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Merging fpga with next

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Javier Arribas 2018-03-05 11:03:30 +01:00
commit 7c406bb6eb
982 changed files with 48752 additions and 45403 deletions
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97
.clang-format Normal file
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@ -0,0 +1,97 @@
---
Language: Cpp
# BasedOnStyle: Google
# More info: http://clang.llvm.org/docs/ClangFormatStyleOptions.html
AccessModifierOffset: -4
AlignAfterOpenBracket: DontAlign
AlignConsecutiveAssignments: false
AlignConsecutiveDeclarations: false
AlignEscapedNewlinesLeft: true
AlignOperands: true
AlignTrailingComments: true
AllowAllParametersOfDeclarationOnNextLine: true
AllowShortBlocksOnASingleLine: false
AllowShortCaseLabelsOnASingleLine: false
AllowShortFunctionsOnASingleLine: All
AllowShortIfStatementsOnASingleLine: true
AllowShortLoopsOnASingleLine: true
AlwaysBreakAfterDefinitionReturnType: None
AlwaysBreakAfterReturnType: None
AlwaysBreakBeforeMultilineStrings: true
AlwaysBreakTemplateDeclarations: false
BinPackArguments: true
BinPackParameters: true
BraceWrapping:
AfterClass: false
AfterControlStatement: false
AfterEnum: false
AfterFunction: false
AfterNamespace: false
AfterObjCDeclaration: false
AfterStruct: false
AfterUnion: false
BeforeCatch: false
BeforeElse: false
IndentBraces: false
BreakBeforeBinaryOperators: None
BreakBeforeBraces: GNU
BreakBeforeTernaryOperators: true
BreakConstructorInitializersBeforeComma: false
BreakAfterJavaFieldAnnotations: false
BreakStringLiterals: true
ColumnLimit: 0
CommentPragmas: '^ IWYU pragma:'
ConstructorInitializerAllOnOneLineOrOnePerLine: true
ConstructorInitializerIndentWidth: 4
ContinuationIndentWidth: 4
Cpp11BracedListStyle: true
DerivePointerAlignment: true
DisableFormat: false
ExperimentalAutoDetectBinPacking: false
ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
IncludeCategories:
- Regex: '^<.*\.h>'
Priority: 1
- Regex: '^<.*'
Priority: 2
- Regex: '.*'
Priority: 3
IncludeIsMainRegex: '([-_](test|unittest))?$'
IndentCaseLabels: false
IndentWidth: 4
IndentWrappedFunctionNames: false
JavaScriptQuotes: Leave
JavaScriptWrapImports: true
KeepEmptyLinesAtTheStartOfBlocks: false
MacroBlockBegin: ''
MacroBlockEnd: ''
MaxEmptyLinesToKeep: 2
NamespaceIndentation: None
ObjCBlockIndentWidth: 2
ObjCSpaceAfterProperty: false
ObjCSpaceBeforeProtocolList: false
PenaltyBreakBeforeFirstCallParameter: 1
PenaltyBreakComment: 300
PenaltyBreakFirstLessLess: 120
PenaltyBreakString: 1000
PenaltyExcessCharacter: 1000000
PenaltyReturnTypeOnItsOwnLine: 200
PointerAlignment: Left
ReflowComments: true
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SpaceBeforeParens: ControlStatements
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SpacesBeforeTrailingComments: 2
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Standard: Auto
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...

2
CONTRIBUTING.md
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@ -128,6 +128,8 @@ $ git pull --rebase upstream next
### How to submit a pull request ### How to submit a pull request
Before submitting you code, please be sure to [apply clang-format](http://gnss-sdr.org/coding-style/#use-tools-for-automated-code-formatting).
When the contribution is ready, you can [submit a pull When the contribution is ready, you can [submit a pull
request](https://github.com/gnss-sdr/gnss-sdr/compare/). Head to your request](https://github.com/gnss-sdr/gnss-sdr/compare/). Head to your
GitHub repository, switch to your `my_feature` branch, and click the GitHub repository, switch to your `my_feature` branch, and click the

8
README.md
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@ -84,7 +84,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel cmake git boost-devel
boost-date-time boost-system boost-filesystem boost-thread boost-chrono \ boost-date-time boost-system boost-filesystem boost-thread boost-chrono \
boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel \ boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel \
blas-devel lapack-devel matio-devel armadillo-devel gflags-devel \ blas-devel lapack-devel matio-devel armadillo-devel gflags-devel \
glog-devel gnutls-devel openssl-devel python-mako python-six glog-devel openssl-devel python-mako python-six
~~~~~~ ~~~~~~
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux). Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@ -101,7 +101,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel libtool \
hdf5-devel cmake git boost-devel boost-date-time boost-system \ hdf5-devel cmake git boost-devel boost-date-time boost-system \
boost-filesystem boost-thread boost-chrono boost-serialization \ boost-filesystem boost-thread boost-chrono boost-serialization \
log4cpp-devel gnuradio-devel gr-osmosdr-devel blas-devel lapack-devel \ log4cpp-devel gnuradio-devel gr-osmosdr-devel blas-devel lapack-devel \
armadillo-devel gnutls-devel openssl-devel python-mako python-six armadillo-devel openssl-devel python-mako python-six
~~~~~~ ~~~~~~
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux). Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@ -244,11 +244,11 @@ changing `/home/username/googletest-release-1.8.0/googletest` by the actual dire
#### Install the [GnuTLS library](http://www.gnutls.org/ "GnuTLS's Homepage"): #### Install the [GnuTLS](http://www.gnutls.org/ "GnuTLS's Homepage") or [OpenSSL](https://www.openssl.org/ "OpenSSL's Homepage") libraries:
~~~~~~ ~~~~~~
$ sudo apt-get install libgnutls-openssl-dev # For Debian/Ubuntu/LinuxMint $ sudo apt-get install libgnutls-openssl-dev # For Debian/Ubuntu/LinuxMint
$ sudo yum install libgnutls-openssl-devel # For Fedora/CentOS/RHEL $ sudo yum install openssl-devel # For Fedora/CentOS/RHEL
~~~~~~ ~~~~~~
In case the GnuTLS library with openssl extensions package is not available in your GNU/Linux distribution, GNSS-SDR can also work well with OpenSSL. In case the GnuTLS library with openssl extensions package is not available in your GNU/Linux distribution, GNSS-SDR can also work well with OpenSSL.

5
docs/PULL_REQUEST_TEMPLATE.md
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@ -5,7 +5,8 @@ Before submitting your pull request, please make sure the following is done:
2. If you are a first-time contributor, after your pull request you will be asked to sign an Individual Contributor License Agreement ([CLA](https://en.wikipedia.org/wiki/Contributor_License_Agreement)) before your code gets accepted into `master`. This license is for your protection as a Contributor as well as for the protection of [CTTC](http://www.cttc.es/); it does not change your rights to use your own contributions for any other purpose. Except for the license granted therein to CTTC and recipients of software distributed by CTTC, you reserve all right, title, and interest in and to your contributions. The information you provide in that CLA will be maintained in accordance with [CTTC's privacy policy](http://www.cttc.es/privacy/). 2. If you are a first-time contributor, after your pull request you will be asked to sign an Individual Contributor License Agreement ([CLA](https://en.wikipedia.org/wiki/Contributor_License_Agreement)) before your code gets accepted into `master`. This license is for your protection as a Contributor as well as for the protection of [CTTC](http://www.cttc.es/); it does not change your rights to use your own contributions for any other purpose. Except for the license granted therein to CTTC and recipients of software distributed by CTTC, you reserve all right, title, and interest in and to your contributions. The information you provide in that CLA will be maintained in accordance with [CTTC's privacy policy](http://www.cttc.es/privacy/).
3. You have read the [Contributing Guidelines](https://github.com/gnss-sdr/gnss-sdr/blob/master/CONTRIBUTING.md). 3. You have read the [Contributing Guidelines](https://github.com/gnss-sdr/gnss-sdr/blob/master/CONTRIBUTING.md).
4. You have read the [coding style guide](http://gnss-sdr.org/coding-style/). 4. You have read the [coding style guide](http://gnss-sdr.org/coding-style/).
5. You have forked the [gnss-sdr upstream repository](https://github.com/gnss-sdr/gnss-sdr) and have created your branch from `next` (or any other currently living branch in the upstream repository). 5. Specifically, you have read [about clang-format](http://gnss-sdr.org/coding-style/#use-tools-for-automated-code-formatting) and you have applied it.
6. Please include a description of your changes here. 6. You have forked the [gnss-sdr upstream repository](https://github.com/gnss-sdr/gnss-sdr) and have created your branch from `next` (or any other currently living branch in the upstream repository).
7. Please include a description of your changes here.
**Please feel free to delete this line and the above text once you have read it and in case you want to go on with your pull request.** **Please feel free to delete this line and the above text once you have read it and in case you want to go on with your pull request.**

160
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -44,8 +44,7 @@ using google::LogMessage;
RtklibPvt::RtklibPvt(ConfigurationInterface* configuration, RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string role, std::string role,
unsigned int in_streams, unsigned int in_streams,
unsigned int out_streams) : unsigned int out_streams) : role_(role),
role_(role),
in_streams_(in_streams), in_streams_(in_streams),
out_streams_(out_streams) out_streams_(out_streams)
{ {
@ -71,27 +70,27 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
// RINEX version // RINEX version
int rinex_version = configuration->property(role + ".rinex_version", 3); int rinex_version = configuration->property(role + ".rinex_version", 3);
if ( FLAGS_RINEX_version.compare("3.01") == 0 ) if (FLAGS_RINEX_version.compare("3.01") == 0)
{ {
rinex_version = 3; rinex_version = 3;
} }
else if ( FLAGS_RINEX_version.compare("3.02") == 0 ) else if (FLAGS_RINEX_version.compare("3.02") == 0)
{ {
rinex_version = 3; rinex_version = 3;
} }
else if ( FLAGS_RINEX_version.compare("3") == 0 ) else if (FLAGS_RINEX_version.compare("3") == 0)
{ {
rinex_version = 3; rinex_version = 3;
} }
else if ( FLAGS_RINEX_version.compare("2.11") == 0 ) else if (FLAGS_RINEX_version.compare("2.11") == 0)
{ {
rinex_version = 2; rinex_version = 2;
} }
else if ( FLAGS_RINEX_version.compare("2.10") == 0 ) else if (FLAGS_RINEX_version.compare("2.10") == 0)
{ {
rinex_version = 2; rinex_version = 2;
} }
else if ( FLAGS_RINEX_version.compare("2") == 0 ) else if (FLAGS_RINEX_version.compare("2") == 0)
{ {
rinex_version = 2; rinex_version = 2;
} }
@ -110,7 +109,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms); int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
std::map<int,int> rtcm_msg_rate_ms; std::map<int, int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms; rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms; rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms; rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
@ -184,47 +183,47 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
// *******************WARNING!!!!!!!*********** // *******************WARNING!!!!!!!***********
// GPS L5 only configurable for single frequency, single system at the moment!!!!!! // GPS L5 only configurable for single frequency, single system at the moment!!!!!!
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 1; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 1;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 2; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 2;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 3; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 3;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 4; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 4;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 5; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 5;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 6; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 6;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 7; if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 7;
//if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8; //if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 9; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 9;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 10; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 10;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 11; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 11;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 12; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 12;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 14; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 14;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 15; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 15;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 17; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 17;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 18; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 18;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 21; if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 21;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 23; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 23;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2R_count != 0)) type_of_receiver = 24; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2R_count != 0)) type_of_receiver = 24;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_1G_count != 0)) type_of_receiver = 25; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_1G_count != 0)) type_of_receiver = 25;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 26; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 26;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 27; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 27;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 28; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 28;
//RTKLIB PVT solver options //RTKLIB PVT solver options
// Settings 1 // Settings 1
int positioning_mode = -1; int positioning_mode = -1;
std::string default_pos_mode("Single"); std::string default_pos_mode("Single");
std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */ std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if(positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE; if (positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
if(positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC; if (positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
if(positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA; if (positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
if(positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC; if (positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC;
if(positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA; if (positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA;
if( positioning_mode == -1 ) if (positioning_mode == -1)
{ {
//warn user and set the default //warn user and set the default
std::cout << "WARNING: Bad specification of positioning mode." << std::endl; std::cout << "WARNING: Bad specification of positioning mode." << std::endl;
@ -237,19 +236,19 @@ 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) || (gps_L5_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) || (gps_L5_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) || (gps_L5_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) || (gps_L5_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))
{ {
//warn user and set the default //warn user and set the default
number_of_frequencies = num_bands; number_of_frequencies = num_bands;
} }
double elevation_mask = configuration->property(role + ".elevation_mask", 15.0); double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
if( (elevation_mask < 0.0) || (elevation_mask > 90.0) ) if ((elevation_mask < 0.0) || (elevation_mask > 90.0))
{ {
//warn user and set the default //warn user and set the default
LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees"; LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
@ -257,7 +256,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
} }
int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */ int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */
if( (dynamics_model < 0) || (dynamics_model > 2) ) if ((dynamics_model < 0) || (dynamics_model > 2))
{ {
//warn user and set the default //warn user and set the default
LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)"; LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
@ -267,13 +266,13 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_iono_model("OFF"); std::string default_iono_model("OFF");
std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */ std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
int iono_model = -1; int iono_model = -1;
if(iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF; if (iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF;
if(iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC; if (iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC;
if(iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS; if (iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS;
if(iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC; if (iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC;
if(iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST; if (iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST;
if(iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC; if (iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC;
if( iono_model == -1 ) if (iono_model == -1)
{ {
//warn user and set the default //warn user and set the default
std::cout << "WARNING: Bad specification of ionospheric model." << std::endl; std::cout << "WARNING: Bad specification of ionospheric model." << std::endl;
@ -286,12 +285,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_trop_model("OFF"); std::string default_trop_model("OFF");
int trop_model = -1; int trop_model = -1;
std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */ std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if(trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF; if (trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF;
if(trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS; if (trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS;
if(trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS; if (trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS;
if(trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST; if (trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST;
if(trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG; if (trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG;
if( trop_model == -1 ) if (trop_model == -1)
{ {
//warn user and set the default //warn user and set the default
std::cout << "WARNING: Bad specification of tropospheric model." << std::endl; std::cout << "WARNING: Bad specification of tropospheric model." << std::endl;
@ -324,7 +323,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL; if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
if ((glo_1G_count > 0)) nsys += SYS_GLO; if ((glo_1G_count > 0)) nsys += SYS_GLO;
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */ int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (navigation_system < 1) || (navigation_system > 255) ) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */ if ((navigation_system < 1) || (navigation_system > 255)) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
{ {
//warn user and set the default //warn user and set the default
LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)"; LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
@ -335,12 +334,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_gps_ar("Continuous"); std::string default_gps_ar("Continuous");
std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */ std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
int integer_ambiguity_resolution_gps = -1; int integer_ambiguity_resolution_gps = -1;
if(integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF; if (integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF;
if(integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT; if (integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT;
if(integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST; if (integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST;
if(integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD; if (integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
if(integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR; if (integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR;
if( integer_ambiguity_resolution_gps == -1 ) if (integer_ambiguity_resolution_gps == -1)
{ {
//warn user and set the default //warn user and set the default
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl; std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl;
@ -351,7 +350,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
} }
int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */ int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
if( (integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3) ) if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3))
{ {
//warn user and set the default //warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)"; LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
@ -359,7 +358,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
} }
int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */ int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */
if( (integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1) ) if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1))
{ {
//warn user and set the default //warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)"; LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
@ -415,9 +414,10 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003); double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003);
double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003); double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003);
snrmask_t snrmask = { {}, {{},{}} }; snrmask_t snrmask = {{}, {{}, {}}};
prcopt_t rtklib_configuration_options = {positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */ prcopt_t rtklib_configuration_options = {
positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
0, /* solution type (0:forward,1:backward,2:combined) */ 0, /* solution type (0:forward,1:backward,2:combined) */
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/ number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
navigation_system, /* navigation system */ navigation_system, /* navigation system */
@ -444,12 +444,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
0, /* base position for relative mode */ 0, /* base position for relative mode */
/* 0:pos in prcopt, 1:average of single pos, */ /* 0:pos in prcopt, 1:average of single pos, */
/* 2:read from file, 3:rinex header, 4:rtcm pos */ /* 2:read from file, 3:rinex header, 4:rtcm pos */
{code_phase_error_ratio_l1,code_phase_error_ratio_l2,code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */ {code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
{100.0,carrier_phase_error_factor_a,carrier_phase_error_factor_b,0.0,1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */ {100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
{bias_0,iono_0,trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/ {bias_0, iono_0, trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
{sigma_bias,sigma_iono,sigma_trop,sigma_acch,sigma_accv,sigma_pos}, /* prn[6] process-noise std */ {sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos}, /* prn[6] process-noise std */
5e-12, /* sclkstab: satellite clock stability (sec/sec) */ 5e-12, /* sclkstab: satellite clock stability (sec/sec) */
{min_ratio_to_fix_ambiguity,0.9999,0.25,0.1,0.05,0.0,0.0,0.0}, /* thresar[8]: AR validation threshold */ {min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0}, /* thresar[8]: AR validation threshold */
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */ min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
0.0, /* elevation mask to hold ambiguity (deg) */ 0.0, /* elevation mask to hold ambiguity (deg) */
slip_threshold, /* slip threshold of geometry-free phase (m) */ slip_threshold, /* slip threshold of geometry-free phase (m) */
@ -459,18 +459,18 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */ {}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */ {}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */ {}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
{"",""}, /* char anttype[2][MAXANT] antenna types {rover,base} */ {"", ""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
{{},{}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */ {{}, {}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */ {}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */ {}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
0, /* max averaging epoches */ 0, /* max averaging epoches */
0, /* initialize by restart */ 0, /* initialize by restart */
1, /* output single by dgps/float/fix/ppp outage */ 1, /* output single by dgps/float/fix/ppp outage */
{"",""}, /* char rnxopt[2][256] rinex options {rover,base} */ {"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */
{sat_PCV,rec_PCV,phwindup,reject_GPS_IIA,raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */ {sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
0, /* solution sync mode (0:off,1:on) */ 0, /* solution sync mode (0:off,1:on) */
{{},{}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */ {{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
{ {}, {{},{}}, {{},{}}, {}, {} }, /* exterr_t exterr extended receiver error model */ {{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
0, /* disable L2-AR */ 0, /* disable L2-AR */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */ {} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
}; };
@ -486,7 +486,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
bool RtklibPvt::save_assistance_to_XML() bool RtklibPvt::save_assistance_to_XML()
{ {
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_; LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map(); std::map<int, Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
if (eph_map.size() > 0) if (eph_map.size() > 0)
{ {
@ -498,7 +498,7 @@ bool RtklibPvt::save_assistance_to_XML()
ofs.close(); ofs.close();
LOG(INFO) << "Saved GPS L1 Ephemeris map data"; LOG(INFO) << "Saved GPS L1 Ephemeris map data";
} }
catch (const std::exception & e) catch (const std::exception& e)
{ {
LOG(WARNING) << e.what(); LOG(WARNING) << e.what();
return false; return false;
@ -522,7 +522,9 @@ RtklibPvt::~RtklibPvt()
void RtklibPvt::connect(gr::top_block_sptr top_block) void RtklibPvt::connect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
// Nothing to connect internally // Nothing to connect internally
DLOG(INFO) << "nothing to connect internally"; DLOG(INFO) << "nothing to connect internally";
} }
@ -530,7 +532,9 @@ void RtklibPvt::connect(gr::top_block_sptr top_block)
void RtklibPvt::disconnect(gr::top_block_sptr top_block) void RtklibPvt::disconnect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect // Nothing to disconnect
} }

