +#else +#include +#endif + +BaseDllPllTracking::BaseDllPllTracking( + const ConfigurationInterface* configuration, + std::string role, + unsigned int in_streams, + unsigned int out_streams) + : role_(std::move(role)), + item_size_(sizeof(gr_complex)) +{ + trk_params_.SetFromConfiguration(configuration, role_); + + if (in_streams > 1) + { + LOG(ERROR) << "Only one input stream is supported."; + } + if (out_streams > 1) + { + LOG(ERROR) << "Only one output stream is supported."; + } + + DLOG(INFO) << "role " << role_; +} + + +void BaseDllPllTracking::connect(gr::top_block_sptr top_block) +{ + if (top_block) + { /* no connection needed */ + } +} + + +void BaseDllPllTracking::disconnect(gr::top_block_sptr top_block) +{ + if (top_block) + { /* no disconnection needed */ + } +} + + +gr::basic_block_sptr BaseDllPllTracking::get_left_block() +{ + return tracking_sptr_; +} + + +gr::basic_block_sptr BaseDllPllTracking::get_right_block() +{ + return tracking_sptr_; +} + + +void BaseDllPllTracking::set_channel(unsigned int channel) +{ + tracking_sptr_->set_channel(channel); +} + + +void BaseDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) +{ + tracking_sptr_->set_gnss_synchro(p_gnss_synchro); +} + + +void BaseDllPllTracking::start_tracking() +{ + tracking_sptr_->start_tracking(); +} + + +void BaseDllPllTracking::stop_tracking() +{ + tracking_sptr_->stop_tracking(); +} diff --git a/src/algorithms/tracking/adapters/base_dll_pll_tracking.h b/src/algorithms/tracking/adapters/base_dll_pll_tracking.h new file mode 100644 index 000000000..f7890ed5a --- /dev/null +++ b/src/algorithms/tracking/adapters/base_dll_pll_tracking.h @@ -0,0 +1,126 @@ +/*! + * \file base_dll_pll_tracking.h + * \brief Base class providing shared logic for DLL+PLL VEML tracking adapters. + * \authors Carles Fernandez, 2025. carles.fernandez(at)cttc.cat + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2025 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_BASE_DLL_PLL_TRACKING_H +#define GNSS_SDR_BASE_DLL_PLL_TRACKING_H + +#include "dll_pll_conf.h" +#include "dll_pll_veml_tracking.h" +#include "tracking_interface.h" +#include +#include + +/** \addtogroup Tracking + * Classes for GNSS signal tracking. + * \{ */ +/** \addtogroup Tracking_adapters tracking_adapters + * Wrap GNU Radio blocks for GNSS signal tracking with a TrackingInterface + * \{ */ + +class ConfigurationInterface; + +/*! + * \brief Base class providing shared logic for DLL+PLL tracking loop adapters + * for GNSS signals. + */ +class BaseDllPllTracking : public TrackingInterface +{ +public: + /*! + * \brief Base constructor of a Tracking block adapter + */ + explicit BaseDllPllTracking(const ConfigurationInterface* configuration, + std::string role, + unsigned int in_streams, + unsigned int out_streams); + + /*! + * \brief Default destructor of the Tracking block adapter + */ + ~BaseDllPllTracking() override = default; + + /*! + * \brief Get role from the Tracking block adapter + */ + inline std::string role() final { return role_; } + + /*! + * \brief Get item_size from the Tracking block adapter + */ + inline size_t item_size() final { return item_size_; } + + /*! + * \brief Connect the Tracking block adapter + */ + void connect(gr::top_block_sptr top_block) final; + + /*! + * \brief Disconnect the sTracking block adapter + */ + void disconnect(gr::top_block_sptr top_block) final; + + /*! + * \brief Get left block from the Tracking block adapter + */ + gr::basic_block_sptr get_left_block() final; + + /*! + * \brief Get right block from the Tracking block adapter + */ + gr::basic_block_sptr get_right_block() final; + + /*! + * \brief Set tracking channel unique ID + */ + void set_channel(unsigned int channel) final; + + /*! + * \brief Set acquisition Gnss_Synchro object pointer + * to exchange synchronization data between acquisition and tracking blocks + */ + void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) final; + + /*! + * \brief Start the Tracking block + */ + void start_tracking() final; + + /*! + * \brief Stop the Tracking block + */ + void stop_tracking() final; + +protected: + // Can be used by each derived class + inline Dll_Pll_Conf& config_params() { return trk_params_; } + inline const Dll_Pll_Conf& config_params() const { return trk_params_; } + inline void set_item_size(size_t item_size) { item_size_ = item_size; } + + // Must be implemented / filled by each derived class + virtual void configure_tracking_parameters(const ConfigurationInterface* configuration) = 0; + virtual void create_tracking_block() = 0; + dll_pll_veml_tracking_sptr tracking_sptr_; + +private: + // Managed by the base class + Dll_Pll_Conf trk_params_; + const std::string role_; + size_t item_size_; +}; + +/** \} */ +/** \} */ +#endif // GNSS_SDR_BASE_DLL_PLL_TRACKING_H diff --git a/src/algorithms/tracking/adapters/beidou_b1c_dll_pll_veml_tracking.cc b/src/algorithms/tracking/adapters/beidou_b1c_dll_pll_veml_tracking.cc new file mode 100644 index 000000000..5cfc8f362 --- /dev/null +++ b/src/algorithms/tracking/adapters/beidou_b1c_dll_pll_veml_tracking.cc @@ -0,0 +1,101 @@ +/*! + * \file beidou_b1c_dll_pll_veml_tracking.cc + * \brief Adapts a DLL+PLL VEML tracking loop block to a TrackingInterface + * for BeiDou B1C signals + * \author GNSS-SDR contributors + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#include "beidou_b1c_dll_pll_veml_tracking.h" +#include "Beidou_B1C.h" +#include "configuration_interface.h" +#include "display.h" +#include +#include + +#if USE_GLOG_AND_GFLAGS +#include +#else +#include +#endif + +BeidouB1cDllPllVemlTracking::BeidouB1cDllPllVemlTracking( + const ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams) + : BaseDllPllTracking(configuration, role, in_streams, out_streams) +{ + configure_tracking_parameters(configuration); + create_tracking_block(); +} + + +void BeidouB1cDllPllVemlTracking::configure_tracking_parameters( + const ConfigurationInterface* configuration [[maybe_unused]]) +{ + config_params().vector_length = static_cast(std::round( + config_params().fs_in / (BEIDOU_B1C_CODE_RATE_CPS / BEIDOU_B1C_CODE_LENGTH_CHIPS))); + config_params().system = 'C'; + const std::array sig{'1', 'D', '\0'}; + std::copy_n(sig.data(), 3, config_params().signal); + const bool acq_qmboc = configuration->property("Acquisition_1D.qmboc", config_params().b1c_qmboc_tracking); + // Keep tracking-side local replica modulation aligned with acquisition by default. + config_params().b1c_qmboc_tracking = configuration->property(role() + ".b1c_qmboc_tracking", acq_qmboc); + + if (config_params().extend_correlation_symbols < 1) + { + config_params().extend_correlation_symbols = 1; + std::cout << TEXT_RED << "WARNING: BeiDou B1C. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (10 ms)" << TEXT_RESET << '\n'; + } + else if (!config_params().track_pilot && config_params().extend_correlation_symbols > 1) + { + config_params().extend_correlation_symbols = 1; + std::cout << TEXT_RED << "WARNING: BeiDou B1C. Extended coherent integration is not allowed when tracking the data component. Coherent integration has been set to 10 ms (1 symbol)" << TEXT_RESET << '\n'; + } + + // B1C pilot: 1800-chip secondary sync spans one B-CNAV1 frame (18 s). + // Keep coherent integration at 1 symbol (10 ms); extended correlator is not used. + if (config_params().track_pilot) + { + config_params().extend_correlation_symbols = 1; + const auto min_bit_sync_limit_s = static_cast( + BEIDOU_B1C_FRAME_PERIOD_S + 30); + if (config_params().bit_synchronization_time_limit_s < min_bit_sync_limit_s) + { + config_params().bit_synchronization_time_limit_s = min_bit_sync_limit_s; + } + } + + if ((config_params().extend_correlation_symbols > 1) && + (config_params().pll_bw_narrow_hz > config_params().pll_bw_hz || + config_params().dll_bw_narrow_hz > config_params().dll_bw_hz)) + { + std::cout << TEXT_RED << "WARNING: BeiDou B1C. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << '\n'; + } +} + + +void BeidouB1cDllPllVemlTracking::create_tracking_block() +{ + if (config_params().item_type == "gr_complex") + { + tracking_sptr_ = dll_pll_veml_make_tracking(config_params()); + DLOG(INFO) << "tracking(" << tracking_sptr_->unique_id() << ")"; + } + else + { + set_item_size(0); + tracking_sptr_ = nullptr; + LOG(WARNING) << config_params().item_type << " unknown tracking item type."; + } +} diff --git a/src/algorithms/tracking/adapters/beidou_b1c_dll_pll_veml_tracking.h b/src/algorithms/tracking/adapters/beidou_b1c_dll_pll_veml_tracking.h new file mode 100644 index 000000000..144abc335 --- /dev/null +++ b/src/algorithms/tracking/adapters/beidou_b1c_dll_pll_veml_tracking.h @@ -0,0 +1,41 @@ +/*! + * \file beidou_b1c_dll_pll_veml_tracking.h + * \brief Adapts a DLL+PLL VEML tracking loop block to a TrackingInterface + * for BeiDou B1C signals + * \author GNSS-SDR contributors + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_BEIDOU_B1C_DLL_PLL_VEML_TRACKING_H +#define GNSS_SDR_BEIDOU_B1C_DLL_PLL_VEML_TRACKING_H + +#include "base_dll_pll_tracking.h" + +class BeidouB1cDllPllVemlTracking : public BaseDllPllTracking +{ +public: + BeidouB1cDllPllVemlTracking(const ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams); + + inline std::string implementation() override + { + return "BEIDOU_B1C_DLL_PLL_VEML_Tracking"; + } + +private: + void configure_tracking_parameters(const ConfigurationInterface* configuration) override; + void create_tracking_block() override; +}; + +#endif // GNSS_SDR_BEIDOU_B1C_DLL_PLL_VEML_TRACKING_H 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 bb02503b0..f492598ab 100644 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc @@ -22,6 +22,7 @@ */ #include "dll_pll_veml_tracking.h" +#include "Beidou_B1C.h" #include "Beidou_B1I.h" #include "Beidou_B3I.h" #include "GLONASS_L1_L2_CA.h" @@ -33,6 +34,7 @@ #include "Galileo_E5b.h" #include "Galileo_E6.h" #include "MATH_CONSTANTS.h" +#include "beidou_b1c_signal_replica.h" #include "beidou_b1i_signal_replica.h" #include "beidou_b3i_signal_replica.h" #include "galileo_e1_signal_replica.h" @@ -180,6 +182,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) map_signal_pretty_name["7X"] = "E5b"; map_signal_pretty_name["L5"] = "L5"; map_signal_pretty_name["B1"] = "B1I"; + map_signal_pretty_name["1D"] = "B1C"; map_signal_pretty_name["B3"] = "B3I"; map_signal_pretty_name["E6"] = "E6"; map_signal_pretty_name["J1"] = "L1 C/A"; @@ -449,6 +452,31 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) d_data_secondary_code_length = static_cast(BEIDOU_B3I_SECONDARY_CODE_LENGTH); d_data_secondary_code_string = BEIDOU_B3I_SECONDARY_CODE_STR; } + else if (d_signal_type == "1D") + { + d_signal_carrier_freq = BEIDOU_B1C_FREQ_HZ; + d_code_period = BEIDOU_B1C_CODE_PERIOD_S; + d_code_chip_rate = BEIDOU_B1C_CODE_RATE_CPS; + d_code_length_chips = static_cast(BEIDOU_B1C_CODE_LENGTH_CHIPS); + d_symbols_per_bit = BEIDOU_B1C_SYMBOLS_PER_BIT; + d_correlation_length_ms = static_cast(BEIDOU_B1C_CODE_PERIOD_MS); + d_code_samples_per_chip = d_trk_parameters.b1c_qmboc_tracking ? 12 : 2; + d_veml = true; + d_trk_parameters.spc = d_trk_parameters.early_late_space_chips; + d_trk_parameters.slope = static_cast(-CalculateSlopeAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc)); + d_trk_parameters.y_intercept = static_cast(GetYInterceptAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc)); + if (d_trk_parameters.track_pilot) + { + d_secondary = true; + d_secondary_code_length = static_cast(BEIDOU_B1C_PILOT_SECONDARY_CODE_LENGTH); + d_signal_pretty_name = d_signal_pretty_name + "P"; + } + else + { + d_secondary = false; + d_signal_pretty_name = d_signal_pretty_name + "D"; + } + } else { LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks"; @@ -609,8 +637,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) d_carrier_loop_filter.set_params(d_trk_parameters.fll_bw_hz, d_trk_parameters.pll_bw_hz, d_trk_parameters.pll_filter_order); // Initialization of local code replica - // Get space for a vector with the sinboc(1,1) replica sampled 2x/chip - d_tracking_code.resize(2 * d_code_length_chips, 0.0); + d_tracking_code.resize(static_cast(d_code_samples_per_chip) * static_cast(d_code_length_chips), 0.0); // correlator outputs (scalar) if (d_veml) { @@ -668,7 +695,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) // Enable Data component prompt correlator (slave to Pilot prompt) if tracking uses Pilot signal if (d_trk_parameters.track_pilot) { - d_data_code.resize(2 * d_code_length_chips, 0.0); + d_data_code.resize(static_cast(d_code_samples_per_chip) * static_cast(d_code_length_chips), 0.0); } // --- Initializations --- @@ -806,6 +833,7 @@ void dll_pll_veml_tracking::start_tracking() d_carrier_doppler_hz = d_acq_carrier_doppler_hz; d_carrier_phase_step_rad = TWO_PI * d_carrier_doppler_hz / d_trk_parameters.fs_in; d_carrier_phase_rate_step_rad = 0.0; + d_b1c_prelock_output_pending = false; d_carr_ph_history.clear(); d_code_ph_history.clear(); std::array Signal_{}; @@ -950,6 +978,32 @@ void dll_pll_veml_tracking::start_tracking() d_Prompt_circular_buffer.set_capacity(d_secondary_code_length); } } + else if (d_systemName == "Beidou" && d_signal_type == "1D") + { + const int32_t prn_index = static_cast(d_acquisition_gnss_synchro->PRN) - 1; + const auto b1c_replica_fs = static_cast(d_code_samples_per_chip * BEIDOU_B1C_CODE_RATE_CPS); + if (d_trk_parameters.track_pilot) + { + const std::array pilot_signal = {{'1', 'P', '\0'}}; + beidou_b1c_code_gen_float_sampled( + d_tracking_code, pilot_signal, d_trk_parameters.b1c_qmboc_tracking, + d_acquisition_gnss_synchro->PRN, b1c_replica_fs, 0, false); + // Data component remains BOC(1,1) even when pilot is QMBOC. + beidou_b1c_code_gen_float_sampled( + d_data_code, Signal_, d_trk_parameters.b1c_qmboc_tracking, + d_acquisition_gnss_synchro->PRN, b1c_replica_fs, 0, false); + d_Prompt_Data[0] = gr_complex(0.0, 0.0); + d_multicorrelator_cpu.set_data_code_and_prompt_tap( + d_code_samples_per_chip * d_code_length_chips, d_data_code.data(), d_prompt_data_shift); + d_secondary_code_string = BEIDOU_B1C_PILOT_SECONDARY_CODE[prn_index]; + } + else + { + beidou_b1c_code_gen_float_sampled( + d_tracking_code, Signal_, d_trk_parameters.b1c_qmboc_tracking, + d_acquisition_gnss_synchro->PRN, b1c_replica_fs, 0, false); + } + } else if (d_systemName == "Beidou" && d_signal_type == "B3") { @@ -1170,7 +1224,15 @@ bool dll_pll_veml_tracking::acquire_secondary() } } - if (abs(corr_value) == static_cast(d_secondary_code_length)) + auto lock_threshold = static_cast(d_secondary_code_length); + if (d_systemName == "Beidou" && d_signal_type == "1D") + { + const float ratio = std::min(std::max(d_trk_parameters.b1c_secondary_lock_ratio, 0.5F), 1.0F); + lock_threshold = std::max(1, static_cast(std::lround( + ratio * static_cast(d_secondary_code_length)))); + } + + if (abs(corr_value) >= lock_threshold) { if (corr_value < 0) { @@ -1397,6 +1459,7 @@ void dll_pll_veml_tracking::clear_tracking_vars() d_code_error_filt_chips = 0.0; d_current_symbol = 0; d_current_data_symbol = 0; + d_b1c_prelock_output_pending = false; d_Prompt_circular_buffer.clear(); d_carrier_phase_rate_step_rad = 0.0; d_code_phase_rate_step_chips = 0.0; @@ -1628,6 +1691,61 @@ void dll_pll_veml_tracking::save_correlation_results() } +void dll_pll_veml_tracking::map_correlator_to_iq(const gr_complex &c, float &out_i, float &out_q) const +{ + if (d_interchange_iq) + { + out_i = c.imag(); + out_q = c.real(); + } + else + { + out_i = c.real(); + out_q = c.imag(); + } +} + + +void dll_pll_veml_tracking::assign_correlators_to_synchro(Gnss_Synchro &synchro) const +{ + if (d_systemName == "Beidou" && d_signal_type == "1D" && d_trk_parameters.track_pilot) + { + const gr_complex pilot_raw = *d_Prompt; + gr_complex pilot_ref = (d_state == 2) ? pilot_raw : d_P_accu; + // Do not apply pilot-secondary sign during pre-lock (phase unknown until acquire_secondary()). + + const float pilot_abs = std::abs(pilot_ref); + gr_complex data_aligned = d_P_data_accu; + if (pilot_abs > 1e-6F) + { + data_aligned = d_P_data_accu * std::conj(pilot_ref) / pilot_abs; + } + + float data_prompt = d_trk_parameters.b1c_prompt_use_data_q ? data_aligned.imag() : data_aligned.real(); + float pilot_i_for_sync = 0.0F; + float pilot_q_unused = 0.0F; + map_correlator_to_iq(pilot_raw, pilot_i_for_sync, pilot_q_unused); + float pilot_prompt = pilot_i_for_sync; + if (d_trk_parameters.b1c_prompt_normalize_power) + { + data_prompt *= d_trk_parameters.b1c_data_prompt_scale; + pilot_prompt *= d_trk_parameters.b1c_pilot_prompt_scale; + } + synchro.Prompt_I = static_cast(data_prompt); + synchro.Prompt_Q = static_cast(pilot_prompt); + return; + } + + float prompt_i = 0.0F; + float prompt_q = 0.0F; + + map_correlator_to_iq(d_P_data_accu, prompt_i, prompt_q); + + synchro.Prompt_I = static_cast(prompt_i); + synchro.Prompt_Q = static_cast(prompt_q); +} + + void dll_pll_veml_tracking::log_data() { if (d_dump) @@ -2055,6 +2173,29 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) // enable write dump file this cycle (valid DLL/PLL cycle) log_data(); + // Feed 10 ms B1C data symbols to telemetry while secondary lock is pending, + // so telemetry can build a rolling 18 s frame history before the first valid symbol. + if (d_systemName == "Beidou" && d_signal_type == "1D" && d_trk_parameters.track_pilot && + !d_pull_in_transitory && d_current_data_symbol == 0) + { + // State 2 does not update d_P_data_accu in save_correlation_results(). + // Use the instantaneous 10 ms data prompt and assign_correlators_to_synchro() + // to publish data (Prompt_I) and pilot (Prompt_Q) to telemetry. + d_P_data_accu = d_Prompt_Data[0]; + current_synchro_data = *d_acquisition_gnss_synchro; + assign_correlators_to_synchro(current_synchro_data); + current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; + current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad; + current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; + current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz; + current_synchro_data.correlation_length_ms = d_correlation_length_ms; + // Cache pre-lock symbols for telemetry history, but mark them invalid so + // telemetry can avoid running BCH/LDPC before secondary alignment is confirmed. + current_synchro_data.Flag_valid_symbol_output = false; + d_b1c_prelock_output_pending = true; + d_P_data_accu = gr_complex(0.0, 0.0); + } + if (!d_pull_in_transitory) { if (d_secondary) @@ -2203,16 +2344,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) // ########### Output the tracking results to Telemetry block ########## // Fill the acquisition data current_synchro_data = *d_acquisition_gnss_synchro; - if (d_interchange_iq) - { - current_synchro_data.Prompt_I = static_cast(d_P_data_accu.imag()); - current_synchro_data.Prompt_Q = static_cast(d_P_data_accu.real()); - } - else - { - current_synchro_data.Prompt_I = static_cast(d_P_data_accu.real()); - current_synchro_data.Prompt_Q = static_cast(d_P_data_accu.imag()); - } + assign_correlators_to_synchro(current_synchro_data); current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad; current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; @@ -2255,16 +2387,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) // ########### Output the tracking results to Telemetry block ########## // Fill the acquisition data current_synchro_data = *d_acquisition_gnss_synchro; - if (d_interchange_iq) - { - current_synchro_data.Prompt_I = static_cast(d_P_data_accu.imag()); - current_synchro_data.Prompt_Q = static_cast(d_P_data_accu.real()); - } - else - { - current_synchro_data.Prompt_I = static_cast(d_P_data_accu.real()); - current_synchro_data.Prompt_Q = static_cast(d_P_data_accu.imag()); - } + assign_correlators_to_synchro(current_synchro_data); current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad; current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; @@ -2322,11 +2445,24 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) consume_each(d_current_prn_length_samples); // d_sample_counter += static_cast(d_current_prn_length_samples); - if (current_synchro_data.Flag_valid_symbol_output || loss_of_lock) + if (current_synchro_data.Flag_valid_symbol_output || loss_of_lock || d_b1c_prelock_output_pending) { current_synchro_data.fs = static_cast(d_trk_parameters.fs_in); current_synchro_data.Tracking_sample_counter = this->nitems_read(0); - current_synchro_data.Flag_valid_symbol_output = !loss_of_lock; + if (loss_of_lock) + { + current_synchro_data.Flag_valid_symbol_output = false; + d_b1c_prelock_output_pending = false; + } + else if (d_b1c_prelock_output_pending) + { + current_synchro_data.Flag_valid_symbol_output = false; + d_b1c_prelock_output_pending = false; + } + else + { + current_synchro_data.Flag_valid_symbol_output = true; + } current_synchro_data.Flag_PLL_180_deg_phase_locked = d_Flag_PLL_180_deg_phase_locked; // generate new tag associated with gnss-synchro object 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 af5135e1c..086fb0035 100644 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h @@ -85,6 +85,8 @@ private: void clear_tracking_vars(); void save_correlation_results(); void log_data(); + void map_correlator_to_iq(const gr_complex &c, float &out_i, float &out_q) const; + void assign_correlators_to_synchro(Gnss_Synchro &synchro) const; void configure_bit_synchronizer(); bool cn0_and_tracking_lock_status(double coh_integration_time_s); bool acquire_secondary(); @@ -219,6 +221,7 @@ private: bool d_Flag_PLL_180_deg_phase_locked; bool d_use_histogram_bit_sync; bool d_wait_for_bit_edge{false}; + bool d_b1c_prelock_output_pending{false}; }; diff --git a/src/algorithms/tracking/libs/dll_pll_conf.cc b/src/algorithms/tracking/libs/dll_pll_conf.cc index ea4aa01a8..96e49cffe 100644 --- a/src/algorithms/tracking/libs/dll_pll_conf.cc +++ b/src/algorithms/tracking/libs/dll_pll_conf.cc @@ -159,4 +159,11 @@ void Dll_Pll_Conf::SetFromConfiguration(const ConfigurationInterface *configurat bs_transition_window_epochs = configuration->property(role + ".bs_transition_window_epochs", bs_transition_window_epochs); bs_tentative_events_required = configuration->property(role + ".bs_tentative_events_required", bs_tentative_events_required); bs_use_phase_dot_detector = configuration->property(role + ".bs_use_phase_dot_detector", bs_use_phase_dot_detector); + + b1c_qmboc_tracking = configuration->property(role + ".b1c_qmboc_tracking", b1c_qmboc_tracking); + b1c_prompt_use_data_q = configuration->property(role + ".b1c_prompt_use_data_q", b1c_prompt_use_data_q); + b1c_prompt_normalize_power = configuration->property(role + ".b1c_prompt_normalize_power", b1c_prompt_normalize_power); + b1c_data_prompt_scale = configuration->property(role + ".b1c_data_prompt_scale", b1c_data_prompt_scale); + b1c_pilot_prompt_scale = configuration->property(role + ".b1c_pilot_prompt_scale", b1c_pilot_prompt_scale); + b1c_secondary_lock_ratio = configuration->property(role + ".b1c_secondary_lock_ratio", b1c_secondary_lock_ratio); } diff --git a/src/algorithms/tracking/libs/dll_pll_conf.h b/src/algorithms/tracking/libs/dll_pll_conf.h index e81b6856e..cf147698e 100644 --- a/src/algorithms/tracking/libs/dll_pll_conf.h +++ b/src/algorithms/tracking/libs/dll_pll_conf.h @@ -90,6 +90,13 @@ public: bool dump_mat{true}; bool tow_to_trk{false}; bool bs_use_phase_dot_detector{true}; + // BeiDou B1C-specific options. + bool b1c_qmboc_tracking{true}; + bool b1c_prompt_use_data_q{true}; + bool b1c_prompt_normalize_power{true}; + float b1c_data_prompt_scale{1.7320508F}; // sqrt(3), compensates 1:3 data:pilot power. + float b1c_pilot_prompt_scale{1.0F}; + float b1c_secondary_lock_ratio{0.88F}; }; diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc index 0007974f4..c2c83c81e 100644 --- a/src/core/receiver/gnss_block_factory.cc +++ b/src/core/receiver/gnss_block_factory.cc @@ -28,6 +28,10 @@ #include "acquisition_interface.h" #include "array_signal_conditioner.h" #include "beamformer_filter.h" +#include "beidou_b1c_dll_pll_veml_tracking.h" +#include "beidou_b1c_pcps_ambiguous_acquisition.h" +#include "beidou_b1c_telemetry_decoder.h" +#include "beidou_b1c_telemetry_decoder_gs.h" #include "beidou_dnav_telemetry_decoder_gs.h" #include "byte_to_short.h" #include "channel.h" @@ -209,6 +213,7 @@ const auto signal_mapping = std::vector>{ {"1G", "GLONASS L1 C/A"}, {"2G", "GLONASS L2 C/A"}, {"B1", "BEIDOU B1I"}, + {"1D", "BEIDOU B1C"}, {"B3", "BEIDOU B3I"}, {"7X", "GALILEO E5b I (I/NAV OS)"}, {"J1", "QZSS L1 C/A"}, @@ -492,6 +497,10 @@ std::unique_ptr get_acq_block( { return std::make_unique(configuration, role, implementation, in_streams, out_streams, BDS_B1); } + else if (implementation == "BEIDOU_B1C_PCPS_Ambiguous_Acquisition") + { + return std::make_unique(configuration, role, in_streams, out_streams); + } else if (implementation == "BEIDOU_B3I_PCPS_Acquisition") { return std::make_unique(configuration, role, implementation, in_streams, out_streams, BDS_B3); @@ -604,6 +613,10 @@ std::unique_ptr get_trk_block( { return std::make_unique(configuration, role, implementation, in_streams, out_streams, BDS_B1); } + else if (implementation == "BEIDOU_B1C_DLL_PLL_VEML_Tracking") + { + return std::make_unique(configuration, role, in_streams, out_streams); + } else if (implementation == "BEIDOU_B3I_DLL_PLL_Tracking") { return std::make_unique(configuration, role, implementation, in_streams, out_streams, BDS_B3); @@ -683,6 +696,11 @@ std::unique_ptr get_tlm_block( unsigned int in_streams, unsigned int out_streams) { + if (implementation == "BEIDOU_B1C_Telemetry_Decoder") + { + return std::make_unique(configuration, role, in_streams, out_streams); + } + telemetry_impl_interface_sptr telemetry; if (implementation == "GPS_L1_CA_Telemetry_Decoder") diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index e02397a45..47d630c4c 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -20,6 +20,7 @@ */ #include "gnss_flowgraph.h" +#include "Beidou_B1C.h" #include "Beidou_B1I.h" #include "GLONASS_L1_L2_CA.h" #include "GPS_L1_CA.h" @@ -91,6 +92,7 @@ const auto signal_mapping = std::unordered_map= 1U && prn <= 5U) || (prn >= 59U && prn <= 63U)) + { + continue; // GEO satellites do not broadcast B1C (ICD section 3.1) + } + } if (signal_str == "J5" && prn > QZSS_L5_MAX_PRN) { // QZSS L1 C/B PRNs (203-206) do not transmit an L5 signal diff --git a/src/core/receiver/gnss_flowgraph.h b/src/core/receiver/gnss_flowgraph.h index 5bc6cf8a9..3127699ef 100644 --- a/src/core/receiver/gnss_flowgraph.h +++ b/src/core/receiver/gnss_flowgraph.h @@ -264,6 +264,7 @@ private: evGLO_1G, evGLO_2G, evBDS_B1, + evBDS_B1C, evBDS_B3, evQZS_J1, evQZS_J5 diff --git a/src/core/system_parameters/Beidou_B1C.h b/src/core/system_parameters/Beidou_B1C.h new file mode 100644 index 000000000..1cc241ea1 --- /dev/null +++ b/src/core/system_parameters/Beidou_B1C.h @@ -0,0 +1,46 @@ +/*! + * \file Beidou_B1C.h + * \brief Defines system parameters for BeiDou B1C open service signal + * \author GNSS-SDR contributors + * + * Parameter values from BDS-SIS-ICD-B1C-1.0 (2017-12). + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_BEIDOU_B1C_H +#define GNSS_SDR_BEIDOU_B1C_H + +#include "Beidou_B1C_codes.h" +#include "gnss_frequencies.h" +#include + +/** \addtogroup Core + * \{ */ +/** \addtogroup System_Parameters + * \{ */ + +constexpr double BEIDOU_B1C_FREQ_HZ = FREQ1; //!< §4.2.2, Table 4-1 [Hz] +constexpr double BEIDOU_B1C_CODE_RATE_CPS = 1.023e6; //!< §5.2.1 [chips/s] +constexpr double BEIDOU_B1C_CODE_LENGTH_CHIPS = 10230.0; //!< §5.2.1 [chips] +constexpr double BEIDOU_B1C_CODE_PERIOD_S = 0.01; //!< §5.2.1, 10 ms [s] +constexpr uint32_t BEIDOU_B1C_CODE_PERIOD_MS = 10; //!< §5.2.1 [ms] +constexpr uint32_t BEIDOU_B1C_OPT_ACQ_FS_SPS = 2000000; //!< 2 samples/chip at 1.023 Mcps +constexpr int32_t BEIDOU_B1C_PILOT_SECONDARY_CODE_LENGTH = 1800; //!< §5.2.2 [chips] +constexpr int32_t BEIDOU_B1C_TELEMETRY_RATE_SPS = 100; //!< §6.2 [symbols/s] +constexpr int32_t BEIDOU_B1C_SYMBOLS_PER_BIT = 1; //!< 100 sps, 10 ms/code period +constexpr int32_t BEIDOU_B1C_FRAME_LENGTH_SYMBOLS = 1800; //!< §6.2 [symbols] +constexpr int32_t BEIDOU_B1C_FRAME_PERIOD_S = 18; //!< §6.2 [s] +constexpr int32_t BEIDOU_B1C_NUMBER_OF_PRNS = 63; //!< §5.2.1 + +/** \} */ +/** \} */ +#endif // GNSS_SDR_BEIDOU_B1C_H diff --git a/src/core/system_parameters/Beidou_B1C_codes.h b/src/core/system_parameters/Beidou_B1C_codes.h new file mode 100644 index 000000000..c2d81b6d9 --- /dev/null +++ b/src/core/system_parameters/Beidou_B1C_codes.h @@ -0,0 +1,5815 @@ +/* Auto-generated by generate_beidou_b1c_codes.py. Do not edit manually. */ +#ifndef GNSS_SDR_BEIDOU_B1C_CODES_H +#define GNSS_SDR_BEIDOU_B1C_CODES_H + +#include + +constexpr size_t BEIDOU_B1C_PRIMARY_CODE_STR_LENGTH = 2558; +constexpr size_t BEIDOU_B1C_PILOT_SECONDARY_CODE_STR_LENGTH = 1800; + +constexpr char BEIDOU_B1C_DATA_PRIMARY_CODE[63][2559] = {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"17D5C1DEB87949E820216890C09A84A5EF7F8E11D1CFD734FB9D702F73ABC16CC0EF5C218C32" + "F8D090FD1BB102D6835972DC61EFFB99BDBB49E94570AFCA58", + "A3BBB282AA6AC4CF2580ADBD0E0DBDB45DB8EF539D9306C63AEF991A9932B2102E4F0DD34B85" + "807A48471982A2D1669F93E4BD6190D0D4B60D29893863E8A0B3F23575BF49C13461C1CAFA92" + "30C657A0AB9CD3EA4F8BA28D63FFC54ABB3CED6D81681869BBA3D02CBB6E40D35FA46994B459" + "F59BDC430F909BEA2DE7BBA772819421F206EA878A7FF6E631176A9E5990794DB110CA23B57D" + "E259D312048262C663ACB82404FE507B5D75D3ACEDCCCA29641DA790D3EE0776CC5F577D37A5" + "7752F9A0E8D3FE99C9662DCC8EEB8D5FE3635649488B1C3E4909176F1595B64F85ED5163A823" + "0D7C8527FD1AE887F9D265184A073C5E753586CB2CADFB2A6651592E57F9B38949099E9A3DD2" + "855F56D9EC971B29E6C67AB1B861E518F26C9432803328F6F3D44A189A5EF9C3A3B606AD951D" + "CB34F9D25F27D810CE021D3A89BB94A28BFF44B82F86AC2ED0F43AD20CCE9CFA92FB53750ACC" + "CC5E8CCCD42BB2B7D257CE5CCC12D70BC2DD0D587D0748BFF4514A776457AE101CC206F93E92" + 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"5EF2ADD1A70FADFEF36F503B709374916AE9AA8DD9C39F6AC837C36F61D0B05A3F6212D07E48" + "7D3C4DC0757F5738F3D3E6C3297AC911F92F03A4FA3407007AB61F28659392FEBB19A2CB313B" + "E3673FF6D75768943458A6A8551E721A575B688F17DE6086F75BC0EB9E6627349D31758414D5" + "199012274AD7BF909B8CA344466B088034D1529D91AF8147F42AF32597F156D6541BD8AA2A61" + "67694BC16B1C18591682CF5A457124F7D227C50F68121BEDF5203153E29B814F48A3949E4F52" + "CC6D8E5EE7EB340D849E6221559CA8D5B25DFB34899DE2D980F435151E7B88F746CD7FF2AF1F" + "B7AB71B0C8C061093DCA01330E8369F9ABFF6558AEA43C1263CACDA3C0D783CC80830A868906" + "3E3788A9ED7179EF728B32C4D74F68741C7FB59D67242560192506FC674475A6A6EF84EC1E6E" + "3B9F76A8594F12AB335F057F88FB71D0D8AD813D41495044882A4A0AF206D46C2E3B7C47FA83" + "EB335523CA6855BBE771D9E0DC87DD9596B88B98FD8292601A90939AE6B7F8E0B85BCBAC8D33" + "453BDE7A3ADE5447B1F1824585430404CF07AC0F16CD4F1920F095D46A9BFF567E5B05C33201" + "4EF242180C4C363B57B7E3D53FFACD8BBC4779E2A2B0BC066D1EE644B37EE936AC54E6AA1119" + "E486C0B35F9DE9C6D8CD2BC9E4A7144BCA07651F2A3012BEDF61205BC28F912FBC923A896BCD" + "05A26860E35A0F4A5B9A1951546F60A9ADAA3FA6933D50BF8A07D626E52A2CB0044359888B14" + "C76427F7AD4B91202662ACA086BA32E4B39199E75C0F6BBD8419EFA3C45B6BA96139E2A85594" + "68B0A45BABADBFF39B1F72334D166375FD27269853E1B5780380B17C9703D27E224D7A530D9F" + "2F3C73ABFAB80EC8F2F849F82D211BF168342E1BDB0FB04D5BE70E6EC5565D5A24BB243B702B" + "DB3DFED7C3962ED53DEB41FD30E728AF321F61101621FCEF1B8ADD823978E88C2AF5F1D099F5" + "C5BF7D5AE73D52351B9BEA135B784AD71CD73822D1908C7D7A045092266964FF214630DDA084" + "639EA63EE02B446DE377EE8D25AA1A6C84D2674A6EF92B9C1342C90B34AF969771DAE7603126" + "F23241A3AB3DE5A5574B5CA6123B01BE0EC30E8D5E17DD38664F6C33C5B641F680613091C1C7" + "6E9E8198B4D39545FC070E7B6160022C9AFA9919C11B990B874462E5FC3725BD578286BCC55E" + "CCFC5FCA72A43E71D6AD56335080EA297A06B4AFEBF36C9A61D06B278378A4DC9F29F0F1A1C5" + "0878AC5A19FADC7DEEEA0ADEA3AB8CCB01E4CB86B838B6AA0B13239276856C83562982DC9693" + "29473627046C9D1F43F181E43B53DB2ED6050CA5EA35BF9FBB1BF2B8D6A29362A275F7056205" + "25688B2BE2C4FCFB23A695A65D4DD2D4FEA492BF95A5D95D32D4B2E26F9F91A3EA688B525023" + "5077D722A364A2B58EA7EC6EFCFED62BD2985035BA6DE56E13C0C7E17C5C9B107236714A64B4" + "9DA0CA35609B50B724E264682AB68E0EB0E993C06998EAE2BDA82BBBDF1DAFCC2D1A8F0851C2" + "C787CA7C9D928F60F26B05C32C9B67EBFA96B02F4A2B808566355AB5C73E12A729FD1F99BD51" + "9EB0A0F55ED2761FD3A31170E84CEC41CC4CAFAC9A2003436F38701FD154E5968CC0BCBB71C1" + "C4864300B7C136D1E61B79330E5DF43D58B861B83EC06E24329D697552D3DE6AE2C12627B246" + "0373ADC774B4FA966849A1641CEA4FBB297325909B2C2AD258BBF763DB116A03BE32BCE31082" + "DD8631427F934B322485102F5F1884C5A20E759C75A80F6D642BECEC56255E73AD5F7ED1D7CC" + "85C7D7AA188B8F4E20DDA8EC7B9FC23404437C267A8A73865C", +}; + +constexpr char BEIDOU_B1C_PILOT_PRIMARY_CODE[63][2559] = { + "E77DEE8DBCD41A0E6B81DE9DD860D1B4CFF65B294C4E5E4DB222B5C2C7EDB2EEA4D0592790D7" + 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"B3557ED334AFCA2C580C6E8FE49B2EC49F430EFBF125B4C0540A9E6B8215A4D9E4425D1F03C1" + "8952B9DCCB2E1A72E71DDF15BFC99DF83AA0FCDE1CA6BDC843A581F347B8471EC4FC25BD2532" + "E9C773D23F630F3DAFF7715EC0886937C6227BA2AFEB464A79700BF7538ABA0EB936DE9DF2B2" + "3552815D0DCE585A05619C43D064BC17D53504B6E0AB1651E9E6FCB020A9681244A5161AC078" + "0D61A29489205A541034FD9E5E29A3541DB482B2AFA0F4982F08E61A816869CEC2EA052AB135" + "3EE5EDB275C175472BBF403A79498B5FD51779118FB258440DEA3BBFD6F3C31BF12F3B8E5D32" + "92F690FC8DE388778B3E0697084EF594E1ECFC15707EE64FF6A3EEE39D3961D34CEE752A460F" + "03E2E9089E6496A10759E540A80CB6923F7DC30BE48DD3649FC5D8C068D14FD4B32DFAAB3418" + "DAB3A7EBCBE9E90B3524FB345646AFDF4F5595CC96043EA46B3BA1777835423D2E3F51107F8E" + "4D4D51EDF9DF13BB802153AD23BE625DE671E5F526E46713CD93E16A72333243705E4DE921D1" + "8AD2E29B7B7DE69A25482599B1E1BE387327ECB91833A82EBCAB6DB43676ACFB42AA9A8A59DC" + "81622268612FE351DBD1A780AE815C17A948B9034D0B1524733EC369A98E9B81131532DE66B1" + "86AFF52F39B49E092107C1FB2B8EA2F446C88896EC94332A5E2C380D9ACF12CEB2E49DB2060A" + "31E7E3CD5C393797F3F75198CC55FE84CB95797A71711AA84BEC33A20B0711787C98D9F0C2F6" + "21855BED4E9888C608ADAF0054B8E007B87A604323E11C240239D4B5EFA3C57F71DC1B4FC292" + "EF9571B2C04A262A531E92693E7A15DE28EA47AEDEAD9E61E26D079C0872DCFA7C3E57DB2E7F" + "0A4418AA014E8B48001B56B0714F0D4B0DB6A06E73B9006FEA6337F36AACEF28C7BFA79AA973" + "491806B12014903E3F92AF7795570BB80B4808EE846F815A1FE8A76CC890D9905C3C9AFC1E88" + "B71F65EF768AE53E42C9952C72078A2972D7564D1170D4ECFF2766689665A9D0C146AC88390E" + "C27A9D4B45B7717DA872DB39FD1B600E95D8E322AF5B7A095FCB15405EF78A3BEBF4864AD3C8" + "8620FD7A3F5C6E861D9392625929ABCCD0CE5803DDECD2DCE0096E74AC1E8DFFD8BC1A973B48" + "039DA59BDDE00D398599EACA4D2324E4DC30BB1D7E2F5F823089E5A93097EBEE28F7BD015469" + "FD482F6D7AA2638DD4B8036C5FCE6DA70ADF4776D1695CAF21B84E089AB14185CAD3348B3372" + "7F9B958744593575A74A28F0271A54C9A13E53A8B77BD37C7688BC1FAC9E1D04CD84899B728B" + "FC2D40FB10BB8809680EE87554F77AA4FE3E04940246B00C49674AACF2FEF18A7B9AAB67F663" + "2BFB004EE73B02B6D86958794706B56C000968B9402A8C11287F3A6DF53E1F2F9DA7081CF05B" + "23C33CDABDBAF12B8A3DD42F3E4B24BC652A322901A6C754FBA4A1F96C1DC77F51E2FBD695CE" + "20121C43E261032F0EF0038E95007ADA8831888CB95BED50C237A187CD8C9F0F44706822E61B" + "E90AAC47472F4F54E990BFD5198CC577E7F4F64E1D59E3F3C6283026DC93A6B9A479ACD80E1A" + "3D2A66149BB48889B117A2B8EA6FC1F042483C96CE7A57FAB0C6B33DA6546440ECB8CACB61BE" + "6712546859604E894AF41D40BA80F2C5EDC563FA430B222340", + "0D10977A3208F7FEDCC05F32FDDF31FB9EA6E8A8A0027B5AA4832BCABF8D6EA537290E318CFF" + "A5C784C511439575C52EE1BE8ACDC93A1615A993CDB3793EBE22E6C04D40638B4E19117888B8" + "771E7112D57C974E393CCD06ABD6BDFA19ABD62D74729B9DDD836E24406214FE47DCBF538ABF" + "B9A1252FEC19F630BB1F0E542287A09B2DEBA88D745167D94B6C919E653C0A14532392BAEE0D" + "106F490D5F0D5B0B05E81619D4A949334E314CCCB2D3819260699C943475593B621F2B09014D" + "AFF685494E03F225E16064395132CEB29C5AF66EBD6E03FDB41B6FD58625B7A1CFA4A5FE4BCF" + "2E3EC2088F895F5FC4177A2888470663662A82BCF8B1443A9DF193184CE5A4C41F96AC603033" + "6D031B110FF64D7CFBC1394FACA0BB04620DD0535F29C83DF3EB26FF088D8C0B6CC0C063569F" + "82325A73218C98FB95C228D1F3D415466C660E211145EE823FAFA91F110437C74F3D27FA525F" + "385EDA461ABF6D82DBFC076BD766F5A394D734C8A9C260687A44FC07292A16FF5B28090D4F84" + "6DC9AAE2C293996064981CB4D33328C72CC92952B986817A0D0DAB0FAB092F608B0775D49C4C" + "A28503CA6798936D29BE68A2EB115D7B4D905E1442A70F8DD0C6F9837F4A4859DFD51CAFD3BE" + "27F2846022476C1BBB9D94E2EB46BD5985FBD6BD560B33C9C72E93EAB488E78EE1D111E88987" + "2D1C602B20367447D7C9ECDB3C995A8685C93B3517D8774A3AEA9C288A321E3A5FF318C7094E" + "CA576B1FD53D4C1255ADE400515176579DF8CFBBF4CFA033B7FEF104C5EE908B06C581454ECB" + "942176B9C30D839DE9413615784DE7B69CDC68E4F236A04DF5552F3CDED947F3456CE9E437AF" + "DF83386627BB1A6F2F95816FCD567735B875681B473BC48EB39E8F521E913A8A922AC9B11C3F" + "8CB70138F2F0718FF8B78B0C2386887E0D02C95E3137E69B4B74D8CE57456BB9343B1DBD2C94" + "E9D055FD6DB92DA1DB1C9A3124C2A5D76DA346D5385A78B2A222454FB1EC6BC85DE5DB66B147" + "7E91B80D958F34B1F43C290C860895A1E90245D15B0C173FD7749AB56059B318779FF1AD1A5D" + "8852F24CD8E59E6B08F3C08B2E36101F8A1EFA4A9EB226DC402D43AE5195D74C8DDF00221192" + "59C24F3C8C7EC5879BAD2E2F5DE1C5CED07E8D796DEAC4D7118158A5F9273C0F05FB4645400E" + "89584115464794F8ACF3EAE700844FA0A51E386633EEB19C0E7FF4FA6A2510DC44BF4390FB28" + "5A4BAB09FA35CAA8B316A91258F54B9EF38D3A167CC7FACC118076C5F01FEA1A3E7FBE77D580" + "A9D829EDF4431FC8F59193135E27F1845F6F28372A0357DCFBFCF8B0AFF01F46DC031066BFC6" + "7CD0B9639EF3A55E34912AD19A2AA758BF21ABA4B429BE1385FA44761148ACBE5FFCE0731AEF" + "98CC38F14A0BE44301CEAF9E6A3E53C4C551043522E00544C5BF41E079C93F4A350311D646AF" + "6D3D62FC16E7470F75E8E96BB3C346FC6279E4873493108801F76265D75314EB85680476C89A" + "F2A4BEF0A3F010D8E9A2079E21ACF34E36649E942374B16B1FF3DC319B340D5AB25DD7F9D061" + "B51744812F0B5220C26128785F1A59E353603B12FDC51ACDB74F7427AC6F1BE544888A9A3CB4" + "3956C58B6DD74A864918B271B70B693B6D7F54172E52697B71B8593BAD45D4E6365DA5B2CFD9" + "18F5268160FC22C38861A3DA3FE31C1E9E3901DA63F8711B26A892A2B912F095E2F39AE247B9" + "C5B02D5C3B59DCD567ED0353E9ECB1BBC8CC3983F7EBD84F2E6D459FC536F679E9555F640AD8" + "9E4E2C7672DBCF643D50D9052F738361873ADD0853A6E54500", +}; + +constexpr