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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into glonass

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This commit is contained in:
Carles Fernandez 2017-12-02 13:48:45 +01:00
commit 7ac5e7c833
19 changed files with 976 additions and 750 deletions
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398
CMakeLists.txt
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@ -215,6 +215,9 @@ if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
endif(NOT LINUX_DISTRIBUTION) endif(NOT LINUX_DISTRIBUTION)
message(STATUS "Configuring GNSS-SDR v${VERSION} to be built on ${LINUX_DISTRIBUTION} GNU/Linux Release ${LINUX_VER} ${ARCH_}") message(STATUS "Configuring GNSS-SDR v${VERSION} to be built on ${LINUX_DISTRIBUTION} GNU/Linux Release ${LINUX_VER} ${ARCH_}")
endif(${CMAKE_SYSTEM_NAME} MATCHES "Linux") endif(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
if(NOT LINUX_DISTRIBUTION)
set(LINUX_DISTRIBUTION "Unknown")
endif(NOT LINUX_DISTRIBUTION)
# Detect macOS / Mac OS X Version # Detect macOS / Mac OS X Version
if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
@ -408,13 +411,22 @@ endif(NOT ENABLE_GENERIC_ARCH)
############################### ################################################################################
# Find a thread library # Find the POSIX thread (pthread) libraries
############################### ################################################################################
if(OS_IS_LINUX) if(CMAKE_VERSION VERSION_LESS 3.1)
find_package(Threads REQUIRED) find_package(Threads REQUIRED)
link_libraries(${CMAKE_THREAD_LIBS_INIT}) link_libraries(${CMAKE_THREAD_LIBS_INIT})
endif(OS_IS_LINUX) else(CMAKE_VERSION VERSION_LESS 3.1)
set(CMAKE_THREAD_PREFER_PTHREAD TRUE)
if(CMAKE_CROSSCOMPILING)
set(THREADS_PREFER_PTHREAD_FLAG FALSE)
else(CMAKE_CROSSCOMPILING)
set(THREADS_PREFER_PTHREAD_FLAG TRUE)
endif(CMAKE_CROSSCOMPILING)
find_package(Threads REQUIRED)
link_libraries(Threads::Threads)
endif(CMAKE_VERSION VERSION_LESS 3.1)
@ -890,167 +902,47 @@ endif(NOT ENABLE_LOG)
#############################################################################
# Check that BLAS (Basic Linear Algebra Subprograms) is found in the system
# See http://www.netlib.org/blas/
#############################################################################
find_library(BLAS blas)
if(NOT BLAS)
message(" The BLAS library has not been found.")
message(" You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo yum install blas-devel")
else(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo apt-get install libblas-dev")
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(FATAL_ERROR "BLAS is required to build gnss-sdr")
endif(NOT BLAS)
#############################################################################
# Check that LAPACK (Linear Algebra PACKage) is found in the system
# See http://www.netlib.org/lapack/
#############################################################################
find_library(LAPACK lapack)
if(NOT LAPACK)
message(" The LAPACK library has not been found.")
message(" You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo yum install lapack-devel")
elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
message(" sudo zypper install lapack-devel")
else(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo apt-get install liblapack-dev")
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(FATAL_ERROR "LAPACK is required to build gnss-sdr")
endif(NOT LAPACK)
################################################################################ ################################################################################
# Armadillo - http://arma.sourceforge.net/ # Armadillo - http://arma.sourceforge.net/
################################################################################ ################################################################################
if(OS_IS_LINUX)
#############################################################################
# Check that LAPACK is found in the system
# LAPACK is required for matrix decompositions (eg. SVD) and matrix inverse.
#############################################################################
find_library(LAPACK lapack)
if(NOT LAPACK)
message(" The LAPACK library has not been found.")
message(" You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo yum install lapack-devel")
elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
message(" sudo zypper install lapack-devel")
else(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo apt-get install liblapack-dev")
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
if(IS_ARM)
message(WARNING "LAPACK is recommended to build gnss-sdr")
set(LAPACK "")
else(IS_ARM)
message(FATAL_ERROR "LAPACK is required to build gnss-sdr")
endif(IS_ARM)
endif(NOT LAPACK)
#############################################################################
# Check that BLAS is found in the system
# BLAS is used for matrix multiplication.
# Without BLAS, matrix multiplication will still work, but might be slower.
#############################################################################
find_library(BLAS blas)
if(NOT BLAS)
message(" The BLAS library has not been found.")
message(" You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo yum install blas-devel")
else(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo apt-get install libopenblas-dev")
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
if(IS_ARM)
message(WARNING "BLAS is recommended to build gnss-sdr")
set(BLAS "")
else(IS_ARM)
message(FATAL_ERROR "BLAS is required to build gnss-sdr")
endif(IS_ARM)
endif(NOT BLAS)
#############################################
# Check if GFORTRAN is found in the system
#############################################
find_library(GFORTRAN NAMES gfortran
PATHS /usr/lib
/usr/lib64
/usr/local/lib
/usr/local/lib/i386
/usr/lib/gcc/x86_64-linux-gnu
/usr/lib/gcc/i686-linux-gnu
/usr/lib/gcc/i386-linux-gnu
/usr/lib/gcc/x86_64-linux-gnu/4.6 # Ubuntu 12.04
/usr/lib/gcc/i686-linux-gnu/4.6
/usr/lib/gcc/x86_64-linux-gnu/4.7
/usr/lib/gcc/i686-linux-gnu/4.7
/usr/lib/gcc/x86_64-linux-gnu/4.8
/usr/lib/gcc/i686-linux-gnu/4.8
/usr/lib/gcc/x86_64-linux-gnu/4.9
/usr/lib/gcc/i686-linux-gnu/4.9
/usr/lib/gcc/x86_64-redhat-linux/4.7.2 # Fedora 18
/usr/lib/gcc/i686-redhat-linux/4.7.2
/usr/lib/gcc/x86_64-redhat-linux/4.8.1 # Fedora 19
/usr/lib/gcc/x86_64-redhat-linux/4.8.3 # Fedora 20
/usr/lib/gcc/x86_64-redhat-linux/4.9.1 # Fedora 21
/usr/lib/gcc/i686-redhat-linux/4.8.1
/usr/lib/gcc/i686-redhat-linux/4.8.3
/usr/lib/gcc/i686-redhat-linux/4.9.1
/usr/lib/gcc/x86_64-redhat-linux/4.4.4 # CentOS 6
/usr/lib/gcc/i686-redhat-linux/4.4.4
/usr/lib/gcc/x86_64-redhat-linux/4.8.2
/usr/lib/gcc/i686-redhat-linux/4.8.2
/usr/lib/gcc/i586-suse-linux/4.8 # OpenSUSE 13.1
/usr/lib/gcc/i586-suse-linux/4.9
/usr/lib/gcc/x86_64-suse-linux/4.8
/usr/lib/gcc/x86_64-suse-linux/4.9
/usr/lib/gcc/i486-linux-gnu # Debian 7
/usr/lib/gcc/i486-linux-gnu/4.4
/usr/lib/gcc/i486-linux-gnu/4.6
/usr/lib/gcc/i486-linux-gnu/4.7
/usr/lib/gcc/i486-linux-gnu/4.8
/usr/lib/gcc/i486-linux-gnu/4.9
/usr/lib/gcc/i586-linux-gnu/4.9
/usr/lib/gcc/arm-linux-gnueabihf/4.4 # Debian armhf
/usr/lib/gcc/arm-linux-gnueabihf/4.5
/usr/lib/gcc/arm-linux-gnueabihf/4.6
/usr/lib/gcc/arm-linux-gnueabihf/4.7
/usr/lib/gcc/arm-linux-gnueabihf/4.8
/usr/lib/gcc/arm-linux-gnueabihf/4.9
/usr/lib/gcc/aarch64-linux-gnu/4.9 # Debian arm64
/usr/lib/gcc/arm-linux-gnueabi/4.7 # Debian armel
/usr/lib/gcc/arm-linux-gnueabi/4.9
/usr/lib/gcc/x86_64-linux-gnu/5
/usr/lib/gcc/i686-linux-gnu/5
/usr/lib/gcc/arm-linux-gnueabi/5
/usr/lib/gcc/arm-linux-gnueabihf/5
/usr/lib/gcc/aarch64-linux-gnu/5
/usr/lib/gcc/x86_64-linux-gnu/6 # Ubuntu 16.10
/usr/lib/gcc/alpha-linux-gnu/6
/usr/lib/gcc/aarch64-linux-gnu/6
/usr/lib/gcc/arm-linux-gnueabi/6
/usr/lib/gcc/arm-linux-gnueabihf/6
/usr/lib/gcc/hppa-linux-gnu/6
/usr/lib/gcc/i686-gnu/6
/usr/lib/gcc/i686-linux-gnu/6
/usr/lib/gcc/x86_64-kfreebsd-gnu/6
/usr/lib/gcc/i686-kfreebsd-gnu/6
/usr/lib/gcc/m68k-linux-gnu/6
/usr/lib/gcc/mips-linux-gnu/6
/usr/lib/gcc/mips64el-linux-gnuabi64/6
/usr/lib/gcc/mipsel-linux-gnu/6
/usr/lib/gcc/powerpc-linux-gnu/6
/usr/lib/gcc/powerpc-linux-gnuspe/6
/usr/lib/gcc/powerpc64-linux-gnu/6
/usr/lib/gcc/powerpc64le-linux-gnu/6
/usr/lib/gcc/s390x-linux-gnu/6
/usr/lib/gcc/sparc64-linux-gnu/6
/usr/lib/gcc/x86_64-linux-gnux32/6
/usr/lib/gcc/sh4-linux-gnu/6
/usr/lib/gcc/x86_64-linux-gnu/7 # Debian 9 Buster
/usr/lib/gcc/alpha-linux-gnu/7
/usr/lib/gcc/aarch64-linux-gnu/7
/usr/lib/gcc/arm-linux-gnueabi/7
/usr/lib/gcc/arm-linux-gnueabihf/7
/usr/lib/gcc/hppa-linux-gnu/7
/usr/lib/gcc/i686-gnu/7
/usr/lib/gcc/i686-linux-gnu/7
/usr/lib/gcc/x86_64-kfreebsd-gnu/7
/usr/lib/gcc/i686-kfreebsd-gnu/7
/usr/lib/gcc/m68k-linux-gnu/7
/usr/lib/gcc/mips-linux-gnu/7
/usr/lib/gcc/mips64el-linux-gnuabi64/7
/usr/lib/gcc/mipsel-linux-gnu/7
/usr/lib/gcc/powerpc-linux-gnu/7
/usr/lib/gcc/powerpc-linux-gnuspe/7
/usr/lib/gcc/powerpc64-linux-gnu/7
/usr/lib/gcc/powerpc64le-linux-gnu/7
/usr/lib/gcc/s390x-linux-gnu/7
/usr/lib/gcc/sparc64-linux-gnu/7
/usr/lib/gcc/x86_64-linux-gnux32/7
/usr/lib/gcc/sh4-linux-gnu/7
)
if(NOT GFORTRAN)
message(STATUS "The gfortran library has not been found.")
message(STATUS " You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(STATUS " sudo yum install gcc-fortran")
elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
message(STATUS " sudo zypper install gcc-fortran")
else(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(STATUS " sudo apt-get install gfortran")
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
endif(NOT GFORTRAN)
endif(OS_IS_LINUX)
find_package(Armadillo) find_package(Armadillo)
if(ARMADILLO_FOUND) if(ARMADILLO_FOUND)
if(${ARMADILLO_VERSION_STRING} VERSION_LESS ${GNSSSDR_ARMADILLO_MIN_VERSION}) if(${ARMADILLO_VERSION_STRING} VERSION_LESS ${GNSSSDR_ARMADILLO_MIN_VERSION})
@ -1066,6 +958,28 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