1
src/algorithms/PVT/adapters/rtklib_pvt.h
View File

@ -29,7 +29,6 @@
*/ */
#ifndef GNSS_SDR_RTKLIB_PVT_H_ #ifndef GNSS_SDR_RTKLIB_PVT_H_
#define GNSS_SDR_RTKLIB_PVT_H_ #define GNSS_SDR_RTKLIB_PVT_H_

473
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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File diff suppressed because it is too large Load Diff

27
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -65,10 +65,10 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms, std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname, std::string rtcm_dump_devname,
const unsigned int type_of_receiver, const unsigned int type_of_receiver,
rtk_t & rtk); rtk_t& rtk);
/*! /*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals * \brief This class implements a block that computes the PVT solution with Galileo E1 signals
@ -89,10 +89,10 @@ private:
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms, std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname, std::string rtcm_dump_devname,
const unsigned int type_of_receiver, const unsigned int type_of_receiver,
rtk_t & rtk); rtk_t& rtk);
void msg_handler_telemetry(pmt::pmt_t msg); void msg_handler_telemetry(pmt::pmt_t msg);
@ -136,16 +136,17 @@ private:
double last_RINEX_nav_output_time; double last_RINEX_nav_output_time;
std::shared_ptr<rtklib_solver> d_ls_pvt; std::shared_ptr<rtklib_solver> d_ls_pvt;
std::map<int,Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
bool observables_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b); bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);
unsigned int type_of_rx; unsigned int type_of_rx;
bool first_fix; bool first_fix;
key_t sysv_msg_key; key_t sysv_msg_key;
int sysv_msqid; int sysv_msqid;
typedef struct { typedef struct
long mtype;//required by sys v message {
long mtype; //required by sys v message
double ttff; double ttff;
} ttff_msgbuf; } ttff_msgbuf;
bool send_sys_v_ttff_msg(ttff_msgbuf ttff); bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
@ -164,22 +165,22 @@ public:
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms, std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname, std::string rtcm_dump_devname,
const unsigned int type_of_receiver, const unsigned int type_of_receiver,
rtk_t & rtk); rtk_t& rtk);
/*! /*!
* \brief Get latest set of GPS L1 ephemeris from PVT block * \brief Get latest set of GPS L1 ephemeris from PVT block
* *
* It is used to save the assistance data at the receiver shutdown * It is used to save the assistance data at the receiver shutdown
*/ */
std::map<int,Gps_Ephemeris> get_GPS_L1_ephemeris_map(); std::map<int, Gps_Ephemeris> get_GPS_L1_ephemeris_map();
~rtklib_pvt_cc(); //!< Default destructor ~rtklib_pvt_cc(); //!< Default destructor
int work (int noutput_items, gr_vector_const_void_star &input_items, int work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); //!< PVT Signal Processing gr_vector_void_star& output_items); //!< PVT Signal Processing
}; };
#endif #endif

16
src/algorithms/PVT/libs/geojson_printer.cc
View File

@ -43,7 +43,7 @@ GeoJSON_Printer::GeoJSON_Printer()
} }
GeoJSON_Printer::~GeoJSON_Printer () GeoJSON_Printer::~GeoJSON_Printer()
{ {
GeoJSON_Printer::close_file(); GeoJSON_Printer::close_file();
} }
@ -60,31 +60,31 @@ bool GeoJSON_Printer::set_headers(std::string filename, bool time_tag_name)
const int year = timeinfo.tm_year - 100; const int year = timeinfo.tm_year - 100;
strm0 << year; strm0 << year;
const int month = timeinfo.tm_mon + 1; const int month = timeinfo.tm_mon + 1;
if(month < 10) if (month < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << month; strm0 << month;
const int day = timeinfo.tm_mday; const int day = timeinfo.tm_mday;
if(day < 10) if (day < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << day << "_"; strm0 << day << "_";
const int hour = timeinfo.tm_hour; const int hour = timeinfo.tm_hour;
if(hour < 10) if (hour < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << hour; strm0 << hour;
const int min = timeinfo.tm_min; const int min = timeinfo.tm_min;
if(min < 10) if (min < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << min; strm0 << min;
const int sec = timeinfo.tm_sec; const int sec = timeinfo.tm_sec;
if(sec < 10) if (sec < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
@ -184,7 +184,7 @@ bool GeoJSON_Printer::close_file()
// if nothing is written, erase the file // if nothing is written, erase the file
if (first_pos == true) if (first_pos == true)
{ {
if(remove(filename_.c_str()) != 0) LOG(INFO) << "Error deleting temporary file"; if (remove(filename_.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
} }
return true; return true;
@ -194,5 +194,3 @@ bool GeoJSON_Printer::close_file()
return false; return false;
} }
} }

1
src/algorithms/PVT/libs/geojson_printer.h
View File

@ -50,6 +50,7 @@ private:
std::ofstream geojson_file; std::ofstream geojson_file;
bool first_pos; bool first_pos;
std::string filename_; std::string filename_;
public: public:
GeoJSON_Printer(); GeoJSON_Printer();
~GeoJSON_Printer(); ~GeoJSON_Printer();

55
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
View File

@ -54,11 +54,11 @@ hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag
{ {
try try
{ {
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit); d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str(); LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure& e)
{ {
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what(); LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
} }
@ -75,7 +75,7 @@ hybrid_ls_pvt::~hybrid_ls_pvt()
{ {
d_dump_file.close(); d_dump_file.close();
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what(); LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
} }
@ -83,12 +83,12 @@ hybrid_ls_pvt::~hybrid_ls_pvt()
} }
bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging) bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging)
{ {
std::map<int,Gnss_Synchro>::iterator gnss_observables_iter; std::map<int, Gnss_Synchro>::iterator gnss_observables_iter;
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter; std::map<int, Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter; std::map<int, Gps_Ephemeris>::iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter; std::map<int, Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter;
arma::vec W; // channels weight vector arma::vec W; // channels weight vector
arma::vec obs; // pseudoranges observation vector arma::vec obs; // pseudoranges observation vector
@ -111,11 +111,11 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// ******************************************************************************** // ********************************************************************************
int valid_obs = 0; //valid observations counter int valid_obs = 0; //valid observations counter
for(gnss_observables_iter = gnss_observables_map.begin(); for (gnss_observables_iter = gnss_observables_map.begin();
gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter != gnss_observables_map.end();
gnss_observables_iter++) gnss_observables_iter++)
{ {
switch(gnss_observables_iter->second.System) switch (gnss_observables_iter->second.System)
{ {
case 'E': case 'E':
{ {
@ -174,7 +174,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
{ {
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
if(sig_.compare("1C") == 0) if (sig_.compare("1C") == 0)
{ {
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.end()) if (gps_ephemeris_iter != gps_ephemeris_map.end())
@ -206,18 +206,18 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// 4- fill the observations vector with the corrected pseudoranges // 4- fill the observations vector with the corrected pseudoranges
// compute code bias: TGD for single frequency // compute code bias: TGD for single frequency
// See IS-GPS-200E section 20.3.3.3.3.2 // See IS-GPS-200E section 20.3.3.3.3.2
double sqrt_Gamma=GPS_L1_FREQ_HZ/GPS_L2_FREQ_HZ; double sqrt_Gamma = GPS_L1_FREQ_HZ / GPS_L2_FREQ_HZ;
double Gamma=sqrt_Gamma*sqrt_Gamma; double Gamma = sqrt_Gamma * sqrt_Gamma;
double P1_P2=(1.0-Gamma)*(gps_ephemeris_iter->second.d_TGD* GPS_C_m_s); double P1_P2 = (1.0 - Gamma) * (gps_ephemeris_iter->second.d_TGD * GPS_C_m_s);
double Code_bias_m= P1_P2/(1.0-Gamma); double Code_bias_m = P1_P2 / (1.0 - Gamma);
obs.resize(valid_obs + 1, 1); obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s-Code_bias_m-this->get_time_offset_s() * GPS_C_m_s; obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s - Code_bias_m - this->get_time_offset_s() * GPS_C_m_s;
this->set_visible_satellites_ID(valid_obs, gps_ephemeris_iter->second.i_satellite_PRN); this->set_visible_satellites_ID(valid_obs, gps_ephemeris_iter->second.i_satellite_PRN);
this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz); this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
// SV ECEF DEBUG OUTPUT // SV ECEF DEBUG OUTPUT
LOG(INFO) << "(new)ECEF GPS L1 CA satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN LOG(INFO) << "(new)ECEF GPS L1 CA satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
<< " TX Time corrected="<<TX_time_corrected_s << " X=" << gps_ephemeris_iter->second.d_satpos_X << " TX Time corrected=" << TX_time_corrected_s << " X=" << gps_ephemeris_iter->second.d_satpos_X
<< " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y << " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z << " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs=" << obs(valid_obs) << " [m]"; << " [m] PR_obs=" << obs(valid_obs) << " [m]";
@ -231,7 +231,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
} }
} }
if(sig_.compare("2S") == 0) if (sig_.compare("2S") == 0)
{ {
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end()) if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
@ -263,16 +263,16 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// 4- fill the observations vector with the corrected observables // 4- fill the observations vector with the corrected observables
obs.resize(valid_obs + 1, 1); obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr*GPS_C_m_s + SV_clock_bias_s * GPS_C_m_s; obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s + SV_clock_bias_s * GPS_C_m_s;
this->set_visible_satellites_ID(valid_obs, gps_cnav_ephemeris_iter->second.i_satellite_PRN); this->set_visible_satellites_ID(valid_obs, gps_cnav_ephemeris_iter->second.i_satellite_PRN);
this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz); this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week; GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week;
GPS_week=GPS_week%1024; //Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV) GPS_week = GPS_week % 1024; //Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV)
// SV ECEF DEBUG OUTPUT // SV ECEF DEBUG OUTPUT
LOG(INFO) << "(new)ECEF GPS L2M satellite SV ID=" << gps_cnav_ephemeris_iter->second.i_satellite_PRN LOG(INFO) << "(new)ECEF GPS L2M satellite SV ID=" << gps_cnav_ephemeris_iter->second.i_satellite_PRN
<< " TX Time corrected="<<TX_time_corrected_s << " TX Time corrected=" << TX_time_corrected_s
<< " X=" << gps_cnav_ephemeris_iter->second.d_satpos_X << " X=" << gps_cnav_ephemeris_iter->second.d_satpos_X
<< " [m] Y=" << gps_cnav_ephemeris_iter->second.d_satpos_Y << " [m] Y=" << gps_cnav_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << gps_cnav_ephemeris_iter->second.d_satpos_Z << " [m] Z=" << gps_cnav_ephemeris_iter->second.d_satpos_Z
@ -287,7 +287,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
} }
break; break;
} }
default : default:
DLOG(INFO) << "Hybrid observables: Unknown GNSS"; DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break; break;
} }
@ -300,7 +300,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
LOG(INFO) << "HYBRID PVT: valid observations=" << valid_obs; LOG(INFO) << "HYBRID PVT: valid observations=" << valid_obs;
if(valid_obs >= 4) if (valid_obs >= 4)
{ {
arma::vec rx_position_and_time; arma::vec rx_position_and_time;
DLOG(INFO) << "satpos=" << satpos; DLOG(INFO) << "satpos=" << satpos;
@ -328,7 +328,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
DLOG(INFO) << "Accumulated rx clock error=" << this->get_time_offset_s() << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]"; DLOG(INFO) << "Accumulated rx clock error=" << this->get_time_offset_s() << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]";
// Compute GST and Gregorian time // Compute GST and Gregorian time
if( GST != 0.0) if (GST != 0.0)
{ {
utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number); utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
} }
@ -347,13 +347,14 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time) DLOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude() << " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude()
<< " [deg], Height= " << this->get_height() << " [m]" << " RX time offset= " << this->get_time_offset_s() << " [s]"; << " [deg], Height= " << this->get_height() << " [m]"
<< " RX time offset= " << this->get_time_offset_s() << " [s]";
// ###### Compute DOPs ######## // ###### Compute DOPs ########
hybrid_ls_pvt::compute_DOP(); hybrid_ls_pvt::compute_DOP();
// ######## LOG FILE ######### // ######## LOG FILE #########
if(d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
{ {
// MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file
try try
@ -393,7 +394,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
// MOVING AVERAGE PVT // MOVING AVERAGE PVT
this->perform_pos_averaging(); this->perform_pos_averaging();
} }
catch(const std::exception & e) catch (const std::exception& e)
{ {
this->set_time_offset_s(0.0); //reset rx time estimation this->set_time_offset_s(0.0); //reset rx time estimation
LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what(); LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what();