char BEIDOU_B1C_PILOT_SECONDARY_CODE[63][1801] = { + "0101111010011100111101000110001110001011101111001111111010000100100001100011" + "0010001000110101111111110111100100100100011010111000001010110100110101001101" + "0000010000011011110101010110001010011100111111100011001001101011011000110111" + "0110011000000100101100010000011101100100010000001001110011110011110100110110" + "0111001000110100101110100010010110010000100111000011010101100011010000110110" + "0011101000110001011001011111010111001001100011011001101101100111101101011111" + "1011011001100100010000101101111000000011000001111010111000001100101001101000" + "0110100010111101000001011110111110101000011110111010110101110001001100110100" + "1111110111001111001011110100010011110000000010011011011010101101010101111111" + "1010110111011011001110001100001110010010110111011001001000111011110101010111" + "0010110100011111010000001101001101110101001111001101101100101101111000001110" + "0010100100000100000011111111001101011011101111001001100001100001001111010111" + "1110010011001000001011100111001101000001100001000100010000010110011100000010" + "0010011111011010100010100011101011001001001100111100000111111000011110011111" + "0001100110111011111011000011100001111110101000101010011010000001010001111000" + "1010111101001000111100010010111110110110001001000101100101111000111101011000" + "0111100010100111100010111000011001000000011000010010000010110110101001001111" + "1010101111001010101001010010110011110100101001000111101001000010110101101111" + "0101101000011111111011101101101110010111011110011101110001111011101100001010" + "1010001000110001010011110101101010000110101100011011010010110100100111010100" + "0010101100010111011011000110011001001011000101111010111010011010000101100101" + "1101011110100011010010011001100011011011101000110101000010101110010010110100" + "1011011000110101100001010110101111001010001100000001010101000011011101111000" + "1110111001111011101001110110110111011111111000010110", + "1011101010100110011110111010110100111010000000111011010010110000101101100100" + "1100110101110110101110100110011100101011000101010010100111100011011101100010" + "1001111100011000110011011110000010111111101010101001001000110000001101001001" + "0111110000001100000110000001011110110110011111011000110010010000110001010011" + "1000100011100101111101110000111100100100110111000011110110111001000110100110" + "1010010100111111111000011001010100000000011011000001001000001100111011111000" + "0111010111110010100010101000101111100111011010010000110101110000001100011110" + "1000011101011111001011101111001101010110110111001100010010000001001000111101" + "1010100000101101110101000001001001111000101110010010011101100000000100101010" + "1010110111100011010010110100011100000011101010001001001110000101110001111100" + "1010010010010001001001001000100011110110010011010000000000010110000100110111" + "1011100100110011011101010111110110011000001011100110101100011100001010010011" + "1011011100110001000100101110110111100110000000100111011111101000101011110110" + "0101101000100001110110000111010011111011001111100000100101101010111110010100" + "1000100110100001101100100111111010111000001010010110100110101111110011010101" + "0010111110000010100010001001001101111000111100010111101011011111010011011100" + "0000111000001000000111011110011101001000101111111001011000100001110100001101" + "1110111011010111000101010110111000110110110001001010101010000110101011000011" + "0110101111010101110111010111010001000110101000001111101011000010110100000101" + "1111010010010000111001110100000011010000110010101011001010111100101100010000" + "0101011110111101011010101110110010110011101111010001011011110001010010001010" + "0100001111010100010111010001010111100001001010001001010001111011010001011110" + "1110011010011011101010110101111011110101000001000110100111101010011010101001" + "1000010110000001011100111000010010010111110100000101", + "0010111011111010010011101000001110110010110000100111111110111001100101011111" + "1000001000101011110101100001001010101110110110101010101000111111011000010101" + "0001011110111111011010011001100001001001110111001101001101001111011010101111" + "1011000111010111101010101011110110101000010011010110000010101101110100011110" + "0000111001011010100100111100001011100110100010111101101001110100011111001010" + "0000000010000110000010000110011011010010100000101000000101110010011001001011" + "1111011011111111111010010111010010110101001010001100110000101110010111101000" + "0110111110000011000111110001000010111001101010011010101101000100110111000110" + "0000111001011100111010111010110100100101010010011111110000011011011001000010" + "0110110001111001001110101110111010110101110110100010100100111111001101111110" + "0000101100010000111110010100100101110111101001011100001001011110010001110010" + "0010110011111000010100101100011110001000001000000101001000001100011001000000" + "1100010000010011100101110000101110000000110000001011001110111111110001101000" + "1101101010101101110110010001010100111100111011011111001101011101000001000110" + "0000101111101000010001001110001110000110100111111011001111010101100110010100" + "0100110111001101110101011001010010001111001011011100100101001100010110000111" + "0101000101110010010000101010010011111010100010100110101100110110100001001000" + "0011011000101101111100101010110001000101001111111011100100100011100000001001" + "1001100001111010100110001110000101111001000011110000010110111110110001110000" + "1001000110101001100000000010101011111011111100001001101111111011001000011111" + "1011111010101000000000110010101100010010000111000110111110110100000111100001" + "0011110100001110001100101011110000110011001000000011100010010011101111111001" + "0100010001101010100111110110100011011000001001000010110110011010110010100010" + "1011111001001010100001001001110100010101110000110100", + "1001101001010001110100001001000011001100100100100101110110100010011011110100" + "0010010111101000010101110000000001011011101010111100010111100100000011101010" + "0011000110011110001111110110110110011100100010010000110101011010011000010100" + "0001110110111110011101010110111101111110011100100001110110111101000010000011" + "0000111110110010000101100111000101011001110100111111010101000101000111011011" + "0101100100110011101000001101000100001000101001011111111111010111101111011000" + "1010011110100111110010001100111111100001111011011010110001010001011111101000" + "0011111001111111110110111100011000111011100011011111110100001011011010111110" + "1100010111011100111111010000100100101101111011000010000000001010010110011101" + "1000010000010111110101011110111010001010110011011110011011111001011010010011" + "0001101100110010001011000111111110001010000001000010101100010110010010011111" + "0101100110100111001100101010011101010100110100110000001111111110100110001100" + "0001011001010001100001100111000001100111110010001011101001110000010101001100" + "1101100001001110011010101000001000010110111101111111001010011101011010110000" + "0111001100100011110011000111001111101110000011001111001011100001011110010000" + "1100011101001110000111100100100001000101000101101000110111010001111010010000" + "0010000111011000101000011001111101000000101010110110110111011111110110000111" + "0101110100110100010011110011110000001110000000101000010000111001001110011110" + "0000000011010001001010010000100010110100101111100110010000101001101111000111" + "0000000110110000101111010001111101101111010101111000011111111111000100001000" + "0101011101111101100111011100010001001111010111110011000100011100001110111011" + "0010011100111011000101100110011011110000101101100100001001001101100111010101" + "0100100101001000000100111100100100100000111001001000101000100001101010010010" + "0101100110001000110011010010010010101100001000101000", + "0010100010110011011100010100111110011001111000101011011111000001010111110001" + "0011010010101100011110110001111000000111101011100101000010010000001110100001" + "1011011000010111000000100100001010011101011110000001111000110111100011010100" + "1011001000111110101000001111101101010001111001100111110010100011101100110100" + "0101000001010010000011010001011001110001101001110110101001000111000110011001" + "1111101101110000001001100010000111110001100011111101101111110010100001111111" + "1101000110101111000111101100011011111101011000000001000101110001000000001111" + "0101101001100000011110000011000000010010011100001101111001100101011001100111" + "1100010110111100010111010111110010100100011101111000000010101010100011000111" + "1110011110111011111001010001111111111010100000000000110100011010000001101100" + "0111110110110010011000110101111110111110001101011101101110101001011001100011" + "0011001011101111000000101111000011000101101000011111010110101100000110010100" + "1101111111110001010011011111010010000100100110110011111011010010011000100011" + "0010001011011010101111000000100010000101000001011001010000111000111001000101" + "0110000010011110111110111101111100100000111100010101110110101100001100001010" + "1011111111111111010111001100111100011011110001101011101001101010000010001101" + "0000100010011110010110101001110100011101001110010010100010000101111000000000" + "1111100000100010000000001100100111110101011111110110011001001000001010011111" + 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"1001101110010101101111110011001000000011110011110101010001111111000011010111" + "1001111101000101110011000011111001000101101010000011110001011110011010001010" + "1001001000000010000101110011001110000111110100100011011101001101111100000101" + "1001110100010101000000110000010101011111101101101001100111100101101110000111" + "1100001010110101111101110110100101001111101100111001101001111011010001000100" + "1011011001111111111101100100111011110110100000111000101010011100011000101001" + "1101100100101110111011111110100001100011010010011000110100110110010001100011" + "1100101100100101101101101101000100110000111101000010110100000101001001000111" + "0011010100110100000101011001111111001000010111100110010000011000011000110110" + "0001100011110000110101111111011111011111000100001010001010111110101101111010" + "0001001000011001011011100010011001001000000111110011110011110111100010111001" + "1000110111010101101111001001100011010000111100101100110110101111010010000110" + "0011101010001000100110010111011110111001110111110000000100100110111000111100" + "1111100101011110111111001100100001011001001000011001100101111000000001000110" + "0100010110111001000111011100000111000101101010011110101101011000011100000001" + "1100010111000111001000111000111011000101001001000100010000001010000100000100" + "0100000001111110001011100001100100110000100110101010100100101111001100101101" + "0100110000111001000111100000010111000101001010001110", +}; + +#endif diff --git a/src/core/system_parameters/Beidou_B1C_prn.h b/src/core/system_parameters/Beidou_B1C_prn.h new file mode 100644 index 000000000..24be1015a --- /dev/null +++ b/src/core/system_parameters/Beidou_B1C_prn.h @@ -0,0 +1,403 @@ +/*! + * \file Beidou_B1C_prn.h + * \brief B1C PRN Weil code parameters from BDS-SIS-ICD-B1C-1.0 Table 5-2/5-3/5-4 + * \author GNSS-SDR contributors + * + * ----------------------------------------------------------------------------- + * SPDX-License-Identifier: GPL-3.0-or-later + * ----------------------------------------------------------------------------- + */ +#ifndef GNSS_SDR_BEIDOU_B1C_PRN_H +#define GNSS_SDR_BEIDOU_B1C_PRN_H +#include +constexpr int32_t BEIDOU_B1C_DATA_PRN_W[63] = { + 2678, + 4802, + 958, + 859, + 3843, + 2232, + 124, + 4352, + 1816, + 1126, + 1860, + 4800, + 2267, + 424, + 4192, + 4333, + 2656, + 4148, + 243, + 1330, + 1593, + 1470, + 882, + 3202, + 5095, + 2546, + 1733, + 4795, + 4577, + 1627, + 3638, + 2553, + 3646, + 1087, + 1843, + 216, + 2245, + 726, + 1966, + 670, + 4130, + 53, + 4830, + 182, + 2181, + 2006, + 1080, + 2288, + 2027, + 271, + 915, + 497, + 139, + 3693, + 2054, + 4342, + 3342, + 2592, + 1007, + 310, + 4203, + 455, + 4318, +}; +constexpr int32_t BEIDOU_B1C_DATA_PRN_P[63] = { + 699, + 694, + 7318, + 2127, + 715, + 6682, + 7850, + 5495, + 1162, + 7682, + 6792, + 9973, + 6596, + 2092, + 19, + 10151, + 6297, + 5766, + 2359, + 7136, + 1706, + 2128, + 6827, + 693, + 9729, + 1620, + 6805, + 534, + 712, + 1929, + 5355, + 6139, + 6339, + 1470, + 6867, + 7851, + 1162, + 7659, + 1156, + 2672, + 6043, + 2862, + 180, + 2663, + 6940, + 1645, + 1582, + 951, + 6878, + 7701, + 1823, + 2391, + 2606, + 822, + 6403, + 239, + 442, + 6769, + 2560, + 2502, + 5072, + 7268, + 341, +}; +constexpr int32_t BEIDOU_B1C_PILOT_PRN_W[63] = { + 796, + 156, + 4198, + 3941, + 1374, + 1338, + 1833, + 2521, + 3175, + 168, + 2715, + 4408, + 3160, + 2796, + 459, + 3594, + 4813, + 586, + 1428, + 2371, + 2285, + 3377, + 4965, + 3779, + 4547, + 1646, + 1430, + 607, + 2118, + 4709, + 1149, + 3283, + 2473, + 1006, + 3670, + 1817, + 771, + 2173, + 740, + 1433, + 2458, + 3459, + 2155, + 1205, + 413, + 874, + 2463, + 1106, + 1590, + 3873, + 4026, + 4272, + 3556, + 128, + 1200, + 130, + 4494, + 1871, + 3073, + 4386, + 4098, + 1923, + 1176, +}; +constexpr int32_t BEIDOU_B1C_PILOT_PRN_P[63] = { + 7575, + 2369, + 5688, + 539, + 2270, + 7306, + 6457, + 6254, + 5644, + 7119, + 1402, + 5557, + 5764, + 1073, + 7001, + 5910, + 10060, + 2710, + 1546, + 6887, + 1883, + 5613, + 5062, + 1038, + 10170, + 6484, + 1718, + 2535, + 1158, + 526, + 7331, + 5844, + 6423, + 6968, + 1280, + 1838, + 1989, + 6468, + 2091, + 1581, + 1453, + 6252, + 7122, + 7711, + 7216, + 2113, + 1095, + 1628, + 1713, + 6102, + 6123, + 6070, + 1115, + 8047, + 6795, + 2575, + 53, + 1729, + 6388, + 682, + 5565, + 7160, + 2277, +}; +constexpr int32_t BEIDOU_B1C_PILOT_SECONDARY_W[63] = { + 269, + 1448, + 1028, + 1324, + 822, + 5, + 155, + 458, + 310, + 959, + 1238, + 1180, + 1288, + 334, + 885, + 1362, + 181, + 1648, + 838, + 313, + 750, + 225, + 1477, + 309, + 108, + 1457, + 149, + 322, + 271, + 576, + 1103, + 450, + 399, + 241, + 1045, + 164, + 513, + 687, + 422, + 303, + 324, + 495, + 725, + 780, + 367, + 882, + 631, + 37, + 647, + 1043, + 24, + 120, + 134, + 136, + 158, + 214, + 335, + 340, + 661, + 889, + 929, + 1002, + 1149, +}; +constexpr int32_t BEIDOU_B1C_PILOT_SECONDARY_P[63] = { + 1889, + 1268, + 1593, + 1186, + 1239, + 1930, + 176, + 1696, + 26, + 1344, + 1271, + 1182, + 1381, + 1604, + 1333, + 1185, + 31, + 704, + 1190, + 1646, + 1385, + 113, + 860, + 1656, + 1921, + 1173, + 1928, + 57, + 150, + 1214, + 1148, + 1458, + 1519, + 1635, + 1257, + 1687, + 1382, + 1514, + 1, + 1583, + 1806, + 1664, + 1338, + 1111, + 1706, + 1543, + 1813, + 228, + 2871, + 2884, + 1823, + 75, + 11, + 63, + 1937, + 22, + 1768, + 1526, + 1402, + 1445, + 1680, + 1290, + 1245, +}; +#endif diff --git a/src/core/system_parameters/Beidou_CNAV1.h b/src/core/system_parameters/Beidou_CNAV1.h new file mode 100644 index 000000000..2d9c73f50 --- /dev/null +++ b/src/core/system_parameters/Beidou_CNAV1.h @@ -0,0 +1,82 @@ +/*! + * \file Beidou_CNAV1.h + * \brief B-CNAV1 navigation message constants (BDS-SIS-ICD-B1C-1.0 §6.2, §7) + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#ifndef GNSS_SDR_BEIDOU_CNAV1_H +#define GNSS_SDR_BEIDOU_CNAV1_H + +#include +#include + +#ifndef GNSS_SDR_TWO_N8 +constexpr double GNSS_SDR_TWO_N8 = 0.00390625; +#endif +#ifndef GNSS_SDR_TWO_N9 +constexpr double GNSS_SDR_TWO_N9 = 0.001953125; +#endif +#ifndef GNSS_SDR_TWO_N30 +constexpr double GNSS_SDR_TWO_N30 = 9.313225746154785e-10; +#endif +#ifndef GNSS_SDR_TWO_N32 +constexpr double GNSS_SDR_TWO_N32 = 2.3283064365386963e-10; +#endif +#ifndef GNSS_SDR_TWO_N34 +constexpr double GNSS_SDR_TWO_N34 = 5.820766091053686e-11; +#endif +#ifndef GNSS_SDR_TWO_N44 +constexpr double GNSS_SDR_TWO_N44 = 5.684341886080802e-14; +#endif +#ifndef GNSS_SDR_TWO_N50 +constexpr double GNSS_SDR_TWO_N50 = 8.881784197001252e-16; +#endif +#ifndef GNSS_SDR_TWO_N57 +constexpr double GNSS_SDR_TWO_N57 = 6.938893903907228e-18; +#endif +#ifndef GNSS_SDR_TWO_N66 +constexpr double GNSS_SDR_TWO_N66 = 1.3552527156068805e-20; +#endif + +constexpr int32_t BEIDOU_CNAV1_FRAME_SYMBOLS = 1800; +constexpr int32_t BEIDOU_CNAV1_FRAME_PERIOD_S = 18; +constexpr int32_t BEIDOU_CNAV1_SYMBOL_RATE_SPS = 100; +constexpr int32_t BEIDOU_CNAV1_SUBFRAME1_SYMBOLS = 72; +constexpr int32_t BEIDOU_CNAV1_SUBFRAME2_SYMBOLS = 1200; +constexpr int32_t BEIDOU_CNAV1_SUBFRAME3_SYMBOLS = 528; +constexpr int32_t BEIDOU_CNAV1_SOH_LSB_S = 18; +constexpr int32_t BEIDOU_CNAV1_INTERLEAVED_SYMBOLS = 1728; +constexpr int32_t BEIDOU_CNAV1_INTERLEAVE_ROWS = 36; +constexpr int32_t BEIDOU_CNAV1_INTERLEAVE_COLS = 48; +constexpr int32_t BEIDOU_CNAV1_SF2_DATA_BITS = 600; +constexpr int32_t BEIDOU_CNAV1_SF3_DATA_BITS = 264; +constexpr int32_t BEIDOU_CNAV1_CRC_BITS = 24; + +constexpr int32_t BEIDOU_CNAV1_PAGE_IONO_UTC = 1; + +constexpr double BEIDOU_CNAV1_A_REF_MEO = 27906100.0; +constexpr double BEIDOU_CNAV1_A_REF_IGSO = 42162200.0; +constexpr double BEIDOU_CNAV1_TOE_TOC_LSB = 300.0; +constexpr double BEIDOU_CNAV1_DELTA_A_LSB = GNSS_SDR_TWO_N9; +constexpr double BEIDOU_CNAV1_A_DOT_LSB = 3.725290298461914e-9; //!