set(armadillo_BRANCH ${GNSSSDR_ARMADILLO_LOCAL_VERSION}) set(armadillo_BRANCH ${GNSSSDR_ARMADILLO_LOCAL_VERSION})
set(armadillo_RELEASE ${armadillo_BRANCH}) set(armadillo_RELEASE ${armadillo_BRANCH})
#############################################
# Check if GFORTRAN is found in the system
#############################################
if(NOT OS_IS_MACOSX)
find_package(GFORTRAN)
if(NOT GFORTRAN)
message(STATUS "The gfortran library has not been found.")
message(STATUS " You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(STATUS " sudo yum install gcc-fortran")
elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
message(STATUS " sudo zypper install gcc-fortran")
else(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(STATUS " sudo apt-get install gfortran")
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(FATAL_ERROR "gfortran is required to build gnss-sdr")
endif(NOT GFORTRAN)
endif(NOT OS_IS_MACOSX)
#############################################
# Download and build Armadillo
#############################################
if(CMAKE_VERSION VERSION_LESS 3.2) if(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add( ExternalProject_Add(
armadillo-${armadillo_RELEASE} armadillo-${armadillo_RELEASE}
@ -1098,14 +1012,6 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
# Set up variables # Set up variables
ExternalProject_Get_Property(armadillo-${armadillo_RELEASE} binary_dir) ExternalProject_Get_Property(armadillo-${armadillo_RELEASE} binary_dir)
set(ARMADILLO_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include ) set(ARMADILLO_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include )
find_library(LAPACK NAMES lapack HINTS /usr/lib /usr/local/lib /usr/lib64)
if(OS_IS_MACOSX)
find_library(BLAS blas)
endif(OS_IS_MACOSX)
find_package(OpenBLAS)
if(OPENBLAS_FOUND)
set(BLAS ${OPENBLAS})
endif(OPENBLAS_FOUND)
if(NOT GFORTRAN) if(NOT GFORTRAN)
set(GFORTRAN "") set(GFORTRAN "")
endif(NOT GFORTRAN) endif(NOT GFORTRAN)
@ -1137,6 +1043,7 @@ find_library(GNUTLS_OPENSSL_LIBRARY NAMES gnutls-openssl libgnutls-openssl.so.27
/usr/lib/i386-linux-gnu /usr/lib/i386-linux-gnu
/usr/lib/alpha-linux-gnu /usr/lib/alpha-linux-gnu
/usr/lib/hppa-linux-gnu /usr/lib/hppa-linux-gnu
/usr/lib/i386-gnu
/usr/lib/i686-gnu /usr/lib/i686-gnu
/usr/lib/i686-linux-gnu /usr/lib/i686-linux-gnu
/usr/lib/x86_64-kfreebsd-gnu /usr/lib/x86_64-kfreebsd-gnu
@ -1181,6 +1088,74 @@ endif(NOT GNUTLS_OPENSSL_LIBRARY)
########################################################################
# Matio - https://github.com/tbeu/matio
########################################################################
find_package(MATIO)
if(NOT MATIO_FOUND)
find_package(ZLIB)
if(ZLIB_FOUND)
get_filename_component(ZLIB_BASE_DIR ${ZLIB_INCLUDE_DIRS} DIRECTORY)
find_package(HDF5)
if(HDF5_FOUND)
list(GET HDF5_LIBRARIES 0 HDF5_FIRST_DIR)
get_filename_component(HDF5_BASE_DIR2 ${HDF5_FIRST_DIR} DIRECTORY)
get_filename_component(HDF5_BASE_DIR ${HDF5_BASE_DIR2} DIRECTORY)
if(OS_IS_MACOSX)
if(EXISTS /opt/local/include/hdf5.h)
set(HDF5_BASE_DIR /opt/local)
endif(EXISTS /opt/local/include/hdf5.h)
if(EXISTS /usr/local/include/hdf5.h)
set(HDF5_BASE_DIR /usr/local)
endif(EXISTS /usr/local/include/hdf5.h)
endif(OS_IS_MACOSX)
if(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add(
matio-${GNSSSDR_MATIO_LOCAL_VERSION}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/mati
GIT_REPOSITORY https://github.com/tbeu/matio
GIT_TAG v${GNSSSDR_MATIO_LOCAL_VERSION}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/autogen.sh
CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/configure --with-hdf5=${HDF5_BASE_DIR} --with-zlib=${ZLIB_BASE_DIR} --with-default-file-ver=7.3 --enable-mat73=yes --prefix=<INSTALL_DIR>
BUILD_COMMAND make
)
else(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add(
matio-${GNSSSDR_MATIO_LOCAL_VERSION}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/matio
GIT_REPOSITORY https://github.com/tbeu/matio
GIT_TAG v${GNSSSDR_MATIO_LOCAL_VERSION}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/autogen.sh
CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/configure --with-hdf5=${HDF5_BASE_DIR} --with-zlib=${ZLIB_BASE_DIR} --with-default-file-ver=7.3 --enable-mat73=yes --prefix=<INSTALL_DIR>
BUILD_COMMAND make
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_STATIC_LIBRARY_SUFFIX}
)
endif(CMAKE_VERSION VERSION_LESS 3.2)
set(MATIO_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_STATIC_LIBRARY_SUFFIX} ${HDF5_LIBRARIES} ${ZLIB_LIBRARIES} )
set(MATIO_INCLUDE_DIRS ${CMAKE_CURRENT_BINARY_DIR}/matio/include )
set(MATIO_LOCAL true)
else(HDF5_FOUND)
message(STATUS " The hdf5 library has not been found in your system.")
message(STATUS " Please try to install it by doing:")
if(OS_IS_MACOSX)
message(STATUS " $ sudo port install hdf5")
message(STATUS " or")
message(STATUS " $ brew install hdf5")
endif(OS_IS_MACOSX)
if(OS_IS_LINUX)
message(STATUS " $ sudo apt-get install libhdf5-dev")
endif(OS_IS_LINUX)
message(FATAL_ERROR "*** The hdf5 library is required to build gnss-sdr")
endif(HDF5_FOUND)
else(ZLIB_FOUND)
message(FATAL_ERROR "*** The zlib library is required to build gnss-sdr")
endif(ZLIB_FOUND)
endif(NOT MATIO_FOUND)
################################################################################ ################################################################################
# USRP Hardware Driver (UHD) - OPTIONAL # USRP Hardware Driver (UHD) - OPTIONAL
################################################################################ ################################################################################
@ -1443,74 +1418,6 @@ endif(ENABLE_GPROF)
########################################################################
# Matio (OPTIONAL) - https://github.com/tbeu/matio
########################################################################
find_package(MATIO)
if(NOT MATIO_FOUND)
find_package(ZLIB)
if(ZLIB_FOUND)
get_filename_component(ZLIB_BASE_DIR ${ZLIB_INCLUDE_DIRS} DIRECTORY)
find_package(HDF5)
if(HDF5_FOUND)
list(GET HDF5_LIBRARIES 0 HDF5_FIRST_DIR)
get_filename_component(HDF5_BASE_DIR2 ${HDF5_FIRST_DIR} DIRECTORY)
get_filename_component(HDF5_BASE_DIR ${HDF5_BASE_DIR2} DIRECTORY)
if(OS_IS_MACOSX)
if(EXISTS /opt/local/include/hdf5.h)
set(HDF5_BASE_DIR /opt/local)
endif(EXISTS /opt/local/include/hdf5.h)
if(EXISTS /usr/local/include/hdf5.h)
set(HDF5_BASE_DIR /usr/local)
endif(EXISTS /usr/local/include/hdf5.h)
endif(OS_IS_MACOSX)
if(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add(
matio-${GNSSSDR_MATIO_LOCAL_VERSION}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/mati
GIT_REPOSITORY https://github.com/tbeu/matio
GIT_TAG v${GNSSSDR_MATIO_LOCAL_VERSION}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/autogen.sh
CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/configure --with-hdf5=${HDF5_BASE_DIR} --with-zlib=${ZLIB_BASE_DIR} --with-default-file-ver=7.3 --enable-mat73=yes --prefix=<INSTALL_DIR>
BUILD_COMMAND "${CMAKE_MAKE_PROGRAM}"
)
else(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add(
matio-${GNSSSDR_MATIO_LOCAL_VERSION}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/matio
GIT_REPOSITORY https://github.com/tbeu/matio
GIT_TAG v${GNSSSDR_MATIO_LOCAL_VERSION}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/autogen.sh
CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/configure --with-hdf5=${HDF5_BASE_DIR} --with-zlib=${ZLIB_BASE_DIR} --with-default-file-ver=7.3 --enable-mat73=yes --prefix=<INSTALL_DIR>
BUILD_COMMAND "${CMAKE_MAKE_PROGRAM}"
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_STATIC_LIBRARY_SUFFIX}
)
endif(CMAKE_VERSION VERSION_LESS 3.2)
set(MATIO_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_STATIC_LIBRARY_SUFFIX} ${HDF5_LIBRARIES} ${ZLIB_LIBRARIES} )
set(MATIO_INCLUDE_DIRS ${CMAKE_CURRENT_BINARY_DIR}/matio/include )
set(MATIO_LOCAL true)
else(HDF5_FOUND)
message(STATUS " The hdf5 library has not been found in your system.")
message(STATUS " Please try to install it by doing:")
if(OS_IS_MACOSX)
message(STATUS " $ sudo port install hdf5")
message(STATUS " or")
message(STATUS " $ brew install hdf5")
endif(OS_IS_MACOSX)
if(OS_IS_LINUX)
message(STATUS " $ sudo apt-get install libhdf5-dev")
endif(OS_IS_LINUX)
message(FATAL_ERROR "*** The hdf5 library is required to build gnss-sdr")
endif(HDF5_FOUND)
else(ZLIB_FOUND)
message(FATAL_ERROR "*** The zlib library is required to build gnss-sdr")
endif(ZLIB_FOUND)
endif(NOT MATIO_FOUND)
######################################################################## ########################################################################
# Set compiler flags # Set compiler flags
######################################################################## ########################################################################
@ -1526,13 +1433,6 @@ endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
# Enable C++14 support in Clang from 3.5 / Fallback to C++11 if older version and use lib++ if working in macOS # Enable C++14 support in Clang from 3.5 / Fallback to C++11 if older version and use lib++ if working in macOS
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(OS_IS_LINUX)
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
endif(OS_IS_LINUX)
if(OS_IS_MACOSX) if(OS_IS_MACOSX)
# See https://trac.macports.org/wiki/XcodeVersionInfo for Apple Clang version equivalences # See https://trac.macports.org/wiki/XcodeVersionInfo for Apple Clang version equivalences
if(CLANG_VERSION VERSION_LESS "600") if(CLANG_VERSION VERSION_LESS "600")
@ -1541,6 +1441,12 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14") set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
endif(CLANG_VERSION VERSION_LESS "600") endif(CLANG_VERSION VERSION_LESS "600")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wno-deprecated-declarations") set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wno-deprecated-declarations")
else(OS_IS_MACOSX)
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
endif(OS_IS_MACOSX) endif(OS_IS_MACOSX)
if(CMAKE_BUILD_TYPE MATCHES "Release") if(CMAKE_BUILD_TYPE MATCHES "Release")