11
src/algorithms/PVT/libs/hybrid_ls_pvt.h
View File

@ -54,15 +54,16 @@ private:
std::ofstream d_dump_file; std::ofstream d_dump_file;
int d_nchannels; // Number of available channels for positioning int d_nchannels; // Number of available channels for positioning
double d_galileo_current_time; double d_galileo_current_time;
public: public:
hybrid_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file); hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file);
~hybrid_ls_pvt(); ~hybrid_ls_pvt();
bool get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging); bool get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging);
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map;
Galileo_Utc_Model galileo_utc_model; Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono; Galileo_Iono galileo_iono;

23
src/algorithms/PVT/libs/kml_printer.cc
View File

@ -47,31 +47,31 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
const int year = timeinfo.tm_year - 100; const int year = timeinfo.tm_year - 100;
strm0 << year; strm0 << year;
const int month = timeinfo.tm_mon + 1; const int month = timeinfo.tm_mon + 1;
if(month < 10) if (month < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << month; strm0 << month;
const int day = timeinfo.tm_mday; const int day = timeinfo.tm_mday;
if(day < 10) if (day < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << day << "_"; strm0 << day << "_";
const int hour = timeinfo.tm_hour; const int hour = timeinfo.tm_hour;
if(hour < 10) if (hour < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << hour; strm0 << hour;
const int min = timeinfo.tm_min; const int min = timeinfo.tm_min;
if(min < 10) if (min < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << min; strm0 << min;
const int sec = timeinfo.tm_sec; const int sec = timeinfo.tm_sec;
if(sec < 10) if (sec < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
@ -124,7 +124,6 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
} }
bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values) bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values)
{ {
double latitude; double latitude;
@ -164,7 +163,6 @@ bool Kml_Printer::close_file()
{ {
if (kml_file.is_open()) if (kml_file.is_open())
{ {
kml_file << "</coordinates>" << std::endl kml_file << "</coordinates>" << std::endl
<< "</LineString>" << std::endl << "</LineString>" << std::endl
<< "</Placemark>" << std::endl << "</Placemark>" << std::endl
@ -180,20 +178,17 @@ bool Kml_Printer::close_file()
} }
Kml_Printer::Kml_Printer()
Kml_Printer::Kml_Printer ()
{ {
positions_printed = false; positions_printed = false;
} }
Kml_Printer::~Kml_Printer()
Kml_Printer::~Kml_Printer ()
{ {
close_file(); close_file();
if(!positions_printed) if (!positions_printed)
{ {
if(remove(kml_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary KML file"; if (remove(kml_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary KML file";
} }
} }

1
src/algorithms/PVT/libs/kml_printer.h
View File

@ -50,6 +50,7 @@ private:
std::ofstream kml_file; std::ofstream kml_file;
bool positions_printed; bool positions_printed;
std::string kml_filename; std::string kml_filename;
public: public:
Kml_Printer(); Kml_Printer();
~Kml_Printer(); ~Kml_Printer();

67
src/algorithms/PVT/libs/ls_pvt.cc
View File

@ -41,7 +41,6 @@ using google::LogMessage;
Ls_Pvt::Ls_Pvt() : Pvt_Solution() Ls_Pvt::Ls_Pvt() : Pvt_Solution()
{ {
} }
arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs) arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
@ -70,7 +69,7 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
// 6995655.459 -23537808.269 -9927906.485 24222112.972 ]; // 6995655.459 -23537808.269 -9927906.485 24222112.972 ];
// Solution: 596902.683 -4847843.316 4088216.740 // Solution: 596902.683 -4847843.316 4088216.740
arma::vec pos = arma::zeros(4,1); arma::vec pos = arma::zeros(4, 1);
arma::mat B_pass = arma::zeros(obs.size(), 4); arma::mat B_pass = arma::zeros(obs.size(), 4);
B_pass.submat(0, 0, obs.size() - 1, 2) = satpos; B_pass.submat(0, 0, obs.size() - 1, 2) = satpos;
B_pass.col(3) = obs; B_pass.col(3) = obs;
@ -81,27 +80,27 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
for (int iter = 0; iter < 2; iter++) for (int iter = 0; iter < 2; iter++)
{ {
B = B_pass; B = B_pass;
int m = arma::size(B,0); int m = arma::size(B, 0);
for (int i = 0; i < m; i++) for (int i = 0; i < m; i++)
{ {
int x = B(i,0); int x = B(i, 0);
int y = B(i,1); int y = B(i, 1);
if (iter == 0) if (iter == 0)
{ {
traveltime = 0.072; traveltime = 0.072;
} }
else else
{ {
int z = B(i,2); int z = B(i, 2);
double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2)); double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2));
traveltime = sqrt(rho) / GPS_C_m_s; traveltime = sqrt(rho) / GPS_C_m_s;
} }
double angle = traveltime * 7.292115147e-5; double angle = traveltime * 7.292115147e-5;
double cosa = cos(angle); double cosa = cos(angle);
double sina = sin(angle); double sina = sin(angle);
B(i,0) = cosa * x + sina * y; B(i, 0) = cosa * x + sina * y;
B(i,1) = -sina * x + cosa * y; B(i, 1) = -sina * x + cosa * y;
}// % i-loop } // % i-loop
if (m > 3) if (m > 3)
{ {
@ -111,8 +110,8 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
{ {
BBB = arma::inv(B); BBB = arma::inv(B);
} }
arma::vec e = arma::ones(m,1); arma::vec e = arma::ones(m, 1);
arma::vec alpha = arma::zeros(m,1); arma::vec alpha = arma::zeros(m, 1);
for (int i = 0; i < m; i++) for (int i = 0; i < m; i++)
{ {
alpha(i) = lorentz(B.row(i).t(), B.row(i).t()) / 2.0; alpha(i) = lorentz(B.row(i).t(), B.row(i).t()) / 2.0;
@ -124,20 +123,20 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
double c = lorentz(BBBalpha, BBBalpha); double c = lorentz(BBBalpha, BBBalpha);
double root = sqrt(b * b - a * c); double root = sqrt(b * b - a * c);
arma::vec r = {(-b - root) / a, (-b + root) / a}; arma::vec r = {(-b - root) / a, (-b + root) / a};
arma::mat possible_pos = arma::zeros(4,2); arma::mat possible_pos = arma::zeros(4, 2);
for (int i = 0; i < 2; i++) for (int i = 0; i < 2; i++)
{ {
possible_pos.col(i) = r(i) * BBBe + BBBalpha; possible_pos.col(i) = r(i) * BBBe + BBBalpha;
possible_pos(3,i) = -possible_pos(3,i); possible_pos(3, i) = -possible_pos(3, i);
} }
arma::vec abs_omc = arma::zeros(2,1); arma::vec abs_omc = arma::zeros(2, 1);
for (int j = 0; j < m; j++) for (int j = 0; j < m; j++)
{ {
for (int i = 0; i < 2; i++) for (int i = 0; i < 2; i++)
{ {
double c_dt = possible_pos(3,i); double c_dt = possible_pos(3, i);
double calc = arma::norm(satpos.row(i).t() - possible_pos.col(i).rows(0,2)) + c_dt; double calc = arma::norm(satpos.row(i).t() - possible_pos.col(i).rows(0, 2)) + c_dt;
double omc = obs(j) - calc; double omc = obs(j) - calc;
abs_omc(i) = std::abs(omc); abs_omc(i) = std::abs(omc);
} }
@ -167,11 +166,11 @@ double Ls_Pvt::lorentz(const arma::vec& x, const arma::vec& y)
// M = diag([1 1 1 -1]); // M = diag([1 1 1 -1]);
// p = x'*M*y; // p = x'*M*y;
return(x(0) * y(0) + x(1) * y(1) + x(2) * y(2) - x(3) * y(3)); return (x(0) * y(0) + x(1) * y(1) + x(2) * y(2) - x(3) * y(3));
} }
arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::vec & w_vec) arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs, const arma::vec& w_vec)
{ {
/* Computes the Least Squares Solution. /* Computes the Least Squares Solution.
* Inputs: * Inputs:
@ -222,8 +221,10 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
{ {
//--- Update equations ----------------------------------------- //--- Update equations -----------------------------------------
rho2 = (X(0, i) - pos(0)) * rho2 = (X(0, i) - pos(0)) *
(X(0, i) - pos(0)) + (X(1, i) - pos(1)) * (X(0, i) - pos(0)) +
(X(1, i) - pos(1)) + (X(2, i) - pos(2)) * (X(1, i) - pos(1)) *
(X(1, i) - pos(1)) +
(X(2, i) - pos(2)) *
(X(2, i) - pos(2)); (X(2, i) - pos(2));
traveltime = sqrt(rho2) / GPS_C_m_s; traveltime = sqrt(rho2) / GPS_C_m_s;
@ -231,15 +232,15 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo
//--- Find DOA and range of satellites //--- Find DOA and range of satellites
double * azim = 0; double* azim = 0;
double * elev = 0; double* elev = 0;
double * dist = 0; double* dist = 0;
Ls_Pvt::topocent(azim, elev, dist, pos.subvec(0,2), Rot_X - pos.subvec(0, 2)); Ls_Pvt::topocent(azim, elev, dist, pos.subvec(0, 2), Rot_X - pos.subvec(0, 2));
this->set_visible_satellites_Az(i, *azim); this->set_visible_satellites_Az(i, *azim);
this->set_visible_satellites_El(i, *elev); this->set_visible_satellites_El(i, *elev);
this->set_visible_satellites_Distance(i, *dist); this->set_visible_satellites_Distance(i, *dist);
if(traveltime < 0.1 && nmbOfSatellites > 3) if (traveltime < 0.1 && nmbOfSatellites > 3)
{ {
//--- Find receiver's height //--- Find receiver's height
Ls_Pvt::togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2)); Ls_Pvt::togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
@ -253,7 +254,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
{ {
//--- Find delay due to troposphere (in meters) //--- Find delay due to troposphere (in meters)
Ls_Pvt::tropo(&trop, sin(this->get_visible_satellites_El(i) * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0); Ls_Pvt::tropo(&trop, sin(this->get_visible_satellites_El(i) * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
if(trop > 5.0 ) trop = 0.0; //check for erratic values if (trop > 5.0) trop = 0.0; //check for erratic values
} }
} }
} }
@ -262,18 +263,18 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
//--- Construct the A matrix --------------------------------------- //--- Construct the A matrix ---------------------------------------
//Armadillo //Armadillo
A(i,0) = (-(Rot_X(0) - pos(0))) / obs(i); A(i, 0) = (-(Rot_X(0) - pos(0))) / obs(i);
A(i,1) = (-(Rot_X(1) - pos(1))) / obs(i); A(i, 1) = (-(Rot_X(1) - pos(1))) / obs(i);
A(i,2) = (-(Rot_X(2) - pos(2))) / obs(i); A(i, 2) = (-(Rot_X(2) - pos(2))) / obs(i);
A(i,3) = 1.0; A(i, 3) = 1.0;
} }
//--- Find position update --------------------------------------------- //--- Find position update ---------------------------------------------
x = arma::solve(w*A, w*omc); // Armadillo x = arma::solve(w * A, w * omc); // Armadillo
//--- Apply position update -------------------------------------------- //--- Apply position update --------------------------------------------
pos = pos + x; pos = pos + x;
if (arma::norm(x,2) < 1e-4) if (arma::norm(x, 2) < 1e-4)
{ {
break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm) break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm)
} }
@ -290,5 +291,3 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs
} }
return pos; return pos;
} }

8
src/algorithms/PVT/libs/ls_pvt.h
View File

@ -45,20 +45,20 @@ private:
/*! /*!
* \brief Computes the Lorentz inner product between two vectors * \brief Computes the Lorentz inner product between two vectors
*/ */
double lorentz(const arma::vec & x,const arma::vec & y); double lorentz(const arma::vec& x, const arma::vec& y);
public: public:
Ls_Pvt(); Ls_Pvt();
/*! /*!
* \brief Computes the initial position solution based on the Bancroft algorithm * \brief Computes the initial position solution based on the Bancroft algorithm
*/ */
arma::vec bancroftPos(const arma::mat & satpos, const arma::vec & obs); arma::vec bancroftPos(const arma::mat& satpos, const arma::vec& obs);
/*! /*!
* \brief Computes the Weighted Least Squares position solution * \brief Computes the Weighted Least Squares position solution
*/ */
arma::vec leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::vec & w_vec); arma::vec leastSquarePos(const arma::mat& satpos, const arma::vec& obs, const arma::vec& w_vec);
}; };
#endif #endif