< 2^-25 m/s, Table 7-8 +constexpr double BEIDOU_CNAV1_DELTA_N0_LSB = GNSS_SDR_TWO_N44 * M_PI; +constexpr double BEIDOU_CNAV1_DELTA_N0_DOT_LSB = GNSS_SDR_TWO_N57 * M_PI; +constexpr double BEIDOU_CNAV1_M0_LSB = GNSS_SDR_TWO_N32 * M_PI; +constexpr double BEIDOU_CNAV1_E_LSB = GNSS_SDR_TWO_N34; +constexpr double BEIDOU_CNAV1_OMEGA_LSB = GNSS_SDR_TWO_N32 * M_PI; +constexpr double BEIDOU_CNAV1_I0_LSB = GNSS_SDR_TWO_N32 * M_PI; +constexpr double BEIDOU_CNAV1_OMEGADOT_LSB = GNSS_SDR_TWO_N44 * M_PI; +constexpr double BEIDOU_CNAV1_IDOT_LSB = GNSS_SDR_TWO_N44 * M_PI; +constexpr double BEIDOU_CNAV1_CIS_LSB = GNSS_SDR_TWO_N30; +constexpr double BEIDOU_CNAV1_CIC_LSB = GNSS_SDR_TWO_N30; +constexpr double BEIDOU_CNAV1_CRS_LSB = GNSS_SDR_TWO_N8; +constexpr double BEIDOU_CNAV1_CRC_LSB = GNSS_SDR_TWO_N8; +constexpr double BEIDOU_CNAV1_CUS_LSB = GNSS_SDR_TWO_N30; +constexpr double BEIDOU_CNAV1_CUC_LSB = GNSS_SDR_TWO_N30; +constexpr double BEIDOU_CNAV1_AF0_LSB = GNSS_SDR_TWO_N34; +constexpr double BEIDOU_CNAV1_AF1_LSB = GNSS_SDR_TWO_N50; +constexpr double BEIDOU_CNAV1_AF2_LSB = GNSS_SDR_TWO_N66; +constexpr double BEIDOU_CNAV1_TGD_LSB = GNSS_SDR_TWO_N34; +constexpr double BEIDOU_CNAV1_ISC_LSB = GNSS_SDR_TWO_N34; + +#endif // GNSS_SDR_BEIDOU_CNAV1_H diff --git a/src/core/system_parameters/CMakeLists.txt b/src/core/system_parameters/CMakeLists.txt index 0dd5e7a6b..7c9a342a1 100644 --- a/src/core/system_parameters/CMakeLists.txt +++ b/src/core/system_parameters/CMakeLists.txt @@ -24,6 +24,9 @@ set(SYSTEM_PARAMETERS_SOURCES galileo_reduced_ced.cc beidou_dnav_navigation_message.cc beidou_dnav_ephemeris.cc + beidou_cnav1_ephemeris.cc + beidou_cnav1_navigation_message.cc + beidou_cnav1_ldpc.cc sbas_ephemeris.cc gps_cnav_navigation_message.cc glonass_gnav_ephemeris.cc @@ -90,6 +93,15 @@ set(SYSTEM_PARAMETERS_HEADERS GPS_L2C.h GPS_L5.h Beidou_B1I.h + Beidou_B1C.h + Beidou_B1C_codes.h + Beidou_B1C_prn.h + Beidou_CNAV1.h + beidou_cnav1_ldpc.h + beidou_cnav1_ephemeris.h + beidou_cnav1_navigation_message.h + beidou_cnav1_iono.h + beidou_cnav1_utc_model.h Beidou_B3I.h Beidou_DNAV.h MATH_CONSTANTS.h diff --git a/src/core/system_parameters/beidou_cnav1_ephemeris.cc b/src/core/system_parameters/beidou_cnav1_ephemeris.cc new file mode 100644 index 000000000..e66da80eb --- /dev/null +++ b/src/core/system_parameters/beidou_cnav1_ephemeris.cc @@ -0,0 +1 @@ +#include "beidou_cnav1_ephemeris.h" diff --git a/src/core/system_parameters/beidou_cnav1_ephemeris.h b/src/core/system_parameters/beidou_cnav1_ephemeris.h new file mode 100644 index 000000000..3f0a333c4 --- /dev/null +++ b/src/core/system_parameters/beidou_cnav1_ephemeris.h @@ -0,0 +1,69 @@ +/*! + * \file beidou_cnav1_ephemeris.h + * \brief BeiDou B-CNAV1 ephemeris storage (BDS-SIS-ICD-B1C-1.0 §7) + * \author GNSS-SDR contributors + * + * ----------------------------------------------------------------------------- + * SPDX-License-Identifier: GPL-3.0-or-later + * ----------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_BEIDOU_CNAV1_EPHEMERIS_H +#define GNSS_SDR_BEIDOU_CNAV1_EPHEMERIS_H + +#include "gnss_ephemeris.h" +#include + +class Beidou_Cnav1_Ephemeris : public Gnss_Ephemeris +{ +public: + Beidou_Cnav1_Ephemeris() = default; + + double TGD_B1Cp{}; //!< §7.6 B1C pilot group delay + double TGD_B2ap{}; //!< §7.6 B2a pilot group delay + double ISC_B1Cd{}; //!< §7.6 B1C data-to-pilot intra-frequency delay correction + double IODC{}; //!< §7.4.2 + double IODE{}; //!< §7.4.1 + int32_t sig_type{7}; //!< B1C data component identifier for PVT + int32_t nav_type{1}; //!< 0: GEO, 1: MEO/IGSO + + template + void serialize(Archive& archive, const unsigned int version) + { + if (version) + { + }; + archive& BOOST_SERIALIZATION_NVP(PRN); + archive& BOOST_SERIALIZATION_NVP(M_0); + archive& BOOST_SERIALIZATION_NVP(delta_n); + archive& BOOST_SERIALIZATION_NVP(ecc); + archive& BOOST_SERIALIZATION_NVP(sqrtA); + archive& BOOST_SERIALIZATION_NVP(OMEGA_0); + archive& BOOST_SERIALIZATION_NVP(i_0); + archive& BOOST_SERIALIZATION_NVP(omega); + archive& BOOST_SERIALIZATION_NVP(OMEGAdot); + archive& BOOST_SERIALIZATION_NVP(idot); + archive& BOOST_SERIALIZATION_NVP(Cuc); + archive& BOOST_SERIALIZATION_NVP(Cus); + archive& BOOST_SERIALIZATION_NVP(Crc); + archive& BOOST_SERIALIZATION_NVP(Crs); + archive& BOOST_SERIALIZATION_NVP(Cic); + archive& BOOST_SERIALIZATION_NVP(Cis); + archive& BOOST_SERIALIZATION_NVP(toe); + archive& BOOST_SERIALIZATION_NVP(toc); + archive& BOOST_SERIALIZATION_NVP(af0); + archive& BOOST_SERIALIZATION_NVP(af1); + archive& BOOST_SERIALIZATION_NVP(af2); + archive& BOOST_SERIALIZATION_NVP(WN); + archive& BOOST_SERIALIZATION_NVP(tow); + archive& BOOST_SERIALIZATION_NVP(TGD_B1Cp); + archive& BOOST_SERIALIZATION_NVP(TGD_B2ap); + archive& BOOST_SERIALIZATION_NVP(ISC_B1Cd); + archive& BOOST_SERIALIZATION_NVP(IODC); + archive& BOOST_SERIALIZATION_NVP(IODE); + archive& BOOST_SERIALIZATION_NVP(sig_type); + archive& BOOST_SERIALIZATION_NVP(nav_type); + } +}; + +#endif // GNSS_SDR_BEIDOU_CNAV1_EPHEMERIS_H diff --git a/src/core/system_parameters/beidou_cnav1_iono.h b/src/core/system_parameters/beidou_cnav1_iono.h new file mode 100644 index 000000000..0e0cf0e83 --- /dev/null +++ b/src/core/system_parameters/beidou_cnav1_iono.h @@ -0,0 +1,25 @@ +/*! + * \file beidou_cnav1_iono.h + * \brief BeiDou B-CNAV1 ionospheric model (§7.8) + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#ifndef GNSS_SDR_BEIDOU_CNAV1_IONO_H +#define GNSS_SDR_BEIDOU_CNAV1_IONO_H + +class Beidou_Cnav1_Iono +{ +public: + double alpha1{}; + double alpha2{}; + double alpha3{}; + double alpha4{}; + double alpha5{}; + double alpha6{}; + double alpha7{}; + double alpha8{}; + double alpha9{}; + bool valid{}; +}; + +#endif diff --git a/src/core/system_parameters/beidou_cnav1_ldpc.cc b/src/core/system_parameters/beidou_cnav1_ldpc.cc new file mode 100644 index 000000000..ce2d647cd --- /dev/null +++ b/src/core/system_parameters/beidou_cnav1_ldpc.cc @@ -0,0 +1,703 @@ +/*! + * \file beidou_cnav1_ldpc.cc + * \brief B-CNAV1 LDPC graph and non-binary BP decoder over GF(64) + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#include "beidou_cnav1_ldpc.h" +#include +#include +#include +#include +#include +#include +#include + +namespace +{ +constexpr int32_t BITS_PER_SYMBOL = 6; +constexpr int32_t Q = 64; +constexpr int32_t NM = BEIDOU_CNAV1_LDPC_NM; +constexpr int32_t FP_CANDIDATES = 8 + 2 * NM; +constexpr float LLR_FALLBACK_GAP = 25.0F; + +struct TruncMessage +{ + std::array sym{}; + std::array llr{}; +}; + +struct FixedPathCandidate +{ + uint8_t sym = 0; + float llr = std::numeric_limits::max(); +}; + +uint8_t bits_to_symbol_msb_first(const float* bit_llr, int32_t bit_offset) +{ + uint8_t symbol = 0; + for (int32_t bit = 0; bit < BITS_PER_SYMBOL; bit++) + { + symbol = static_cast((symbol << 1U) | (bit_llr[bit_offset + bit] >= 0.0F ? 1U : 0U)); + } + return symbol; +} + +void normalize_message(TruncMessage& msg) +{ + const float min_llr = msg.llr[0]; + for (int32_t i = 0; i < NM; i++) + { + msg.llr[i] -= min_llr; + } +} + +float lookup_message_llr_var_domain(const TruncMessage& c2v_msg, uint8_t h_inv, uint8_t x_var) +{ + for (int32_t i = 0; i < NM; i++) + { + const uint8_t mapped = GaloisField64::mul(h_inv, c2v_msg.sym[i]); + if (mapped == x_var) + { + return c2v_msg.llr[i]; + } + } + return c2v_msg.llr[NM - 1] + LLR_FALLBACK_GAP; +} + +void truncate_metric_vector(const std::array& metric, TruncMessage& out) +{ + std::array used{}; + for (int32_t kept = 0; kept < NM; kept++) + { + float best_llr = std::numeric_limits::max(); + int32_t best_sym = 0; + for (int32_t x = 0; x < Q; x++) + { + if (!used[static_cast(x)] && metric[static_cast(x)] < best_llr) + { + best_llr = metric[static_cast(x)]; + best_sym = x; + } + } + used[static_cast(best_sym)] = true; + out.sym[kept] = static_cast(best_sym); + out.llr[kept] = best_llr; + } + normalize_message(out); +} + +uint8_t row_syndrome(const BeidouCnav1LdpcGraph& graph, int32_t check_index, const std::vector& codeword) +{ + uint8_t syndrome = GaloisField64::kZero; + const uint32_t begin = graph.check_offsets[static_cast(check_index)]; + const uint32_t end = graph.check_offsets[static_cast(check_index + 1)]; + for (uint32_t edge = begin; edge < end; edge++) + { + const uint16_t var = graph.check_to_var[edge]; + const uint8_t h_ij = graph.check_to_h[edge]; + syndrome = GaloisField64::add(syndrome, GaloisField64::mul(h_ij, codeword[var])); + } + return syndrome; +} + +bool syndrome_is_zero(const BeidouCnav1LdpcGraph& graph, const std::vector& codeword) +{ + for (int32_t row = 0; row < graph.num_checks; row++) + { + if (row_syndrome(graph, row, codeword) != GaloisField64::kZero) + { + return false; + } + } + return true; +} + +void symbols_to_bits(const std::vector& symbols, int32_t num_info_symbols, uint8_t* info_bits) +{ + for (int32_t symbol_index = 0; symbol_index < num_info_symbols; symbol_index++) + { + const uint8_t symbol = symbols[static_cast(symbol_index)]; + for (int32_t bit = 0; bit < BITS_PER_SYMBOL; bit++) + { + info_bits[symbol_index * BITS_PER_SYMBOL + bit] = static_cast((symbol >> (5 - bit)) & 1U); + } + } +} + +bool graph_is_valid(const BeidouCnav1LdpcGraph& graph) +{ + if (graph.num_checks <= 0 || graph.num_variables <= 0 || graph.row_weight <= 0) + { + return false; + } + const int32_t expected_edges = graph.num_checks * graph.row_weight; + return graph.check_offsets.size() == static_cast(graph.num_checks + 1) && + graph.var_offsets.size() == static_cast(graph.num_variables + 1) && + graph.check_to_var.size() == static_cast(expected_edges) && + graph.check_to_h.size() == static_cast(expected_edges) && + graph.var_to_check.size() == static_cast(expected_edges) && + graph.var_to_edge.size() == static_cast(expected_edges) && + graph.var_to_h.size() == static_cast(expected_edges) && + graph.var_to_h_inv.size() == static_cast(expected_edges); +} + +void initialize_channel_llr( + const float* bit_llr, + int32_t num_symbols, + std::vector& hard_symbol, + std::vector& channel_llr) +{ + hard_symbol.assign(static_cast(num_symbols), 0U); + channel_llr.assign(static_cast(num_symbols) * Q, 0.0F); + + for (int32_t j = 0; j < num_symbols; j++) + { + const int32_t bit_offset = j * BITS_PER_SYMBOL; + const uint8_t hard = bits_to_symbol_msb_first(bit_llr, bit_offset); + hard_symbol[static_cast(j)] = hard; + std::array abs_bit_llr{}; + for (int32_t b = 0; b < BITS_PER_SYMBOL; b++) + { + abs_bit_llr[b] = std::fabs(bit_llr[bit_offset + b]); + } + for (int32_t x = 0; x < Q; x++) + { + float metric = 0.0F; + const auto diff = static_cast(x ^ hard); + for (int32_t b = 0; b < BITS_PER_SYMBOL; b++) + { + const auto bit_mask = static_cast(1U << (BITS_PER_SYMBOL - 1 - b)); + if ((diff & bit_mask) != 0U) + { + metric += abs_bit_llr[b]; + } + } + channel_llr[static_cast(j) * Q + static_cast(x)] = metric; + } + } +} + +void initialize_v2c_messages( + const BeidouCnav1LdpcGraph& graph, + const std::vector& channel_llr, + std::vector& v2c) +{ + const int32_t edge_count = graph.num_checks * graph.row_weight; + for (int32_t edge = 0; edge < edge_count; edge++) + { + const uint16_t var = graph.check_to_var[static_cast(edge)]; + const uint8_t h_ij = graph.check_to_h[static_cast(edge)]; + std::array mapped_metric{}; + for (int32_t x = 0; x < Q; x++) + { + const uint8_t y = GaloisField64::mul(h_ij, static_cast(x)); + mapped_metric[static_cast(y)] = + channel_llr[static_cast(var) * Q + static_cast(x)]; + } + truncate_metric_vector(mapped_metric, v2c[static_cast(edge)]); + } +} + +void variable_node_update( + const BeidouCnav1LdpcGraph& graph, + const std::vector& channel_llr, + std::vector& v2c, + const std::vector& c2v, + std::vector& hard_codeword) +{ + std::array posterior{}; + std::array outgoing_metric{}; + + for (int32_t var = 0; var < graph.num_variables; var++) + { + const uint32_t begin = graph.var_offsets[static_cast(var)]; + const uint32_t end = graph.var_offsets[static_cast(var + 1)]; + + for (int32_t x = 0; x < Q; x++) + { + float metric = channel_llr[static_cast(var) * Q + static_cast(x)]; + for (uint32_t p = begin; p < end; p++) + { + const uint32_t edge = graph.var_to_edge[p]; + const uint8_t h_fj_inv = graph.var_to_h_inv[p]; + metric += lookup_message_llr_var_domain(c2v[edge], h_fj_inv, static_cast(x)); + } + posterior[static_cast(x)] = metric; + } + + int32_t hard_symbol = 0; + float best_hard_llr = posterior[0]; + for (int32_t x = 1; x < Q; x++) + { + if (posterior[static_cast(x)] < best_hard_llr) + { + best_hard_llr = posterior[static_cast(x)]; + hard_symbol = x; + } + } + hard_codeword[static_cast(var)] = static_cast(hard_symbol); + + for (uint32_t p = begin; p < end; p++) + { + const uint32_t edge_out = graph.var_to_edge[p]; + const uint8_t h_ij = graph.var_to_h[p]; + for (int32_t y = 0; y < Q; y++) + { + outgoing_metric[static_cast(y)] = std::numeric_limits::max(); + } + for (int32_t x = 0; x < Q; x++) + { + float metric = channel_llr[static_cast(var) * Q + static_cast(x)]; + for (uint32_t q = begin; q < end; q++) + { + const uint32_t edge_in = graph.var_to_edge[q]; + if (edge_in == edge_out) + { + continue; + } + const uint8_t h_fj_inv = graph.var_to_h_inv[q]; + metric += lookup_message_llr_var_domain(c2v[edge_in], h_fj_inv, static_cast(x)); + } + const uint8_t y_out = GaloisField64::mul(h_ij, static_cast(x)); + outgoing_metric[static_cast(y_out)] = metric; + } + truncate_metric_vector(outgoing_metric, v2c[edge_out]); + } + } +} + +void build_fixed_path_candidates( + const std::array& in, + std::array& cand) +{ + for (auto& c : cand) + { + c.sym = 0U; + c.llr = std::numeric_limits::max(); + } + + const uint8_t s0 = in[0].sym[0]; + const uint8_t s1 = in[1].sym[0]; + const uint8_t s2 = in[2].sym[0]; + const uint8_t s3 = in[3].sym[0]; + const float r0 = in[0].llr[0]; + const float r1 = in[1].llr[0]; + const float r2 = in[2].llr[0]; + const float r3 = in[3].llr[0]; + const uint8_t base_sym = GaloisField64::add(GaloisField64::add(s0, s1), GaloisField64::add(s2, s3)); + const float base_llr = r0 + r1 + r2 + r3; + + int32_t idx = 0; + cand[idx++] = {base_sym, base_llr}; + + for (int32_t l = 0; l < 4; l++) + { + const uint8_t sym = GaloisField64::add(base_sym, GaloisField64::add(in[l].sym[0], in[l].sym[1])); + const float llr = base_llr - in[l].llr[0] + in[l].llr[1]; + cand[idx++] = {sym, llr}; + } + + constexpr std::array, 6> pairs = { + std::pair{0, 1}, + {0, 2}, + {0, 3}, + {1, 2}, + {1, 3}, + {2, 3}, + }; + for (const auto& pair : pairs) + { + const int32_t a = pair.first; + const int32_t b = pair.second; + const uint8_t sym = GaloisField64::add( + base_sym, + GaloisField64::add( + GaloisField64::add(in[a].sym[0], in[a].sym[1]), + GaloisField64::add(in[b].sym[0], in[b].sym[1]))); + const float llr = base_llr - in[a].llr[0] - in[b].llr[0] + in[a].llr[1] + in[b].llr[1]; + cand[idx++] = {sym, llr}; + } + + for (int32_t rank = 2; rank < NM && idx < FP_CANDIDATES; rank++) + { + for (int32_t l = 0; l < 4 && idx < FP_CANDIDATES; l++) + { + const uint8_t sym = GaloisField64::add(base_sym, GaloisField64::add(in[l].sym[0], in[l].sym[rank])); + const float llr = base_llr - in[l].llr[0] + in[l].llr[rank]; + cand[idx++] = {sym, llr}; + } + } +} + +void fixed_path_check_update( + const BeidouCnav1LdpcGraph& graph, + const std::vector& v2c, + std::vector& c2v) +{ + std::array edge_idx{}; + std::array order{}; + std::array in_sorted{}; + std::array candidates{}; + std::array T{}; + std::array Tbar{}; + + for (int32_t check = 0; check < graph.num_checks; check++) + { + const uint32_t begin = graph.check_offsets[static_cast(check)]; + const uint32_t end = graph.check_offsets[static_cast(check + 1)]; + if (static_cast(end - begin) != 4) + { + continue; + } + for (int32_t l = 0; l < 4; l++) + { + edge_idx[l] = static_cast(begin) + l; + order[l] = l; + } + std::sort(order.begin(), order.end(), [&](int32_t a, int32_t b) { + return v2c[static_cast(edge_idx[a])].llr[1] < v2c[static_cast(edge_idx[b])].llr[1]; + }); + for (int32_t l = 0; l < 4; l++) + { + in_sorted[l] = v2c[static_cast(edge_idx[order[l]])]; + } + + build_fixed_path_candidates(in_sorted, candidates); + + int32_t theta = 0; + int32_t beta = 1; + float min2 = in_sorted[0].llr[1]; + float second2 = in_sorted[1].llr[1]; + if (second2 < min2) + { + std::swap(min2, second2); + std::swap(theta, beta); + } + for (int32_t l = 2; l < 4; l++) + { + const float v = in_sorted[l].llr[1]; + if (v < min2) + { + second2 = min2; + beta = theta; + min2 = v; + theta = l; + } + else if (v < second2) + { + second2 = v; + beta = l; + } + } + const int32_t ref_idx = NM / 2; + const float theta_ref = in_sorted[theta].llr[ref_idx]; + const float beta_ref = in_sorted[beta].llr[ref_idx]; + for (int32_t k = 0; k < FP_CANDIDATES; k++) + { + T[k] = (candidates[k].llr <= theta_ref) ? 