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https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-16 13:10:35 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
commit
79a223bba1
@ -36,6 +36,7 @@ include_directories(
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${CMAKE_SOURCE_DIR}/src/core/receiver
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${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
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${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
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${CMAKE_SOURCE_DIR}/src/algorithms/libs
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${ARMADILLO_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${GLOG_INCLUDE_DIRS}
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@ -33,10 +33,12 @@
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#include "galileo_almanac_helper.h"
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#include "pvt_conf.h"
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#include "display.h"
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#include "gnss_sdr_create_directory.h"
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#include <boost/archive/xml_oarchive.hpp>
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#include <boost/archive/xml_iarchive.hpp>
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <boost/exception/all.hpp>
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#include <boost/filesystem/path.hpp>
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#include <boost/serialization/map.hpp>
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#include <glog/logging.h>
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#include <gnuradio/gr_complex.h>
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@ -247,9 +249,43 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
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d_output_rate_ms = conf_.output_rate_ms;
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d_display_rate_ms = conf_.display_rate_ms;
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d_dump = conf_.dump;
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d_nchannels = nchannels;
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d_dump_filename = conf_.dump_filename;
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std::string dump_ls_pvt_filename = conf_.dump_filename;
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if (d_dump)
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{
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std::string dump_path;
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// Get path
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if (d_dump_filename.find_last_of("/") != std::string::npos)
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{
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std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of("/") + 1);
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dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of("/"));
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d_dump_filename = dump_filename_;
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}
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else
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{
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dump_path = std::string(".");
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}
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if (d_dump_filename.empty())
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{
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d_dump_filename = "pvt";
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}
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// remove extension if any
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if (d_dump_filename.substr(1).find_last_of(".") != std::string::npos)
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{
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d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of("."));
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}
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dump_ls_pvt_filename = dump_path + boost::filesystem::path::preferred_separator + d_dump_filename;
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dump_ls_pvt_filename.append(".dat");
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// create directory
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if (!gnss_sdr_create_directory(dump_path))
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{
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std::cerr << "GNSS-SDR cannot create dump file for the PVT block. Wrong permissions?" << std::endl;
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d_dump = false;
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}
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}
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d_nchannels = nchannels;
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type_of_rx = conf_.type_of_receiver;
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// GPS Ephemeris data message port in
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@ -412,8 +448,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
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xml_base_path = xml_base_path + boost::filesystem::path::preferred_separator;
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}
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dump_ls_pvt_filename.append("_pvt.dat");
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d_ls_pvt = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, rtk);
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d_ls_pvt->set_averaging_depth(1);
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@ -493,7 +493,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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unsigned int used_sats = 0;
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for (unsigned int i = 0; i < MAXSAT; i++)
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{
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if (rtk_.ssat[i].vsat[0] == 1) used_sats++;
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if (rtk_.ssat[i].vs == 1) used_sats++;
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}
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std::vector<double> azel;
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@ -501,7 +501,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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unsigned int index_aux = 0;
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for (unsigned int i = 0; i < MAXSAT; i++)
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{
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if (rtk_.ssat[i].vsat[0] == 1)
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if (rtk_.ssat[i].vs == 1)
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{
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azel[2 * index_aux] = rtk_.ssat[i].azel[0];
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azel[2 * index_aux + 1] = rtk_.ssat[i].azel[1];
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@ -56,6 +56,7 @@ include_directories(
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${CMAKE_SOURCE_DIR}/src/core/receiver
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${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/libs
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${CMAKE_SOURCE_DIR}/src/algorithms/libs
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${Boost_INCLUDE_DIRS}
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${GLOG_INCLUDE_DIRS}
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${GFlags_INCLUDE_DIRS}
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${ARMADILLO_INCLUDE_DIRS}
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@ -36,6 +36,8 @@
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#include "pcps_acquisition.h"
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#include "GPS_L1_CA.h" // for GPS_TWO_PI
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#include "GLONASS_L1_L2_CA.h" // for GLONASS_TWO_PI"
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#include "gnss_sdr_create_directory.h"
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#include <boost/filesystem/path.hpp>
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h>
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#include <matio.h>
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@ -136,8 +138,7 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
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narrow_grid_ = arma::fmat();
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d_step_two = false;
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d_num_doppler_bins_step2 = acq_parameters.num_doppler_bins_step2;
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d_dump_number = 0LL;
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d_dump_channel = acq_parameters.dump_channel;
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d_samplesPerChip = acq_parameters.samples_per_chip;
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d_buffer_count = 0U;
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// todo: CFAR statistic not available for non-coherent integration
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@ -149,9 +150,43 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
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{
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d_use_CFAR_algorithm_flag = false;
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}
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d_dump_number = 0LL;
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d_dump_channel = acq_parameters.dump_channel;
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d_dump = acq_parameters.dump;
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d_dump_filename = acq_parameters.dump_filename;
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if (d_dump)
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{
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std::string dump_path;
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// Get path
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if (d_dump_filename.find_last_of("/") != std::string::npos)
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{
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std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of("/") + 1);
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dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of("/"));
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d_dump_filename = dump_filename_;
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}
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else
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{
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dump_path = std::string(".");
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}
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if (d_dump_filename.empty())
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{
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d_dump_filename = "acquisition";
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}
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// remove extension if any
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if (d_dump_filename.substr(1).find_last_of(".") != std::string::npos)