44
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -79,7 +79,7 @@ Nmea_Printer::~Nmea_Printer()
} }
int Nmea_Printer::init_serial (std::string serial_device) int Nmea_Printer::init_serial(std::string serial_device)
{ {
/*! /*!
* Opens the serial device and sets the default baud rate for a NMEA transmission (9600,8,N,1) * Opens the serial device and sets the default baud rate for a NMEA transmission (9600,8,N,1)
@ -95,7 +95,7 @@ int Nmea_Printer::init_serial (std::string serial_device)
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY); fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) return fd; //failed to open TTY port if (fd == -1) return fd; //failed to open TTY port
if(fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O
tcgetattr(fd, &options); // read serial port options tcgetattr(fd, &options); // read serial port options
BAUD = B9600; BAUD = B9600;
@ -116,7 +116,7 @@ int Nmea_Printer::init_serial (std::string serial_device)
} }
void Nmea_Printer::close_serial () void Nmea_Printer::close_serial()
{ {
if (nmea_dev_descriptor != -1) if (nmea_dev_descriptor != -1)
{ {
@ -159,30 +159,31 @@ bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<Pvt_Solution>& pvt_data
//GPGSV //GPGSV
nmea_file_descriptor << GPGSV; nmea_file_descriptor << GPGSV;
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
DLOG(INFO) << "NMEA printer can not write on output file" << nmea_filename.c_str();; DLOG(INFO) << "NMEA printer can not write on output file" << nmea_filename.c_str();
;
} }
//write to serial device //write to serial device
if (nmea_dev_descriptor!=-1) if (nmea_dev_descriptor != -1)
{ {
if(write(nmea_dev_descriptor, GPRMC.c_str(), GPRMC.length()) == -1) if (write(nmea_dev_descriptor, GPRMC.c_str(), GPRMC.length()) == -1)
{ {
DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str(); DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str();
return false; return false;
} }
if(write(nmea_dev_descriptor, GPGGA.c_str(), GPGGA.length()) == -1) if (write(nmea_dev_descriptor, GPGGA.c_str(), GPGGA.length()) == -1)
{ {
DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str(); DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str();
return false; return false;
} }
if(write(nmea_dev_descriptor, GPGSA.c_str(), GPGSA.length()) == -1) if (write(nmea_dev_descriptor, GPGSA.c_str(), GPGSA.length()) == -1)
{ {
DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str(); DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str();
return false; return false;
} }
if(write(nmea_dev_descriptor, GPGSV.c_str(), GPGSV.length()) == -1) if (write(nmea_dev_descriptor, GPGSV.c_str(), GPGSV.length()) == -1)
{ {
DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str(); DLOG(INFO) << "NMEA printer cannot write on serial device" << nmea_devname.c_str();
return false; return false;
@ -211,7 +212,7 @@ std::string Nmea_Printer::latitude_to_hm(double lat)
if (lat < 0.0) if (lat < 0.0)
{ {
north = false; north = false;
lat = -lat ; lat = -lat;
} }
else else
{ {
@ -220,7 +221,7 @@ std::string Nmea_Printer::latitude_to_hm(double lat)
int deg = static_cast<int>(lat); int deg = static_cast<int>(lat);
double mins = lat - static_cast<double>(deg); double mins = lat - static_cast<double>(deg);
mins *= 60.0 ; mins *= 60.0;
std::ostringstream out_string; std::ostringstream out_string;
out_string.setf(std::ios::fixed, std::ios::floatfield); out_string.setf(std::ios::fixed, std::ios::floatfield);
out_string.fill('0'); out_string.fill('0');
@ -249,7 +250,7 @@ std::string Nmea_Printer::longitude_to_hm(double longitude)
if (longitude < 0.0) if (longitude < 0.0)
{ {
east = false; east = false;
longitude = -longitude ; longitude = -longitude;
} }
else else
{ {
@ -257,7 +258,7 @@ std::string Nmea_Printer::longitude_to_hm(double longitude)
} }
int deg = static_cast<int>(longitude); int deg = static_cast<int>(longitude);
double mins = longitude - static_cast<double>(deg); double mins = longitude - static_cast<double>(deg);
mins *= 60.0 ; mins *= 60.0;
std::ostringstream out_string; std::ostringstream out_string;
out_string.setf(std::ios::fixed, std::ios::floatfield); out_string.setf(std::ios::fixed, std::ios::floatfield);
out_string.width(3); out_string.width(3);
@ -294,7 +295,7 @@ std::string Nmea_Printer::get_UTC_NMEA_time(boost::posix_time::ptime d_position_
utc_hours = td.hours(); utc_hours = td.hours();
utc_mins = td.minutes(); utc_mins = td.minutes();
utc_seconds = td.seconds(); utc_seconds = td.seconds();
utc_milliseconds = td.total_milliseconds() - td.total_seconds()*1000; utc_milliseconds = td.total_milliseconds() - td.total_seconds() * 1000;
if (utc_hours < 10) sentence_str << "0"; // two digits for hours if (utc_hours < 10) sentence_str << "0"; // two digits for hours
sentence_str << utc_hours; sentence_str << utc_hours;
@ -450,7 +451,7 @@ std::string Nmea_Printer::get_GPGSA()
// 1 fix not available // 1 fix not available
// 2 fix 2D // 2 fix 2D
// 3 fix 3D // 3 fix 3D
if (valid_fix==true) if (valid_fix == true)
{ {
sentence_str << ",3"; sentence_str << ",3";
} }
@ -460,7 +461,7 @@ std::string Nmea_Printer::get_GPGSA()
}; };
// Used satellites // Used satellites
for (int i=0; i<12; i++) for (int i = 0; i < 12; i++)
{ {
sentence_str << ","; sentence_str << ",";
if (i < n_sats_used) if (i < n_sats_used)
@ -479,7 +480,7 @@ std::string Nmea_Printer::get_GPGSA()
sentence_str.fill('0'); sentence_str.fill('0');
sentence_str << pdop; sentence_str << pdop;
//HDOP //HDOP
sentence_str<<","; sentence_str << ",";
sentence_str.setf(std::ios::fixed, std::ios::floatfield); sentence_str.setf(std::ios::fixed, std::ios::floatfield);
sentence_str.width(2); sentence_str.width(2);
sentence_str.precision(1); sentence_str.precision(1);
@ -528,7 +529,7 @@ std::string Nmea_Printer::get_GPGSV()
// generate the frames // generate the frames
int current_satellite = 0; int current_satellite = 0;
for (int i=1; i<(n_frames+1); i++) for (int i = 1; i < (n_frames + 1); i++)
{ {
frame_str.str(""); frame_str.str("");
frame_str << sentence_header; frame_str << sentence_header;
@ -547,7 +548,7 @@ std::string Nmea_Printer::get_GPGSV()
frame_str << std::dec << n_sats_used; frame_str << std::dec << n_sats_used;
//satellites info //satellites info
for (int j=0; j<4; j++) for (int j = 0; j < 4; j++)
{ {
// write satellite info // write satellite info
frame_str << ","; frame_str << ",";
@ -601,7 +602,7 @@ std::string Nmea_Printer::get_GPGGA()
{ {
//boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time(); //boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time();
bool valid_fix = d_PVT_data->is_valid_position(); bool valid_fix = d_PVT_data->is_valid_position();
int n_channels = d_PVT_data->get_num_valid_observations();//d_nchannels int n_channels = d_PVT_data->get_num_valid_observations(); //d_nchannels
double hdop = d_PVT_data->get_HDOP(); double hdop = d_PVT_data->get_HDOP();
double MSL_altitude; double MSL_altitude;
@ -708,4 +709,3 @@ std::string Nmea_Printer::get_GPGGA()
return sentence_str.str(); return sentence_str.str();
//$GPGGA,104427.591,5920.7009,N,01803.2938,E,1,05,3.3,78.2,M,23.2,M,0.0,0000*4A //$GPGGA,104427.591,5920.7009,N,01803.2938,E,1,05,3.3,78.2,M,23.2,M,0.0,0000*4A
} }

122
src/algorithms/PVT/libs/pvt_solution.cc
View File

@ -55,11 +55,11 @@ Pvt_Solution::Pvt_Solution()
b_valid_position = false; b_valid_position = false;
d_averaging_depth = 0; d_averaging_depth = 0;
d_valid_observations = 0; d_valid_observations = 0;
d_rx_pos = arma::zeros(3,1); d_rx_pos = arma::zeros(3, 1);
d_rx_dt_s = 0.0; d_rx_dt_s = 0.0;
} }
arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec & X_sat) arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec &X_sat)
{ {
/* /*
* Returns rotated satellite ECEF coordinates due to Earth * Returns rotated satellite ECEF coordinates due to Earth
@ -78,7 +78,7 @@ arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec
omegatau = OMEGA_EARTH_DOT * traveltime; omegatau = OMEGA_EARTH_DOT * traveltime;
//--- Build a rotation matrix ---------------------------------------------- //--- Build a rotation matrix ----------------------------------------------
arma::mat R3 = arma::zeros(3,3); arma::mat R3 = arma::zeros(3, 3);
R3(0, 0) = cos(omegatau); R3(0, 0) = cos(omegatau);
R3(0, 1) = sin(omegatau); R3(0, 1) = sin(omegatau);
R3(0, 2) = 0.0; R3(0, 2) = 0.0;
@ -125,7 +125,7 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
{ {
oldh = h; oldh = h;
N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi))); N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h) )))); phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h)))));
h = sqrt(X * X + Y * Y) / cos(phi) - N; h = sqrt(X * X + Y * Y) / cos(phi) - N;
iterations = iterations + 1; iterations = iterations + 1;
if (iterations > 100) if (iterations > 100)
@ -205,7 +205,7 @@ int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, dou
double sinphi; double sinphi;
if (r > 1.0E-20) if (r > 1.0E-20)
{ {
sinphi = Z/r; sinphi = Z / r;
} }
else else
{ {
@ -221,7 +221,7 @@ int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, dou
return 1; return 1;
} }
*h = r - a * (1 - sinphi * sinphi/finv); *h = r - a * (1 - sinphi * sinphi / finv);
// iterate // iterate
double cosphi; double cosphi;
@ -244,7 +244,7 @@ int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, dou
// update height and latitude // update height and latitude
*h = *h + (sinphi * dZ + cosphi * dP); *h = *h + (sinphi * dZ + cosphi * dP);
*dphi = *dphi + (cosphi * dZ - sinphi * dP)/(N_phi + (*h)); *dphi = *dphi + (cosphi * dZ - sinphi * dP) / (N_phi + (*h));
// test for convergence // test for convergence
if ((dP * dP + dZ * dZ) < tolsq) if ((dP * dP + dZ * dZ) < tolsq)
@ -299,7 +299,10 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
double tkelp = tksea + tlapse * hp_km; double tkelp = tksea + tlapse * hp_km;
double psea = p_mb * pow((tksea / tkelp), em); double psea = p_mb * pow((tksea / tkelp), em);
if(sinel < 0) { sinel = 0.0; } if (sinel < 0)
{
sinel = 0.0;
}
double tropo_delay = 0.0; double tropo_delay = 0.0;
bool done = false; bool done = false;
@ -312,34 +315,36 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
double b; double b;
double rtop; double rtop;
while(1) while (1)
{ {
rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2)); rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2));
// check to see if geometry is crazy // check to see if geometry is crazy
if(rtop < 0) { rtop = 0; } if (rtop < 0)
{
rtop = 0;
}
rtop = sqrt(rtop) - (a_e + hsta_km) * sinel; rtop = sqrt(rtop) - (a_e + hsta_km) * sinel;
a = -sinel / (htop - hsta_km); a = -sinel / (htop - hsta_km);
b = -b0 * (1 - pow(sinel,2)) / (htop - hsta_km); b = -b0 * (1 - pow(sinel, 2)) / (htop - hsta_km);
arma::vec rn = arma::vec(8); arma::vec rn = arma::vec(8);
rn.zeros(); rn.zeros();
for(int i = 0; i<8; i++) for (int i = 0; i < 8; i++)
{ {
rn(i) = pow(rtop, (i+1+1)); rn(i) = pow(rtop, (i + 1 + 1));
} }
arma::rowvec alpha = {2 * a, 2 * pow(a, 2) + 4 * b /3, a * (pow(a, 2) + 3 * b), arma::rowvec alpha = {2 * a, 2 * pow(a, 2) + 4 * b / 3, a * (pow(a, 2) + 3 * b),
pow(a, 4)/5 + 2.4 * pow(a, 2) * b + 1.2 * pow(b, 2), 2 * a * b * (pow(a, 2) + 3 * b)/3, pow(a, 4) / 5 + 2.4 * pow(a, 2) * b + 1.2 * pow(b, 2), 2 * a * b * (pow(a, 2) + 3 * b) / 3,
pow(b, 2) * (6 * pow(a, 2) + 4 * b) * 1.428571e-1, 0, 0}; pow(b, 2) * (6 * pow(a, 2) + 4 * b) * 1.428571e-1, 0, 0};
if(pow(b, 2) > 1.0e-35) if (pow(b, 2) > 1.0e-35)
{ {
alpha(6) = a * pow(b, 3) /2; alpha(6) = a * pow(b, 3) / 2;
alpha(7) = pow(b, 4) / 9; alpha(7) = pow(b, 4) / 9;
} }
@ -348,7 +353,7 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
dr = dr + aux_(0, 0); dr = dr + aux_(0, 0);
tropo_delay = tropo_delay + dr * ref * 1000; tropo_delay = tropo_delay + dr * ref * 1000;
if(done == true) if (done == true)
{ {
*ddr_m = tropo_delay; *ddr_m = tropo_delay;
break; break;
@ -363,7 +368,7 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
} }
int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec & x, const arma::vec & dx) int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx)
{ {
/* Transformation of vector dx into topocentric coordinate /* Transformation of vector dx into topocentric coordinate
system with origin at x system with origin at x
@ -394,19 +399,19 @@ int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &
double cb = cos(phi * dtr); double cb = cos(phi * dtr);
double sb = sin(phi * dtr); double sb = sin(phi * dtr);
arma::mat F = arma::zeros(3,3); arma::mat F = arma::zeros(3, 3);
F(0,0) = -sl; F(0, 0) = -sl;
F(0,1) = -sb * cl; F(0, 1) = -sb * cl;
F(0,2) = cb * cl; F(0, 2) = cb * cl;
F(1,0) = cl; F(1, 0) = cl;
F(1,1) = -sb * sl; F(1, 1) = -sb * sl;
F(1,2) = cb * sl; F(1, 2) = cb * sl;
F(2,0) = 0; F(2, 0) = 0;
F(2,1) = cb; F(2, 1) = cb;
F(2,2) = sb; F(2, 2) = sb;
arma::vec local_vector; arma::vec local_vector;
@ -440,25 +445,24 @@ int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &
} }
int Pvt_Solution::compute_DOP() int Pvt_Solution::compute_DOP()
{ {
// ###### Compute DOPs ######## // ###### Compute DOPs ########
// 1- Rotation matrix from ECEF coordinates to ENU coordinates // 1- Rotation matrix from ECEF coordinates to ENU coordinates
// ref: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates // ref: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates
arma::mat F = arma::zeros(3,3); arma::mat F = arma::zeros(3, 3);
F(0,0) = -sin(GPS_TWO_PI * (d_longitude_d/360.0)); F(0, 0) = -sin(GPS_TWO_PI * (d_longitude_d / 360.0));
F(0,1) = -sin(GPS_TWO_PI * (d_latitude_d/360.0)) * cos(GPS_TWO_PI * (d_longitude_d/360.0)); F(0, 1) = -sin(GPS_TWO_PI * (d_latitude_d / 360.0)) * cos(GPS_TWO_PI * (d_longitude_d / 360.0));
F(0,2) = cos(GPS_TWO_PI * (d_latitude_d/360.0)) * cos(GPS_TWO_PI * (d_longitude_d/360.0)); F(0, 2) = cos(GPS_TWO_PI * (d_latitude_d / 360.0)) * cos(GPS_TWO_PI * (d_longitude_d / 360.0));
F(1,0) = cos((GPS_TWO_PI * d_longitude_d)/360.0); F(1, 0) = cos((GPS_TWO_PI * d_longitude_d) / 360.0);
F(1,1) = -sin((GPS_TWO_PI * d_latitude_d)/360.0) * sin((GPS_TWO_PI * d_longitude_d)/360.0); F(1, 1) = -sin((GPS_TWO_PI * d_latitude_d) / 360.0) * sin((GPS_TWO_PI * d_longitude_d) / 360.0);
F(1,2) = cos((GPS_TWO_PI * d_latitude_d/360.0)) * sin((GPS_TWO_PI * d_longitude_d)/360.0); F(1, 2) = cos((GPS_TWO_PI * d_latitude_d / 360.0)) * sin((GPS_TWO_PI * d_longitude_d) / 360.0);
F(2,0) = 0; F(2, 0) = 0;
F(2,1) = cos((GPS_TWO_PI * d_latitude_d)/360.0); F(2, 1) = cos((GPS_TWO_PI * d_latitude_d) / 360.0);
F(2,2) = sin((GPS_TWO_PI * d_latitude_d/360.0)); F(2, 2) = sin((GPS_TWO_PI * d_latitude_d / 360.0));
// 2- Apply the rotation to the latest covariance matrix (available in ECEF from LS) // 2- Apply the rotation to the latest covariance matrix (available in ECEF from LS)
arma::mat Q_ECEF = d_Q.submat(0, 0, 2, 2); arma::mat Q_ECEF = d_Q.submat(0, 0, 2, 2);
@ -468,12 +472,12 @@ int Pvt_Solution::compute_DOP()
{ {
DOP_ENU = arma::htrans(F) * Q_ECEF * F; DOP_ENU = arma::htrans(F) * Q_ECEF * F;
d_GDOP = sqrt(arma::trace(DOP_ENU)); // Geometric DOP d_GDOP = sqrt(arma::trace(DOP_ENU)); // Geometric DOP
d_PDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1) + DOP_ENU(2, 2));// PDOP d_PDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1) + DOP_ENU(2, 2)); // PDOP
d_HDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1)); // HDOP d_HDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1)); // HDOP
d_VDOP = sqrt(DOP_ENU(2, 2)); // VDOP d_VDOP = sqrt(DOP_ENU(2, 2)); // VDOP
d_TDOP = sqrt(d_Q(3, 3)); // TDOP d_TDOP = sqrt(d_Q(3, 3)); // TDOP
} }
catch(const std::exception & ex) catch (const std::exception &ex)
{ {
d_GDOP = -1; // Geometric DOP d_GDOP = -1; // Geometric DOP
d_PDOP = -1; // PDOP d_PDOP = -1; // PDOP
@ -614,7 +618,7 @@ void Pvt_Solution::set_valid_position(bool is_valid)
} }
void Pvt_Solution::set_rx_pos(const arma::vec & pos) void Pvt_Solution::set_rx_pos(const arma::vec &pos)
{ {
d_rx_pos = pos; d_rx_pos = pos;
d_latitude_d = d_rx_pos(0); d_latitude_d = d_rx_pos(0);
@ -635,7 +639,7 @@ boost::posix_time::ptime Pvt_Solution::get_position_UTC_time() const
} }
void Pvt_Solution::set_position_UTC_time(const boost::posix_time::ptime & pt) void Pvt_Solution::set_position_UTC_time(const boost::posix_time::ptime &pt)
{ {
d_position_UTC_time = pt; d_position_UTC_time = pt;
} }
@ -655,14 +659,14 @@ void Pvt_Solution::set_num_valid_observations(int num)
bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn) bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Setting sat ID to channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Setting sat ID to channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
} }
else else
{ {
if(prn >= PVT_MAX_PRN) if (prn >= PVT_MAX_PRN)
{ {
LOG(WARNING) << "Setting to channel " << index << " a PRN of " << prn << " (the maximum is " << PVT_MAX_PRN << ")"; LOG(WARNING) << "Setting to channel " << index << " a PRN of " << prn << " (the maximum is " << PVT_MAX_PRN << ")";
return false; return false;
@ -678,7 +682,7 @@ bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn)
unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat ID for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat ID for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0; return 0;
@ -692,21 +696,21 @@ unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const
bool Pvt_Solution::set_visible_satellites_El(size_t index, double el) bool Pvt_Solution::set_visible_satellites_El(size_t index, double el)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Setting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Setting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
} }
else else
{ {
if(el > 90.0) if (el > 90.0)
{ {
LOG(WARNING) << "Setting a sat elevation > 90 [degrees]. Saturating to 90"; LOG(WARNING) << "Setting a sat elevation > 90 [degrees]. Saturating to 90";
d_visible_satellites_El[index] = 90.0; d_visible_satellites_El[index] = 90.0;
} }
else else
{ {
if(el < -90.0) if (el < -90.0)
{ {
LOG(WARNING) << "Setting a sat elevation < -90 [degrees]. Saturating to -90"; LOG(WARNING) << "Setting a sat elevation < -90 [degrees]. Saturating to -90";
d_visible_satellites_El[index] = -90.0; d_visible_satellites_El[index] = -90.0;
@ -723,7 +727,7 @@ bool Pvt_Solution::set_visible_satellites_El(size_t index, double el)
double Pvt_Solution::get_visible_satellites_El(size_t index) const double Pvt_Solution::get_visible_satellites_El(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0; return 0.0;
@ -737,7 +741,7 @@ double Pvt_Solution::get_visible_satellites_El(size_t index) const
bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az) bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
@ -752,7 +756,7 @@ bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az)
double Pvt_Solution::get_visible_satellites_Az(size_t index) const double Pvt_Solution::get_visible_satellites_Az(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0; return 0.0;
@ -766,7 +770,7 @@ double Pvt_Solution::get_visible_satellites_Az(size_t index) const
bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist) bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Setting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Setting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
@ -781,7 +785,7 @@ bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist)
double Pvt_Solution::get_visible_satellites_Distance(size_t index) const double Pvt_Solution::get_visible_satellites_Distance(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0; return 0.0;
@ -795,7 +799,7 @@ double Pvt_Solution::get_visible_satellites_Distance(size_t index) const
bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0) bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0)
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Setting sat Cn0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Setting sat Cn0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false; return false;
@ -810,7 +814,7 @@ bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0)
double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const
{ {
if(index >= PVT_MAX_CHANNELS) if (index >= PVT_MAX_CHANNELS)
{ {
LOG(WARNING) << "Getting received CN0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")"; LOG(WARNING) << "Getting received CN0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0; return 0.0;
@ -822,7 +826,7 @@ double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const
} }
void Pvt_Solution::set_Q(const arma::mat & Q) void Pvt_Solution::set_Q(const arma::mat &Q)
{ {
d_Q = Q; d_Q = Q;
} }