1U : 0U; + Tbar[k] = (candidates[k].llr <= beta_ref) ? 1U : 0U; + } + + for (int32_t l = 0; l < 4; l++) + { + TruncMessage out{}; + int32_t filled = 0; + for (int32_t k = 0; k < FP_CANDIDATES && filled < NM; k++) + { + bool pass_gate = false; + if (l == 0) + { + pass_gate = (T[k] != 0U); + } + else if (l == theta) + { + pass_gate = (Tbar[k] != 0U); + } + else + { + pass_gate = (T[k] != 0U) || (Tbar[k] != 0U); + } + if (!pass_gate) + { + continue; + } + out.sym[filled] = GaloisField64::add(in_sorted[l].sym[0], candidates[k].sym); + out.llr[filled] = candidates[k].llr - in_sorted[l].llr[0]; + filled++; + } + while (filled < NM) + { + out.sym[filled] = out.sym[filled - 1]; + out.llr[filled] = out.llr[filled - 1] + 1.0F; + filled++; + } + normalize_message(out); + c2v[static_cast(edge_idx[order[l]])] = out; + } + } +} + +void reorder_icd_column_bands_to_check_rows( + int32_t num_checks, + int32_t row_weight, + int32_t num_entries, + const uint16_t* icd_index, + const uint8_t* icd_element, + std::vector& reordered_index, + std::vector& reordered_element) +{ + // ICD publishes a compact matrix with 4-column bands; decoding should read each band + // top-to-bottom ("按栏读取"), then move left-to-right to the next band. + const int32_t base_rows = num_checks / row_weight; + const int32_t cols_per_base_row = row_weight * row_weight; + + reordered_index.assign(static_cast(num_entries), 0U); + reordered_element.assign(static_cast(num_entries), 0U); + + for (int32_t band = 0; band < row_weight; band++) + { + for (int32_t row = 0; row < base_rows; row++) + { + const int32_t src_offset = row * cols_per_base_row + band * row_weight; + const int32_t check_row = band * base_rows + row; + const int32_t dst_offset = check_row * row_weight; + for (int32_t k = 0; k < row_weight; k++) + { + reordered_index[static_cast(dst_offset + k)] = + icd_index[static_cast(src_offset + k)]; + reordered_element[static_cast(dst_offset + k)] = + icd_element[static_cast(src_offset + k)]; + } + } + } +} + +bool decode_block( + const BeidouCnav1LdpcGraph& graph, + const float* bit_llr, + int32_t num_bits, + uint8_t* info_bits, + uint8_t* codeword_bits) +{ + if (!graph_is_valid(graph)) + { + return false; + } + + const int32_t n = graph.num_variables; + const int32_t k = n - graph.num_checks; + if (num_bits < n * BITS_PER_SYMBOL) + { + return false; + } + + std::vector hard_codeword(static_cast(n), 0U); + std::vector hard_symbol; + std::vector channel_llr; + initialize_channel_llr(bit_llr, n, hard_symbol, channel_llr); + hard_codeword = hard_symbol; + + const int32_t edge_count = graph.num_checks * graph.row_weight; + std::vector v2c(static_cast(edge_count)); + std::vector c2v(static_cast(edge_count)); + initialize_v2c_messages(graph, channel_llr, v2c); + c2v = v2c; + + for (int32_t iteration = 0; iteration < BEIDOU_CNAV1_LDPC_MAX_ITER; iteration++) + { + variable_node_update(graph, channel_llr, v2c, c2v, hard_codeword); + if (syndrome_is_zero(graph, hard_codeword)) + { + if (info_bits != nullptr) + { + symbols_to_bits(hard_codeword, k, info_bits); + } + if (codeword_bits != nullptr) + { + symbols_to_bits(hard_codeword, n, codeword_bits); + } + return true; + } + fixed_path_check_update(graph, v2c, c2v); + } + + return false; +} + +bool init_graph_impl( + int32_t num_checks, + int32_t num_variables, + int32_t row_weight, + const uint16_t* icd_index, + const uint8_t* icd_element, + int32_t num_entries, + BeidouCnav1LdpcGraph& graph) +{ + if (num_checks <= 0 || num_variables <= 0 || row_weight <= 0 || icd_index == nullptr || icd_element == nullptr) + { + return false; + } + if (num_entries != num_checks * row_weight) + { + return false; + } + if (num_checks % row_weight != 0) + { + return false; + } + + const int32_t base_rows = num_checks / row_weight; + const int32_t cols_per_base_row = row_weight * row_weight; + if (base_rows * cols_per_base_row != num_entries) + { + return false; + } + + std::vector reordered_index; + std::vector reordered_element; + reorder_icd_column_bands_to_check_rows( + num_checks, + row_weight, + num_entries, + icd_index, + icd_element, + reordered_index, + reordered_element); + const uint16_t* check_index = reordered_index.data(); + const uint8_t* check_element = reordered_element.data(); + + graph.num_checks = num_checks; + graph.num_variables = num_variables; + graph.row_weight = row_weight; + graph.check_offsets.assign(static_cast(num_checks + 1), 0U); + graph.check_to_var.assign(static_cast(num_entries), 0U); + graph.check_to_h.assign(static_cast(num_entries), 0U); + graph.var_offsets.assign(static_cast(num_variables + 1), 0U); + graph.var_to_check.assign(static_cast(num_entries), 0U); + graph.var_to_edge.assign(static_cast(num_entries), 0U); + graph.var_to_h.assign(static_cast(num_entries), 0U); + graph.var_to_h_inv.assign(static_cast(num_entries), 0U); + + for (int32_t i = 0; i < num_checks; i++) + { + graph.check_offsets[static_cast(i + 1)] = + graph.check_offsets[static_cast(i)] + static_cast(row_weight); + } + + std::vector var_degree(static_cast(num_variables), 0U); + for (int32_t edge = 0; edge < num_entries; edge++) + { + const uint16_t var = check_index[edge]; + const uint8_t h_ij = check_element[edge]; + if (var >= static_cast(num_variables) || + !GaloisField64::valid_symbol(h_ij) || + h_ij == GaloisField64::kZero) + { + return false; + } + graph.check_to_var[static_cast(edge)] = var; + graph.check_to_h[static_cast(edge)] = h_ij; + var_degree[static_cast(var)]++; + } + + for (int32_t j = 0; j < num_variables; j++) + { + graph.var_offsets[static_cast(j + 1)] = + graph.var_offsets[static_cast(j)] + var_degree[static_cast(j)]; + } + + std::vector cursor = graph.var_offsets; + for (int32_t i = 0; i < num_checks; i++) + { + const uint32_t begin = graph.check_offsets[static_cast(i)]; + const uint32_t end = graph.check_offsets[static_cast(i + 1)]; + for (uint32_t edge = begin; edge < end; edge++) + { + const uint16_t var = graph.check_to_var[edge]; + const uint8_t h_ij = graph.check_to_h[edge]; + const uint32_t pos = cursor[static_cast(var)]++; + graph.var_to_check[pos] = static_cast(i); + graph.var_to_edge[pos] = edge; + graph.var_to_h[pos] = h_ij; + graph.var_to_h_inv[pos] = GaloisField64::inv(h_ij); + } + } + + return true; +} +} // namespace + +bool beidou_cnav1_ldpc_init_graph( + int32_t num_checks, + int32_t num_variables, + int32_t row_weight, + const uint16_t* icd_index, + const uint8_t* icd_element, + int32_t num_entries, + BeidouCnav1LdpcGraph& graph) +{ + return init_graph_impl(num_checks, num_variables, row_weight, icd_index, icd_element, num_entries, graph); +} + +const BeidouCnav1LdpcGraph& beidou_cnav1_ldpc_graph_200_100() +{ + static const BeidouCnav1LdpcGraph graph = []() { + BeidouCnav1LdpcGraph out; + const bool ok = beidou_cnav1_ldpc_init_graph( + BEIDOU_CNAV1_LDPC_M200, + BEIDOU_CNAV1_LDPC_N200, + BEIDOU_CNAV1_LDPC_DC200, + BEIDOU_CNAV1_H100_200_INDEX, + BEIDOU_CNAV1_H100_200_ELEMENT, + BEIDOU_CNAV1_LDPC_M200 * BEIDOU_CNAV1_LDPC_DC200, + out); + if (!ok) + { + return BeidouCnav1LdpcGraph{}; + } + return out; + }(); + return graph; +} + +const BeidouCnav1LdpcGraph& beidou_cnav1_ldpc_graph_88_44() +{ + static const BeidouCnav1LdpcGraph graph = []() { + BeidouCnav1LdpcGraph out; + const bool ok = beidou_cnav1_ldpc_init_graph( + BEIDOU_CNAV1_LDPC_M88, + BEIDOU_CNAV1_LDPC_N88, + BEIDOU_CNAV1_LDPC_DC88, + BEIDOU_CNAV1_H44_88_INDEX, + BEIDOU_CNAV1_H44_88_ELEMENT, + BEIDOU_CNAV1_LDPC_M88 * BEIDOU_CNAV1_LDPC_DC88, + out); + if (!ok) + { + return BeidouCnav1LdpcGraph{}; + } + return out; + }(); + return graph; +} + +bool beidou_cnav1_ldpc_decode_200_100(const float* symbol_llr, int32_t num_bits, uint8_t* info_bits600) +{ + return decode_block(beidou_cnav1_ldpc_graph_200_100(), symbol_llr, num_bits, info_bits600, nullptr); +} + +bool beidou_cnav1_ldpc_decode_88_44(const float* symbol_llr, int32_t num_bits, uint8_t* info_bits264) +{ + return decode_block(beidou_cnav1_ldpc_graph_88_44(), symbol_llr, num_bits, info_bits264, nullptr); +} + +bool beidou_cnav1_ldpc_decode_200_100_codeword(const float* symbol_llr, int32_t num_bits, uint8_t* codeword_bits1200) +{ + return decode_block(beidou_cnav1_ldpc_graph_200_100(), symbol_llr, num_bits, nullptr, codeword_bits1200); +} + +bool beidou_cnav1_ldpc_decode_88_44_codeword(const float* symbol_llr, int32_t num_bits, uint8_t* codeword_bits528) +{ + return decode_block(beidou_cnav1_ldpc_graph_88_44(), symbol_llr, num_bits, nullptr, codeword_bits528); +} diff --git a/src/core/system_parameters/beidou_cnav1_ldpc.h b/src/core/system_parameters/beidou_cnav1_ldpc.h new file mode 100644 index 000000000..9558e7a6c --- /dev/null +++ b/src/core/system_parameters/beidou_cnav1_ldpc.h @@ -0,0 +1,183 @@ +/*! + * \file beidou_cnav1_ldpc.h + * \brief B-CNAV1 NB-LDPC decoder (BDS-SIS-ICD-B1C-1.0 §6.2.2, Appendix) + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#ifndef GNSS_SDR_BEIDOU_CNAV1_LDPC_DECODER_H +#define GNSS_SDR_BEIDOU_CNAV1_LDPC_DECODER_H + +#include +#include +#include + +constexpr int32_t BEIDOU_CNAV1_LDPC_N200 = 200; +constexpr int32_t BEIDOU_CNAV1_LDPC_K200 = 100; +constexpr int32_t BEIDOU_CNAV1_LDPC_M200 = 100; +constexpr int32_t BEIDOU_CNAV1_LDPC_DC200 = 4; +constexpr int32_t BEIDOU_CNAV1_LDPC_N88 = 88; +constexpr int32_t BEIDOU_CNAV1_LDPC_K88 = 44; +constexpr int32_t BEIDOU_CNAV1_LDPC_M88 = 44; +constexpr int32_t BEIDOU_CNAV1_LDPC_DC88 = 4; +constexpr int32_t BEIDOU_CNAV1_LDPC_NM = 8; +constexpr int32_t BEIDOU_CNAV1_LDPC_MAX_ITER = 15; + +/* + * GF(2^6) LUTs follow BDS-SIS-ICD-B1C-1.0 Appendix mapping tables. + * Primitive polynomial: p(x)=x^6+x+1. + */ +constexpr uint16_t BEIDOU_CNAV1_H100_200_INDEX[400] = { + 11, 62, 102, 150, 9, 60, 100, 148, 0, 51, 142, 197, 22, 80, 116, 154, 4, 90, + 131, 177, 47, 95, 138, 191, 51, 79, 146, 195, 44, 75, 142, 190, 13, 57, 135, + 198, 24, 65, 120, 173, 6, 88, 129, 179, 7, 89, 130, 176, 6, 58, 106, 158, 8, + 60, 108, 160, 44, 92, 139, 188, 4, 56, 104, 156, 10, 61, 101, 149, 39, 87, 123, + 168, 15, 67, 105, 167, 50, 78, 145, 194, 17, 98, 151, 187, 46, 94, 137, 190, + 14, 66, 104, 166, 7, 59, 107, 159, 21, 83, 119, 153, 31, 87, 114, 167, 2, 49, + 140, 199, 12, 64, 106, 164, 40, 53, 132, 159, 19, 96, 149, 185, 16, 68, 112, + 168, 14, 58, 132, 199, 34, 69, 125, 162, 23, 75, 119, 175, 42, 96, 144, 192, + 8, 63, 103, 151, 23, 81, 117, 155, 24, 93, 111, 182, 20, 72, 116, 172, 17, 69, + 113, 169, 34, 82, 130, 182, 1, 53, 101, 153, 46, 73, 140, 188, 13, 65, 107, + 165, 2, 54, 102, 154, 18, 70, 114, 170, 26, 67, 122, 175, 29, 77, 125, 177, + 36, 84, 120, 169, 25, 94, 108, 183, 39, 89, 137, 185, 21, 73, 117, 173, 28, + 76, 124, 176, 36, 90, 138, 186, 33, 68, 124, 161, 12, 56, 134, 197, 29, 85, + 112, 165, 45, 93, 136, 189, 27, 64, 123, 172, 28, 84, 115, 164, 25, 66, 121, + 174, 37, 85, 121, 170, 3, 50, 141, 196, 48, 76, 147, 192, 35, 70, 126, 163, + 32, 80, 128, 180, 0, 52, 100, 152, 43, 52, 135, 158, 35, 83, 131, 183, 10, + 62, 110, 162, 19, 71, 115, 171, 15, 59, 133, 196, 33, 81, 129, 181, 41, 54, + 133, 156, 20, 82, 118, 152, 38, 86, 122, 171, 30, 78, 126, 178, 9, 61, 109, + 161, 26, 95, 109, 180, 45, 72, 143, 191, 1, 48, 143, 198, 40, 98, 146, 194, + 18, 99, 148, 184, 5, 57, 105, 157, 41, 99, 147, 195, 31, 79, 127, 179, 3, 55, + 103, 155, 22, 74, 118, 174, 37, 91, 139, 187, 5, 91, 128, 178, 30, 86, 113, + 166, 43, 97, 145, 193, 16, 97, 150, 186, 11, 63, 111, 163, 32, 71, 127, 160, + 42, 55, 134, 157, 38, 88, 136, 184, 47, 74, 141, 189, 49, 77, 144, 193, 27, + 92, 110, 181}; +constexpr uint8_t BEIDOU_CNAV1_H100_200_ELEMENT[400] = { + 35, 13, 51, 60, 1, 44, 53, 24, 1, 45, 15, 6, 45, 15, 6, 1, 1, 44, 53, 24, 1, + 45, 15, 6, 35, 46, 56, 15, 6, 1, 45, 15, 15, 6, 1, 45, 44, 53, 24, 1, 24, 1, + 44, 30, 1, 45, 15, 6, 30, 24, 1, 44, 24, 1, 44, 30, 45, 15, 6, 1, 17, 38, 49, + 11, 24, 1, 44, 30, 24, 1, 44, 53, 24, 1, 44, 53, 30, 24, 1, 44, 33, 42, 14, + 24, 33, 42, 14, 24, 45, 15, 6, 1, 1, 45, 15, 6, 30, 24, 1, 44, 24, 1, 44, 53, + 1, 44, 30, 24, 57, 25, 9, 41, 1, 45, 15, 6, 1, 45, 15, 6, 42, 36, 12, 57, 6, + 1, 45, 15, 24, 1, 44, 53, 24, 1, 44, 30, 1, 45, 15, 6, 1, 45, 15, 6, 44, 53, + 24, 1, 30, 24, 1, 44, 1, 44, 30, 24, 53, 24, 1, 44, 1, 44, 53, 24, 27, 28, + 30, 31, 53, 24, 1, 44, 24, 1, 44, 30, 45, 15, 6, 1, 30, 24, 1, 44, 1, 45, 15, + 6, 26, 22, 14, 2, 35, 13, 18, 60, 45, 15, 6, 1, 30, 1, 44, 7, 6, 1, 45, 15, + 6, 1, 45, 15, 53, 24, 1, 44, 24, 1, 44, 53, 30, 24, 1, 44, 1, 44, 30, 24, 44, + 53, 24, 1, 53, 24, 1, 44, 44, 30, 24, 1, 30, 24, 1, 44, 1, 44, 30, 24, 1, 44, + 30, 24, 41, 16, 29, 51, 1, 44, 30, 24, 38, 23, 22, 7, 44, 53, 24, 1, 1, 45, + 15, 6, 30, 24, 1, 44, 53, 24, 1, 44, 6, 1, 45, 15, 24, 1, 44, 53, 35, 46, 56, + 15, 5, 33, 42, 14, 54, 7, 38, 23, 1, 45, 15, 6, 44, 30, 24, 1, 6, 1, 45, 15, + 53, 24, 1, 44, 44, 53, 24, 1, 1, 44, 53, 24, 1, 44, 30, 24, 44, 30, 24, 1, 1, + 44, 53, 24, 45, 15, 6, 1, 6, 1, 45, 15, 1, 44, 53, 24, 42, 47, 37, 32, 51, 60, + 35, 13, 29, 28, 30, 31, 6, 1, 45, 15, 24, 1, 44, 53, 44, 53, 24, 1, 44, 30, + 24, 1, 38, 49, 11, 17, 44, 30, 24, 1, 24, 1, 44, 30, 24, 1, 44, 30, 1, 44, 53, + 24, 53, 24, 1, 44}; +constexpr uint16_t BEIDOU_CNAV1_H44_88_INDEX[176] = { + 14, 35, 56, 70, 11, 29, 55, 73, 13, 39, 53, 69, 15, 34, 57, 71, 1, 27, 45, 54, + 23, 41, 63, 87, 2, 20, 46, 68, 6, 24, 50, 61, 2, 26, 61, 79, 9, 33, 59, 77, 4, + 30, 48, 74, 22, 42, 59, 76, 12, 38, 52, 68, 23, 43, 58, 77, 19, 21, 63, 64, 11, + 25, 65, 82, 17, 39, 44, 75, 9, 35, 49, 72, 19, 29, 66, 84, 13, 36, 56, 82, 17, + 43, 67, 81, 22, 40, 62, 86, 3, 21, 47, 69, 10, 24, 64, 83, 0, 37, 70, 86, 5, 31, + 49, 75, 4, 40, 53, 84, 5, 41, 52, 85, 18, 28, 67, 85, 0, 26, 44, 55, 10, 28, 54, + 72, 7, 30, 50, 81, 1, 36, 71, 87, 16, 38, 45, 74, 8, 34, 48, 73, 8, 32, 58, 76, + 12, 37, 57, 83, 6, 31, 51, 80, 15, 33, 47, 79, 16, 42, 66, 80, 7, 25, 51, 60, 3, + 27, 60, 78, 14, 32, 46, 78, 18, 20, 62, 65}; +constexpr uint8_t BEIDOU_CNAV1_H44_88_ELEMENT[176] = { + 30, 24, 1, 44, 24, 1, 44, 30, 40, 32, 61, 18, 53, 24, 1, 44, 51, 60, 35, 13, 18, + 15, 32, 61, 15, 6, 1, 45, 30, 24, 1, 44, 6, 1, 45, 15, 45, 15, 6, 1, 1, 45, 15, + 6, 1, 44, 53, 24, 24, 1, 44, 53, 44, 30, 24, 1, 34, 33, 45, 36, 55, 9, 34, 3, + 1, 44, 53, 24, 61, 47, 20, 8, 53, 24, 1, 44, 15, 6, 1, 45, 13, 18, 60, 35, 45, + 15, 6, 1, 24, 1, 44, 53, 37, 32, 52, 47, 44, 53, 24, 1, 39, 36, 34, 33, 44, 35, + 31, 50, 12, 25, 36, 14, 15, 35, 46, 56, 53, 24, 1, 44, 1, 44, 53, 24, 24, 1, 44, + 30, 44, 30, 24, 1, 15, 6, 1, 45, 30, 24, 1, 44, 2, 50, 22, 14, 33, 42, 14, 5, 34, + 3, 55, 9, 44, 35, 61, 50, 15, 6, 1, 45, 45, 15, 6, 1, 1, 44, 30, 24, 6, 1, 45, + 15, 1, 44, 53, 24}; +constexpr uint8_t BEIDOU_CNAV1_GF64_EXP[64] = { + 1, 2, 4, 8, 16, 32, 3, 6, 12, 24, 48, 35, 5, 10, 20, 40, 19, 38, 15, 30, 60, 59, 53, + 41, 17, 34, 7, 14, 28, 56, 51, 37, 9, 18, 36, 11, 22, 44, 27, 54, 47, 29, 58, 55, + 45, 25, 50, 39, 13, 26, 52, 43, 21, 42, 23, 46, 31, 62, 63, 61, 57, 49, 33, 1}; +constexpr int8_t BEIDOU_CNAV1_GF64_LOG[64] = { + 0, 0, 1, 6, 2, 12, 7, 26, 3, 32, 13, 35, 8, 48, 27, 18, 4, 24, 33, 16, 14, 52, 36, + 54, 9, 45, 49, 38, 28, 41, 19, 56, 5, 62, 25, 11, 34, 31, 17, 47, 15, 23, 53, 51, + 37, 44, 55, 40, 10, 61, 46, 30, 50, 22, 39, 43, 29, 60, 42, 21, 20, 59, 57, 58}; + +bool beidou_cnav1_ldpc_decode_200_100(const float* symbol_llr, int32_t num_bits, uint8_t* info_bits600); +bool beidou_cnav1_ldpc_decode_88_44(const float* symbol_llr, int32_t num_bits, uint8_t* info_bits264); +bool beidou_cnav1_ldpc_decode_200_100_codeword(const float* symbol_llr, int32_t num_bits, uint8_t* codeword_bits1200); +bool beidou_cnav1_ldpc_decode_88_44_codeword(const float* symbol_llr, int32_t num_bits, uint8_t* codeword_bits528); + +namespace GaloisField64 +{ +constexpr uint8_t kZero = 0U; +constexpr uint8_t kOrder = 63U; +constexpr uint8_t kFieldSize = 64U; + +// LUT values come from BDS-SIS-ICD-B1C-1.0 Appendix GF(2^6) mapping rules. +inline bool valid_symbol(uint8_t x) +{ + return x < kFieldSize; +} + +inline uint8_t add(uint8_t a, uint8_t b) +{ + if (!valid_symbol(a) || !valid_symbol(b)) + { + return kZero; + } + return static_cast(a ^ b); +} + +inline uint8_t mul(uint8_t a, uint8_t b) +{ + if (!valid_symbol(a) || !valid_symbol(b) || a == kZero || b == kZero) + { + return kZero; + } + const int32_t log_sum = static_cast(BEIDOU_CNAV1_GF64_LOG[a]) + + static_cast(BEIDOU_CNAV1_GF64_LOG[b]); + return BEIDOU_CNAV1_GF64_EXP[log_sum % kOrder]; +} + +inline uint8_t inv(uint8_t a) +{ + if (!valid_symbol(a) || a == kZero) + { + return kZero; + } + const int32_t exponent = static_cast(kOrder) - static_cast(BEIDOU_CNAV1_GF64_LOG[a]); + return BEIDOU_CNAV1_GF64_EXP[exponent % kOrder]; +} +} // namespace GaloisField64 + +struct BeidouCnav1LdpcGraph +{ + int32_t num_checks = 0; + int32_t num_variables = 0; + int32_t row_weight = 0; + + // Check-node (CSR-like) adjacency: [check_offsets[i], check_offsets[i+1]). + std::vector check_offsets; + std::vector check_to_var; + std::vector check_to_h; + + // Variable-node (CSC-like) adjacency: [var_offsets[j], var_offsets[j+1]). + std::vector var_offsets; + std::vector var_to_check; + std::vector var_to_edge; + std::vector var_to_h; + std::vector var_to_h_inv; +}; + +bool beidou_cnav1_ldpc_init_graph( + int32_t num_checks, + int32_t num_variables, + int32_t row_weight, + const uint16_t* icd_index, + const uint8_t* icd_element, + int32_t num_entries, + BeidouCnav1LdpcGraph& graph); + +const BeidouCnav1LdpcGraph& beidou_cnav1_ldpc_graph_200_100(); +const BeidouCnav1LdpcGraph& beidou_cnav1_ldpc_graph_88_44(); + +#endif // GNSS_SDR_BEIDOU_CNAV1_LDPC_DECODER_H diff --git a/src/core/system_parameters/beidou_cnav1_navigation_message.cc b/src/core/system_parameters/beidou_cnav1_navigation_message.cc new file mode 100644 index 000000000..22c68a17d --- /dev/null +++ b/src/core/system_parameters/beidou_cnav1_navigation_message.cc @@ -0,0 +1,884 @@ +/*! + * \file beidou_cnav1_navigation_message.cc + * \brief B-CNAV1 navigation message parser (BDS-SIS-ICD-B1C-1.0 §6.2) + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#include "beidou_cnav1_navigation_message.h" +#include "Beidou_B1C.h" +#include "Beidou_CNAV1.h" +#include "beidou_cnav1_ldpc.h" +#include +#include +#include +#include +#include +#include + +namespace +{ +struct BchCodebook +{ + int32_t n = 0; + int32_t k = 0; + int32_t corr_threshold = 0; + std::vector bipolar_codewords; + std::vector messages; +}; + +std::vector encode_bch_hypothesis_bipolar( + uint16_t msg_bits, + int32_t n, + int32_t k, + const std::vector& feedback_pos_1based) +{ + std::vector register_state(static_cast(k), 1); + std::vector encoded(static_cast(n), 1); + + for (int32_t i = 0; i < k; i++) + { + const auto bit = static_cast((msg_bits >> static_cast(k - 1 - i)) & 1U); + register_state[static_cast(k - 1 - i)] = (bit == 0) ? 