124
cmake/Modules/FindGFORTRAN.cmake Normal file
View File

@ -0,0 +1,124 @@
find_library(GFORTRAN NAMES gfortran
PATHS /usr/lib
/usr/lib64
/usr/local/lib
/usr/local/lib/i386
/usr/lib/gcc/x86_64-linux-gnu
/usr/lib/gcc/i686-linux-gnu
/usr/lib/gcc/i386-linux-gnu
/usr/lib/gcc/x86_64-linux-gnu/4.6 # Ubuntu 12.04
/usr/lib/gcc/i686-linux-gnu/4.6
/usr/lib/gcc/x86_64-linux-gnu/4.7
/usr/lib/gcc/i686-linux-gnu/4.7
/usr/lib/gcc/x86_64-linux-gnu/4.8
/usr/lib/gcc/i686-linux-gnu/4.8
/usr/lib/gcc/x86_64-linux-gnu/4.9
/usr/lib/gcc/i686-linux-gnu/4.9
/usr/lib/gcc/x86_64-redhat-linux/4.7.2 # Fedora 18
/usr/lib/gcc/i686-redhat-linux/4.7.2
/usr/lib/gcc/x86_64-redhat-linux/4.8.1 # Fedora 19
/usr/lib/gcc/x86_64-redhat-linux/4.8.3 # Fedora 20
/usr/lib/gcc/x86_64-redhat-linux/4.9.1 # Fedora 21
/usr/lib/gcc/i686-redhat-linux/4.8.1
/usr/lib/gcc/i686-redhat-linux/4.8.3
/usr/lib/gcc/i686-redhat-linux/4.9.1
/usr/lib/gcc/x86_64-redhat-linux/4.4.4 # CentOS 6
/usr/lib/gcc/i686-redhat-linux/4.4.4
/usr/lib/gcc/x86_64-redhat-linux/4.8.2
/usr/lib/gcc/i686-redhat-linux/4.8.2
/usr/lib/gcc/x86_64-redhat-linux/7
/usr/lib/gcc/i686-redhat-linux/7
/usr/lib/gcc/armv7hl-redhat-linux-gnueabi/7
/usr/lib/gcc/aarch64-redhat-linux/7
/usr/lib/gcc/i586-suse-linux/4.8 # OpenSUSE 13.1
/usr/lib/gcc/i586-suse-linux/4.9
/usr/lib/gcc/x86_64-suse-linux/4.8
/usr/lib/gcc/x86_64-suse-linux/4.9
/usr/lib/gcc/i486-linux-gnu # Debian 7
/usr/lib/gcc/i486-linux-gnu/4.4
/usr/lib/gcc/i486-linux-gnu/4.6
/usr/lib/gcc/i486-linux-gnu/4.7
/usr/lib/gcc/i486-linux-gnu/4.8
/usr/lib/gcc/i486-linux-gnu/4.9
/usr/lib/gcc/i586-linux-gnu/4.9
/usr/lib/gcc/arm-linux-gnueabihf/4.4 # Debian armhf
/usr/lib/gcc/arm-linux-gnueabihf/4.5
/usr/lib/gcc/arm-linux-gnueabihf/4.6
/usr/lib/gcc/arm-linux-gnueabihf/4.7
/usr/lib/gcc/arm-linux-gnueabihf/4.8
/usr/lib/gcc/arm-linux-gnueabihf/4.9
/usr/lib/gcc/aarch64-linux-gnu/4.9 # Debian arm64
/usr/lib/gcc/arm-linux-gnueabi/4.7 # Debian armel
/usr/lib/gcc/arm-linux-gnueabi/4.9
/usr/lib/gcc/x86_64-linux-gnu/5
/usr/lib/gcc/i686-linux-gnu/5
/usr/lib/gcc/arm-linux-gnueabi/5
/usr/lib/gcc/arm-linux-gnueabihf/5
/usr/lib/gcc/aarch64-linux-gnu/5
/usr/lib/gcc/x86_64-linux-gnu/6 # Ubuntu 16.10
/usr/lib/gcc/alpha-linux-gnu/6
/usr/lib/gcc/aarch64-linux-gnu/6
/usr/lib/gcc/arm-linux-gnueabi/6
/usr/lib/gcc/arm-linux-gnueabihf/6
/usr/lib/gcc/hppa-linux-gnu/6
/usr/lib/gcc/i686-gnu/6
/usr/lib/gcc/i686-linux-gnu/6
/usr/lib/gcc/x86_64-kfreebsd-gnu/6
/usr/lib/gcc/i686-kfreebsd-gnu/6
/usr/lib/gcc/m68k-linux-gnu/6
/usr/lib/gcc/mips-linux-gnu/6
/usr/lib/gcc/mips64el-linux-gnuabi64/6
/usr/lib/gcc/mipsel-linux-gnu/6
/usr/lib/gcc/powerpc-linux-gnu/6
/usr/lib/gcc/powerpc-linux-gnuspe/6
/usr/lib/gcc/powerpc64-linux-gnu/6
/usr/lib/gcc/powerpc64le-linux-gnu/6
/usr/lib/gcc/s390x-linux-gnu/6
/usr/lib/gcc/sparc64-linux-gnu/6
/usr/lib/gcc/x86_64-linux-gnux32/6
/usr/lib/gcc/sh4-linux-gnu/6
/usr/lib/gcc/x86_64-linux-gnu/7 # Debian 9 Buster
/usr/lib/gcc/alpha-linux-gnu/7
/usr/lib/gcc/aarch64-linux-gnu/7
/usr/lib/gcc/arm-linux-gnueabi/7
/usr/lib/gcc/arm-linux-gnueabihf/7
/usr/lib/gcc/hppa-linux-gnu/7
/usr/lib/gcc/i686-gnu/7
/usr/lib/gcc/i686-linux-gnu/7
/usr/lib/gcc/x86_64-kfreebsd-gnu/7
/usr/lib/gcc/i686-kfreebsd-gnu/7
/usr/lib/gcc/m68k-linux-gnu/7
/usr/lib/gcc/mips-linux-gnu/7
/usr/lib/gcc/mips64el-linux-gnuabi64/7
/usr/lib/gcc/mipsel-linux-gnu/7
/usr/lib/gcc/powerpc-linux-gnu/7
/usr/lib/gcc/powerpc-linux-gnuspe/7
/usr/lib/gcc/powerpc64-linux-gnu/7
/usr/lib/gcc/powerpc64le-linux-gnu/7
/usr/lib/gcc/s390x-linux-gnu/7
/usr/lib/gcc/sparc64-linux-gnu/7
/usr/lib/gcc/x86_64-linux-gnux32/7
/usr/lib/gcc/sh4-linux-gnu/7
/usr/lib/x86_64-linux-gnu # libgfortran4
/usr/lib/i386-linux-gnu
/usr/lib/arm-linux-gnueabi
/usr/lib/arm-linux-gnueabihf
/usr/lib/aarch64-linux-gnu
/usr/lib/i386-gnu
/usr/lib/x86_64-kfreebsd-gnu
/usr/lib/i386-kfreebsd-gnu
/usr/lib/mips-linux-gnu
/usr/lib/mips64el-linux-gnuabi64
/usr/lib/mipsel-linux-gnu
/usr/lib/powerpc-linux-gnu
/usr/lib/powerpc64-linux-gnu
/usr/lib/powerpc64le-linux-gnu
/usr/lib/s390x-linux-gnu
/usr/lib/sh4-linux-gnu
/usr/lib/sparc64-linux-gnu
/usr/lib/x86_64-linux-gnux32
/usr/lib/alpha-linux-gnu
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GFORTRAN DEFAULT_MSG GFORTRAN)

2
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -209,10 +209,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
} }
int num_bands = 0; int num_bands = 0;
if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1; if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) ) num_bands = 2; if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) ) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0)) ) num_bands = 2; if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0)) ) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0))) num_bands = 3; if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0))) num_bands = 3;
int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */ int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
if( (number_of_frequencies < 1) || (number_of_frequencies > 3) ) if( (number_of_frequencies < 1) || (number_of_frequencies > 3) )
{ {

259
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -138,75 +138,72 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
{ {
case 'E': case 'E':
{ {
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key std::string sig_(gnss_observables_iter->second.Signal);
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); // Galileo E1
if (galileo_ephemeris_iter != galileo_ephemeris_map.end()) if(sig_.compare("1B") == 0)
{ {
std::string sig_(gnss_observables_iter->second.Signal); // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
// Galileo E1 galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if(sig_.compare("1B") == 0) if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
{ {
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key //convert ephemeris from GNSS-SDR class to RTKLIB structure
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
if (galileo_ephemeris_iter != galileo_ephemeris_map.cend()) //convert observation from GNSS-SDR class to RTKLIB structure
{ obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
//convert ephemeris from GNSS-SDR class to RTKLIB structure obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second); gnss_observables_iter->second,
//convert observation from GNSS-SDR class to RTKLIB structure galileo_ephemeris_iter->second.WN_5,
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; 0);
obs_data[valid_obs] = insert_obs_to_rtklib(newobs, valid_obs++;
gnss_observables_iter->second, }
galileo_ephemeris_iter->second.WN_5, else // the ephemeris are not available for this SV
0); {
valid_obs++; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
else // the ephemeris are not available for this SV }
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
// Galileo E5 // Galileo E5
if(sig_.compare("5X") == 0) if(sig_.compare("5X") == 0)
{ {
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
if (galileo_ephemeris_iter != galileo_ephemeris_map.cend()) {
{ bool found_E1_obs = false;
bool found_E1_obs=false; for (int i = 0; i < valid_obs; i++)
for (int i = 0; i < valid_obs; i++) {
{ if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO))) {
{ obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i+glo_valid_obs], gnss_observables_iter->second,
gnss_observables_iter->second, galileo_ephemeris_iter->second.WN_5,
galileo_ephemeris_iter->second.WN_5, 2);//Band 3 (L5/E5)
2);//Band 3 (L5/E5) found_E1_obs = true;
found_E1_obs=true; break;
break; }
} }
} if (!found_E1_obs)
if (!found_E1_obs) {
{ //insert Galileo E5 obs as new obs and also insert its ephemeris
//insert Galileo E5 obs as new obs and also insert its ephemeris //convert ephemeris from GNSS-SDR class to RTKLIB structure
//convert ephemeris from GNSS-SDR class to RTKLIB structure eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second); //convert observation from GNSS-SDR class to RTKLIB structure
//convert observation from GNSS-SDR class to RTKLIB structure unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0,0}, '0', '0', {}, {},
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, {default_code_, default_code_, default_code_},
gnss_observables_iter->second, {}, {0.0, 0.0, 0.0}, {}};
galileo_ephemeris_iter->second.WN_5, obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
2); //Band 3 (L5/E5) gnss_observables_iter->second,
valid_obs++; galileo_ephemeris_iter->second.WN_5,
} 2); //Band 3 (L5/E5)
} valid_obs++;
else // the ephemeris are not available for this SV }
{ }
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; else // the ephemeris are not available for this SV
} {
} DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
}
break; break;
} }
case 'G': case 'G':
@ -280,75 +277,75 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
break; break;
} }
case 'R': //TODO This should be using rtk lib nomenclature case 'R': //TODO This should be using rtk lib nomenclature
{ {
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1 // GLONASS GNAV L1
if(sig_.compare("1G") == 0) if(sig_.compare("1G") == 0)
{ {
// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key // 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend()) if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
{ {
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc); geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
0);//Band 0 (L1) 0);//Band 0 (L1)
glo_valid_obs++; glo_valid_obs++;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
// GLONASS GNAV L2 // GLONASS GNAV L2
if(sig_.compare("2G") == 0) if(sig_.compare("2G") == 0)
{ {
// 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key // 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend()) if (glonass_gnav_ephemeris_iter != glonass_gnav_ephemeris_map.cend())
{ {
bool found_L1_obs=false; bool found_L1_obs = false;
for (int i = 0; i < glo_valid_obs; i++) for (int i = 0; i < glo_valid_obs; i++)
{ {
if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS))) if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS)))
{ {
obs_data[i+valid_obs] = insert_obs_to_rtklib(obs_data[i+valid_obs], obs_data[i+valid_obs] = insert_obs_to_rtklib(obs_data[i+valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1);//Band 1 (L2) 1);//Band 1 (L2)
found_L1_obs=true; found_L1_obs = true;
break; break;
} }
} }
if (!found_L1_obs) if (!found_L1_obs)
{ {
//insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris //insert GLONASS GNAV L2 obs as new obs and also insert its ephemeris
//convert ephemeris from GNSS-SDR class to RTKLIB structure //convert ephemeris from GNSS-SDR class to RTKLIB structure
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc); geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
//convert observation from GNSS-SDR class to RTKLIB structure //convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}}; obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs+glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN, glonass_gnav_ephemeris_iter->second.d_WN,
1); //Band 1 (L2) 1); //Band 1 (L2)
glo_valid_obs++; glo_valid_obs++;
} }
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
break; break;
} }
default : default :
DLOG(INFO) << "Hybrid observables: Unknown GNSS"; DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break; break;