10
src/algorithms/PVT/libs/pvt_solution.h
View File

@ -97,14 +97,14 @@ public:
double get_avg_longitude() const; //!< Get RX position averaged Longitude WGS84 [deg] double get_avg_longitude() const; //!< Get RX position averaged Longitude WGS84 [deg]
double get_avg_height() const; //!< Get RX position averaged height WGS84 [m] double get_avg_height() const; //!< Get RX position averaged height WGS84 [m]
void set_rx_pos(const arma::vec & pos); //!< Set position: Latitude [deg], longitude [deg], height [m] void set_rx_pos(const arma::vec &pos); //!< Set position: Latitude [deg], longitude [deg], height [m]
arma::vec get_rx_pos() const; arma::vec get_rx_pos() const;
bool is_valid_position() const; bool is_valid_position() const;
void set_valid_position(bool is_valid); void set_valid_position(bool is_valid);
boost::posix_time::ptime get_position_UTC_time() const; boost::posix_time::ptime get_position_UTC_time() const;
void set_position_UTC_time(const boost::posix_time::ptime & pt); void set_position_UTC_time(const boost::posix_time::ptime &pt);
int get_num_valid_observations() const; //!< Get the number of valid pseudorange observations (valid satellites) int get_num_valid_observations() const; //!< Get the number of valid pseudorange observations (valid satellites)
void set_num_valid_observations(int num); //!< Set the number of valid pseudorange observations (valid satellites) void set_num_valid_observations(int num); //!< Set the number of valid pseudorange observations (valid satellites)
@ -131,7 +131,7 @@ public:
void set_averaging_flag(bool flag); void set_averaging_flag(bool flag);
// DOP estimations // DOP estimations
void set_Q(const arma::mat & Q); void set_Q(const arma::mat &Q);
int compute_DOP(); //!< Compute Dilution Of Precision parameters int compute_DOP(); //!< Compute Dilution Of Precision parameters
double get_GDOP() const; double get_GDOP() const;
@ -140,7 +140,7 @@ public:
double get_VDOP() const; double get_VDOP() const;
double get_TDOP() const; double get_TDOP() const;
arma::vec rotateSatellite(double traveltime, const arma::vec & X_sat); arma::vec rotateSatellite(double traveltime, const arma::vec &X_sat);
/*! /*!
* \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical * \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
@ -171,7 +171,7 @@ public:
* *
* Based on a Matlab function by Kai Borre * Based on a Matlab function by Kai Borre
*/ */
int topocent(double *Az, double *El, double *D, const arma::vec & x, const arma::vec & dx); int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx);
/*! /*!
* \brief Subroutine to calculate geodetic coordinates latitude, longitude, * \brief Subroutine to calculate geodetic coordinates latitude, longitude,