1 : -1; + } + + for (int32_t ind = 0; ind < n; ind++) + { + encoded[static_cast(ind)] = register_state.back(); + int8_t feedback = 1; + for (const int32_t pos : feedback_pos_1based) + { + feedback = static_cast(feedback * register_state[static_cast(pos - 1)]); + } + for (int32_t j = k - 1; j > 0; j--) + { + register_state[static_cast(j)] = register_state[static_cast(j - 1)]; + } + register_state[0] = feedback; + } + + return encoded; +} + +BchCodebook build_bch_codebook( + int32_t n, + int32_t k, + const std::vector& feedback_pos_1based, + int32_t corr_threshold) +{ + BchCodebook cb{}; + cb.n = n; + cb.k = k; + cb.corr_threshold = corr_threshold; + const uint32_t num_messages = 1U << static_cast(k); + cb.bipolar_codewords.resize(static_cast(num_messages) * static_cast(n)); + cb.messages.resize(num_messages); + for (uint32_t m = 0; m < num_messages; m++) + { + const auto encoded = encode_bch_hypothesis_bipolar(static_cast(m), n, k, feedback_pos_1based); + std::copy(encoded.begin(), encoded.end(), + cb.bipolar_codewords.begin() + static_cast(m) * static_cast(n)); + cb.messages[m] = static_cast(m); + } + return cb; +} + +bool decode_bch_codeword(const int32_t* in, int32_t* out_msg, const BchCodebook& cb) +{ + int32_t best_corr = std::numeric_limits::min(); + uint16_t best_message = 0U; + for (size_t i = 0; i < cb.messages.size(); i++) + { + int32_t corr = 0; + const auto* cw = cb.bipolar_codewords.data() + static_cast(i) * cb.n; + for (int32_t j = 0; j < cb.n; j++) + { + const int32_t bit = in[j] > 0 ? 1 : 0; + const int32_t bipolar = (bit == 0) ? 1 : -1; + corr += static_cast(cw[j]) * bipolar; + } + if (corr > best_corr) + { + best_corr = corr; + best_message = cb.messages[i]; + } + } + if (best_corr < cb.corr_threshold) + { + return false; + } + for (int32_t bit = 0; bit < cb.k; bit++) + { + out_msg[bit] = static_cast((best_message >> static_cast(cb.k - 1 - bit)) & 1U); + } + return true; +} + + +static bool decode_bch_21_6(const int32_t* in, int32_t* out_msg) +{ + static const std::vector feedback_pos = {2, 4, 5, 6}; + static const BchCodebook cb = build_bch_codebook(21, 6, feedback_pos, 20); + return decode_bch_codeword(in, out_msg, cb); +} + + +static bool decode_bch_51_8(const int32_t* in, int32_t* out_msg) +{ + static const std::vector feedback_pos = {1, 4, 5, 6, 7, 8}; + static const BchCodebook cb = build_bch_codebook(51, 8, feedback_pos, 50); + return decode_bch_codeword(in, out_msg, cb); +} + + +uint32_t bits_to_unsigned(const int32_t* bits, int32_t length) +{ + uint32_t value = 0; + for (int32_t i = 0; i < length; i++) + { + value = (value << 1) | static_cast(bits[i] & 1); + } + return value; +} + +template +UIntT read_bits_be(const uint8_t* bits, int32_t offset, int32_t length) +{ + UIntT value = 0; + for (int32_t i = 0; i < length; i++) + { + value = static_cast((value << 1U) | static_cast(bits[offset + i] & 0x1U)); + } + return value; +} + +template +IntT sign_extend(uint64_t raw, int32_t bit_width) +{ + const uint64_t sign_mask = 1ULL << static_cast(bit_width - 1); + if ((raw & sign_mask) == 0ULL) + { + return static_cast(raw); + } + const uint64_t extend_mask = ~((1ULL << static_cast(bit_width)) - 1ULL); + return static_cast(raw | extend_mask); +} + +double twos_pow(int32_t exponent) +{ + return std::ldexp(1.0, exponent); +} + + +void deinterleave_sf2_sf3(const float* interleaved, float* sf2, float* sf3) +{ + int32_t sf2_idx = 0; + int32_t sf3_idx = 0; + for (int32_t in_idx = 0; in_idx < BEIDOU_CNAV1_INTERLEAVED_SYMBOLS; in_idx++) + { + // Received stream is column-major readout of a 36x48 block. + const int32_t row = in_idx % BEIDOU_CNAV1_INTERLEAVE_ROWS; + const int32_t col = in_idx / BEIDOU_CNAV1_INTERLEAVE_ROWS; + if (row < 33) + { + const int32_t group = row / 3; // 0..10 + const int32_t rem = row % 3; // 0,1 => SF2 rows ; 2 => SF3 row + if (rem < 2) + { + const int32_t sf2_row = group * 2 + rem; // 0..21 + sf2[sf2_row * BEIDOU_CNAV1_INTERLEAVE_COLS + col] = interleaved[in_idx]; + sf2_idx++; + } + else + { + const int32_t sf3_row = group; // 0..10 + sf3[sf3_row * BEIDOU_CNAV1_INTERLEAVE_COLS + col] = interleaved[in_idx]; + sf3_idx++; + } + } + else + { + const int32_t sf2_row = 22 + (row - 33); // 22..24 + sf2[sf2_row * BEIDOU_CNAV1_INTERLEAVE_COLS + col] = interleaved[in_idx]; + sf2_idx++; + } + } + (void)sf2_idx; + (void)sf3_idx; +} + +uint64_t read_unsigned(const uint8_t* bits, int32_t offset, int32_t length) +{ + return read_bits_be(bits, offset, length); +} + +int64_t read_signed(const uint8_t* bits, int32_t offset, int32_t length) +{ + const uint64_t raw = read_unsigned(bits, offset, length); + return sign_extend(raw, length); +} +uint32_t crc24q(const uint8_t* bits, int32_t num_bits) +{ + // 寄存器初始值设为全 0 + uint32_t crc = 0; + + // 生成多项式去除了最高位 x^24 后的低 24 位掩码 (0x1864CFB & 0xFFFFFF) + const uint32_t POLY = 0x864CFBU; + + for (int32_t i = 0; i < num_bits; i++) + { + // 提取当前最高位（第24位，索引为23） + uint32_t msb = (crc >> 23) & 1U; + uint32_t bit = (bits[i] != 0U) ? 1U : 0U; + + // 寄存器左移，保持 24 位位宽 + crc = (crc << 1) & 0xFFFFFFU; + + // MSB 反馈与输入信息比特异或，决定是否执行多项式除法（异或生成多项式） + if (msb ^ bit) + { + crc ^= POLY; + } + } + + // 依次输出构成 CRC 校验序列 + return crc; +} + +bool verify_crc24q(const uint8_t* bits, int32_t data_bits) +{ + const uint32_t computed = crc24q(bits, data_bits); + const auto received = static_cast(read_unsigned(bits, data_bits, BEIDOU_CNAV1_CRC_BITS)); + return computed == received; +} + +double a_ref_from_sat_type(uint32_t sat_type) +{ + if (sat_type == 0b01U || sat_type == 0b10U) + { + return BEIDOU_CNAV1_A_REF_IGSO; + } + return BEIDOU_CNAV1_A_REF_MEO; +} + +int32_t nav_type_from_sat_type(uint32_t sat_type) +{ + if (sat_type == 0b01U) + { + return 0; + } + return 1; +} + +void parse_subframe2(const uint8_t* bits, Beidou_Cnav1_Ephemeris& eph, double soh_seconds) +{ + int32_t offset = 0; + eph.WN = static_cast(read_unsigned(bits, offset, 13)); + offset += 13; + const auto how = static_cast(read_unsigned(bits, offset, 8)); + offset += 8; + eph.IODC = static_cast(read_unsigned(bits, offset, 10)); + offset += 10; + eph.IODE = static_cast(read_unsigned(bits, offset, 8)); + offset += 8; + + const auto toe_raw = static_cast(read_unsigned(bits, offset, 11)); + offset += 11; + const auto sat_type = static_cast(read_unsigned(bits, offset, 2)); + offset += 2; + const auto delta_a = static_cast(read_signed(bits, offset, 26)) * BEIDOU_CNAV1_DELTA_A_LSB; + offset += 26; + const auto a_dot = static_cast(read_signed(bits, offset, 25)) * BEIDOU_CNAV1_A_DOT_LSB; + offset += 25; + eph.delta_n = static_cast(read_signed(bits, offset, 17)) * BEIDOU_CNAV1_DELTA_N0_LSB; + offset += 17; + const auto delta_n_dot = static_cast(read_signed(bits, offset, 23)) * BEIDOU_CNAV1_DELTA_N0_DOT_LSB; + offset += 23; + eph.M_0 = static_cast(read_signed(bits, offset, 33)) * BEIDOU_CNAV1_M0_LSB; + offset += 33; + eph.ecc = static_cast(read_unsigned(bits, offset, 33)) * BEIDOU_CNAV1_E_LSB; + offset += 33; + eph.omega = static_cast(read_signed(bits, offset, 33)) * BEIDOU_CNAV1_OMEGA_LSB; + offset += 33; + + eph.OMEGA_0 = static_cast(read_signed(bits, offset, 33)) * BEIDOU_CNAV1_OMEGA_LSB; + offset += 33; + eph.i_0 = static_cast(read_signed(bits, offset, 33)) * BEIDOU_CNAV1_I0_LSB; + offset += 33; + eph.OMEGAdot = static_cast(read_signed(bits, offset, 19)) * BEIDOU_CNAV1_OMEGADOT_LSB; + offset += 19; + eph.idot = static_cast(read_signed(bits, offset, 15)) * BEIDOU_CNAV1_IDOT_LSB; + offset += 15; + eph.Cis = static_cast(read_signed(bits, offset, 16)) * BEIDOU_CNAV1_CIS_LSB; + offset += 16; + eph.Cic = static_cast(read_signed(bits, offset, 16)) * BEIDOU_CNAV1_CIC_LSB; + offset += 16; + eph.Crs = static_cast(read_signed(bits, offset, 24)) * BEIDOU_CNAV1_CRS_LSB; + offset += 24; + eph.Crc = static_cast(read_signed(bits, offset, 24)) * BEIDOU_CNAV1_CRC_LSB; + offset += 24; + eph.Cus = static_cast(read_signed(bits, offset, 21)) * BEIDOU_CNAV1_CUS_LSB; + offset += 21; + eph.Cuc = static_cast(read_signed(bits, offset, 21)) * BEIDOU_CNAV1_CUC_LSB; + offset += 21; + + eph.toc = static_cast(read_unsigned(bits, offset, 11)); + offset += 11; + eph.af0 = static_cast(read_signed(bits, offset, 25)) * BEIDOU_CNAV1_AF0_LSB; + offset += 25; + eph.af1 = static_cast(read_signed(bits, offset, 22)) * BEIDOU_CNAV1_AF1_LSB; + offset += 22; + eph.af2 = static_cast(read_signed(bits, offset, 11)) * BEIDOU_CNAV1_AF2_LSB; + offset += 11; + eph.TGD_B2ap = static_cast(read_signed(bits, offset, 12)) * BEIDOU_CNAV1_TGD_LSB; + offset += 12; + eph.ISC_B1Cd = static_cast(read_signed(bits, offset, 12)) * BEIDOU_CNAV1_ISC_LSB; + offset += 12; + eph.TGD_B1Cp = static_cast(read_signed(bits, offset, 12)) * BEIDOU_CNAV1_TGD_LSB; + offset += 12; + (void)a_dot; + (void)delta_n_dot; + + const double a_ref = a_ref_from_sat_type(sat_type); + eph.sqrtA = std::sqrt(a_ref + delta_a); + eph.toe = static_cast(toe_raw * BEIDOU_CNAV1_TOE_TOC_LSB); + eph.toc = static_cast(eph.toc * BEIDOU_CNAV1_TOE_TOC_LSB); + eph.tow = static_cast(how * 3600 + soh_seconds); + eph.nav_type = nav_type_from_sat_type(sat_type); + eph.sig_type = 7; +} + +void parse_page_common( + const uint8_t* bits, + bool has_sisaioe, + bool has_sisaioc, + Bds3_B1c_PageData& page_data, + int32_t& offset) +{ + offset = 0; + page_data.common.page_id = static_cast(read_unsigned(bits, offset, 6)); + offset += 6; + page_data.common.hs = static_cast(read_unsigned(bits, offset, 2)); + offset += 2; + page_data.common.dif = read_unsigned(bits, offset, 1) != 0U; + offset += 1; + page_data.common.sif = read_unsigned(bits, offset, 1) != 0U; + offset += 1; + page_data.common.aif = read_unsigned(bits, offset, 1) != 0U; + offset += 1; + page_data.common.sismai = static_cast(read_unsigned(bits, offset, 4)); + offset += 4; + page_data.sisaioe = 0; + page_data.sisaioc = 0; + if (has_sisaioe) + { + page_data.sisaioe = static_cast(read_unsigned(bits, offset, 5)); + offset += 5; + } + if (has_sisaioc) + { + page_data.sisaioc = static_cast(read_unsigned(bits, offset, 22)); + offset += 22; + } +} + +void parse_reduced_almanac(const uint8_t* bits, int32_t& offset, Bds3_B1c_AlmanacReduced& almanac) +{ + almanac.prn = static_cast(read_unsigned(bits, offset, 6)); + offset += 6; + almanac.sat_type = static_cast(read_unsigned(bits, offset, 2)); + offset += 2; + almanac.delta_a_m = static_cast(read_signed(bits, offset, 8)) * twos_pow(9); + offset += 8; + almanac.omega0_rad = static_cast(read_signed(bits, offset, 7)) * twos_pow(-6) * M_PI; + offset += 7; + almanac.phi0_rad = static_cast(read_signed(bits, offset, 7)) * twos_pow(-6) * M_PI; + offset += 7; + almanac.health = static_cast(read_unsigned(bits, offset, 8)); + offset += 8; +} + +void parse_medium_almanac(const uint8_t* bits, int32_t& offset, Bds3_B1c_AlmanacMedium& almanac) +{ + almanac.prn = static_cast(read_unsigned(bits, offset, 6)); + offset += 6; + almanac.sat_type = static_cast(read_unsigned(bits, offset, 2)); + offset += 2; + almanac.wna = static_cast(read_unsigned(bits, offset, 13)); + offset += 13; + almanac.toa_s = static_cast(read_unsigned(bits, offset, 8)) * 4096; + offset += 8; + almanac.eccentricity = static_cast(read_unsigned(bits, offset, 11)) * twos_pow(-16); + offset += 11; + almanac.delta_i_rad = static_cast(read_signed(bits, offset, 11)) * twos_pow(-14) * M_PI; + offset += 11; + almanac.sqrt_a_m_sqrt = static_cast(read_unsigned(bits, offset, 17)) * twos_pow(-4); + offset += 17; + almanac.omega0_rad = static_cast(read_signed(bits, offset, 16)) * twos_pow(-15) * M_PI; + offset += 16; + almanac.omega_dot_rad_s = static_cast(read_signed(bits, offset, 11)) * twos_pow(-33) * M_PI; + offset += 11; + almanac.omega_rad = static_cast(read_signed(bits, offset, 16)) * twos_pow(-15) * M_PI; + offset += 16; + almanac.m0_rad = static_cast(read_signed(bits, offset, 16)) * twos_pow(-15) * M_PI; + offset += 16; + almanac.af0_s = static_cast(read_signed(bits, offset, 11)) * twos_pow(-20); + offset += 11; + almanac.af1_s_s = static_cast(read_signed(bits, offset, 10)) * twos_pow(-37); + offset += 10; + almanac.health = static_cast(read_unsigned(bits, offset, 8)); + offset += 8; +} + +void parse_eop(const uint8_t* bits, int32_t& offset, Bds3_B1c_Eop& eop) +{ + eop.t_eop_s = static_cast(read_unsigned(bits, offset, 16)) * 16; + offset += 16; + eop.pm_x_arcsec = static_cast(read_signed(bits, offset, 21)) * twos_pow(-20); + offset += 21; + eop.pm_x_dot_arcsec_day = static_cast(read_signed(bits, offset, 15)) * twos_pow(-21); + offset += 15; + eop.pm_y_arcsec = static_cast(read_signed(bits, offset, 21)) * twos_pow(-20); + offset += 21; + eop.pm_y_dot_arcsec_day = static_cast(read_signed(bits, offset, 15)) * twos_pow(-21); + offset += 15; + eop.delta_ut1_s = static_cast(read_signed(bits, offset, 31)) * twos_pow(-24); + offset += 31; + eop.delta_ut1_dot_s_day = static_cast(read_signed(bits, offset, 19)) * twos_pow(-25); + offset += 19; +} + +void parse_bgto(const uint8_t* bits, int32_t& offset, Bds3_B1c_Bgto& bgto) +{ + bgto.gnss_id = static_cast(read_unsigned(bits, offset, 3)); + offset += 3; + bgto.wn0_bgto = static_cast(read_unsigned(bits, offset, 13)); + offset += 13; + bgto.t0_bgto_s = static_cast(read_unsigned(bits, offset, 16)) * 16; + offset += 16; + bgto.a0_bgto_s = static_cast(read_signed(bits, offset, 16)) * twos_pow(-35); + offset += 16; + bgto.a1_bgto_s_s = static_cast(read_signed(bits, offset, 13)) * twos_pow(-51); + offset += 13; + bgto.a2_bgto_s_s2 = static_cast(read_signed(bits, offset, 7)) * twos_pow(-68); + offset += 7; +} + +void parse_page1( + const uint8_t* bits, + Beidou_Cnav1_Iono& iono, + Beidou_Cnav1_Utc_Model& utc, + Bds3_B1c_PageData& page_data) +{ + int32_t offset = 0; + parse_page_common(bits, true, true, page_data, offset); + iono.alpha1 = static_cast(read_signed(bits, offset, 10)) * 0.125; + offset += 10; + iono.alpha2 = static_cast(read_signed(bits, offset, 8)) * 0.125; + offset += 8; + iono.alpha3 = static_cast(read_signed(bits, offset, 8)) * 0.125; + offset += 8; + iono.alpha4 = static_cast(read_signed(bits, offset, 8)) * 0.125; + offset += 8; + iono.alpha5 = static_cast(read_signed(bits, offset, 8)) * 0.125; + offset += 8; + iono.alpha6 = static_cast(read_signed(bits, offset, 8)) * 0.125; + offset += 8; + iono.alpha7 = static_cast(read_signed(bits, offset, 8)) * 0.125; + offset += 8; + iono.alpha8 = static_cast(read_signed(bits, offset, 8)) * 0.125; + offset += 8; + iono.alpha9 = static_cast(read_signed(bits, offset, 8)) * 0.125; + offset += 8; + + utc.A0 = static_cast(read_signed(bits, offset, 16)) * GNSS_SDR_TWO_N34; + offset += 16; + utc.A1 = static_cast(read_signed(bits, offset, 13)) * GNSS_SDR_TWO_N50; + offset += 13; + utc.A2 = static_cast(read_signed(bits, offset, 7)) * GNSS_SDR_TWO_N66; + offset += 7; + utc.delta_t_LSF = static_cast(read_signed(bits, offset, 8)); + offset += 8; + utc.tot = static_cast(read_unsigned(bits, offset, 16)); + offset += 16; + utc.WN_t = static_cast(read_unsigned(bits, offset, 13)); + offset += 13; + utc.WN_LSF = static_cast(read_unsigned(bits, offset, 13)); + offset += 13; + utc.DN = static_cast(read_unsigned(bits, offset, 3)); + offset += 3; + (void)read_signed(bits, offset, 8); +} + +void parse_page2(const uint8_t* bits, Bds3_B1c_PageData& page_data) +{ + int32_t offset = 0; + parse_page_common(bits, false, true, page_data, offset); + page_data.wna = static_cast(read_unsigned(bits, offset, 13)); + offset += 13; + page_data.toa_s = static_cast(read_unsigned(bits, offset, 8)) * 4096; + offset += 8; + for (auto& alm : page_data.reduced_almanac) + { + parse_reduced_almanac(bits, offset, alm); + } +} + +void parse_page3(const uint8_t* bits, Bds3_B1c_PageData& page_data) +{ + int32_t offset = 0; + parse_page_common(bits, true, false, page_data, offset); + parse_eop(bits, offset, page_data.eop); + parse_bgto(bits, offset, page_data.bgto); + // Consume trailing reserved block and CRC for layout completeness. + (void)read_unsigned(bits, offset, 14); + offset += 14; + (void)read_unsigned(bits, offset, 24); +} + +void parse_page4(const uint8_t* bits, Bds3_B1c_PageData& page_data) +{ + int32_t offset = 0; + parse_page_common(bits, false, true, page_data, offset); + parse_medium_almanac(bits, offset, page_data.medium_almanac); + // Consume trailing reserved block and CRC for layout completeness. + (void)read_unsigned(bits, offset, 47); + offset += 47; + (void)read_unsigned(bits, offset, 24); +} +} // namespace + + +bool Beidou_Cnav1_Navigation_Message::decode_frame( + const float* symbols, + int32_t num_symbols, + int32_t expected_prn, + int32_t* fail_stage) +{ + auto set_fail = [&](int32_t stage) { + if (fail_stage != nullptr) + { + *fail_stage = stage; + } + }; + + if (fail_stage != nullptr) + { + *fail_stage = -1; + } + if (num_symbols < BEIDOU_CNAV1_FRAME_SYMBOLS) + { + set_fail(0); + return false; + } + + std::array bit_llr{}; + for (int32_t i = 0; i < BEIDOU_CNAV1_FRAME_SYMBOLS; i++) + { + bit_llr[i] = symbols[i]; + } + + std::array hard_bits{}; + for (int32_t i = 0; i < BEIDOU_CNAV1_SUBFRAME1_SYMBOLS; i++) + { + hard_bits[i] = (symbols[i] >= 0.0F) ? 