18
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@ -36,7 +36,18 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz; rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz;
rtklib_obs.P[band] = gnss_synchro.Pseudorange_m; rtklib_obs.P[band] = gnss_synchro.Pseudorange_m;
rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / (2.0 * PI); rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / (2.0 * PI);
switch(band)
{
case 0:
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L1C);
break;
case 1:
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L2S);
break;
case 2:
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L5X);
break;
}
double CN0_dB_Hz_est = gnss_synchro.CN0_dB_hz; double CN0_dB_Hz_est = gnss_synchro.CN0_dB_hz;
if (CN0_dB_Hz_est > 63.75) CN0_dB_Hz_est = 63.75; if (CN0_dB_Hz_est > 63.75) CN0_dB_Hz_est = 63.75;
if (CN0_dB_Hz_est < 0.0) CN0_dB_Hz_est = 0.0; if (CN0_dB_Hz_est < 0.0) CN0_dB_Hz_est = 0.0;
@ -60,7 +71,6 @@ obsd_t insert_obs_to_rtklib(obsd_t & rtklib_obs, const Gnss_Synchro & gnss_synch
} }
rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time); rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
rtklib_obs.rcv = 1; rtklib_obs.rcv = 1;
//printf("OBS RX TIME [%i]: %s,%f\n\r",rtklib_obs.sat,time_str(rtklib_obs.time,3),rtklib_obs.time.sec);
return rtklib_obs; return rtklib_obs;
} }
@ -132,8 +142,8 @@ eph_t eph_to_rtklib(const Galileo_Ephemeris & gal_eph)
rtklib_sat.f0 = gal_eph.af0_4; rtklib_sat.f0 = gal_eph.af0_4;
rtklib_sat.f1 = gal_eph.af1_4; rtklib_sat.f1 = gal_eph.af1_4;
rtklib_sat.f2 = gal_eph.af2_4; rtklib_sat.f2 = gal_eph.af2_4;
rtklib_sat.tgd[0] = 0; rtklib_sat.tgd[0] = gal_eph.BGD_E1E5a_5;
rtklib_sat.tgd[1] = 0; rtklib_sat.tgd[1] = gal_eph.BGD_E1E5b_5;
rtklib_sat.tgd[2] = 0; rtklib_sat.tgd[2] = 0;
rtklib_sat.tgd[3] = 0; rtklib_sat.tgd[3] = 0;
rtklib_sat.toes = gal_eph.t0e_1; rtklib_sat.toes = gal_eph.t0e_1;

89
src/algorithms/libs/rtklib/rtklib_pntpos.cc
View File

@ -84,7 +84,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
int iter, const prcopt_t *opt, double *var) int iter, const prcopt_t *opt, double *var)
{ {
const double *lam = nav->lam[obs->sat - 1]; const double *lam = nav->lam[obs->sat - 1];
double PC, P1, P2, P1_P2, P1_C1, P2_C2, gamma; double PC, P1, P2, P1_P2, P1_C1, P2_C2, gamma_;
int i = 0, j = 1, sys; int i = 0, j = 1, sys;
*var = 0.0; *var = 0.0;
@ -124,7 +124,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
} }
} }
} }
gamma = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0); /* f1^2/f2^2 */ gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0); /* f1^2/f2^2 */
P1 = obs->P[i]; P1 = obs->P[i];
P2 = obs->P[j]; P2 = obs->P[j];
P1_P2 = nav->cbias[obs->sat-1][0]; P1_P2 = nav->cbias[obs->sat-1][0];
@ -134,7 +134,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
/* if no P1-P2 DCB, use TGD instead */ /* if no P1-P2 DCB, use TGD instead */
if (P1_P2 == 0.0 && (sys & (SYS_GPS | SYS_GAL | SYS_QZS))) if (P1_P2 == 0.0 && (sys & (SYS_GPS | SYS_GAL | SYS_QZS)))
{ {
P1_P2 = (1.0 - gamma) * gettgd(obs->sat, nav); P1_P2 = (1.0 - gamma_) * gettgd(obs->sat, nav);
} }
if (opt->ionoopt == IONOOPT_IFLC) if (opt->ionoopt == IONOOPT_IFLC)
{ /* dual-frequency */ { /* dual-frequency */
@ -144,15 +144,30 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
if (obs->code[j] == CODE_L2C) P2 += P2_C2; /* C2->P2 */ if (obs->code[j] == CODE_L2C) P2 += P2_C2; /* C2->P2 */
/* iono-free combination */ /* iono-free combination */
PC = (gamma * P1 - P2) / (gamma - 1.0); PC = (gamma_ * P1 - P2) / (gamma_ - 1.0);
} }
else else
{ /* single-frequency */ { /* single-frequency */
if((obs->code[i] == CODE_NONE) && (obs->code[j] == CODE_NONE)){return 0.0;}
if (P1 == 0.0) return 0.0; else if((obs->code[i] != CODE_NONE) && (obs->code[j] == CODE_NONE))
if (obs->code[i] == CODE_L1C) P1 += P1_C1; /* C1->P1 */ {
PC = P1 - P1_P2 / (1.0 - gamma); P1 += P1_C1; /* C1->P1 */
} PC = P1 - P1_P2 / (1.0 - gamma_);
}
else if((obs->code[i] == CODE_NONE) && (obs->code[j] != CODE_NONE))
{
P2 += P2_C2; /* C2->P2 */
PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_);
}
/* dual-frequency */
else
{
P1 += P1_C1;
P2 += P2_C2;
PC = (gamma_ * P1 - P2) / (gamma_ - 1.0);
}
}
if (opt->sateph == EPHOPT_SBAS) PC -= P1_C1; /* sbas clock based C1 */ if (opt->sateph == EPHOPT_SBAS) PC -= P1_C1; /* sbas clock based C1 */
*var = std::pow(ERR_CBIAS, 2.0); *var = std::pow(ERR_CBIAS, 2.0);
@ -285,12 +300,17 @@ int rescode(int iter, const obsd_t *obs, int n, const double *rs,
continue; continue;
} }
/* geometric distance/azimuth/elevation angle */ /* geometric distance/azimuth/elevation angle */
if ((r = geodist(rs + i * 6, rr, e)) <= 0.0 || satazel(pos, e, azel + i * 2) < opt->elmin) if ((r = geodist(rs + i * 6, rr, e)) <= 0.0)
{ {
trace(4, "geodist / satazel error\n"); trace(4, "geodist error\n");
continue;
}
double elaux = satazel(pos, e, azel + i * 2);
if(elaux < opt->elmin)
{
trace(4, "satazel error. el = %lf , elmin = %lf\n", elaux, opt->elmin);
continue; continue;
} }
/* psudorange with code bias correction */ /* psudorange with code bias correction */
if ((P = prange(obs+i, nav, azel+i*2, iter, opt, &vmeas)) == 0.0) if ((P = prange(obs+i, nav, azel+i*2, iter, opt, &vmeas)) == 0.0)
{ {
@ -671,53 +691,6 @@ int pntpos(const obsd_t *obs, int n, const nav_t *nav,
const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat, const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
char *msg) char *msg)
{ {
// int k = 0;
// for (k = 0;k<n;k++)
// {
// printf("OBS[%i]: sat %i, P:%f ,LLI:%s \r\n",k,obs[k].sat,obs[k].P[0], obs[k].LLI);
// }
//
// for (k = 0;k<nav->n;k++)
// {
// printf("NAV[%i]: sat %i, %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f , %f \r\n",
// k,
// nav->eph[k].sat,
// nav->eph[k].A,
// nav->eph[k].Adot,
// nav->eph[k].M0,
// nav->eph[k].OMG0,
// nav->eph[k].OMGd,
// nav->eph[k].cic,
// nav->eph[k].cis,
// nav->eph[k].code,
// nav->eph[k].crc,
// nav->eph[k].crs,
// nav->eph[k].cuc,
// nav->eph[k].cus,
// nav->eph[k].deln,
// nav->eph[k].e,
// nav->eph[k].f0,
// nav->eph[k].f1,
// nav->eph[k].f2,
// nav->eph[k].fit,
// nav->eph[k].flag,
// nav->eph[k].i0,
// nav->eph[k].idot,
// nav->eph[k].iodc,
// nav->eph[k].iode,
// nav->eph[k].ndot,
// nav->eph[k].omg,
// nav->eph[k].sat,
// nav->eph[k].sva,
// nav->eph[k].svh,
// nav->eph[k].tgd[0],
// nav->eph[k].toc.sec,
// nav->eph[k].toe.sec,
// nav->eph[k].toes,
// nav->eph[k].ttr.sec,
// nav->eph[k].week);
// }
prcopt_t opt_ = *opt; prcopt_t opt_ = *opt;
double *rs, *dts, *var, *azel_, *resp; double *rs, *dts, *var, *azel_, *resp;
int i, stat, vsat[MAXOBS] = {0}, svh[MAXOBS]; int i, stat, vsat[MAXOBS] = {0}, svh[MAXOBS];

2
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
View File

@ -3461,7 +3461,7 @@ double geodist(const double *rs, const double *rr, double *e)
/* satellite azimuth/elevation angle ------------------------------------------- /* satellite azimuth/elevation angle -------------------------------------------
* compute satellite azimuth/elevation angle * compute satellite azimuth/elevation angle
* args : double *pos I geodetic position {lat,lon,h} (rad,m) * args : double *pos I geodetic position {lat,lon,h} (rad,m)
* double *e I receiver-to-satellilte unit vevtor (ecef) * double *e I receiver-to-satellilte unit vector (ecef)
* double *azel IO azimuth/elevation {az,el} (rad) (NULL: no output) * double *azel IO azimuth/elevation {az,el} (rad) (NULL: no output)
* (0.0<=azel[0]<2*pi,-pi/2<=azel[1]<=pi/2) * (0.0<=azel[0]<2*pi,-pi/2<=azel[1]<=pi/2)
* return : elevation angle (rad) * return : elevation angle (rad)

6
src/algorithms/observables/gnuradio_blocks/CMakeLists.txt
View File

@ -38,5 +38,9 @@ file(GLOB OBS_GR_BLOCKS_HEADERS "*.h")
list(SORT OBS_GR_BLOCKS_HEADERS) list(SORT OBS_GR_BLOCKS_HEADERS)
add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} ${OBS_GR_BLOCKS_HEADERS}) add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} ${OBS_GR_BLOCKS_HEADERS})
source_group(Headers FILES ${OBS_GR_BLOCKS_HEADERS}) source_group(Headers FILES ${OBS_GR_BLOCKS_HEADERS})
add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE}) if(MATIO_FOUND)
add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
else(MATIO_FOUND)
add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
endif(MATIO_FOUND)
target_link_libraries(obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES}) target_link_libraries(obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES})

9
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
View File

@ -358,11 +358,6 @@ int hybrid_observables_cc::general_work (int noutput_items __attribute__((unused
{ {
d_gnss_synchro_history_queue[i].push_back(in[i][j]); d_gnss_synchro_history_queue[i].push_back(in[i][j]);
} }
//std::cout<<"push["<<i<<"] items "<<n_consume[i]
/// <<" latest T_rx: "<<(double)in[i][ninput_items[i]-1].Tracking_sample_counter/(double)in[i][ninput_items[i]-1].fs
// <<" [s] q size: "
// <<d_gnss_synchro_history_queue[i].size()
// <<std::endl;
} }
bool channel_history_ok; bool channel_history_ok;
@ -448,10 +443,6 @@ int hybrid_observables_cc::general_work (int noutput_items __attribute__((unused
} }
} }
else
{
//std::cout<<"ch["<<i<<"] delta_T_rx:"<<delta_T_rx_s*1000.0<<std::endl;
}
} }
} }
} }