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src/algorithms/PVT/libs/rinex_printer.cc
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@ -85,122 +85,122 @@ public:
*/ */
~Rinex_Printer(); ~Rinex_Printer();
std::fstream obsFile ; //<! Output file stream for RINEX observation file std::fstream obsFile; //<! Output file stream for RINEX observation file
std::fstream navFile ; //<! Output file stream for RINEX navigation data file std::fstream navFile; //<! Output file stream for RINEX navigation data file
std::fstream sbsFile ; //<! Output file stream for RINEX SBAS raw data file std::fstream sbsFile; //<! Output file stream for RINEX SBAS raw data file
std::fstream navGalFile ; //<! Output file stream for RINEX Galileo navigation data file std::fstream navGalFile; //<! Output file stream for RINEX Galileo navigation data file
std::fstream navGloFile ; //<! Output file stream for RINEX GLONASS navigation data file std::fstream navGloFile; //<! Output file stream for RINEX GLONASS navigation data file
std::fstream navMixFile ; //<! Output file stream for RINEX Mixed navigation data file std::fstream navMixFile; //<! Output file stream for RINEX Mixed navigation data file
/*! /*!
* \brief Generates the GPS L1 C/A Navigation Data header * \brief Generates the GPS L1 C/A Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_Iono & iono, const Gps_Utc_Model & utc_model); void rinex_nav_header(std::fstream& out, const Gps_Iono& iono, const Gps_Utc_Model& utc_model);
/*! /*!
* \brief Generates the GPS L2C(M) Navigation Data header * \brief Generates the GPS L2C(M) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_CNAV_Iono & iono, const Gps_CNAV_Utc_Model & utc_model); void rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& iono, const Gps_CNAV_Utc_Model& utc_model);
/*! /*!
* \brief Generates the Galileo Navigation Data header * \brief Generates the Galileo Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Galileo_Iono & iono, const Galileo_Utc_Model & utc_model, const Galileo_Almanac & galileo_almanac); void rinex_nav_header(std::fstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac);
/*! /*!
* \brief Generates the Mixed (GPS/Galileo) Navigation Data header * \brief Generates the Mixed (GPS/Galileo) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac); void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac);
/*! /*!
* \brief Generates the GLONASS L1, L2 C/A Navigation Data header * \brief Generates the GLONASS L1, L2 C/A Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & utc_model, const Glonass_Gnav_Ephemeris & glonass_gnav_eph); void rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& utc_model, const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
/*! /*!
* \brief Generates the Mixed (Galileo/GLONASS) Navigation Data header * \brief Generates the Mixed (Galileo/GLONASS) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac & galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void rinex_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
/*! /*!
* \brief Generates the Mixed (GPS L1 C/A/GLONASS L1, L2) Navigation Data header * \brief Generates the Mixed (GPS L1 C/A/GLONASS L1, L2) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
/*! /*!
* \brief Generates the Mixed (GPS L2C C/A/GLONASS L1, L2) Navigation Data header * \brief Generates the Mixed (GPS L2C C/A/GLONASS L1, L2) Navigation Data header
*/ */
void rinex_nav_header(std::fstream & out, const Gps_CNAV_Iono & gps_iono, const Gps_CNAV_Utc_Model & gps_utc_model, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_iono, const Gps_CNAV_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
/*! /*!
* \brief Generates the GPS Observation data header * \brief Generates the GPS Observation data header
*/ */
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & eph, const double d_TOW_first_observation); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const double d_TOW_first_observation);
/*! /*!
* \brief Generates the GPS L2 Observation data header * \brief Generates the GPS L2 Observation data header
*/ */
void rinex_obs_header(std::fstream & out, const Gps_CNAV_Ephemeris & eph, const double d_TOW_first_observation); void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& eph, const double d_TOW_first_observation);
/*! /*!
* \brief Generates the dual frequency GPS L1 & L2 Observation data header * \brief Generates the dual frequency GPS L1 & L2 Observation data header
*/ */
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & eph, const Gps_CNAV_Ephemeris & eph_cnav, const double d_TOW_first_observation); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, const double d_TOW_first_observation);
/*! /*!
* \brief Generates the Galileo Observation data header. Example: bands("1B"), bands("1B 5X"), bands("5X"), ... Default: "1B". * \brief Generates the Galileo Observation data header. Example: bands("1B"), bands("1B 5X"), bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1B"); void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands = "1B");
/*! /*!
* \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & gps_eph, const Galileo_Ephemeris & galileo_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B"); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B");
/*! /*!
* \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C". * \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C".
*/ */
void rinex_obs_header(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1G"); void rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands = "1G");
/*! /*!
* \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & gps_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1C"); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1C");
/*! /*!
* \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B", const std::string glo_bands = "1C"); void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B", const std::string glo_bands = "1C");
/*! /*!
* \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G". * \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G".
*/ */
void rinex_obs_header(std::fstream & out, const Gps_CNAV_Ephemeris & gps_cnav_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1G"); void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1G");
/*! /*!
* \brief Generates the SBAS raw data header * \brief Generates the SBAS raw data header
*/ */
void rinex_sbs_header(std::fstream & out); void rinex_sbs_header(std::fstream& out);
/*! /*!
* \brief Computes the UTC time and returns a boost::posix_time::ptime object * \brief Computes the UTC time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_UTC_time(const Gps_Navigation_Message & nav_msg); boost::posix_time::ptime compute_UTC_time(const Gps_Navigation_Message& nav_msg);
/*! /*!
* \brief Computes the GPS time and returns a boost::posix_time::ptime object * \brief Computes the GPS time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes the GPS time and returns a boost::posix_time::ptime object * \brief Computes the GPS time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes the Galileo time and returns a boost::posix_time::ptime object * \brief Computes the Galileo time and returns a boost::posix_time::ptime object
*/ */
boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes the UTC Time and returns a boost::posix_time::ptime object * \brief Computes the UTC Time and returns a boost::posix_time::ptime object
@ -209,7 +209,7 @@ public:
* \param eph GLONASS GNAV Ephemeris object * \param eph GLONASS GNAV Ephemeris object
* \param obs_time Observation time in GPS seconds of week * \param obs_time Observation time in GPS seconds of week
*/ */
boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris & eph, const double obs_time); boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris& eph, const double obs_time);
/*! /*!
* \brief Computes number of leap seconds of GPS relative to UTC * \brief Computes number of leap seconds of GPS relative to UTC
@ -221,125 +221,125 @@ public:
/*! /*!
* \brief Writes data from the GPS L1 C/A navigation message into the RINEX file * \brief Writes data from the GPS L1 C/A navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the GPS L2 navigation message into the RINEX file * \brief Writes data from the GPS L2 navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_CNAV_Ephemeris> & eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_CNAV_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Galileo navigation message into the RINEX file * \brief Writes data from the Galileo navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Galileo_Ephemeris> & eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & gps_eph_map, const std::map<int, Galileo_Ephemeris> & galileo_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map);
/*! /*!
* \brief Writes data from the GLONASS GNAV navigation message into the RINEX file * \brief Writes data from the GLONASS GNAV navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Glonass_Gnav_Ephemeris> & eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Glonass_Gnav_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_Ephemeris> & gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Gps_CNAV_Ephemeris> & gps_cnav_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Gps_CNAV_Ephemeris>& gps_cnav_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*! /*!
* \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file * \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream & out, const std::map<int, Galileo_Ephemeris> & galileo_eph_map, const std::map<int, Glonass_Gnav_Ephemeris> & glonass_gnav_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& galileo_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*! /*!
* \brief Writes GPS L1 observables into the RINEX file * \brief Writes GPS L1 observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes GPS L2 observables into the RINEX file * \brief Writes GPS L2 observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes dual frequency GPS L1 and L2 observables into the RINEX file * \brief Writes dual frequency GPS L1 and L2 observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & eph, const Gps_CNAV_Ephemeris & eph_cnav, double obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void log_rinex_obs(std::fstream & out, const Galileo_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, const std::string galileo_bands = "1B"); void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables, const std::string galileo_bands = "1B");
/*! /*!
* \brief Writes Mixed GPS / Galileo observables into the RINEX file * \brief Writes Mixed GPS / Galileo observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & gps_eph, const Galileo_Ephemeris & galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void log_rinex_obs(std::fstream & out, const Glonass_Gnav_Ephemeris & eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, const std::string glonass_bands = "1C"); void log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables, const std::string glonass_bands = "1C");
/*! /*!
* \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file * \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_Ephemeris & gps_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file * \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Gps_CNAV_Ephemeris & gps_cnav_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Mixed Galileo/GLONASS observables into the RINEX file * \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream & out, const Galileo_Ephemeris & galileo_eph, const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro> & observables); void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not. * \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
*/ */
void to_date_time(int gps_week, int gps_tow, int & year, int & month, int & day, int & hour, int & minute, int & second); void to_date_time(int gps_week, int gps_tow, int& year, int& month, int& day, int& hour, int& minute, int& second);
/*! /*!
* \brief Writes raw SBAS messages into the RINEX file * \brief Writes raw SBAS messages into the RINEX file
*/ */
//void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message); //void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message);
void update_nav_header(std::fstream & out, const Gps_Utc_Model & gps_utc, const Gps_Iono & gps_iono); void update_nav_header(std::fstream& out, const Gps_Utc_Model& gps_utc, const Gps_Iono& gps_iono);
void update_nav_header(std::fstream & out, const Gps_CNAV_Utc_Model & utc_model, const Gps_CNAV_Iono & iono); void update_nav_header(std::fstream& out, const Gps_CNAV_Utc_Model& utc_model, const Gps_CNAV_Iono& iono);
void update_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc_model, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac); void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac);
void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & utc_model, const Galileo_Almanac & galileo_almanac); void update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac);
void update_nav_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Gps_Iono & gps_iono, const Gps_Utc_Model & gps_utc, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Gps_CNAV_Iono & gps_cnav_iono, const Gps_CNAV_Utc_Model & gps_cnav_utc, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_cnav_iono, const Gps_CNAV_Utc_Model& gps_cnav_utc, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream & out, const Galileo_Iono & galileo_iono, const Galileo_Utc_Model & galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model, const Glonass_Gnav_Almanac & glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_obs_header(std::fstream & out, const Gps_Utc_Model & utc_model); void update_obs_header(std::fstream& out, const Gps_Utc_Model& utc_model);
void update_obs_header(std::fstream & out, const Gps_CNAV_Utc_Model & utc_model); void update_obs_header(std::fstream& out, const Gps_CNAV_Utc_Model& utc_model);
void update_obs_header(std::fstream & out, const Galileo_Utc_Model & galileo_utc_model); void update_obs_header(std::fstream& out, const Galileo_Utc_Model& galileo_utc_model);
void update_obs_header(std::fstream & out, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model); void update_obs_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model);
std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass std::map<std::string, std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH std::map<std::string, std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors std::map<std::string, std::string> observationCode; //<! GNSS observation descriptors
std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01/3.02) std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01/3.02)
std::string navfilename; std::string navfilename;
@ -350,7 +350,7 @@ public:
std::string navMixfilename; std::string navMixfilename;
private: private:
int version ; // RINEX version (2 for 2.10/2.11 and 3 for 3.01) int version; // RINEX version (2 for 2.10/2.11 and 3 for 3.01)
int numberTypesObservations; // Number of available types of observable in the system. Should be public? int numberTypesObservations; // Number of available types of observable in the system. Should be public?
/* /*
* Generation of RINEX signal strength indicators * Generation of RINEX signal strength indicators
@ -383,7 +383,7 @@ private:
/* /*
* Checks that the line is 80 characters length * Checks that the line is 80 characters length
*/ */
void lengthCheck(const std::string & line); void lengthCheck(const std::string& line);
double fake_cnav_iode; double fake_cnav_iode;
@ -400,7 +400,7 @@ private:
* \param[in] length new desired length of string. * \param[in] length new desired length of string.
* \param[in] pad character to pad string with (blank by default). * \param[in] pad character to pad string with (blank by default).
* \return a reference to \a s. */ * \return a reference to \a s. */
inline std::string & leftJustify(std::string & s, inline std::string& leftJustify(std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad = ' '); const char pad = ' ');
@ -417,11 +417,12 @@ private:
* \param[in] length new desired length of string. * \param[in] length new desired length of string.
* \param[in] pad character to pad string with (blank by default). * \param[in] pad character to pad string with (blank by default).
* \return a reference to \a s. */ * \return a reference to \a s. */
inline std::string leftJustify(const std::string & s, inline std::string leftJustify(const std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad = ' ') const char pad = ' ')
{ {
std::string t(s); return leftJustify(t, length, pad); std::string t(s);
return leftJustify(t, length, pad);
} }
@ -431,7 +432,7 @@ private:
* requested length (\a length), it is padded on the left with * requested length (\a length), it is padded on the left with
* the pad character (\a pad). The default pad * the pad character (\a pad). The default pad
* character is a blank. */ * character is a blank. */
inline std::string & rightJustify(std::string & s, inline std::string& rightJustify(std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad = ' '); const char pad = ' ');
@ -441,11 +442,12 @@ private:
* requested length (\a length), it is padded on the left with * requested length (\a length), it is padded on the left with
* the pad character (\a pad). The default pad * the pad character (\a pad). The default pad
* character is a blank.*/ * character is a blank.*/
inline std::string rightJustify(const std::string & s, inline std::string rightJustify(const std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad = ' ') const char pad = ' ')
{ {
std::string t(s); return rightJustify(t, length, pad); std::string t(s);
return rightJustify(t, length, pad);
} }
@ -459,7 +461,7 @@ private:
* exponentials above three characters in length. If false, it removes * exponentials above three characters in length. If false, it removes
* that check. * that check.
*/ */
inline std::string doub2sci(const double & d, inline std::string doub2sci(const double& d,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
const bool showSign = true, const bool showSign = true,
@ -480,7 +482,7 @@ private:
* produce an exponential with an E instead of a D, and always have a leading * produce an exponential with an E instead of a D, and always have a leading
* zero. For example -> 0.87654E-0004 or -0.1234E00005. * zero. For example -> 0.87654E-0004 or -0.1234E00005.
*/ */
inline std::string & sci2for(std::string & aStr, inline std::string& sci2for(std::string& aStr,
const std::string::size_type startPos = 0, const std::string::size_type startPos = 0,
const std::string::size_type length = std::string::npos, const std::string::size_type length = std::string::npos,
const std::string::size_type expLen = 3, const std::string::size_type expLen = 3,
@ -499,7 +501,7 @@ private:
* that check. * that check.
* @return a string containing \a d in FORTRAN notation. * @return a string containing \a d in FORTRAN notation.
*/ */
inline std::string doub2for(const double & d, inline std::string doub2for(const double& d,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
const bool checkSwitch = true); const bool checkSwitch = true);
@ -510,7 +512,7 @@ private:
* @param s string containing a number. * @param s string containing a number.
* @return double representation of string. * @return double representation of string.
*/ */
inline double asDouble(const std::string & s) inline double asDouble(const std::string& s)
{ {
return strtod(s.c_str(), 0); return strtod(s.c_str(), 0);
} }
@ -523,7 +525,7 @@ private:
* @param s string containing a number. * @param s string containing a number.
* @return long integer representation of string. * @return long integer representation of string.
*/ */
inline long asInt(const std::string & s) inline long asInt(const std::string& s)
{ {
return strtol(s.c_str(), 0, 10); return strtol(s.c_str(), 0, 10);
} }
@ -555,26 +557,26 @@ private:
* @param x object to turn into a string. * @param x object to turn into a string.
* @return string representation of \a x. * @return string representation of \a x.
*/ */
template <class X> inline std::string asString(const X x); template <class X>
inline std::string asString(const X x);
inline std::string asFixWidthString(const int x, const int width, char fill_digit); inline std::string asFixWidthString(const int x, const int width, char fill_digit);
}; };
// Implementation of inline functions (modified versions from GPSTk http://www.gpstk.org) // Implementation of inline functions (modified versions from GPSTk http://www.gpstk.org)
inline std::string & Rinex_Printer::leftJustify(std::string & s, inline std::string& Rinex_Printer::leftJustify(std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad) const char pad)
{ {
if(length < s.length()) if (length < s.length())
{ {
s = s.substr(0, length); s = s.substr(0, length);
} }
else else
{ {
s.append(length-s.length(), pad); s.append(length - s.length(), pad);
} }
return s; return s;
} }
@ -582,13 +584,13 @@ inline std::string & Rinex_Printer::leftJustify(std::string & s,
// if the string is bigger than length, truncate it from the left. // if the string is bigger than length, truncate it from the left.
// otherwise, add pad characters to its left. // otherwise, add pad characters to its left.
inline std::string & Rinex_Printer::rightJustify(std::string & s, inline std::string& Rinex_Printer::rightJustify(std::string& s,
const std::string::size_type length, const std::string::size_type length,
const char pad) const char pad)
{ {
if(length < s.length()) if (length < s.length())
{ {
s = s.substr(s.length()-length, std::string::npos); s = s.substr(s.length() - length, std::string::npos);
} }
else else
{ {
@ -598,8 +600,7 @@ inline std::string & Rinex_Printer::rightJustify(std::string & s,
} }
inline std::string Rinex_Printer::doub2for(const double& d,
inline std::string Rinex_Printer::doub2for(const double & d,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
const bool checkSwitch) const bool checkSwitch)
@ -617,7 +618,7 @@ inline std::string Rinex_Printer::doub2for(const double & d,
} }
inline std::string Rinex_Printer::doub2sci(const double & d, inline std::string Rinex_Printer::doub2sci(const double& d,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
const bool showSign, const bool showSign,
@ -648,7 +649,7 @@ inline std::string Rinex_Printer::doub2sci(const double & d,
} }
inline std::string & Rinex_Printer::sci2for(std::string & aStr, inline std::string& Rinex_Printer::sci2for(std::string& aStr,
const std::string::size_type startPos, const std::string::size_type startPos,
const std::string::size_type length, const std::string::size_type length,
const std::string::size_type expLen, const std::string::size_type expLen,
@ -660,7 +661,7 @@ inline std::string & Rinex_Printer::sci2for(std::string & aStr,
long iexp; long iexp;
//If checkSwitch is false, always redo the exponential. Otherwise, //If checkSwitch is false, always redo the exponential. Otherwise,
//set it to false. //set it to false.
bool redoexp =! checkSwitch; bool redoexp = !checkSwitch;
// Check for decimal place within specified boundaries // Check for decimal place within specified boundaries
if ((idx <= 0) || (idx >= (startPos + length - expLen - 1))) if ((idx <= 0) || (idx >= (startPos + length - expLen - 1)))
@ -712,11 +713,11 @@ inline std::string & Rinex_Printer::sci2for(std::string & aStr,
if (iexp < 0) if (iexp < 0)
{ {
aStr += "-"; aStr += "-";
iexp -= iexp*2; iexp -= iexp * 2;
} }
else else
aStr += "+"; aStr += "+";
aStr += Rinex_Printer::rightJustify(asString(iexp),expLen,'0'); aStr += Rinex_Printer::rightJustify(asString(iexp), expLen, '0');
} }
// if the number is positive, append a space // if the number is positive, append a space
@ -736,11 +737,10 @@ inline std::string & Rinex_Printer::sci2for(std::string & aStr,
} // end sci2for } // end sci2for
inline std::string asString(const long double x, const std::string::size_type precision) inline std::string asString(const long double x, const std::string::size_type precision)
{ {
std::ostringstream ss; std::ostringstream ss;
ss << std::fixed << std::setprecision(precision) << x ; ss << std::fixed << std::setprecision(precision) << x;
return ss.str(); return ss.str();
} }
@ -761,7 +761,7 @@ inline std::string Rinex_Printer::asFixWidthString(const int x, const int width,
} }
inline long asInt(const std::string & s) inline long asInt(const std::string& s)
{ {
return strtol(s.c_str(), 0, 10); return strtol(s.c_str(), 0, 10);
} }
@ -771,16 +771,17 @@ inline int Rinex_Printer::toInt(std::string bitString, int sLength)
{ {
int tempInt; int tempInt;
int num = 0; int num = 0;
for(int i = 0; i < sLength; i++) for (int i = 0; i < sLength; i++)
{ {
tempInt = bitString[i]-'0'; tempInt = bitString[i] - '0';
num |= (1 << (sLength - 1 - i)) * tempInt; num |= (1 << (sLength - 1 - i)) * tempInt;
} }
return num; return num;
} }
template<class X> inline std::string Rinex_Printer::asString(const X x) template <class X>
inline std::string Rinex_Printer::asString(const X x)
{ {
std::ostringstream ss; std::ostringstream ss;
ss << x; ss << x;

82
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -53,31 +53,31 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool fla
const int year = timeinfo.tm_year - 100; const int year = timeinfo.tm_year - 100;
strm0 << year; strm0 << year;
const int month = timeinfo.tm_mon + 1; const int month = timeinfo.tm_mon + 1;
if(month < 10) if (month < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << month; strm0 << month;
const int day = timeinfo.tm_mday; const int day = timeinfo.tm_mday;
if(day < 10) if (day < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << day << "_"; strm0 << day << "_";
const int hour = timeinfo.tm_hour; const int hour = timeinfo.tm_hour;
if(hour < 10) if (hour < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << hour; strm0 << hour;
const int min = timeinfo.tm_min; const int min = timeinfo.tm_min;
if(min < 10) if (min < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << min; strm0 << min;
const int sec = timeinfo.tm_sec; const int sec = timeinfo.tm_sec;
if(sec < 10) if (sec < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
@ -115,7 +115,7 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool fla
rtcm = std::make_shared<Rtcm>(port); rtcm = std::make_shared<Rtcm>(port);
if(flag_rtcm_server) if (flag_rtcm_server)
{ {
rtcm->run_server(); rtcm->run_server();
} }
@ -124,17 +124,17 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool fla
Rtcm_Printer::~Rtcm_Printer() Rtcm_Printer::~Rtcm_Printer()
{ {
if(rtcm->is_server_running()) if (rtcm->is_server_running())
{ {
try try
{ {
rtcm->stop_server(); rtcm->stop_server();
} }
catch(const boost::exception & e) catch (const boost::exception& e)
{ {
LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e); LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e);
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
LOG(WARNING) << "STD exception: " << ex.what(); LOG(WARNING) << "STD exception: " << ex.what();
} }
@ -146,14 +146,14 @@ Rtcm_Printer::~Rtcm_Printer()
rtcm_file_descriptor.close(); rtcm_file_descriptor.close();
if (pos == 0) if (pos == 0)
{ {
if(remove(rtcm_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary RTCM file"; if (remove(rtcm_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary RTCM file";
} }
} }
close_serial(); close_serial();
} }
bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, observables, station_id); std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1001); Rtcm_Printer::Print_Message(m1001);
@ -161,7 +161,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_ti
} }
bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1002 = rtcm->print_MT1002(gps_eph, obs_time, observables, station_id); std::string m1002 = rtcm->print_MT1002(gps_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1002); Rtcm_Printer::Print_Message(m1002);
@ -169,7 +169,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_ti
} }
bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1003 = rtcm->print_MT1003(gps_eph, cnav_eph, obs_time, observables, station_id); std::string m1003 = rtcm->print_MT1003(gps_eph, cnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1003); Rtcm_Printer::Print_Message(m1003);
@ -177,7 +177,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNA
} }
bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1003 = rtcm->print_MT1004(gps_eph, cnav_eph, obs_time, observables, station_id); std::string m1003 = rtcm->print_MT1004(gps_eph, cnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1003); Rtcm_Printer::Print_Message(m1003);
@ -185,7 +185,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNA
} }
bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1009 = rtcm->print_MT1009(glonass_gnav_eph, obs_time, observables, station_id); std::string m1009 = rtcm->print_MT1009(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1009); Rtcm_Printer::Print_Message(m1009);
@ -193,7 +193,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1010 = rtcm->print_MT1010(glonass_gnav_eph, obs_time, observables, station_id); std::string m1010 = rtcm->print_MT1010(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1010); Rtcm_Printer::Print_Message(m1010);
@ -201,7 +201,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1011 = rtcm->print_MT1011(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id); std::string m1011 = rtcm->print_MT1011(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1011); Rtcm_Printer::Print_Message(m1011);
@ -209,7 +209,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables) bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables)
{ {
std::string m1012 = rtcm->print_MT1012(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id); std::string m1012 = rtcm->print_MT1012(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1012); Rtcm_Printer::Print_Message(m1012);
@ -217,7 +217,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph) bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph)
{ {
std::string m1019 = rtcm->print_MT1019(gps_eph); std::string m1019 = rtcm->print_MT1019(gps_eph);
Rtcm_Printer::Print_Message(m1019); Rtcm_Printer::Print_Message(m1019);
@ -225,7 +225,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph)
} }
bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav_eph, const Glonass_Gnav_Utc_Model & glonass_gnav_utc_model) bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model)
{ {
std::string m1020 = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model); std::string m1020 = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model);
Rtcm_Printer::Print_Message(m1020); Rtcm_Printer::Print_Message(m1020);
@ -233,7 +233,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glonass_gnav
} }
bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph) bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph)
{ {
std::string m1045 = rtcm->print_MT1045(gal_eph); std::string m1045 = rtcm->print_MT1045(gal_eph);
Rtcm_Printer::Print_Message(m1045); Rtcm_Printer::Print_Message(m1045);
@ -241,12 +241,12 @@ bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph)
} }
bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris & gps_eph, bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris& gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph, const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Galileo_Ephemeris & gal_eph, const Galileo_Ephemeris& gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph, const Glonass_Gnav_Ephemeris& glo_gnav_eph,
double obs_time, double obs_time,
const std::map<int, Gnss_Synchro> & observables, const std::map<int, Gnss_Synchro>& observables,
unsigned int clock_steering_indicator, unsigned int clock_steering_indicator,
unsigned int external_clock_indicator, unsigned int external_clock_indicator,
int smooth_int, int smooth_int,
@ -254,31 +254,31 @@ bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris &
bool more_messages) bool more_messages)
{ {
std::string msm; std::string msm;
if(msm_number == 1) if (msm_number == 1)
{ {
msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 2) else if (msm_number == 2)
{ {
msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 3) else if (msm_number == 3)
{ {
msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 4) else if (msm_number == 4)
{ {
msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 5) else if (msm_number == 5)
{ {
msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 6) else if (msm_number == 6)
{ {
msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
else if(msm_number == 7) else if (msm_number == 7)
{ {
msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages); msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, glo_gnav_eph, obs_time, observables, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
} }
@ -308,7 +308,7 @@ int Rtcm_Printer::init_serial(std::string serial_device)
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY); fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) return fd; // failed to open TTY port if (fd == -1) return fd; // failed to open TTY port
if(fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O
tcgetattr(fd, &options); // read serial port options tcgetattr(fd, &options); // read serial port options
BAUD = B9600; BAUD = B9600;
@ -338,14 +338,14 @@ void Rtcm_Printer::close_serial()
} }
bool Rtcm_Printer::Print_Message(const std::string & message) bool Rtcm_Printer::Print_Message(const std::string& message)
{ {
//write to file //write to file
try try
{ {
rtcm_file_descriptor << message << std::endl; rtcm_file_descriptor << message << std::endl;
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
DLOG(INFO) << "RTCM printer cannot write on the output file " << rtcm_filename.c_str(); DLOG(INFO) << "RTCM printer cannot write on the output file " << rtcm_filename.c_str();
return false; return false;
@ -354,7 +354,7 @@ bool Rtcm_Printer::Print_Message(const std::string & message)
//write to serial device //write to serial device
if (rtcm_dev_descriptor != -1) if (rtcm_dev_descriptor != -1)
{ {
if(write(rtcm_dev_descriptor, message.c_str(), message.length()) == -1) if (write(rtcm_dev_descriptor, message.c_str(), message.length()) == -1)
{ {
DLOG(INFO) << "RTCM printer cannot write on serial device " << rtcm_devname.c_str(); DLOG(INFO) << "RTCM printer cannot write on serial device " << rtcm_devname.c_str();
std::cout << "RTCM printer cannot write on serial device " << rtcm_devname.c_str() << std::endl; std::cout << "RTCM printer cannot write on serial device " << rtcm_devname.c_str() << std::endl;
@ -372,25 +372,25 @@ std::string Rtcm_Printer::print_MT1005_test()
} }
unsigned int Rtcm_Printer::lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro) unsigned int Rtcm_Printer::lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }
unsigned int Rtcm_Printer::lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro) unsigned int Rtcm_Printer::lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }
unsigned int Rtcm_Printer::lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro) unsigned int Rtcm_Printer::lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }
unsigned int Rtcm_Printer::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro) unsigned int Rtcm_Printer::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }

46
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -55,10 +55,10 @@ public:
*/ */
~Rtcm_Printer(); ~Rtcm_Printer();
bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints L1-Only GLONASS RTK Observables * \brief Prints L1-Only GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred. * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
@ -68,7 +68,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints Extended L1-Only GLONASS RTK Observables * \brief Prints Extended L1-Only GLONASS RTK Observables
* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases. * \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
@ -78,7 +78,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints L1&L2 GLONASS RTK Observables * \brief Prints L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
@ -89,7 +89,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints Extended L1&L2 GLONASS RTK Observables * \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found. * \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
@ -100,10 +100,10 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables); bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes. bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
/*! /*!
* \brief Prints GLONASS GNAV Ephemeris * \brief Prints GLONASS GNAV Ephemeris
* \details This GLONASS message should be broadcast every 2 minutes * \details This GLONASS message should be broadcast every 2 minutes
@ -112,15 +112,15 @@ public:
* \param utc_model GLONASS GNAV Clock Information broadcast in string 5 * \param utc_model GLONASS GNAV Clock Information broadcast in string 5
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris & glo_gnav_eph, const Glonass_Gnav_Utc_Model & utc_model); bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glo_gnav_eph, const Glonass_Gnav_Utc_Model& utc_model);
bool Print_Rtcm_MSM(unsigned int msm_number, bool Print_Rtcm_MSM(unsigned int msm_number,
const Gps_Ephemeris & gps_eph, const Gps_Ephemeris& gps_eph,
const Gps_CNAV_Ephemeris & gps_cnav_eph, const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Galileo_Ephemeris & gal_eph, const Galileo_Ephemeris& gal_eph,
const Glonass_Gnav_Ephemeris & glo_gnav_eph, const Glonass_Gnav_Ephemeris& glo_gnav_eph,
double obs_time, double obs_time,
const std::map<int, Gnss_Synchro> & observables, const std::map<int, Gnss_Synchro>& observables,
unsigned int clock_steering_indicator, unsigned int clock_steering_indicator,
unsigned int external_clock_indicator, unsigned int external_clock_indicator,
int smooth_int, int smooth_int,
@ -128,9 +128,9 @@ public:
bool more_messages); bool more_messages);
std::string print_MT1005_test(); //<! For testing purposes std::string print_MT1005_test(); //<! For testing purposes
unsigned int lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
unsigned int lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
unsigned int lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
/*! /*!
* \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris * \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris
* \note Code added as part of GSoC 2017 program * \note Code added as part of GSoC 2017 program
@ -139,7 +139,7 @@ public:
* \params observables Set of observables as defined by the platform * \params observables Set of observables as defined by the platform
* \return locked time during logging process * \return locked time during logging process
*/ */
unsigned int lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro & gnss_synchro); unsigned int lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
private: private:
std::string rtcm_filename; // String with the RTCM log filename std::string rtcm_filename; // String with the RTCM log filename
@ -148,10 +148,10 @@ private:
unsigned short port; unsigned short port;
unsigned short station_id; unsigned short station_id;
int rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port) int rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
int init_serial (std::string serial_device); //serial port control int init_serial(std::string serial_device); //serial port control
void close_serial (); void close_serial();
std::shared_ptr<Rtcm> rtcm; std::shared_ptr<Rtcm> rtcm;
bool Print_Message(const std::string & message); bool Print_Message(const std::string& message);
}; };
#endif #endif

100
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -61,7 +61,7 @@
using google::LogMessage; using google::LogMessage;
rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t & rtk) rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk)
{ {
// init empty ephemeris for all the available GNSS channels // init empty ephemeris for all the available GNSS channels
d_nchannels = nchannels; d_nchannels = nchannels;
@ -71,7 +71,7 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
this->set_averaging_flag(false); this->set_averaging_flag(false);
rtk_ = rtk; rtk_ = rtk;
pvt_sol = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 }; pvt_sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
// ############# ENABLE DATA FILE LOG ################# // ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
@ -84,7 +84,7 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str(); LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure& e)
{ {
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what(); LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
} }
@ -101,7 +101,7 @@ rtklib_solver::~rtklib_solver()
{ {
d_dump_file.close(); d_dump_file.close();
} }
catch(const std::exception & ex) catch (const std::exception& ex)
{ {
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what(); LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
} }
@ -109,13 +109,13 @@ rtklib_solver::~rtklib_solver()
} }
bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_map, double Rx_time, bool flag_averaging) bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, double Rx_time, bool flag_averaging)
{ {
std::map<int,Gnss_Synchro>::const_iterator gnss_observables_iter; std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter; std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter; std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter; std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
std::map<int,Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter; std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model; const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model;
this->set_averaging_flag(flag_averaging); this->set_averaging_flag(flag_averaging);
@ -130,17 +130,17 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
eph_t eph_data[MAXOBS]; eph_t eph_data[MAXOBS];
geph_t geph_data[MAXOBS]; geph_t geph_data[MAXOBS];
for(gnss_observables_iter = gnss_observables_map.cbegin(); for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter != gnss_observables_map.cend();
gnss_observables_iter++) gnss_observables_iter++)
{ {
switch(gnss_observables_iter->second.System) switch (gnss_observables_iter->second.System)
{ {
case 'E': case 'E':
{ {
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
// Galileo E1 // Galileo E1
if(sig_.compare("1B") == 0) if (sig_.compare("1B") == 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);
@ -149,8 +149,8 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
//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
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,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
0); 0);
@ -163,7 +163,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
// 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);
@ -177,7 +177,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
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;
} }
@ -189,10 +189,10 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
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); unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0,0}, '0', '0', {}, {}, obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_}, {default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}}; {}, {0.0, 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,
galileo_ephemeris_iter->second.WN_5, galileo_ephemeris_iter->second.WN_5,
2); //Band 3 (L5/E5) 2); //Band 3 (L5/E5)
@ -211,7 +211,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
// GPS L1 // GPS L1
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal); std::string sig_(gnss_observables_iter->second.Signal);
if(sig_.compare("1C") == 0) if (sig_.compare("1C") == 0)
{ {
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.cend()) if (gps_ephemeris_iter != gps_ephemeris_map.cend())
@ -219,8 +219,8 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
//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(gps_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
//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,
gps_ephemeris_iter->second.i_GPS_week, gps_ephemeris_iter->second.i_GPS_week,
0); 0);
@ -232,7 +232,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
} }
//GPS L2 //GPS L2
if(sig_.compare("2S") == 0) if (sig_.compare("2S") == 0)
{ {
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend()) if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
@ -248,10 +248,10 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN)) if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{ {
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
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,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2) 1); //Band 2 (L2)
break; break;
} }
} }
@ -263,13 +263,13 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_cnav_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); unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0,0}, '0', '0', {}, {}, obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_}, {default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}}; {}, {0.0, 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,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2) 1); //Band 2 (L2)
valid_obs++; valid_obs++;
} }
} }
@ -279,7 +279,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
} }
//GPS L5 //GPS L5
if(sig_.compare("L5") == 0) if (sig_.compare("L5") == 0)
{ {
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN); gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend()) if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
@ -295,10 +295,10 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN)) if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{ {
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i+glo_valid_obs] = insert_obs_to_rtklib(obs_data[i], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second, gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
2);//Band 3 (L5) 2); //Band 3 (L5)
break; break;
} }
} }
@ -310,13 +310,13 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second); eph_data[valid_obs] = eph_to_rtklib(gps_cnav_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); unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0,0}, '0', '0', {}, {}, obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_}, {default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}}; {}, {0.0, 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,
gps_cnav_ephemeris_iter->second.i_GPS_week, gps_cnav_ephemeris_iter->second.i_GPS_week,
2);//Band 3 (L5) 2); //Band 3 (L5)
valid_obs++; valid_obs++;
} }
} }
@ -331,7 +331,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
{ {
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);
@ -340,21 +340,20 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
//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);
@ -363,12 +362,12 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
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;
} }
@ -379,8 +378,8 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
//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)
@ -391,12 +390,10 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
{ {
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;
} }
@ -425,7 +422,7 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data); result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);
if(result == 0) if (result == 0)
{ {
LOG(INFO) << "RTKLIB rtkpos error"; LOG(INFO) << "RTKLIB rtkpos error";
DLOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf; DLOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;
@ -456,10 +453,11 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time) DLOG(INFO) << "RTKLIB Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude() << " is Lat = " << this->get_latitude() << " [deg], Long = " << this->get_longitude()
<< " [deg], Height= " << this->get_height() << " [m]" << " RX time offset= " << this->get_time_offset_s() << " [s]"; << " [deg], Height= " << this->get_height() << " [m]"
<< " RX time offset= " << this->get_time_offset_s() << " [s]";
// ######## LOG FILE ######### // ######## LOG FILE #########
if(d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
{ {
// MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file
try try
@ -498,4 +496,4 @@ bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_
} }
} }
return this->is_valid_position(); return this->is_valid_position();
} }

12
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -80,15 +80,15 @@ private:
bool d_flag_dump_enabled; bool d_flag_dump_enabled;
int d_nchannels; // Number of available channels for positioning int d_nchannels; // Number of available channels for positioning
public: public:
rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t & rtk); rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk);
~rtklib_solver(); ~rtklib_solver();
bool get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_map, double Rx_time, bool flag_averaging); bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, double Rx_time, bool flag_averaging);
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
std::map<int,Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
Galileo_Utc_Model galileo_utc_model; Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono; Galileo_Iono galileo_iono;

35
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
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@ -42,8 +42,7 @@ using google::LogMessage;
GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition( GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -59,7 +58,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -77,9 +76,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = round( code_length_ = round(
fs_in_ fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4); vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
@ -130,11 +127,11 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_channel(unsigned int channel)
void GalileoE1Pcps8msAmbiguousAcquisition::set_threshold(float threshold) void GalileoE1Pcps8msAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0); if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -209,18 +206,17 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_local_code()
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
std::complex<float> * code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal, galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
for (unsigned int i = 0; i < sampled_ms_/4; i++) for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_cc_->set_local_code(code_); acquisition_cc_->set_local_code(code_);
@ -248,12 +244,12 @@ float GalileoE1Pcps8msAmbiguousAcquisition::calculate_threshold(float pfa)
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_*frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa,exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -287,4 +283,3 @@ gr::basic_block_sptr GalileoE1Pcps8msAmbiguousAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

6
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h
View File

@ -45,7 +45,7 @@ class ConfigurationInterface;
* \brief Adapts a PCPS 8ms acquisition block to an * \brief Adapts a PCPS 8ms acquisition block to an
* AcquisitionInterface for Galileo E1 Signals * AcquisitionInterface for Galileo E1 Signals
*/ */
class GalileoE1Pcps8msAmbiguousAcquisition: public AcquisitionInterface class GalileoE1Pcps8msAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1Pcps8msAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1Pcps8msAmbiguousAcquisition(ConfigurationInterface* configuration,
@ -142,8 +142,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