1 : 0; + } + + int32_t prn_bits[6]; + int32_t soh_bits[8]; + if (!decode_bch_21_6(hard_bits.data(), prn_bits)) + { + set_fail(1); + return false; + } + if (!decode_bch_51_8(hard_bits.data() + 21, soh_bits)) + { + set_fail(2); + return false; + } + + const uint32_t prn = bits_to_unsigned(prn_bits, 6); + if (prn < 1U || prn > static_cast(BEIDOU_B1C_NUMBER_OF_PRNS)) + { + set_fail(3); + return false; + } + if (expected_prn > 0 && static_cast(expected_prn) != prn) + { + set_fail(4); + return false; + } + + const uint32_t soh = bits_to_unsigned(soh_bits, 8); + const auto soh_seconds = static_cast(soh * BEIDOU_CNAV1_SOH_LSB_S); + ephemeris_.PRN = static_cast(prn); + + std::array sf2_llr{}; + std::array sf3_llr{}; + std::array sf2_llr_inv{}; + std::array sf2_llr_bitrev{}; + std::array sf2_llr_bitrev_inv{}; + std::array sf3_llr_inv{}; + std::array sf3_llr_bitrev{}; + std::array sf3_llr_bitrev_inv{}; + deinterleave_sf2_sf3(bit_llr.data() + BEIDOU_CNAV1_SUBFRAME1_SYMBOLS, sf2_llr.data(), sf3_llr.data()); + // LDPC works on GF(64): 6 bit-LLRs per symbol. Build four polarity/order variants + // (normal, inverted, per-symbol bit-reversed, both) and try each below. + for (int32_t i = 0; i < BEIDOU_CNAV1_SUBFRAME2_SYMBOLS; i++) + { + sf2_llr_inv[static_cast(i)] = -sf2_llr[static_cast(i)]; + } + // Reverse bit order within each 6-LLR GF(64) symbol; inv applies the same polarity flip. + for (int32_t symbol = 0; symbol < BEIDOU_CNAV1_SUBFRAME2_SYMBOLS / 6; symbol++) + { + const int32_t base = symbol * 6; + for (int32_t bit = 0; bit < 6; bit++) + { + sf2_llr_bitrev[static_cast(base + bit)] = + sf2_llr[static_cast(base + (5 - bit))]; + sf2_llr_bitrev_inv[static_cast(base + bit)] = + -sf2_llr_bitrev[static_cast(base + bit)]; + } + } + // SF3: same four LLR variants as SF2. + for (int32_t i = 0; i < BEIDOU_CNAV1_SUBFRAME3_SYMBOLS; i++) + { + sf3_llr_inv[static_cast(i)] = -sf3_llr[static_cast(i)]; + } + for (int32_t symbol = 0; symbol < BEIDOU_CNAV1_SUBFRAME3_SYMBOLS / 6; symbol++) + { + const int32_t base = symbol * 6; + for (int32_t bit = 0; bit < 6; bit++) + { + sf3_llr_bitrev[static_cast(base + bit)] = + sf3_llr[static_cast(base + (5 - bit))]; + sf3_llr_bitrev_inv[static_cast(base + bit)] = + -sf3_llr_bitrev[static_cast(base + bit)]; + } + } + + std::array sf2_data{}; + std::array sf3_data{}; + std::array sf2_codeword_bits{}; + std::array sf3_codeword_bits{}; + bool sf2_ldpc_ok = beidou_cnav1_ldpc_decode_200_100_codeword( + sf2_llr.data(), BEIDOU_CNAV1_SUBFRAME2_SYMBOLS, sf2_codeword_bits.data()); + if (!sf2_ldpc_ok) + { + sf2_ldpc_ok = beidou_cnav1_ldpc_decode_200_100_codeword( + sf2_llr_inv.data(), BEIDOU_CNAV1_SUBFRAME2_SYMBOLS, sf2_codeword_bits.data()); + } + if (!sf2_ldpc_ok) + { + sf2_ldpc_ok = beidou_cnav1_ldpc_decode_200_100_codeword( + sf2_llr_bitrev.data(), BEIDOU_CNAV1_SUBFRAME2_SYMBOLS, sf2_codeword_bits.data()); + } + if (!sf2_ldpc_ok) + { + sf2_ldpc_ok = beidou_cnav1_ldpc_decode_200_100_codeword( + sf2_llr_bitrev_inv.data(), BEIDOU_CNAV1_SUBFRAME2_SYMBOLS, sf2_codeword_bits.data()); + } + if (!sf2_ldpc_ok) + { + // SF2 LDPC fallback: after normal/inverted/bit-reversed attempts all fail, + // hard-slice the deinterleaved LLRs (sign of sf2_llr) as information bits. + for (int32_t i = 0; i < BEIDOU_CNAV1_SF2_DATA_BITS; i++) + { + sf2_data[static_cast(i)] = (sf2_llr[static_cast(i)] >= 0.0F) ? 1U : 0U; + } + } + else + { + // Some matrix descriptions/orderings are not guaranteed to keep information symbols + // in the first K symbols. Prefer the half that satisfies CRC if available. + std::copy_n(sf2_codeword_bits.begin(), BEIDOU_CNAV1_SF2_DATA_BITS, sf2_data.begin()); + if (!verify_crc24q(sf2_data.data(), BEIDOU_CNAV1_SF2_DATA_BITS - BEIDOU_CNAV1_CRC_BITS)) + { + std::copy_n( + sf2_codeword_bits.begin() + BEIDOU_CNAV1_SF2_DATA_BITS, + BEIDOU_CNAV1_SF2_DATA_BITS, + sf2_data.begin()); + } + } + bool sf3_ldpc_ok = beidou_cnav1_ldpc_decode_88_44_codeword( + sf3_llr.data(), BEIDOU_CNAV1_SUBFRAME3_SYMBOLS, sf3_codeword_bits.data()); + if (!sf3_ldpc_ok) + { + sf3_ldpc_ok = beidou_cnav1_ldpc_decode_88_44_codeword( + sf3_llr_inv.data(), BEIDOU_CNAV1_SUBFRAME3_SYMBOLS, sf3_codeword_bits.data()); + } + if (!sf3_ldpc_ok) + { + sf3_ldpc_ok = beidou_cnav1_ldpc_decode_88_44_codeword( + sf3_llr_bitrev.data(), BEIDOU_CNAV1_SUBFRAME3_SYMBOLS, sf3_codeword_bits.data()); + } + if (!sf3_ldpc_ok) + { + sf3_ldpc_ok = beidou_cnav1_ldpc_decode_88_44_codeword( + sf3_llr_bitrev_inv.data(), BEIDOU_CNAV1_SUBFRAME3_SYMBOLS, sf3_codeword_bits.data()); + } + if (!sf3_ldpc_ok) + { + for (int32_t i = 0; i < BEIDOU_CNAV1_SF3_DATA_BITS; i++) + { + sf3_data[static_cast(i)] = (sf3_llr[static_cast(i)] >= 0.0F) ? 1U : 0U; + } + } + else + { + std::copy_n(sf3_codeword_bits.begin(), BEIDOU_CNAV1_SF3_DATA_BITS, sf3_data.begin()); + if (!verify_crc24q(sf3_data.data(), BEIDOU_CNAV1_SF3_DATA_BITS - BEIDOU_CNAV1_CRC_BITS)) + { + std::copy_n( + sf3_codeword_bits.begin() + BEIDOU_CNAV1_SF3_DATA_BITS, + BEIDOU_CNAV1_SF3_DATA_BITS, + sf3_data.begin()); + } + } + + const bool sf2_crc_ok = verify_crc24q(sf2_data.data(), BEIDOU_CNAV1_SF2_DATA_BITS - BEIDOU_CNAV1_CRC_BITS); + const bool sf3_crc_ok = verify_crc24q(sf3_data.data(), BEIDOU_CNAV1_SF3_DATA_BITS - BEIDOU_CNAV1_CRC_BITS); + + if (!sf2_crc_ok) + { + set_fail(sf2_ldpc_ok ? 6 : 5); + return false; + } + + parse_subframe2(sf2_data.data(), ephemeris_, soh_seconds); + if (ephemeris_.sqrtA < 5000.0 || ephemeris_.sqrtA > 6700.0) + { + set_fail(7); + return false; + } + + ephemeris_.PRN = static_cast(prn); + tow_s_ = static_cast(ephemeris_.tow); + flag_new_ephemeris_ = true; + + if (sf3_crc_ok) + { + const auto page_id = static_cast(read_unsigned(sf3_data.data(), 0, 6)); + switch (page_id) + { + case 1: + parse_page1(sf3_data.data(), iono_, utc_model_, page_data_); + flag_new_iono_ = true; + flag_new_utc_ = true; + flag_new_page_data_ = true; + break; + case 2: + parse_page2(sf3_data.data(), page_data_); + flag_new_page_data_ = true; + break; + case 3: + parse_page3(sf3_data.data(), page_data_); + flag_new_page_data_ = true; + break; + case 4: + parse_page4(sf3_data.data(), page_data_); + flag_new_page_data_ = true; + break; + default: + break; + } + } + + return true; +} + + +bool Beidou_Cnav1_Navigation_Message::decode_frame_symbols( + const float* symbols, + int32_t num_symbols, + int32_t expected_prn, + int32_t* fail_stage) +{ + return decode_frame(symbols, num_symbols, expected_prn, fail_stage); +} + + +bool Beidou_Cnav1_Navigation_Message::probe_subframe1_prn(const float* symbols, int32_t num_symbols, int32_t expected_prn) const +{ + if (num_symbols < BEIDOU_CNAV1_SUBFRAME1_SYMBOLS) + { + return false; + } + + std::array hard_bits{}; + for (int32_t i = 0; i < BEIDOU_CNAV1_SUBFRAME1_SYMBOLS; i++) + { + hard_bits[i] = (symbols[i] >= 0.0F) ? 1 : 0; + } + + int32_t prn_bits[6]; + int32_t soh_bits[8]; + if (!decode_bch_21_6(hard_bits.data(), prn_bits)) + { + return false; + } + if (!decode_bch_51_8(hard_bits.data() + 21, soh_bits)) + { + return false; + } + + const uint32_t prn = bits_to_unsigned(prn_bits, 6); + if (prn < 1U || prn > static_cast(BEIDOU_B1C_NUMBER_OF_PRNS)) + { + return false; + } + return expected_prn <= 0 || static_cast(expected_prn) == prn; +} + + +bool Beidou_Cnav1_Navigation_Message::have_new_ephemeris() const +{ + return flag_new_ephemeris_; +} + +bool Beidou_Cnav1_Navigation_Message::have_new_iono() const +{ + return flag_new_iono_; +} + +bool Beidou_Cnav1_Navigation_Message::have_new_utc_model() const +{ + return flag_new_utc_; +} + +bool Beidou_Cnav1_Navigation_Message::have_new_page_data() const +{ + return flag_new_page_data_; +} + +void Beidou_Cnav1_Navigation_Message::clear_flags() +{ + flag_new_ephemeris_ = false; + flag_new_iono_ = false; + flag_new_utc_ = false; + flag_new_page_data_ = false; +} + +const Beidou_Cnav1_Ephemeris& Beidou_Cnav1_Navigation_Message::get_ephemeris() const +{ + return ephemeris_; +} + +const Beidou_Cnav1_Iono& Beidou_Cnav1_Navigation_Message::get_iono() const +{ + return iono_; +} + +const Beidou_Cnav1_Utc_Model& Beidou_Cnav1_Navigation_Message::get_utc_model() const +{ + return utc_model_; +} + +const Bds3_B1c_PageData& Beidou_Cnav1_Navigation_Message::get_page_data() const +{ + return page_data_; +} + +double Beidou_Cnav1_Navigation_Message::get_tow_s() const +{ + return tow_s_; +} diff --git a/src/core/system_parameters/beidou_cnav1_navigation_message.h b/src/core/system_parameters/beidou_cnav1_navigation_message.h new file mode 100644 index 000000000..bccf530e2 --- /dev/null +++ b/src/core/system_parameters/beidou_cnav1_navigation_message.h @@ -0,0 +1,122 @@ +/*! + * \file beidou_cnav1_navigation_message.h + * \brief B-CNAV1 navigation message parser (§6.2) + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#ifndef GNSS_SDR_BEIDOU_CNAV1_NAVIGATION_MESSAGE_H +#define GNSS_SDR_BEIDOU_CNAV1_NAVIGATION_MESSAGE_H + +#include "beidou_cnav1_ephemeris.h" +#include "beidou_cnav1_iono.h" +#include "beidou_cnav1_utc_model.h" +#include + +struct Bds3_B1c_PageCommon +{ + int32_t page_id{}; + int32_t sismai{}; + int32_t hs{}; + bool dif{}; + bool sif{}; + bool aif{}; +}; + +struct Bds3_B1c_AlmanacReduced +{ + int32_t prn{}; + int32_t sat_type{}; + double delta_a_m{}; + double omega0_rad{}; + double phi0_rad{}; + int32_t health{}; +}; + +struct Bds3_B1c_AlmanacMedium +{ + int32_t prn{}; + int32_t sat_type{}; + int32_t wna{}; + int32_t toa_s{}; + double eccentricity{}; + double delta_i_rad{}; + double sqrt_a_m_sqrt{}; + double omega0_rad{}; + double omega_dot_rad_s{}; + double omega_rad{}; + double m0_rad{}; + double af0_s{}; + double af1_s_s{}; + int32_t health{}; +}; + +struct Bds3_B1c_Eop +{ + int32_t t_eop_s{}; + double pm_x_arcsec{}; + double pm_x_dot_arcsec_day{}; + double pm_y_arcsec{}; + double pm_y_dot_arcsec_day{}; + double delta_ut1_s{}; + double delta_ut1_dot_s_day{}; +}; + +struct Bds3_B1c_Bgto +{ + int32_t gnss_id{}; + int32_t wn0_bgto{}; + int32_t t0_bgto_s{}; + double a0_bgto_s{}; + double a1_bgto_s_s{}; + double a2_bgto_s_s2{}; +}; + +struct Bds3_B1c_PageData +{ + Bds3_B1c_PageCommon common{}; + int32_t sisaioc{}; + int32_t sisaioe{}; + int32_t wna{}; + int32_t toa_s{}; + std::array reduced_almanac{}; + Bds3_B1c_Eop eop{}; + Bds3_B1c_Bgto bgto{}; + Bds3_B1c_AlmanacMedium medium_almanac{}; +}; + +struct Beidou_Cnav1_PageData_Message +{ + int32_t PRN{}; + Bds3_B1c_PageData page_data{}; +}; + +class Beidou_Cnav1_Navigation_Message +{ +public: + bool decode_frame(const float* symbols, int32_t num_symbols, int32_t expected_prn = 0, int32_t* fail_stage = nullptr); + bool decode_frame_symbols(const float* symbols, int32_t num_symbols, int32_t expected_prn = 0, int32_t* fail_stage = nullptr); + bool probe_subframe1_prn(const float* symbols, int32_t num_symbols, int32_t expected_prn) const; + bool have_new_ephemeris() const; + bool have_new_iono() const; + bool have_new_utc_model() const; + bool have_new_page_data() const; + void clear_flags(); + const Beidou_Cnav1_Ephemeris& get_ephemeris() const; + const Beidou_Cnav1_Iono& get_iono() const; + const Beidou_Cnav1_Utc_Model& get_utc_model() const; + const Bds3_B1c_PageData& get_page_data() const; + double get_tow_s() const; + +private: + Beidou_Cnav1_Ephemeris ephemeris_{}; + Beidou_Cnav1_Iono iono_{}; + Beidou_Cnav1_Utc_Model utc_model_{}; + bool flag_new_ephemeris_{false}; + bool flag_new_iono_{false}; + bool flag_new_utc_{false}; + bool flag_new_page_data_{false}; + double tow_s_{0.0}; + Bds3_B1c_PageData page_data_{}; +}; + +#endif diff --git a/src/core/system_parameters/beidou_cnav1_utc_model.h b/src/core/system_parameters/beidou_cnav1_utc_model.h new file mode 100644 index 000000000..fe4f88886 --- /dev/null +++ b/src/core/system_parameters/beidou_cnav1_utc_model.h @@ -0,0 +1,24 @@ +/*! + * \file beidou_cnav1_utc_model.h + * \brief BeiDou B-CNAV1 UTC model (§7.12) + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#ifndef GNSS_SDR_BEIDOU_CNAV1_UTC_MODEL_H +#define GNSS_SDR_BEIDOU_CNAV1_UTC_MODEL_H + +class Beidou_Cnav1_Utc_Model +{ +public: + double A0{}; + double A1{}; + double A2{}; + int32_t tot{}; + int32_t WN_t{}; + int32_t WN_LSF{}; + int32_t DN{}; + int32_t delta_t_LSF{}; + bool valid{}; +}; + +#endif diff --git a/src/core/system_parameters/gnss_frequencies.h b/src/core/system_parameters/gnss_frequencies.h index 67664bdd5..c9237b541 100644 --- a/src/core/system_parameters/gnss_frequencies.h +++ b/src/core/system_parameters/gnss_frequencies.h @@ -57,6 +57,7 @@ const std::unordered_map SIGNAL_FREQ_MAP = { {"B1", FREQ1_BDS}, {"B2", FREQ2_BDS}, {"B3", FREQ3_BDS}, + {"1D", FREQ1}, {"J1", FREQ1}, {"J5", FREQ5}, }; diff --git a/src/core/system_parameters/gnss_obs_codes.h b/src/core/system_parameters/gnss_obs_codes.h index 1f6c9a3ae..a5d96a24b 100644 --- a/src/core/system_parameters/gnss_obs_codes.h +++ b/src/core/system_parameters/gnss_obs_codes.h @@ -83,7 +83,8 @@ constexpr uint32_t CODE_L9A = 52; //!< obs code: SA SPS (IRN) constexpr uint32_t CODE_L9B = 53; //!< obs code: SB RS(D) (IRN) constexpr uint32_t CODE_L9C = 54; //!< obs code: SC RS(P) (IRN) constexpr uint32_t CODE_L9X = 55; //!< obs code: SB+C (IRN) -constexpr int32_t MAXCODE = 55; //!< max number of obs code +constexpr uint32_t CODE_L1D = 56; //!< obs code: B1C data (BDS) +constexpr int32_t MAXCODE = 56; //!< max number of obs code /** \} */ diff --git a/src/core/system_parameters/gnss_signal.h b/src/core/system_parameters/gnss_signal.h index 6889e4d00..5333ff0f6 100644 --- a/src/core/system_parameters/gnss_signal.h +++ b/src/core/system_parameters/gnss_signal.h @@ -49,7 +49,7 @@ public: * - GPS: "1C" (L1 C/A), "2S" (L2C), "L5" * - GLONASS: "1G" (L1 C/A), "2G" (L2 C/A) * - Galileo: "1B" (E1B), "5X" (E5a), "7X" (E5b), "6C" (E6C) - * - BeiDou: "B1" (B1I), "B3" (B3I) + * - BeiDou: "B1" (B1I), "B3" (B3I), "1D" (B1C) */ std::string get_signal_str() const; @@ -59,8 +59,8 @@ public: friend std::ostream& operator<<(std::ostream& /*out*/, const Gnss_Signal& /*sig*/); //!< operator<< for pretty printing private: - Gnss_Satellite satellite{}; - std::string signal{}; + Gnss_Satellite satellite; + std::string signal; }; diff --git a/src/core/system_parameters/signal_flag.h b/src/core/system_parameters/signal_flag.h index 6f6e8fba5..ce06fde21 100644 --- a/src/core/system_parameters/signal_flag.h +++ b/src/core/system_parameters/signal_flag.h @@ -34,6 +34,7 @@ enum signal_flag : uint32_t GLO_2G = 0x1 << 8, BDS_B1 = 0x1 << 9, BDS_B3 = 0x1 << 10, + BDS_B1C = 0x1 << 13, QZS_J1 = 0x1 << 11, QZS_J5 = 0x1 << 12 }; diff --git a/tests/test_main.cc b/tests/test_main.cc index 492fb6c59..c43e563cd 100644 --- a/tests/test_main.cc +++ b/tests/test_main.cc @@ -235,6 +235,11 @@ private: #if EXTRA_TESTS #include "unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc" // #include "unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc" +#include "unit-tests/signal-processing-blocks/acquisition/beidou_b1c_pcps_acquisition_test.cc" +#include "unit-tests/signal-processing-blocks/libs/beidou_b1c_signal_replica_test.cc" +#include "unit-tests/signal-processing-blocks/tracking/beidou_b1c_dll_pll_veml_tracking_test.cc" +#include "unit-tests/system-parameters/beidou_cnav1_ldpc_test.cc" +#include "unit-tests/system-parameters/beidou_cnav1_navigation_message_test.cc" // #include "unit-tests/signal-processing-blocks/acquisition/beidou_b3i_pcps_acquisition_test.cc" #ifndef EXCLUDE_TESTS_REQUIRING_BINARIES #include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc" diff --git a/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b1c_pcps_acquisition_test.cc b/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b1c_pcps_acquisition_test.cc new file mode 100644 index 000000000..f22ddab85 --- /dev/null +++ b/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b1c_pcps_acquisition_test.cc @@ -0,0 +1,35 @@ +/*! + * \file beidou_b1c_pcps_acquisition_test.cc + * \brief Unit tests for BeidouB1cPcpsAmbiguousAcquisition + * \author GNSS-SDR contributors + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#include "acquisition_interface.h" +#include "beidou_b1c_pcps_ambiguous_acquisition.h" +#include "gnss_block_factory.h" +#include "gnss_block_interface.h" +#include "in_memory_configuration.h" +#include +#include + +TEST(BeidouB1cPcpsAcquisitionTest, Instantiate) +{ + auto configuration = std::make_shared(); + configuration->set_property("Acquisition_1D.implementation", "BEIDOU_B1C_PCPS_Ambiguous_Acquisition"); + configuration->set_property("Acquisition_1D.item_type", "gr_complex"); + auto factory = std::make_unique(); + std::shared_ptr acq_ = factory->GetBlock(configuration.get(), "Acquisition_1D", 1, 0); + auto acquisition = std::dynamic_pointer_cast(acq_); + ASSERT_NE(acquisition, nullptr); + EXPECT_STREQ("BEIDOU_B1C_PCPS_Ambiguous_Acquisition", acquisition->implementation().c_str()); +} diff --git a/tests/unit-tests/signal-processing-blocks/libs/beidou_b1c_signal_replica_test.cc b/tests/unit-tests/signal-processing-blocks/libs/beidou_b1c_signal_replica_test.cc new file mode 100644 index 000000000..739a8723c --- /dev/null +++ b/tests/unit-tests/signal-processing-blocks/libs/beidou_b1c_signal_replica_test.cc @@ -0,0 +1,81 @@ +/*! + * \file beidou_b1c_signal_replica_test.cc + * \brief Unit tests for BeiDou B1C signal replica generation + * \author GNSS-SDR contributors + * + * ----------------------------------------------------------------------------- + * + * GNSS-SDR is a Global Navigation Satellite System software-defined receiver. + * This file is part of GNSS-SDR. + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ----------------------------------------------------------------------------- + */ + +#include "Beidou_B1C.h" +#include "beidou_b1c_signal_replica.h" +#include +#include +#include +#include +#include + +TEST(BeidouB1cSignalReplicaTest, SampledCodeLength) +{ + constexpr int32_t fs = 2046000; + const auto samples_per_chip = static_cast(std::lround(static_cast(fs) / BEIDOU_B1C_CODE_RATE_CPS)); + const auto expected_length = static_cast(BEIDOU_B1C_CODE_LENGTH_CHIPS * samples_per_chip); + std::vector> code(expected_length); + const std::array data_signal = {{'1', 'D', '\0'}}; + beidou_b1c_code_gen_complex_sampled(code, data_signal, false, 1, fs, 