457
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
View File

@ -39,8 +39,8 @@
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <glog/logging.h> #include <glog/logging.h>
#include <cmath>
#include "control_message_factory.h" #include "control_message_factory.h"
#include "gnss_synchro.h"
#include "convolutional.h" #include "convolutional.h"
@ -114,7 +114,7 @@ void galileo_e5a_telemetry_decoder_cc::decode_word(double *page_symbols, int fra
double page_symbols_deint[frame_length]; double page_symbols_deint[frame_length];
// 1. De-interleave // 1. De-interleave
galileo_e5a_telemetry_decoder_cc::deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint); deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint);
// 2. Viterbi decoder // 2. Viterbi decoder
// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder) // 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
@ -127,7 +127,7 @@ void galileo_e5a_telemetry_decoder_cc::decode_word(double *page_symbols, int fra
} }
} }
int page_bits[frame_length/2]; int page_bits[frame_length/2];
galileo_e5a_telemetry_decoder_cc::viterbi_decoder(page_symbols_deint, page_bits); viterbi_decoder(page_symbols_deint, page_bits);
// 3. Call the Galileo page decoder // 3. Call the Galileo page decoder
std::string page_String; std::string page_String;
@ -197,32 +197,37 @@ galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc(
{ {
if (GALILEO_FNAV_PREAMBLE.at(i) == '0') if (GALILEO_FNAV_PREAMBLE.at(i) == '0')
{ {
d_preamble_bits[i] = 1; d_preambles_bits[i] = 1;
} }
else else
{ {
d_preamble_bits[i] = -1; d_preambles_bits[i] = -1;
}
}
for (int i = 0; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
{
for (int k = 0; k < GALILEO_FNAV_CODES_PER_SYMBOL; k++)
{
d_preamble_samples[(i * GALILEO_FNAV_CODES_PER_SYMBOL) + k] = d_preambles_bits[i];
} }
} }
d_sample_counter = 0; d_sample_counter = 0;
d_state = 0; d_stat = 0;
d_preamble_lock = false; corr_value = 0;
d_flag_preamble = false;
d_preamble_index = 0; d_preamble_index = 0;
d_flag_frame_sync = false; d_flag_frame_sync = false;
d_current_symbol = 0; d_TOW_at_current_symbol = 0.0;
d_prompt_counter = 0;
d_symbol_counter = 0;
d_TOW_at_Preamble = 0;
d_TOW_at_current_symbol = 0;
d_CRC_error_counter = 0;
d_sign_init = 0;
d_flag_preamble = false;
d_channel = 0;
flag_TOW_set = false; flag_TOW_set = false;
d_CRC_error_counter = 0;
d_channel = 0;
delta_t = 0.0;
d_symbol_counter = 0;
d_prompt_acum = 0.0;
flag_bit_start = false;
new_symbol = false;
required_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE + GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
} }
@ -245,265 +250,222 @@ galileo_e5a_telemetry_decoder_cc::~galileo_e5a_telemetry_decoder_cc()
int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]); // Get the output buffer pointer int preamble_diff = 0;
const Gnss_Synchro *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]); // Get the input buffer pointer
/* Terminology: Prompt: output from tracking Prompt correlator (Prompt samples) Gnss_Synchro* out = reinterpret_cast<Gnss_Synchro*>(output_items[0]); // Get the output buffer pointer
* Symbol: encoded navigation bits. 1 symbol = 20 samples in E5a const Gnss_Synchro* in = reinterpret_cast<const Gnss_Synchro*>(input_items[0]); // Get the input buffer pointer
* Bit: decoded navigation bits forming words as described in Galileo ICD
* States: 0 Receiving dummy samples. Gnss_Synchro current_sample; //structure to save the synchronization information and send the output object to the next block
* 1 Preamble not locked //1. Copy the current tracking output
* 3 Preamble lock current_sample = in[0];
*/ d_symbol_counter++;
switch (d_state) if(flag_bit_start)
{ {
case 0: d_prompt_acum += current_sample.Prompt_I;
{ if(d_symbol_counter == GALILEO_FNAV_CODES_PER_SYMBOL)
if (in[0].Prompt_I != 0) {
{ current_sample.Prompt_I = d_prompt_acum / static_cast<double>(GALILEO_FNAV_CODES_PER_SYMBOL);
d_current_symbol += in[0].Prompt_I; d_symbol_history.push_back(current_sample); //add new symbol to the symbol queue
if (d_prompt_counter == GALILEO_FNAV_CODES_PER_SYMBOL - 1) d_prompt_acum = 0.0;
{ d_symbol_counter = 0;
if (d_current_symbol > 0) new_symbol = true;
{ }
d_page_symbols[d_symbol_counter] = 1; }
} else
else {
{ if(current_sample.Prompt_I < 0.0)
d_page_symbols[d_symbol_counter] = -1; {
} d_preamble_init.push_back(1);
d_current_symbol = 0; }
d_symbol_counter++; else
d_prompt_counter = 0; {
if (d_symbol_counter == GALILEO_FNAV_PREAMBLE_LENGTH_BITS - 1) d_preamble_init.push_back(-1);
{ }
d_state = 1;
}
}
else
{
d_prompt_counter++;
}
}
break;
}
case 1:
{
d_current_symbol += in[0].Prompt_I;
if (d_prompt_counter == GALILEO_FNAV_CODES_PER_SYMBOL - 1)
{
if (d_current_symbol > 0)
{
d_page_symbols[d_symbol_counter] = 1;
}
else
{
d_page_symbols[d_symbol_counter] = -1;
}
// d_page_symbols[d_symbol_counter] = d_current_symbol_float/(float)GALILEO_FNAV_CODES_PER_SYMBOL;
d_current_symbol = 0;
d_symbol_counter++;
d_prompt_counter = 0;
// **** Attempt Preamble correlation ****
bool corr_flag = true;
int corr_sign = 0; // sequence can be found inverted
// check if the preamble starts positive correlated or negative correlated
if (d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS] < 0) // symbols clipping
{
corr_sign = -d_preamble_bits[0];
}
else
{
corr_sign = d_preamble_bits[0];
}
// the preamble is fully correlated only if maintains corr_sign along the whole sequence
for (int i = 1; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
{
if (d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS + i] < 0 && d_preamble_bits[i]+corr_sign != 0)
{
//exit for
corr_flag = false;
break;
}
if (d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS + i] > 0 && d_preamble_bits[i]+corr_sign == 0)
{
//exit for
corr_flag = false;
break;
}
}
//
if (corr_flag == true) // preamble fully correlates
{
d_preamble_index = d_sample_counter - GALILEO_FNAV_CODES_PER_PREAMBLE;//record the preamble sample stamp. Remember correlation appears at the end of the preamble in this design
LOG(INFO) << "Preamble detection in E5a for Galileo satellite " << this->d_satellite << std::endl;
d_symbol_counter = 0; // d_page_symbols start right after preamble and finish at the end of next preamble.
d_state = 2; // preamble lock
}
if (d_symbol_counter >= GALILEO_FNAV_SYMBOLS_PER_PAGE + GALILEO_FNAV_PREAMBLE_LENGTH_BITS)
{
d_symbol_counter = GALILEO_FNAV_PREAMBLE_LENGTH_BITS; // prevents overflow
}
}
else
{
d_prompt_counter++;
}
break;
}
case 2:
{
d_current_symbol += in[0].Prompt_I;
if (d_prompt_counter == GALILEO_FNAV_CODES_PER_SYMBOL - 1)
{
if (d_current_symbol > 0)
{
d_page_symbols[d_symbol_counter] = 1;
}
else
{
d_page_symbols[d_symbol_counter] = -1;
}
// d_page_symbols[d_symbol_counter] = d_current_symbol_float/(float)GALILEO_FNAV_CODES_PER_SYMBOL;
d_current_symbol = 0;
d_symbol_counter++;
d_prompt_counter = 0;
// At the right sample stamp, check preamble synchro
if (d_sample_counter == d_preamble_index + GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE)
{
// **** Attempt Preamble correlation ****
bool corr_flag = true;
int corr_sign = 0; // sequence can be found inverted
// check if the preamble starts positive correlated or negative correlated
if (d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS] < 0) // symbols clipping
{
corr_sign = -d_preamble_bits[0];
}
else
{
corr_sign = d_preamble_bits[0];
}
// the preamble is fully correlated only if maintains corr_sign along the whole sequence
for (int i = 1; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
{
if (d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS + i] < 0 && d_preamble_bits[i]+corr_sign != 0)
{
//exit for
corr_flag = false;
break;
}
if (d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS + i] > 0 && d_preamble_bits[i]+corr_sign == 0)
{
//exit for
corr_flag = false;
break;
}
}
if (corr_flag == true) // NEW PREAMBLE RECEIVED. DECODE PAGE if (d_preamble_init.size() == GALILEO_FNAV_CODES_PER_PREAMBLE)
{ {
d_preamble_index = d_sample_counter - GALILEO_FNAV_CODES_PER_PREAMBLE;//record the preamble sample stamp std::deque<int>::iterator iter;
// DECODE WORD int k = 0;
decode_word(d_page_symbols, GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS); corr_value = 0;
// CHECK CRC for (iter = d_preamble_init.begin(); iter != d_preamble_init.end(); iter++)
if (d_nav.flag_CRC_test == true) {
{ corr_value += *iter * d_preamble_samples[k];
d_CRC_error_counter = 0; k++;
d_flag_preamble = true; //valid preamble indicator (initialized to false every work()) }
if (!d_flag_frame_sync) if(abs(corr_value) == GALILEO_FNAV_CODES_PER_PREAMBLE)
{ {
d_flag_frame_sync = true; d_symbol_counter = 0;
DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at " flag_bit_start = true;
<< in[0].Tracking_sample_counter << " [samples]"; corr_value = 0;
} while(d_preamble_init.size() > 0)
d_symbol_counter = 0; // d_page_symbols start right after preamble and finish at the end of next preamble. { //Clear preamble correlating queue
} d_preamble_init.pop_front();
else }
{ while(d_symbol_history.size() > 0)
d_CRC_error_counter++; { //Clear symbol queue in order to prevent possible symbol discontinuities
if (d_CRC_error_counter > GALILEO_E5a_CRC_ERROR_LIMIT) d_symbol_history.pop_front();
{ }
LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite; LOG(INFO) << "Bit start sync for Galileo E5a satellite " << d_satellite;
d_state = 1; }
d_symbol_counter = GALILEO_FNAV_PREAMBLE_LENGTH_BITS; // prevents overflow else
d_flag_frame_sync = false; {
} d_preamble_init.pop_front();
else }
{ }
d_symbol_counter = 0; // d_page_symbols start right after preamble and finish at the end of next preamble. }
} d_sample_counter++; //count for the processed samples
} consume_each(1);
}
} d_flag_preamble = false;
}
else if ((d_symbol_history.size() > required_symbols) && new_symbol)
{ {
d_prompt_counter++; //******* preamble correlation ********
} corr_value = 0;
break; for (int i = 0; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
} {
if (d_symbol_history.at(i).Prompt_I < 0.0) // symbols clipping
{
corr_value -= d_preambles_bits[i];
}
else
{
corr_value += d_preambles_bits[i];
}
}
} }
//******* frame sync ******************
if ((d_stat == 0) && new_symbol) //no preamble information
{
if (abs(corr_value) >= GALILEO_FNAV_PREAMBLE_LENGTH_BITS)
{
d_preamble_index = d_sample_counter;//record the preamble sample stamp
LOG(INFO) << "Preamble detection for Galileo E5a satellite " << d_satellite;
d_stat = 1; // enter into frame pre-detection status
}
}
else if ((d_stat == 1) && new_symbol) // posible preamble lock
{
if (abs(corr_value) >= GALILEO_FNAV_PREAMBLE_LENGTH_BITS)
{
//check preamble separation
preamble_diff = d_sample_counter - d_preamble_index;
if (preamble_diff == GALILEO_FNAV_CODES_PER_PAGE)
{
//try to decode frame
LOG(INFO) << "Starting page decoder for Galileo E5a satellite " << d_satellite;
d_preamble_index = d_sample_counter; //record the preamble sample stamp
d_stat = 2;
}
else if (preamble_diff > GALILEO_FNAV_CODES_PER_PAGE)
{
d_stat = 0; // start again
flag_bit_start = false;
LOG(INFO) << "Preamble diff = " << preamble_diff;
}
}
}
else if ((d_stat == 2) && new_symbol)
{
if (d_sample_counter == (d_preamble_index + GALILEO_FNAV_CODES_PER_PAGE))
{
// NEW Galileo page part is received
// 0. fetch the symbols into an array
int frame_length = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
double corr_sign = 0.0;
if(corr_value > 0)
{
corr_sign = -1.0;
}
else
{
corr_sign = 1.0;
}
for (int i = 0; i < frame_length; i++)
{
page_symbols[i] = corr_sign * d_symbol_history.at(i + GALILEO_FNAV_PREAMBLE_LENGTH_BITS).Prompt_I; // because last symbol of the preamble is just received now!
}
//call the decoder
decode_word(page_symbols, frame_length);
if (d_nav.flag_CRC_test == true)
{
d_CRC_error_counter = 0;
d_flag_preamble = true; //valid preamble indicator (initialized to false every work())
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at "
<< d_symbol_history.at(0).Tracking_sample_counter << " [samples]";
}
}
else
{
d_CRC_error_counter++;
d_preamble_index = d_sample_counter; //record the preamble sample stamp
if (d_CRC_error_counter > GALILEO_E5A_CRC_ERROR_LIMIT)
{
LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
d_flag_frame_sync = false;
d_stat = 0;
flag_bit_start = false;
}
}
}
}
new_symbol = false;
// UPDATE GNSS SYNCHRO DATA // UPDATE GNSS SYNCHRO DATA
Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block //Add the telemetry decoder information
//1. Copy the current tracking output if (d_flag_preamble and d_nav.flag_TOW_set)
current_synchro_data = in[0];
//2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
//update TOW at the preamble instant //update TOW at the preamble instant
//We expect a preamble each 10 seconds (FNAV page period) //We expect a preamble each 10 seconds (FNAV page period)
{ {
if (d_nav.flag_TOW_1 == true) if (d_nav.flag_TOW_1 == true)
{ {
d_TOW_at_Preamble = d_nav.FNAV_TOW_1; d_TOW_at_current_symbol = d_nav.FNAV_TOW_1 + (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD);
d_TOW_at_current_symbol = d_TOW_at_Preamble + (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE+GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD);
d_nav.flag_TOW_1 = false; d_nav.flag_TOW_1 = false;
} }
if (d_nav.flag_TOW_2 == true) else if (d_nav.flag_TOW_2 == true)
{ {
d_TOW_at_Preamble = d_nav.FNAV_TOW_2; d_TOW_at_current_symbol = d_nav.FNAV_TOW_2 + (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD);
d_TOW_at_current_symbol = d_TOW_at_Preamble + (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE+GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD);
d_nav.flag_TOW_2 = false; d_nav.flag_TOW_2 = false;
} }
if (d_nav.flag_TOW_3 == true) else if (d_nav.flag_TOW_3 == true)
{ {
d_TOW_at_Preamble = d_nav.FNAV_TOW_3; d_TOW_at_current_symbol = d_nav.FNAV_TOW_3 + (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD);
d_TOW_at_current_symbol = d_TOW_at_Preamble + (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE+GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD);
d_nav.flag_TOW_3 = false; d_nav.flag_TOW_3 = false;
} }
if (d_nav.flag_TOW_4 == true) else if (d_nav.flag_TOW_4 == true)
{ {
d_TOW_at_Preamble = d_nav.FNAV_TOW_4; d_TOW_at_current_symbol = d_nav.FNAV_TOW_4 + (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD);
d_TOW_at_current_symbol = d_TOW_at_Preamble + (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE+GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD);
d_nav.flag_TOW_4 = false; d_nav.flag_TOW_4 = false;
} }
else else
{ {
//this page has no timming information d_TOW_at_current_symbol += GALILEO_E5a_CODE_PERIOD;
d_TOW_at_Preamble = d_TOW_at_Preamble + GALILEO_FNAV_SECONDS_PER_PAGE;
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E5a_CODE_PERIOD;
} }
} }
else //if there is not a new preamble, we define the TOW of the current symbol else //if there is not a new preamble, we define the TOW of the current symbol
{ {
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E5a_CODE_PERIOD; d_TOW_at_current_symbol += GALILEO_E5a_CODE_PERIOD;
} }
//if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true) //if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
if (d_flag_frame_sync == true and d_nav.flag_TOW_set == true) if (d_flag_frame_sync and d_nav.flag_TOW_set)
{ {
current_synchro_data.Flag_valid_word = true; current_sample.Flag_valid_word = true;
} }
else else
{ {
current_synchro_data.Flag_valid_word = false; current_sample.Flag_valid_word = false;
} }
current_synchro_data.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol*1000.0)/1000.0; current_sample.TOW_at_current_symbol_s = floor(d_TOW_at_current_symbol*1000.0)/1000.0;
if(d_dump == true) if(d_dump)
{ {
// MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file
try try
@ -512,20 +474,23 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
unsigned long int tmp_ulong_int; unsigned long int tmp_ulong_int;
tmp_double = d_TOW_at_current_symbol; tmp_double = d_TOW_at_current_symbol;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_ulong_int = current_synchro_data.Tracking_sample_counter; tmp_ulong_int = current_sample.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char*>(&tmp_ulong_int), sizeof(unsigned long int)); d_dump_file.write(reinterpret_cast<char*>(&tmp_ulong_int), sizeof(unsigned long int));
tmp_double = d_TOW_at_Preamble; tmp_double = 0.0;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double)); d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
} }
catch (const std::ifstream::failure & e) catch (const std::ifstream::failure & e)
{ {
LOG(WARNING) << "Exception writing observables dump file " << e.what(); LOG(WARNING) << "Exception writing Galileo E5a Telemetry Decoder dump file " << e.what();
} }
} }
d_sample_counter++; //count for the processed samples // remove used symbols from history
//3. Make the output (copy the object contents to the GNURadio reserved memory) while (d_symbol_history.size() > required_symbols)
out[0] = current_synchro_data; {
consume_each(1); d_symbol_history.pop_front();
}
//3. Make the output
out[0] = current_sample;
return 1; return 1;
} }