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{
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d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of("."));
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}
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d_dump_filename = dump_path + boost::filesystem::path::preferred_separator + d_dump_filename;
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// create directory
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if (!gnss_sdr_create_directory(dump_path))
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{
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std::cerr << "GNSS-SDR cannot create dump file for the Acquisition block. Wrong permissions?" << std::endl;
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d_dump = false;
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}
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}
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}
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pcps_acquisition::~pcps_acquisition()
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{
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if (d_num_doppler_bins > 0)
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@ -303,7 +338,7 @@ void pcps_acquisition::init()
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d_worker_active = false;
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if (acq_parameters.dump)
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if (d_dump)
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{
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uint32_t effective_fft_size = (acq_parameters.bit_transition_flag ? (d_fft_size / 2) : d_fft_size);
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grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins, arma::fill::zeros);
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@ -396,7 +431,7 @@ void pcps_acquisition::send_negative_acquisition()
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void pcps_acquisition::dump_results(int32_t effective_fft_size)
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{
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d_dump_number++;
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std::string filename = acq_parameters.dump_filename;
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std::string filename = d_dump_filename;
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filename.append("_");
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filename.append(1, d_gnss_synchro->System);
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filename.append("_");
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@ -414,7 +449,7 @@ void pcps_acquisition::dump_results(int32_t effective_fft_size)
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if (matfp == NULL)
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{
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std::cout << "Unable to create or open Acquisition dump file" << std::endl;
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acq_parameters.dump = false;
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//acq_parameters.dump = false;
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}
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else
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{
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@ -669,7 +704,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
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volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size);
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}
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// Record results to file if required
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if (acq_parameters.dump and d_channel == d_dump_channel)
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if (d_dump and d_channel == d_dump_channel)
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{
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memcpy(grid_.colptr(doppler_index), d_magnitude_grid[doppler_index], sizeof(float) * effective_fft_size);
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}
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@ -716,7 +751,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
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volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size);
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}
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// Record results to file if required
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if (acq_parameters.dump and d_channel == d_dump_channel)
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if (d_dump and d_channel == d_dump_channel)
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{
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memcpy(narrow_grid_.colptr(doppler_index), d_magnitude_grid[doppler_index], sizeof(float) * effective_fft_size);
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}
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@ -816,7 +851,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
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if ((d_num_noncoherent_integrations_counter == acq_parameters.max_dwells) or (d_positive_acq == 1))
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{
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// Record results to file if required
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if (acq_parameters.dump and d_channel == d_dump_channel)
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if (d_dump and d_channel == d_dump_channel)
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{
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pcps_acquisition::dump_results(effective_fft_size);
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}
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@ -138,6 +138,8 @@ private:
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int64_t d_dump_number;
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uint32_t d_dump_channel;
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uint32_t d_buffer_count;
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bool d_dump;
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std::string d_dump_filename;
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public:
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~pcps_acquisition();
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@ -34,6 +34,8 @@
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#include "gps_sdr_signal_processing.h"
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#include "control_message_factory.h"
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#include "GPS_L1_CA.h"
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#include "gnss_sdr_create_directory.h"
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#include <boost/filesystem/path.hpp>
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h>
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#include <volk/volk.h>
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@ -85,6 +87,38 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Con
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d_dump = conf_.dump;
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d_dump_filename = conf_.dump_filename;
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if (d_dump)
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{
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std::string dump_path;
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// Get path
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if (d_dump_filename.find_last_of("/") != std::string::npos)
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{
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std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of("/") + 1);
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dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of("/"));
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d_dump_filename = dump_filename_;
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}
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else
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{
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dump_path = std::string(".");
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}
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if (d_dump_filename.empty())
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{
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d_dump_filename = "acquisition";
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}
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// remove extension if any
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if (d_dump_filename.substr(1).find_last_of(".") != std::string::npos)
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{
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d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of("."));
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}
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d_dump_filename = dump_path + boost::filesystem::path::preferred_separator + d_dump_filename;
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// create directory
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if (!gnss_sdr_create_directory(dump_path))
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{
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std::cerr << "GNSS-SDR cannot create dump file for the Acquisition block. Wrong permissions?" << std::endl;
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d_dump = false;
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}
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}
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d_n_samples_in_buffer = 0;
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d_threshold = 0;
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d_num_doppler_points = 0;
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@ -41,7 +41,7 @@ DEFINE_bool(use_pvt_solver_dump, false, "Use PVT solver binary dump or fall back
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DEFINE_bool(use_ref_motion_file, false, "Enable or disable the use of a reference file containing the true receiver position, velocity and acceleration.");
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DEFINE_int32(ref_motion_file_type, 1, "Type of reference motion file: 1- Spirent CSV motion file");
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DEFINE_string(ref_motion_filename, std::string("motion.csv"), "Path and filename for the reference motion file");
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DEFINE_string(pvt_solver_dump_filename, std::string("PVT_pvt.dat"), "Path and filename for the PVT solver binary dump file");
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DEFINE_string(pvt_solver_dump_filename, std::string("PVT.dat"), "Path and filename for the PVT solver binary dump file");
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DEFINE_double(static_2D_error_m, 2.0, "Static scenario 2D (East, North) positioning error threshold [meters]");
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DEFINE_double(static_3D_error_m, 5.0, "Static scenario 3D (East, North, Up) positioning error threshold [meters]");
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DEFINE_double(accuracy_CEP, 2.0, "Static scenario 2D (East, North) accuracy Circular Error Position (CEP) threshold [meters]");
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