0); + EXPECT_EQ(code.size(), expected_length); +} + + +TEST(BeidouB1cSignalReplicaTest, Prn1DataFirst24ChipsMatchIcd) +{ + std::array chips{}; + const std::array data_signal = {{'1', 'D', '\0'}}; + beidou_b1c_code_gen_int(chips, data_signal, 1); + const char* expected = "101011111111011001001110"; + for (int i = 0; i < 24; i++) + { + EXPECT_EQ(chips[i], expected[i] - '0') << "chip index " << i; + } +} + + +TEST(BeidouB1cSignalReplicaTest, SinBoc11AutocorrelationShape) +{ + std::array code{}; + const std::array data_signal = {{'1', 'D', '\0'}}; + beidou_b1c_code_gen_sinboc11_float(code, data_signal, 1); + + double peak = 0.0; + double side = 0.0; + const int32_t samples_per_chip = 2; + const int32_t code_samples = static_cast(BEIDOU_B1C_CODE_LENGTH_CHIPS) * samples_per_chip; + for (int32_t lag = -code_samples; lag <= code_samples; lag++) + { + double corr = 0.0; + for (int32_t i = 0; i < code_samples; i++) + { + const int32_t j = (i + lag + code_samples) % code_samples; + corr += static_cast(code[i]) * static_cast(code[j]); + } + corr /= static_cast(code_samples); + if (lag == 0) + { + peak = std::abs(corr); + } + else if (std::abs(lag) == samples_per_chip) + { + side = std::max(side, std::abs(corr)); + } + } + EXPECT_GT(peak, 0.0); + EXPECT_GT(side, 0.0); + EXPECT_LT(side, peak); +} diff --git a/tests/unit-tests/signal-processing-blocks/tracking/beidou_b1c_dll_pll_veml_tracking_test.cc b/tests/unit-tests/signal-processing-blocks/tracking/beidou_b1c_dll_pll_veml_tracking_test.cc new file mode 100644 index 000000000..435f7c041 --- /dev/null +++ b/tests/unit-tests/signal-processing-blocks/tracking/beidou_b1c_dll_pll_veml_tracking_test.cc @@ -0,0 +1,25 @@ +/*! + * \file beidou_b1c_dll_pll_veml_tracking_test.cc + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#include "beidou_b1c_dll_pll_veml_tracking.h" +#include "gnss_block_factory.h" +#include "gnss_block_interface.h" +#include "in_memory_configuration.h" +#include "tracking_interface.h" +#include +#include + +TEST(BeidouB1cDllPllVemlTrackingTest, Instantiate) +{ + auto configuration = std::make_shared(); + configuration->set_property("Tracking_1D.implementation", "BEIDOU_B1C_DLL_PLL_VEML_Tracking"); + configuration->set_property("Tracking_1D.item_type", "gr_complex"); + configuration->set_property("GNSS-SDR.internal_fs_sps", "2046000"); + auto factory = std::make_unique(); + std::shared_ptr trk_ = factory->GetBlock(configuration.get(), "Tracking_1D", 1, 1); + auto tracking = std::dynamic_pointer_cast(trk_); + ASSERT_NE(tracking, nullptr); + EXPECT_STREQ("BEIDOU_B1C_DLL_PLL_VEML_Tracking", tracking->implementation().c_str()); +} diff --git a/tests/unit-tests/system-parameters/beidou_cnav1_ldpc_test.cc b/tests/unit-tests/system-parameters/beidou_cnav1_ldpc_test.cc new file mode 100644 index 000000000..44ef45a45 --- /dev/null +++ b/tests/unit-tests/system-parameters/beidou_cnav1_ldpc_test.cc @@ -0,0 +1,94 @@ +/*! + * \file beidou_cnav1_ldpc_test.cc + * \brief Unit tests for B-CNAV1 NB-LDPC decoder + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#include "Beidou_CNAV1.h" +#include "beidou_cnav1_ldpc.h" +#include +#include +#include + +namespace +{ +std::array make_bit_llrs(const uint8_t* bits, float magnitude) +{ + std::array llr{}; + for (int32_t i = 0; i < BEIDOU_CNAV1_SUBFRAME2_SYMBOLS; i++) + { + llr[static_cast(i)] = (bits[i] != 0U) ? magnitude : -magnitude; + } + return llr; +} + +std::array make_sf3_bit_llrs(const uint8_t* bits, float magnitude) +{ + std::array llr{}; + for (int32_t i = 0; i < BEIDOU_CNAV1_SUBFRAME3_SYMBOLS; i++) + { + llr[static_cast(i)] = (bits[i] != 0U) ? magnitude : -magnitude; + } + return llr; +} +} // namespace + +TEST(BeidouCnav1LdpcTest, DecodeZeroCodeword200_100) +{ + std::array bits{}; + const auto llr = make_bit_llrs(bits.data(), 4.0F); + std::array info{}; + EXPECT_TRUE(beidou_cnav1_ldpc_decode_200_100(llr.data(), BEIDOU_CNAV1_SUBFRAME2_SYMBOLS, info.data())); + for (const auto bit : info) + { + EXPECT_EQ(bit, 0U); + } +} + +TEST(BeidouCnav1LdpcTest, DecodeZeroCodeword88_44) +{ + std::array bits{}; + const auto llr = make_sf3_bit_llrs(bits.data(), 4.0F); + std::array info{}; + EXPECT_TRUE(beidou_cnav1_ldpc_decode_88_44(llr.data(), BEIDOU_CNAV1_SUBFRAME3_SYMBOLS, info.data())); + for (const auto bit : info) + { + EXPECT_EQ(bit, 0U); + } +} + +TEST(BeidouCnav1LdpcTest, CorrectSingleSymbolError200_100) +{ + std::array bits{}; + const uint8_t wrong_symbol = 5U; + for (int32_t bit = 0; bit < 6; bit++) + { + bits[static_cast(bit)] = static_cast((wrong_symbol >> (5 - bit)) & 1U); + } + + const auto llr = make_bit_llrs(bits.data(), 4.0F); + std::array info{}; + EXPECT_TRUE(beidou_cnav1_ldpc_decode_200_100(llr.data(), BEIDOU_CNAV1_SUBFRAME2_SYMBOLS, info.data())); + for (const auto bit : info) + { + EXPECT_EQ(bit, 0U); + } +} + +TEST(BeidouCnav1LdpcTest, CorrectSingleSymbolError88_44) +{ + std::array bits{}; + const uint8_t wrong_symbol = 17U; + for (int32_t bit = 0; bit < 6; bit++) + { + bits[static_cast(bit)] = static_cast((wrong_symbol >> (5 - bit)) & 1U); + } + + const auto llr = make_sf3_bit_llrs(bits.data(), 4.0F); + std::array info{}; + EXPECT_TRUE(beidou_cnav1_ldpc_decode_88_44(llr.data(), BEIDOU_CNAV1_SUBFRAME3_SYMBOLS, info.data())); + for (const auto bit : info) + { + EXPECT_EQ(bit, 0U); + } +} diff --git a/tests/unit-tests/system-parameters/beidou_cnav1_navigation_message_test.cc b/tests/unit-tests/system-parameters/beidou_cnav1_navigation_message_test.cc new file mode 100644 index 000000000..9ca9ee1f6 --- /dev/null +++ b/tests/unit-tests/system-parameters/beidou_cnav1_navigation_message_test.cc @@ -0,0 +1,164 @@ +/*! + * \file beidou_cnav1_navigation_message_test.cc + * \brief Unit tests for B-CNAV1 navigation message parser + * SPDX-License-Identifier: GPL-3.0-or-later + */ + +#include "Beidou_CNAV1.h" +#include "beidou_cnav1_navigation_message.h" +#include "rtklib_conversions.h" +#include +#include +#include + +namespace +{ +void append_bch21_6(std::vector& frame, uint32_t prn) +{ + std::array msg{}; + for (int32_t bit = 5; bit >= 0; bit--) + { + msg[5 - bit] = static_cast((prn >> bit) & 1U); + } + static const int32_t g[7] = {1, 0, 1, 0, 1, 1, 1}; + std::array codeword{}; + for (int32_t i = 0; i < 6; i++) + { + codeword[i] = msg[i]; + } + for (int32_t i = 0; i < 6; i++) + { + if (codeword[i] != 0) + { + for (int32_t j = 0; j < 7; j++) + { + codeword[i + j] ^= g[j]; + } + } + } + for (const auto bit : codeword) + { + frame.push_back(bit != 0 ? 1.0F : -1.0F); + } +} + +void append_bch51_8(std::vector& frame, uint32_t soh) +{ + std::array msg{}; + for (int32_t bit = 7; bit >= 0; bit--) + { + msg[7 - bit] = static_cast((soh >> bit) & 1U); + } + static const int32_t g[9] = {1, 1, 0, 0, 1, 1, 1, 1, 1}; + std::array codeword{}; + for (int32_t i = 0; i < 8; i++) + { + codeword[i] = msg[i]; + } + for (int32_t i = 0; i < 8; i++) + { + if (codeword[i] != 0) + { + for (int32_t j = 0; j < 9; j++) + { + codeword[i + j] ^= g[j]; + } + } + } + for (const auto bit : codeword) + { + frame.push_back(bit != 0 ? 1.0F : -1.0F); + } +} + +void deinterleave_like_icd(const std::vector& sf2_bits, const std::vector& sf3_bits, std::vector& interleaved) +{ + std::array grid{}; + int32_t sf2_idx = 0; + int32_t sf3_idx = 0; + int32_t row = 0; + while (row < 33) + { + for (int32_t r = 0; r < 2; r++) + { + for (int32_t col = 0; col < BEIDOU_CNAV1_INTERLEAVE_COLS; col++) + { + grid[static_cast(row) * BEIDOU_CNAV1_INTERLEAVE_COLS + col] = sf2_bits[static_cast(sf2_idx++)]; + } + row++; + } + for (int32_t col = 0; col < BEIDOU_CNAV1_INTERLEAVE_COLS; col++) + { + grid[static_cast(row) * BEIDOU_CNAV1_INTERLEAVE_COLS + col] = sf3_bits[static_cast(sf3_idx++)]; + } + row++; + } + for (int32_t r = 0; r < 3; r++) + { + for (int32_t col = 0; col < BEIDOU_CNAV1_INTERLEAVE_COLS; col++) + { + grid[static_cast(row) * BEIDOU_CNAV1_INTERLEAVE_COLS + col] = sf2_bits[static_cast(sf2_idx++)]; + } + row++; + } + + interleaved.clear(); + for (int32_t col = 0; col < BEIDOU_CNAV1_INTERLEAVE_COLS; col++) + { + for (int32_t row_idx = 0; row_idx < BEIDOU_CNAV1_INTERLEAVE_ROWS; row_idx++) + { + interleaved.push_back(grid[static_cast(row_idx) * BEIDOU_CNAV1_INTERLEAVE_COLS + col]); + } + } +} + +std::vector encode_bits_to_llr(const std::vector& bits) +{ + std::vector llr; + llr.reserve(bits.size()); + for (const auto bit : bits) + { + llr.push_back(bit != 0U ? 4.0F : -4.0F); + } + return llr; +} +} // namespace + +TEST(BeidouCnav1NavigationMessageTest, DecodeSubframe1OnlyFrameFailsWithoutSf2Crc) +{ + std::vector frame; + append_bch21_6(frame, 19U); + append_bch51_8(frame, 1U); + frame.insert(frame.end(), BEIDOU_CNAV1_INTERLEAVED_SYMBOLS, 4.0F); + + Beidou_Cnav1_Navigation_Message nav; + EXPECT_FALSE(nav.decode_frame_symbols(frame.data(), BEIDOU_CNAV1_FRAME_SYMBOLS)); +} + +TEST(BeidouCnav1NavigationMessageTest, DecodeEphemerisFromZeroSf2Payload) +{ + const auto sf2_llr = encode_bits_to_llr(std::vector(BEIDOU_CNAV1_SUBFRAME2_SYMBOLS, 0U)); + const auto sf3_llr = encode_bits_to_llr(std::vector(BEIDOU_CNAV1_SUBFRAME3_SYMBOLS, 0U)); + EXPECT_EQ(sf2_llr.size(), static_cast(BEIDOU_CNAV1_SUBFRAME2_SYMBOLS)); + EXPECT_EQ(sf3_llr.size(), static_cast(BEIDOU_CNAV1_SUBFRAME3_SYMBOLS)); + + std::vector interleaved; + deinterleave_like_icd(sf2_llr, sf3_llr, interleaved); + EXPECT_EQ(interleaved.size(), static_cast(BEIDOU_CNAV1_INTERLEAVED_SYMBOLS)); + + std::vector frame; + append_bch21_6(frame, 19U); + append_bch51_8(frame, 1U); + frame.insert(frame.end(), interleaved.begin(), interleaved.end()); + + Beidou_Cnav1_Navigation_Message nav; + ASSERT_TRUE(nav.decode_frame_symbols(frame.data(), BEIDOU_CNAV1_FRAME_SYMBOLS, 19)); + EXPECT_TRUE(nav.have_new_ephemeris()); + EXPECT_EQ(nav.get_ephemeris().PRN, 19); + EXPECT_DOUBLE_EQ(nav.get_tow_s(), 18.0); + + const auto rtklib_eph = eph_to_rtklib(nav.get_ephemeris()); + EXPECT_EQ(rtklib_eph.iode, 0); + EXPECT_EQ(rtklib_eph.iodc, 0); + EXPECT_NEAR(rtklib_eph.A, BEIDOU_CNAV1_A_REF_MEO, 1.0); +} diff --git a/utils/generate_beidou_b1c_codes.py b/utils/generate_beidou_b1c_codes.py new file mode 100644 index 000000000..cc13741bb --- /dev/null +++ b/utils/generate_beidou_b1c_codes.py @@ -0,0 +1,103 @@ +#!/usr/bin/env python3 +"""Generate Beidou_B1C_codes.h from ICD Weil parameters in Beidou_B1C_prn.h.""" + +from __future__ import annotations + +import re +from pathlib import Path + +ROOT = Path(__file__).resolve().parents[1] +PRN_HEADER = ROOT / "src/core/system_parameters/Beidou_B1C_prn.h" +OUT_HEADER = ROOT / "src/core/system_parameters/Beidou_B1C_codes.h" + + +def extract(name: str, text: str) -> list[int]: + match = re.search(rf"{name}\[63\]\s*=\s*\{{([^}}]+)\}}", text, re.S) + if not match: + raise RuntimeError(f"Could not parse {name}") + return [int(x.strip()) for x in match.group(1).split(",") if x.strip()] + + +def legendre(n: int) -> list[int]: + seq = [0] * n + for x in range(1, n): + seq[(x * x) % n] = 1 + return seq + + +def weil_code(L: list[int], weil_len: int, w: int, p: int, out_len: int) -> list[int]: + W = [L[k] ^ L[(k + w) % weil_len] for k in range(weil_len)] + return [W[(n + p - 1) % weil_len] for n in range(out_len)] + + +def chips_to_hex(chips: list[int]) -> str: + out = "" + for i in range(0, len(chips), 4): + chunk = chips[i : i + 4] + value = 0 + for bit in chunk: + value = (value << 1) | bit + while len(chunk) < 4: + value <<= 1 + chunk.append(0) + out += format(value, "X") + return out + + +def chips_to_binstr(chips: list[int]) -> str: + return "".join(str(c) for c in chips) + + +def emit_array(name: str, rows: list[str]) -> str: + lines = [f"constexpr char {name}[63][{len(rows[0]) + 1}] = {{"] + lines.extend(f' "{row}",' for row in rows) + lines.append("};") + return "\n".join(lines) + + +def main() -> None: + text = PRN_HEADER.read_text(encoding="utf-8") + data_w = extract("BEIDOU_B1C_DATA_PRN_W", text) + data_p = extract("BEIDOU_B1C_DATA_PRN_P", text) + pilot_w = extract("BEIDOU_B1C_PILOT_PRN_W", text) + pilot_p = extract("BEIDOU_B1C_PILOT_PRN_P", text) + sec_w = extract("BEIDOU_B1C_PILOT_SECONDARY_W", text) + sec_p = extract("BEIDOU_B1C_PILOT_SECONDARY_P", text) + + L10243 = legendre(10243) + L3607 = legendre(3607) + + data_hex = [ + chips_to_hex(weil_code(L10243, 10243, data_w[i], data_p[i], 10230)) for i in range(63) + ] + pilot_hex = [ + chips_to_hex(weil_code(L10243, 10243, pilot_w[i], pilot_p[i], 10230)) for i in range(63) + ] + sec_bin = [chips_to_binstr(weil_code(L3607, 3607, sec_w[i], sec_p[i], 1800)) for i in range(63)] + + expected = "101011111111011001001110" + assert "".join(str(b) for b in weil_code(L10243, 10243, data_w[0], data_p[0], 10230)[:24]) == expected + + header = f"""/* Auto-generated by {Path(__file__).name}. Do not edit manually. */ +#ifndef GNSS_SDR_BEIDOU_B1C_CODES_H +#define GNSS_SDR_BEIDOU_B1C_CODES_H + +#include + +constexpr size_t BEIDOU_B1C_PRIMARY_CODE_STR_LENGTH = 2558; +constexpr size_t BEIDOU_B1C_PILOT_SECONDARY_CODE_STR_LENGTH = 1800; + +{emit_array("BEIDOU_B1C_DATA_PRIMARY_CODE", data_hex)} + +{emit_array("BEIDOU_B1C_PILOT_PRIMARY_CODE", pilot_hex)} + +{emit_array("BEIDOU_B1C_PILOT_SECONDARY_CODE", sec_bin)} + +#endif +""" + OUT_HEADER.write_text(header, encoding="utf-8") + print(f"Wrote {OUT_HEADER} ({len(header)} bytes)") + + +if __name__ == "__main__": + main() diff --git a/utils/generate_beidou_cnav1_ldpc.py b/utils/generate_beidou_cnav1_ldpc.py new file mode 100644 index 000000000..5ac36bec3 --- /dev/null +++ b/utils/generate_beidou_cnav1_ldpc.py @@ -0,0 +1,145 @@ +#!/usr/bin/env python3 +"""Generate Beidou_CNAV1_ldpc.h from BDS-SIS-ICD-B1C-1.0 PDF text.""" + +from __future__ import annotations + +import subprocess +from pathlib import Path + +ROOT = Path(__file__).resolve().parents[1] +ICD_PDF = ROOT / "docs/article/北斗卫星导航系统-空间信号接口控制文件-公开服务信号B1C（1.0版）.pdf" +OUT = ROOT / "src/core/system_parameters/Beidou_CNAV1_ldpc.h" + + +def icd_text() -> str: + proc = subprocess.run( + ["pdftotext", "-layout", str(ICD_PDF), "-"], + check=True, + capture_output=True, + text=True, + ) + return proc.stdout + + +def is_numline(line: str) -> bool: + stripped = line.strip() + return bool(stripped) and all(part.isdigit() for part in stripped.split()) + + +def extract_numeric_lines( + text: str, + start_marker: str, + end_marker: str, + numbers_per_line: int, +) -> list[list[int]]: + section = text.split(start_marker, 1)[1].split(end_marker, 1)[0] + lines = section.splitlines() + rows: list[list[int]] = [] + for line in lines: + if not is_numline(line): + continue + nums = [int(part) for part in line.split()] + if len(nums) == numbers_per_line: + rows.append(nums) + return rows + + +def parse_matrix( + text: str, + start_marker: str, + end_marker: str, + expected_rows: int, + row_weight: int, +) -> list[tuple[int, ...]]: + lines = extract_numeric_lines(text, start_marker, end_marker, 16) + if len(lines) * 16 != expected_rows * row_weight: + raise RuntimeError( + f"{start_marker}: expected {expected_rows * row_weight} values, got {len(lines) * 16}" + ) + values: list[int] = [] + for line in lines: + values.extend(line) + rows: list[tuple[int, ...]] = [] + for row in range(expected_rows): + base = row * row_weight + rows.append(tuple(values[base + j] for j in range(row_weight))) + return rows + + +def flatten_rows(rows: list[tuple[int, ...]]) -> list[int]: + flat: list[int] = [] + for row in rows: + flat.extend(row) + return flat + + +def gf64_tables() -> tuple[list[int], list[int]]: + def gf_mul(a: int, b: int) -> int: + product = 0 + for _ in range(6): + if b & 1: + product ^= a + carry = a & 0x20 + a = (a << 1) & 0x3F + if carry: + a ^= 0x03 + b >>= 1 + return product + + exp = [0] * 64 + log = [0] * 64 + value = 1 + for i in range(63): + exp[i] = value + log[value] = i + value = gf_mul(value, 2) + exp[63] = exp[0] + return exp, log + + +def emit_array(name: str, c_type: str, values: list[int]) -> str: + return f"constexpr {c_type} {name}[{len(values)}] = {{{','.join(map(str, values))}}};" + + +def main() -> None: + text = icd_text() + idx100 = parse_matrix(text, "H100,200,index=[", "H100,200,element=[", expected_rows=100, row_weight=4) + el100 = parse_matrix(text, "H100,200,element=[", "H44,88,index=[", expected_rows=100, row_weight=4) + idx44 = parse_matrix(text, "H44,88,index=[", "H44,88,element=[", expected_rows=44, row_weight=4) + el44 = parse_matrix(text, "H44,88,element=[", "H44,88 的读取规则", expected_rows=44, row_weight=4) + exp, log = gf64_tables() + + header: list[str] = [ + "/* Auto-generated by utils/generate_beidou_cnav1_ldpc.py. Do not edit manually. */", + "#ifndef GNSS_SDR_BEIDOU_CNAV1_LDPC_MATRICES_H", + "#define GNSS_SDR_BEIDOU_CNAV1_LDPC_MATRICES_H", + "#include ", + "constexpr int32_t BEIDOU_CNAV1_LDPC_N200 = 200;", + "constexpr int32_t BEIDOU_CNAV1_LDPC_K200 = 100;", + "constexpr int32_t BEIDOU_CNAV1_LDPC_M200 = 100;", + "constexpr int32_t BEIDOU_CNAV1_LDPC_DC200 = 4;", + "constexpr int32_t BEIDOU_CNAV1_LDPC_N88 = 88;", + "constexpr int32_t BEIDOU_CNAV1_LDPC_K88 = 44;", + "constexpr int32_t BEIDOU_CNAV1_LDPC_M88 = 44;", + "constexpr int32_t BEIDOU_CNAV1_LDPC_DC88 = 4;", + "constexpr int32_t BEIDOU_CNAV1_LDPC_NM = 8;", + "constexpr int32_t BEIDOU_CNAV1_LDPC_MAX_ITER = 15;", + "", + "/*", + " * GF(2^6) LUTs follow BDS-SIS-ICD-B1C-1.0 Appendix mapping tables.", + " * Primitive polynomial: p(x)=x^6+x+1.", + " */", + ] + header.append(emit_array("BEIDOU_CNAV1_H100_200_INDEX", "uint16_t", flatten_rows(idx100))) + header.append(emit_array("BEIDOU_CNAV1_H100_200_ELEMENT", "uint8_t", flatten_rows(el100))) + header.append(emit_array("BEIDOU_CNAV1_H44_88_INDEX", "uint16_t", flatten_rows(idx44))) + header.append(emit_array("BEIDOU_CNAV1_H44_88_ELEMENT", "uint8_t", flatten_rows(el44))) + header.append(emit_array("BEIDOU_CNAV1_GF64_EXP", "uint8_t", exp)) + header.append(emit_array("BEIDOU_CNAV1_GF64_LOG", "int8_t", log)) + header.append("#endif // GNSS_SDR_BEIDOU_CNAV1_LDPC_MATRICES_H") + OUT.write_text("\n".join(header) + "\n", encoding="utf-8") + print(f"Wrote {OUT}") + + +if __name__ == "__main__": + main()