47
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h
View File

@ -39,6 +39,7 @@
#include <fstream> #include <fstream>
#include <string> #include <string>
#include <deque>
#include <gnuradio/block.h> #include <gnuradio/block.h>
#include "Galileo_E5a.h" #include "Galileo_E5a.h"
#include "concurrent_queue.h" #include "concurrent_queue.h"
@ -48,8 +49,7 @@
#include "galileo_almanac.h" #include "galileo_almanac.h"
#include "galileo_iono.h" #include "galileo_iono.h"
#include "galileo_utc_model.h" #include "galileo_utc_model.h"
#include "gnss_synchro.h"
//#include "convolutional.h"
class galileo_e5a_telemetry_decoder_cc; class galileo_e5a_telemetry_decoder_cc;
@ -85,38 +85,33 @@ private:
void decode_word(double *page_symbols, int frame_length); void decode_word(double *page_symbols, int frame_length);
int d_preamble_bits[GALILEO_FNAV_PREAMBLE_LENGTH_BITS]; int d_preambles_bits[GALILEO_FNAV_PREAMBLE_LENGTH_BITS];
double d_page_symbols[GALILEO_FNAV_SYMBOLS_PER_PAGE + GALILEO_FNAV_PREAMBLE_LENGTH_BITS]; int d_preamble_samples[GALILEO_FNAV_CODES_PER_PREAMBLE];
std::deque<int> d_preamble_init;
double d_current_symbol; int d_stat;
long unsigned int d_symbol_counter; int d_CRC_error_counter;
int d_prompt_counter; int d_channel;
int d_sign_init; int d_symbol_counter;
int corr_value;
unsigned int required_symbols;
long unsigned int d_sample_counter; long unsigned int d_sample_counter;
long unsigned int d_preamble_index; long unsigned int d_preamble_index;
bool d_preamble_lock;
bool d_flag_frame_sync; bool d_flag_frame_sync;
int d_state;
bool d_flag_preamble; bool d_flag_preamble;
int d_CRC_error_counter;
// navigation message vars
Galileo_Fnav_Message d_nav;
bool d_dump; bool d_dump;
Gnss_Satellite d_satellite;
int d_channel;
double d_TOW_at_Preamble;
double d_TOW_at_current_symbol;
bool flag_TOW_set; bool flag_TOW_set;
bool flag_bit_start;
bool new_symbol;
double d_prompt_acum;
double page_symbols[GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS];
double d_TOW_at_current_symbol;
double delta_t; //GPS-GALILEO time offset
std::string d_dump_filename; std::string d_dump_filename;
std::ofstream d_dump_file; std::ofstream d_dump_file;
std::deque<Gnss_Synchro> d_symbol_history;
Gnss_Satellite d_satellite;
// navigation message vars
Galileo_Fnav_Message d_nav;
}; };
#endif /* GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_CC_H_ */ #endif /* GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_CC_H_ */

10
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
View File

@ -69,5 +69,13 @@ source_group(Headers FILES ${TRACKING_GR_BLOCKS_HEADERS})
target_link_libraries(tracking_gr_blocks tracking_lib ${GNURADIO_RUNTIME_LIBRARIES} gnss_sp_libs ${Boost_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${MATIO_LIBRARIES} ${OPT_TRACKING_LIBRARIES}) target_link_libraries(tracking_gr_blocks tracking_lib ${GNURADIO_RUNTIME_LIBRARIES} gnss_sp_libs ${Boost_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${MATIO_LIBRARIES} ${OPT_TRACKING_LIBRARIES})
if(NOT VOLK_GNSSSDR_FOUND) if(NOT VOLK_GNSSSDR_FOUND)
add_dependencies(tracking_gr_blocks volk_gnsssdr_module) if(MATIO_FOUND)
add_dependencies(tracking_gr_blocks volk_gnsssdr_module)
else(MATIO_FOUND)
add_dependencies(tracking_gr_blocks volk_gnsssdr_module matio-${GNSSSDR_MATIO_LOCAL_VERSION})
endif(MATIO_FOUND)
else(NOT VOLK_GNSSSDR_FOUND)
if(NOT MATIO_FOUND)
add_dependencies(tracking_gr_blocks matio-${GNSSSDR_MATIO_LOCAL_VERSION})
endif(NOT MATIO_FOUND)
endif(NOT VOLK_GNSSSDR_FOUND) endif(NOT VOLK_GNSSSDR_FOUND)

177
src/core/system_parameters/GPS_L5.h Normal file
View File

@ -0,0 +1,177 @@
/*!
* \file GPS_L5.h
* \brief Defines system parameters for GPS L5 signal
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L5_H_
#define GNSS_SDR_GPS_L5_H_
#include <cstdint>
#include "MATH_CONSTANTS.h"
#include "gnss_frequencies.h"
// Physical constants
const double GPS_L5_C_m_s = 299792458.0; //!< The speed of light, [m/s]
const double GPS_L5_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
const double GPS_L5_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
const double GPS_L5_TWO_PI = 6.283185307179586; //!< 2Pi as defined in IS-GPS-200E
const double GPS_L5_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
const double GPS_L5_GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
const double GPS_L5_F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
// carrier and code frequencies
const double GPS_L5_FREQ_HZ = FREQ5; //!< L2 [Hz]
const double GPS_L5i_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s]
const int GPS_L5i_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
const double GPS_L5i_PERIOD = 0.001; //!< GPS L2 M code period [seconds]
const double GPS_L5q_CODE_RATE_HZ = 10.23e6; //!< GPS L5i code rate [chips/s]
const int GPS_L5q_CODE_LENGTH_CHIPS = 10230; //!< GPS L5i code length [chips]
const double GPS_L5q_PERIOD = 0.001; //!< GPS L2 M code period [seconds]
const int32_t GPS_L5i_INIT_REG[210] =
{266, 365, 804, 1138,
1509, 1559, 1756, 2084,
2170, 2303, 2527, 2687,
2930, 3471, 3940, 4132,
4332, 4924, 5343, 5443,
5641, 5816, 5898, 5918,
5955, 6243, 6345, 6477,
6518, 6875, 7168, 7187,
7329, 7577, 7720, 7777,
8057, 5358, 3550, 3412,
819,
4608, 3698, 962, 3001,
4441, 4937, 3717, 4730,
7291, 2279, 7613, 5723,
7030, 1475, 2593, 2904,
2056, 2757, 3756, 6205,
5053, 6437,
7789, 2311, 7432, 5155,
1593, 5841, 5014, 1545,
3016, 4875, 2119, 229,
7634, 1406, 4506, 1819,
7580, 5446, 6053, 7958,
5267, 2956, 3544, 1277,
2996, 1758, 3360, 2718,
3754, 7440, 2781, 6756,
7314, 208, 5252, 696,
527, 1399, 5879, 6868,
217, 7681, 3788, 1337,
2424, 4243, 5686, 1955,
4791, 492, 1518, 6566,
5349, 506, 113, 1953,
2797, 934, 3023, 3632,
1330, 4909, 4867, 1183,
3990, 6217, 1224, 1733,
2319, 3928, 2380, 841,
5049, 7027, 1197, 7208,
8000, 152, 6762, 3745,
4723, 5502, 4796, 123,
8142, 5091, 7875, 330,
5272, 4912, 374, 2045,
6616, 6321, 7605, 2570,
2419, 1234, 1922, 4317,
5110, 825, 958, 1089,
7813, 6058, 7703, 6702,
1714, 6371, 2281, 1986,
6282, 3201, 3760, 1056,
6233, 1150, 2823, 6250,
645, 2401, 1639, 2946,
7091, 923, 7045, 6493,
1706, 5836, 926, 6086,
950, 5905, 3240, 6675,
3197, 1555, 3589, 4555,
5671, 6948, 4664, 2086,
5950, 5521, 1515};
const int32_t GPS_L5q_INIT_REG[210] =
{
1701, 323, 5292, 2020,
5429, 7136, 1041, 5947,
4315, 148, 535, 1939,
5206, 5910, 3595, 5135,
6082, 6990, 3546, 1523,
4548, 4484, 1893, 3961,
7106, 5299, 4660, 276,
4389, 3783, 1591, 1601,
749, 1387, 1661, 3210,
708,
4226, 5604, 6375, 3056,
1772, 3662, 4401, 5218,
2838, 6913, 1685, 1194,
6963, 5001, 6694, 991,
7489, 2441, 639, 2097,
2498, 6470, 2399, 242,
3768, 1186,
5246, 4259, 5907, 3870,
3262, 7387, 3069, 2999,
7993, 7849, 4157, 5031,
5986, 4833, 5739, 7846,
898, 2022, 7446, 6404,
155, 7862, 7795, 6121,
4840, 6585, 429, 6020,
200, 1664, 1499, 7298,
1305, 7323, 7544, 4438,
2485, 3387, 7319, 1853,
5781, 1874, 7555, 2132,
6441, 6722, 1192, 2588,
2188, 297, 1540, 4138,
5231, 4789, 659, 871,
6837, 1393, 7383, 611,
4920, 5416, 1611, 2474,
118, 1382, 1092, 7950,
7223, 1769, 4721, 1252,
5147, 2165, 7897, 4054,
3498, 6571, 2858, 8126,
7017, 1901, 181, 1114,
5195, 7479, 4186, 3904,
7128, 1396, 4513, 5967,
2580, 2575, 7961, 2598,
4508, 2090, 3685, 7748,
684, 913, 5558, 2894,
5858, 6432, 3813, 3573,
7523, 5280, 3376, 7424,
2918, 5793, 1747, 7079,
2921, 2490, 4119, 3373,
977, 681, 4273, 5419,
5626, 1266, 5804, 2414,
6444, 4757, 427, 5452,
5182, 6606, 6531, 4268,
3115, 6835, 862, 4856,
2765, 37, 1943, 7977,
2512, 4451, 4071};
#endif /* GNSS_SDR_GPS_L5_H_ */

1
src/core/system_parameters/Galileo_E1.h
View File

@ -84,7 +84,6 @@ const int GALILEO_PAGE_TYPE_BITS = 6;
const int GALILEO_DATA_JK_BITS = 128; const int GALILEO_DATA_JK_BITS = 128;
const int GALILEO_DATA_FRAME_BITS = 196; const int GALILEO_DATA_FRAME_BITS = 196;
const int GALILEO_DATA_FRAME_BYTES = 25; const int GALILEO_DATA_FRAME_BYTES = 25;
//const double GALIELO_E1_CODE_PERIOD = 0.004;
const double GALILEO_E1_CODE_PERIOD = 0.004; const double GALILEO_E1_CODE_PERIOD = 0.004;
const std::vector<std::pair<int,int>> type({{1,6}}); const std::vector<std::pair<int,int>> type({{1,6}});

8
src/core/system_parameters/Galileo_E5a.h
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@ -52,9 +52,9 @@ const int Galileo_E5a_SYMBOL_RATE_BPS = 50; //!< Galileo E5a symbo
const int Galileo_E5a_NUMBER_OF_CODES = 50; const int Galileo_E5a_NUMBER_OF_CODES = 50;
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION // OBSERVABLE HISTORY DEEP FOR INTERPOLATION AND CRC ERROR LIMIT
const int GALILEO_E5A_HISTORY_DEEP = 20; const int GALILEO_E5A_HISTORY_DEEP = 20;
const int GALILEO_E5A_CRC_ERROR_LIMIT = 6;
// F/NAV message structure // F/NAV message structure
@ -103,7 +103,7 @@ const double FNAV_BGD_1_LSB = TWO_N32;
const std::vector<std::pair<int,int>> FNAV_E5ahs_1_bit({{154,2}}); const std::vector<std::pair<int,int>> FNAV_E5ahs_1_bit({{154,2}});
const std::vector<std::pair<int,int>> FNAV_WN_1_bit({{156,12}}); const std::vector<std::pair<int,int>> FNAV_WN_1_bit({{156,12}});
const std::vector<std::pair<int,int>> FNAV_TOW_1_bit({{168,20}}); const std::vector<std::pair<int,int>> FNAV_TOW_1_bit({{168,20}});
const std::vector<std::pair<int,int>> FNAV_E5advs_1_bit({{189,1}}); const std::vector<std::pair<int,int>> FNAV_E5advs_1_bit({{188,1}});
// WORD 2 Ephemeris (1/3) // WORD 2 Ephemeris (1/3)
const std::vector<std::pair<int,int>> FNAV_IODnav_2_bit({{7,10}}); const std::vector<std::pair<int,int>> FNAV_IODnav_2_bit({{7,10}});
@ -145,7 +145,7 @@ const std::vector<std::pair<int,int>> FNAV_TOW_3_bit({{187,20}});
// WORD 4 Ephemeris (3/3) // WORD 4 Ephemeris (3/3)
const std::vector<std::pair<int,int>> FNAV_IODnav_4_bit({{7,10}}); const std::vector<std::pair<int,int>> FNAV_IODnav_4_bit({{7,10}});
const std::vector<std::pair<int,int>> FNAV_Cic_4_bit({{18,16}}); const std::vector<std::pair<int,int>> FNAV_Cic_4_bit({{17,16}});
const double FNAV_Cic_4_LSB = TWO_N29; const double FNAV_Cic_4_LSB = TWO_N29;
const std::vector<std::pair<int,int>> FNAV_Cis_4_bit({{33,16}}); const std::vector<std::pair<int,int>> FNAV_Cis_4_bit({{33,16}});
const double FNAV_Cis_4_LSB = TWO_N29; const double FNAV_Cis_4_LSB = TWO_N29;

8
src/tests/CMakeLists.txt
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@ -161,11 +161,6 @@ if(GNUPLOT_FOUND)
add_definitions(-DGNUPLOT_EXECUTABLE="${GNUPLOT_EXECUTABLE}") add_definitions(-DGNUPLOT_EXECUTABLE="${GNUPLOT_EXECUTABLE}")
endif(GNUPLOT_FOUND) endif(GNUPLOT_FOUND)
if(MATIO_FOUND OR MATIO_LOCAL)
add_definitions(-DMATIO_TEST=1)
set(GNSS_SDR_TEST_OPTIONAL_LIBS "${GNSS_SDR_TEST_OPTIONAL_LIBS};${MATIO_LIBRARIES}")
set(GNSS_SDR_TEST_OPTIONAL_HEADERS "${GNSS_SDR_TEST_OPTIONAL_HEADERS};${MATIO_INCLUDE_DIRS}")
endif(MATIO_FOUND OR MATIO_LOCAL)
################################################################################ ################################################################################
# Optional generator # Optional generator
@ -328,6 +323,7 @@ include_directories(
${ARMADILLO_INCLUDE_DIRS} ${ARMADILLO_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS} ${VOLK_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS} ${VOLK_GNSSSDR_INCLUDE_DIRS}
${MATIO_INCLUDE_DIRS}
${GNSS_SDR_TEST_OPTIONAL_HEADERS} ${GNSS_SDR_TEST_OPTIONAL_HEADERS}
) )
@ -362,6 +358,7 @@ if(ENABLE_UNIT_TESTING)
pvt_gr_blocks pvt_gr_blocks
signal_processing_testing_lib signal_processing_testing_lib
${VOLK_GNSSSDR_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES}
${MATIO_LIBRARIES}
${GNSS_SDR_TEST_OPTIONAL_LIBS} ${GNSS_SDR_TEST_OPTIONAL_LIBS}
) )
if(NOT ${GTEST_DIR_LOCAL}) if(NOT ${GTEST_DIR_LOCAL})
@ -393,6 +390,7 @@ if(ENABLE_FPGA)
${GNURADIO_BLOCKS_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES}
${ARMADILLO_LIBRARIES} ${ARMADILLO_LIBRARIES}
${VOLK_LIBRARIES} ${VOLK_LIBRARIES}
${MATIO_LIBRARIES}
channel_fsm channel_fsm
gnss_sp_libs gnss_sp_libs
gnss_rx gnss_rx

2
src/tests/common-files/gnuplot_i.h
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@ -1890,7 +1890,6 @@ bool Gnuplot::get_program_path()
if (path == NULL) if (path == NULL)
{ {
throw GnuplotException("Path is not set"); throw GnuplotException("Path is not set");
return false;
} }
else else
{ {
@ -2036,7 +2035,6 @@ std::string Gnuplot::create_tmpfile(std::ofstream &tmp)
std::ostringstream except; std::ostringstream except;
except << "Cannot create temporary file \"" << name << "\""; except << "Cannot create temporary file \"" << name << "\"";
throw GnuplotException(except.str()); throw GnuplotException(except.str());
return "";
} }
tmp.open(name); tmp.open(name);

107
src/tests/system-tests/obs_system_test.cc
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@ -64,7 +64,7 @@ DEFINE_string(configuration_file, "./default_configuration.conf", "Path of confi
DEFINE_string(filename_rinex_true, "./default_rinex.txt", "Path of RINEX true observations"); DEFINE_string(filename_rinex_true, "./default_rinex.txt", "Path of RINEX true observations");
DEFINE_string(filename_rinex_obs, "default_string", "Path of RINEX true observations"); DEFINE_string(filename_rinex_obs, "default_string", "Path of RINEX true observations");
DEFINE_double(pr_error_mean_max, 25.0, "Maximum mean error in pseudorange"); DEFINE_double(pr_error_mean_max, 25.0, "Maximum mean error in pseudorange");
DEFINE_double(pr_error_std_max, 5.0, "Maximum standard deviation in pseudorange"); DEFINE_double(pr_error_std_max, 15.0, "Maximum standard deviation in pseudorange");
DEFINE_double(cp_error_mean_max, 5.0, "Maximum mean error in carrier phase"); DEFINE_double(cp_error_mean_max, 5.0, "Maximum mean error in carrier phase");
DEFINE_double(cp_error_std_max, 2.5, "Maximum standard deviation in carrier phase"); DEFINE_double(cp_error_std_max, 2.5, "Maximum standard deviation in carrier phase");
DEFINE_double(dp_error_mean_max, 75.0, "Maximum mean error in Doppler frequency"); DEFINE_double(dp_error_mean_max, 75.0, "Maximum mean error in Doppler frequency");
@ -330,7 +330,10 @@ void ObsSystemTest::read_rinex_files(
meas_exist = true; meas_exist = true;
} // End of 'if( pointer == roe.obs.end() )' } // End of 'if( pointer == roe.obs.end() )'
} // end for } // end for
sow_prn_ref.insert_rows(sow_prn_ref.n_rows, arma::rowvec({sow_insert, pr_min, prn_min})); if (!set_pr_min)
{
sow_prn_ref.insert_rows(sow_prn_ref.n_rows, arma::rowvec({sow_insert, pr_min, prn_min}));
}
} // end while } // end while
} // End of 'try' block } // End of 'try' block
catch(const gpstk::FFStreamError& e) catch(const gpstk::FFStreamError& e)
@ -405,10 +408,10 @@ void ObsSystemTest::time_alignment_diff_cp(
index_ = arma::find(iter_meas->col(0) < iter_ref->at(iter_ref->n_rows - 1, 0)); index_ = arma::find(iter_meas->col(0) < iter_ref->at(iter_ref->n_rows - 1, 0));
arma::uword index_max = arma::max(index_); arma::uword index_max = arma::max(index_);
mat_aux = iter_meas->rows(index_min, index_max); mat_aux = iter_meas->rows(index_min, index_max);
mat_aux.col(1) -= arma::min(mat_aux.col(1)); mat_aux.col(1) -= mat_aux.col(1)(0);
arma::vec ref_aligned; arma::vec ref_aligned;
arma::interp1(iter_ref->col(0), iter_ref->col(1), mat_aux.col(0), ref_aligned); arma::interp1(iter_ref->col(0), iter_ref->col(1), mat_aux.col(0), ref_aligned);
ref_aligned -= arma::min(ref_aligned); ref_aligned -= ref_aligned(0);
*iter_diff = ref_aligned - mat_aux.col(1); *iter_diff = ref_aligned - mat_aux.col(1);
} }
iter_ref++; iter_ref++;
@ -543,13 +546,27 @@ void ObsSystemTest::compute_pseudorange_error(
{ {
if(!iter_diff->is_empty()) if(!iter_diff->is_empty())
{ {
while(iter_diff->has_nan())
{
bool nan_found = false;
int k_aux = 0;
while(!nan_found)
{
if(!iter_diff->row(k_aux).is_finite())
{
nan_found = true;
iter_diff->shed_row(k_aux);
}
k_aux++;
}
}
double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff))); double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff)));
means.push_back(d_mean); means.push_back(d_mean);
double d_stddev = arma::stddev(*iter_diff); double d_stddev = arma::stddev(*iter_diff);
stddevs.push_back(d_stddev); stddevs.push_back(d_stddev);
prns.push_back(static_cast<double>(prn_id)); prns.push_back(static_cast<double>(prn_id));
std::cout << "-- RMS pseudorange difference for sat " << prn_id << ": " << d_mean; std::cout << "-- RMS pseudorange difference for sat " << prn_id << ": " << d_mean;
std::cout << " +/- " << d_stddev; std::cout << ". Std. dev.: " << d_stddev;
std::cout << " [m]" << std::endl; std::cout << " [m]" << std::endl;
EXPECT_LT(d_mean, error_th_mean); EXPECT_LT(d_mean, error_th_mean);
EXPECT_LT(d_stddev, error_th_std); EXPECT_LT(d_stddev, error_th_std);
@ -581,8 +598,20 @@ void ObsSystemTest::compute_pseudorange_error(
g1.set_ylabel("Pseudorange error [m]"); g1.set_ylabel("Pseudorange error [m]");
g1.plot_xy(prns, means, "RMS error"); g1.plot_xy(prns, means, "RMS error");
g1.plot_xy(prns, stddevs, "Standard deviation"); g1.plot_xy(prns, stddevs, "Standard deviation");
//g1.savetops("FFT_execution_times_extended"); size_t char_pos = signal_name.find(" ");
//g1.savetopdf("FFT_execution_times_extended", 18); while(char_pos != std::string::npos)
{
signal_name.replace(char_pos, 1, "_");
char_pos = signal_name.find(" ");
}
char_pos = signal_name.find("/");
while(char_pos != std::string::npos)
{
signal_name.replace(char_pos, 1, "_");
char_pos = signal_name.find("/");
}
g1.savetops("Pseudorange_error_" + signal_name);
g1.savetopdf("Pseudorange_error_" + signal_name, 18);
g1.showonscreen(); // window output g1.showonscreen(); // window output
} }
catch (const GnuplotException & ge) catch (const GnuplotException & ge)
@ -608,13 +637,27 @@ void ObsSystemTest::compute_carrierphase_error(
{ {
if(!iter_diff->is_empty()) if(!iter_diff->is_empty())
{ {
while(iter_diff->has_nan())
{
bool nan_found = false;
int k_aux = 0;
while(!nan_found)
{
if(!iter_diff->row(k_aux).is_finite())
{
nan_found = true;
iter_diff->shed_row(k_aux);
}
k_aux++;
}
}
double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff))); double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff)));
means.push_back(d_mean); means.push_back(d_mean);
double d_stddev = arma::stddev(*iter_diff); double d_stddev = arma::stddev(*iter_diff);
stddevs.push_back(d_stddev); stddevs.push_back(d_stddev);
prns.push_back(static_cast<double>(prn_id)); prns.push_back(static_cast<double>(prn_id));
std::cout << "-- RMS carrier phase difference for sat " << prn_id << ": " << d_mean; std::cout << "-- RMS carrier phase difference for sat " << prn_id << ": " << d_mean;
std::cout << " +/- " << d_stddev; std::cout << ". Std. dev.: " << d_stddev;
std::cout << " whole cycles" << std::endl; std::cout << " whole cycles" << std::endl;
EXPECT_LT(d_mean, error_th_mean); EXPECT_LT(d_mean, error_th_mean);
EXPECT_LT(d_stddev, error_th_std); EXPECT_LT(d_stddev, error_th_std);
@ -646,8 +689,20 @@ void ObsSystemTest::compute_carrierphase_error(
g1.set_ylabel("Carrier phase error [whole cycles]"); g1.set_ylabel("Carrier phase error [whole cycles]");
g1.plot_xy(prns, means, "RMS error"); g1.plot_xy(prns, means, "RMS error");
g1.plot_xy(prns, stddevs, "Standard deviation"); g1.plot_xy(prns, stddevs, "Standard deviation");
//g1.savetops("FFT_execution_times_extended"); size_t char_pos = signal_name.find(" ");
//g1.savetopdf("FFT_execution_times_extended", 18); while(char_pos != std::string::npos)
{
signal_name.replace(char_pos, 1, "_");
char_pos = signal_name.find(" ");
}
char_pos = signal_name.find("/");
while(char_pos != std::string::npos)
{
signal_name.replace(char_pos, 1, "_");
char_pos = signal_name.find("/");
}
g1.savetops("Carrier_phase_error_" + signal_name);
g1.savetopdf("Carrier_phase_error_" + signal_name, 18);
g1.showonscreen(); // window output g1.showonscreen(); // window output
} }
catch (const GnuplotException & ge) catch (const GnuplotException & ge)
@ -673,13 +728,27 @@ void ObsSystemTest::compute_doppler_error(
{ {
if(!iter_diff->is_empty()) if(!iter_diff->is_empty())
{ {
while(iter_diff->has_nan())
{
bool nan_found = false;
int k_aux = 0;
while(!nan_found)
{
if(!iter_diff->row(k_aux).is_finite())
{
nan_found = true;
iter_diff->shed_row(k_aux);
}
k_aux++;
}
}
double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff))); double d_mean = std::sqrt(arma::mean(arma::square(*iter_diff)));
means.push_back(d_mean); means.push_back(d_mean);
double d_stddev = arma::stddev(*iter_diff); double d_stddev = arma::stddev(*iter_diff);
stddevs.push_back(d_stddev); stddevs.push_back(d_stddev);
prns.push_back(static_cast<double>(prn_id)); prns.push_back(static_cast<double>(prn_id));
std::cout << "-- RMS Doppler difference for sat " << prn_id << ": " << d_mean; std::cout << "-- RMS Doppler difference for sat " << prn_id << ": " << d_mean;
std::cout << " +/- " << d_stddev; std::cout << ". Std. dev.: " << d_stddev;
std::cout << " [Hz]" << std::endl; std::cout << " [Hz]" << std::endl;
EXPECT_LT(d_mean, error_th_mean); EXPECT_LT(d_mean, error_th_mean);
EXPECT_LT(d_stddev, error_th_std); EXPECT_LT(d_stddev, error_th_std);
@ -711,8 +780,20 @@ void ObsSystemTest::compute_doppler_error(
g1.set_ylabel("Doppler error [Hz]"); g1.set_ylabel("Doppler error [Hz]");
g1.plot_xy(prns, means, "RMS error"); g1.plot_xy(prns, means, "RMS error");
g1.plot_xy(prns, stddevs, "Standard deviation"); g1.plot_xy(prns, stddevs, "Standard deviation");
//g1.savetops("FFT_execution_times_extended"); size_t char_pos = signal_name.find(" ");
//g1.savetopdf("FFT_execution_times_extended", 18); while(char_pos != std::string::npos)
{
signal_name.replace(char_pos, 1, "_");
char_pos = signal_name.find(" ");
}
char_pos = signal_name.find("/");
while(char_pos != std::string::npos)
{
signal_name.replace(char_pos, 1, "_");
char_pos = signal_name.find("/");
}
g1.savetops("Doppler_error_" + signal_name);
g1.savetopdf("Doppler_error_" + signal_name, 18);
g1.showonscreen(); // window output g1.showonscreen(); // window output
} }
catch (const GnuplotException & ge) catch (const GnuplotException & ge)

2
src/tests/test_main.cc
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@ -74,9 +74,7 @@ DECLARE_string(log_dir);
#include "unit-tests/arithmetic/code_generation_test.cc" #include "unit-tests/arithmetic/code_generation_test.cc"
#include "unit-tests/arithmetic/fft_length_test.cc" #include "unit-tests/arithmetic/fft_length_test.cc"
#include "unit-tests/arithmetic/fft_speed_test.cc" #include "unit-tests/arithmetic/fft_speed_test.cc"
#if MATIO_TEST
#include "unit-tests/arithmetic/matio_test.cc" #include "unit-tests/arithmetic/matio_test.cc"
#endif
#include "unit-tests/control-plane/file_configuration_test.cc" #include "unit-tests/control-plane/file_configuration_test.cc"
#include "unit-tests/control-plane/in_memory_configuration_test.cc" #include "unit-tests/control-plane/in_memory_configuration_test.cc"