36
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
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@ -43,8 +43,7 @@ using google::LogMessage;
GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition( GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -60,7 +59,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -84,18 +83,21 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
int samples_per_ms = round(code_length_ / 4.0); int samples_per_ms = round(code_length_ / 4.0);
vector_length_ = sampled_ms_ * samples_per_ms; vector_length_ = sampled_ms_ * samples_per_ms;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
} }
else { item_size_ = sizeof(gr_complex); } else
{
item_size_ = sizeof(gr_complex);
}
acquisition_ = pcps_make_acquisition(sampled_ms_, max_dwells_, acquisition_ = pcps_make_acquisition(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, samples_per_ms, code_length_, doppler_max_, if_, fs_in_, samples_per_ms, code_length_,
bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_, bit_transition_flag_, use_CFAR_algorithm_flag_, dump_, blocking_,
@ -133,11 +135,11 @@ void GalileoE1PcpsAmbiguousAcquisition::set_channel(unsigned int channel)
void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold) void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0); if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -192,10 +194,9 @@ void GalileoE1PcpsAmbiguousAcquisition::init()
void GalileoE1PcpsAmbiguousAcquisition::set_local_code() void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
std::complex<float> * code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
if (acquire_pilot_ == true) if (acquire_pilot_ == true)
{ {
@ -213,7 +214,7 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
for (unsigned int i = 0; i < sampled_ms_ / 4; i++) for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{ {
memcpy(&(code_[i*code_length_]), code, sizeof(gr_complex)*code_length_); memcpy(&(code_[i * code_length_]), code, sizeof(gr_complex) * code_length_);
} }
acquisition_->set_local_code(code_); acquisition_->set_local_code(code_);
@ -241,14 +242,14 @@ float GalileoE1PcpsAmbiguousAcquisition::calculate_threshold(float pfa)
frequency_bins++; frequency_bins++;
} }
DLOG(INFO) <<"Channel "<<channel_<<" Pfa = "<< pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa,exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -330,4 +331,3 @@ gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_right_block()
{ {
return acquisition_; return acquisition_;
} }

6
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
View File

@ -48,7 +48,7 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an * \brief This class adapts a PCPS acquisition block to an
* AcquisitionInterface for Galileo E1 Signals * AcquisitionInterface for Galileo E1 Signals
*/ */
class GalileoE1PcpsAmbiguousAcquisition: public AcquisitionInterface class GalileoE1PcpsAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1PcpsAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1PcpsAmbiguousAcquisition(ConfigurationInterface* configuration,
@ -156,8 +156,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

21
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
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@ -42,8 +42,7 @@ using google::LogMessage;
GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition( GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -58,7 +57,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -77,9 +76,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = round( code_length_ = round(
fs_in_ fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4); vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
@ -147,7 +144,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_threshold(float threshold)
threshold_ = threshold; threshold_ = threshold;
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -212,8 +209,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_local_code()
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
char signal[3]; char signal[3];
@ -246,10 +242,11 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_state(int state)
} }
float GalileoE1PcpsCccwsrAmbiguousAcquisition::calculate_threshold(float pfa) float GalileoE1PcpsCccwsrAmbiguousAcquisition::calculate_threshold(float pfa)
{ {
if(pfa){ /* Not implemented*/}; if (pfa)
{ /* Not implemented*/
};
return 0.0; return 0.0;
} }
@ -260,7 +257,6 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::connect(gr::top_block_sptr top_blo
{ {
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
} }
} }
@ -283,4 +279,3 @@ gr::basic_block_sptr GalileoE1PcpsCccwsrAmbiguousAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

8
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h
View File

@ -45,7 +45,7 @@ class ConfigurationInterface;
* \brief Adapts a PCPS CCCWSR acquisition block to an AcquisitionInterface * \brief Adapts a PCPS CCCWSR acquisition block to an AcquisitionInterface
* for Galileo E1 Signals * for Galileo E1 Signals
*/ */
class GalileoE1PcpsCccwsrAmbiguousAcquisition: public AcquisitionInterface class GalileoE1PcpsCccwsrAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1PcpsCccwsrAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1PcpsCccwsrAmbiguousAcquisition(ConfigurationInterface* configuration,
@ -145,9 +145,9 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_data_; std::complex<float>* code_data_;
std::complex<float> * code_pilot_; std::complex<float>* code_pilot_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

76
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
View File

@ -42,8 +42,7 @@ using google::LogMessage;
GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition( GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -59,14 +58,12 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 8); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 8);
/*--- Find number of samples per spreading code (4 ms) -----------------*/ /*--- Find number of samples per spreading code (4 ms) -----------------*/
code_length_ = round( code_length_ = round(
fs_in_ fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
int samples_per_ms = round(code_length_ / 4.0); int samples_per_ms = round(code_length_ / 4.0);
@ -79,24 +76,23 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
//folding_factor_ = static_cast<unsigned int>(ceil(sqrt(log2(code_length_)))); //folding_factor_ = static_cast<unsigned int>(ceil(sqrt(log2(code_length_))));
folding_factor_ = configuration_->property(role + ".folding_factor", 2); folding_factor_ = configuration_->property(role + ".folding_factor", 2);
if (sampled_ms_ % (folding_factor_*4) != 0) if (sampled_ms_ % (folding_factor_ * 4) != 0)
{ {
LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time" LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time"
<< " multiple of "<<(folding_factor_*4)<<"ms, Value entered " << " multiple of " << (folding_factor_ * 4) << "ms, Value entered "
<<sampled_ms_<<" ms"; << sampled_ms_ << " ms";
if(sampled_ms_ < (folding_factor_*4)) if (sampled_ms_ < (folding_factor_ * 4))
{ {
sampled_ms_ = static_cast<int>(folding_factor_ * 4); sampled_ms_ = static_cast<int>(folding_factor_ * 4);
} }
else else
{ {
sampled_ms_ = static_cast<int>(sampled_ms_/(folding_factor_*4)) * (folding_factor_*4); sampled_ms_ = static_cast<int>(sampled_ms_ / (folding_factor_ * 4)) * (folding_factor_ * 4);
} }
LOG(WARNING) << "coherent_integration_time should be multiple of " LOG(WARNING) << "coherent_integration_time should be multiple of "
<< "Galileo code length (4 ms). coherent_integration_time = " << "Galileo code length (4 ms). coherent_integration_time = "
<< sampled_ms_ << " ms will be used."; << sampled_ms_ << " ms will be used.";
} }
// vector_length_ = (sampled_ms_/folding_factor_) * code_length_; // vector_length_ = (sampled_ms_/folding_factor_) * code_length_;
vector_length_ = sampled_ms_ * samples_per_ms; vector_length_ = sampled_ms_ * samples_per_ms;
@ -153,8 +149,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::~GalileoE1PcpsQuickSyncAmbiguousAcqu
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channel)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channel)
{ {
channel_ = channel; channel_ = channel;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
@ -164,15 +159,13 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channel)
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa==0.0) pfa = configuration_->property(role_+".pfa", 0.0); if (pfa == 0.0)
if(pfa==0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -181,7 +174,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa); threshold_ = calculate_threshold(pfa);
} }
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -190,8 +183,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int doppler_max)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int doppler_max)
{ {
doppler_max_ = doppler_max; doppler_max_ = doppler_max;
@ -202,8 +194,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int doppler
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
{ {
doppler_step_ = doppler_step; doppler_step_ = doppler_step;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
@ -212,8 +203,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int dopple
} }
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_gnss_synchro(
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_gnss_synchro(
Gnss_Synchro* gnss_synchro) Gnss_Synchro* gnss_synchro)
{ {
gnss_synchro_ = gnss_synchro; gnss_synchro_ = gnss_synchro;
@ -238,33 +228,30 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::mag()
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::init()
GalileoE1PcpsQuickSyncAmbiguousAcquisition::init()
{ {
acquisition_cc_->init(); acquisition_cc_->init();
//set_local_code(); //set_local_code();
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
std::complex<float> * code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal, galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
for (unsigned int i = 0; i < (sampled_ms_/(folding_factor_*4)); i++) for (unsigned int i = 0; i < (sampled_ms_ / (folding_factor_ * 4)); i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
// memcpy(code_, code,sizeof(gr_complex)*code_length_); // memcpy(code_, code,sizeof(gr_complex)*code_length_);
@ -276,8 +263,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -294,7 +280,6 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_state(int state)
} }
float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa) float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa)
{ {
unsigned int frequency_bins = 0; unsigned int frequency_bins = 0;
@ -309,15 +294,14 @@ float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa)
double exponent = 1.0 / static_cast<double>(ncells); double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_); double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -326,8 +310,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block
} }
void void GalileoE1PcpsQuickSyncAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
GalileoE1PcpsQuickSyncAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
{ {
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -346,4 +329,3 @@ gr::basic_block_sptr GalileoE1PcpsQuickSyncAmbiguousAcquisition::get_right_block
{ {
return acquisition_cc_; return acquisition_cc_;
} }

6
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h
View File

@ -45,7 +45,7 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an * \brief This class adapts a PCPS acquisition block to an
* AcquisitionInterface for Galileo E1 Signals * AcquisitionInterface for Galileo E1 Signals
*/ */
class GalileoE1PcpsQuickSyncAmbiguousAcquisition: public AcquisitionInterface class GalileoE1PcpsQuickSyncAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1PcpsQuickSyncAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1PcpsQuickSyncAmbiguousAcquisition(ConfigurationInterface* configuration,
@ -149,8 +149,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

37
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
View File

@ -42,8 +42,7 @@ using google::LogMessage;
GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition( GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -59,7 +58,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -80,9 +79,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = round( code_length_ = round(
fs_in_ fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4); vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
@ -134,12 +131,11 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_channel(unsigned int channel)
void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold) void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) pfa = configuration_->property(role_+".pfa", 0.0); if (pfa == 0.0)
if(pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -148,7 +144,7 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa); threshold_ = calculate_threshold(pfa);
} }
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -175,7 +171,6 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_doppler_step(unsigned int dopple
{ {
acquisition_cc_->set_doppler_step(doppler_step_); acquisition_cc_->set_doppler_step(doppler_step_);
} }
} }
@ -215,18 +210,17 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_local_code()
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
bool cboc = configuration_->property( bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
+ ".cboc", false);
std::complex<float> * code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal, galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false); cboc, gnss_synchro_->PRN, fs_in_, 0, false);
for (unsigned int i = 0; i < sampled_ms_/4; i++) for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_cc_->set_local_code(code_); acquisition_cc_->set_local_code(code_);
@ -262,10 +256,10 @@ float GalileoE1PcpsTongAmbiguousAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0-pfa,exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -299,4 +293,3 @@ gr::basic_block_sptr GalileoE1PcpsTongAmbiguousAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

6
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h
View File

@ -45,7 +45,7 @@ class ConfigurationInterface;
* \brief Adapts a PCPS Tong acquisition block to an AcquisitionInterface * \brief Adapts a PCPS Tong acquisition block to an AcquisitionInterface
* for Galileo E1 Signals * for Galileo E1 Signals
*/ */
class GalileoE1PcpsTongAmbiguousAcquisition: public AcquisitionInterface class GalileoE1PcpsTongAmbiguousAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE1PcpsTongAmbiguousAcquisition(ConfigurationInterface* configuration, GalileoE1PcpsTongAmbiguousAcquisition(ConfigurationInterface* configuration,
@ -149,8 +149,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

54
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
View File

@ -48,8 +48,7 @@ using google::LogMessage;
GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf( GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -64,9 +63,9 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
CAF_window_hz_ = configuration_->property(role + ".CAF_window_hz",0); CAF_window_hz_ = configuration_->property(role + ".CAF_window_hz", 0);
Zero_padding = configuration_->property(role + ".Zero_padding",0); Zero_padding = configuration_->property(role + ".Zero_padding", 0);
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
if (sampled_ms_ > 3) if (sampled_ms_ > 3)
{ {
@ -90,8 +89,8 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
codeI_= new gr_complex[vector_length_]; codeI_ = new gr_complex[vector_length_];
codeQ_= new gr_complex[vector_length_]; codeQ_ = new gr_complex[vector_length_];
both_signal_components = false; both_signal_components = false;
std::string sig_ = configuration_->property("Channel.signal", std::string("5X")); std::string sig_ = configuration_->property("Channel.signal", std::string("5X"));
@ -104,7 +103,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(sampled_ms_, max_dwells_, acquisition_cc_ = galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, code_length_, code_length_, bit_transition_flag_, doppler_max_, if_, fs_in_, code_length_, code_length_, bit_transition_flag_,
dump_, dump_filename_, both_signal_components, CAF_window_hz_,Zero_padding); dump_, dump_filename_, both_signal_components, CAF_window_hz_, Zero_padding);
} }
else else
{ {
@ -138,12 +137,11 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_channel(unsigned int channel)
void GalileoE5aNoncoherentIQAcquisitionCaf::set_threshold(float threshold) void GalileoE5aNoncoherentIQAcquisitionCaf::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0); if (pfa == 0.0)
if(pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -223,11 +221,11 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X') if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{ {
char a[3]; char a[3];
strcpy(a,"5I"); strcpy(a, "5I");
galileo_e5_a_code_gen_complex_sampled(codeI, a, galileo_e5_a_code_gen_complex_sampled(codeI, a,
gnss_synchro_->PRN, fs_in_, 0); gnss_synchro_->PRN, fs_in_, 0);
strcpy(a,"5Q"); strcpy(a, "5Q");
galileo_e5_a_code_gen_complex_sampled(codeQ, a, galileo_e5_a_code_gen_complex_sampled(codeQ, a,
gnss_synchro_->PRN, fs_in_, 0); gnss_synchro_->PRN, fs_in_, 0);
} }
@ -242,12 +240,12 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
{ {
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(codeI_[i*code_length_]), codeI, memcpy(&(codeI_[i * code_length_]), codeI,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X') if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{ {
memcpy(&(codeQ_[i*code_length_]), codeQ, memcpy(&(codeQ_[i * code_length_]), codeQ,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
} }
} }
@ -255,20 +253,18 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
{ {
// 1ms code + 1ms zero padding // 1ms code + 1ms zero padding
memcpy(&(codeI_[0]), codeI, memcpy(&(codeI_[0]), codeI,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X') if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{ {
memcpy(&(codeQ_[0]), codeQ, memcpy(&(codeQ_[0]), codeQ,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
} }
acquisition_cc_->set_local_code(codeI_,codeQ_); acquisition_cc_->set_local_code(codeI_, codeQ_);
delete[] codeI; delete[] codeI;
delete[] codeQ; delete[] codeQ;
} }
} }
@ -294,8 +290,8 @@ float GalileoE5aNoncoherentIQAcquisitionCaf::calculate_threshold(float pfa)
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -309,14 +305,18 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_state(int state)
void GalileoE5aNoncoherentIQAcquisitionCaf::connect(gr::top_block_sptr top_block) void GalileoE5aNoncoherentIQAcquisitionCaf::connect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
// Nothing to connect internally // Nothing to connect internally
} }
void GalileoE5aNoncoherentIQAcquisitionCaf::disconnect(gr::top_block_sptr top_block) void GalileoE5aNoncoherentIQAcquisitionCaf::disconnect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect internally // Nothing to disconnect internally
} }

8
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h
View File

@ -45,7 +45,7 @@
class ConfigurationInterface; class ConfigurationInterface;
class GalileoE5aNoncoherentIQAcquisitionCaf: public AcquisitionInterface class GalileoE5aNoncoherentIQAcquisitionCaf : public AcquisitionInterface
{ {
public: public:
GalileoE5aNoncoherentIQAcquisitionCaf(ConfigurationInterface* configuration, GalileoE5aNoncoherentIQAcquisitionCaf(ConfigurationInterface* configuration,
@ -151,10 +151,10 @@ private:
std::string dump_filename_; std::string dump_filename_;
int Zero_padding; int Zero_padding;
int CAF_window_hz_; int CAF_window_hz_;
std::complex<float> * codeI_; std::complex<float>* codeI_;
std::complex<float> * codeQ_; std::complex<float>* codeQ_;
bool both_signal_components; bool both_signal_components;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

53
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
View File

@ -42,8 +42,7 @@
using google::LogMessage; using google::LogMessage;
GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration, GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, unsigned int out_streams) : std::string role, unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -57,10 +56,13 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_pilot_ = configuration_->property(role + ".acquire_pilot", false); acq_pilot_ = configuration_->property(role + ".acquire_pilot", false);
acq_iq_ = configuration_->property(role + ".acquire_iq", false); acq_iq_ = configuration_->property(role + ".acquire_iq", false);
if(acq_iq_) { acq_pilot_ = false; } if (acq_iq_)
{
acq_pilot_ = false;
}
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
@ -74,11 +76,11 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if(item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
} }
else if(item_type_.compare("cshort") == 0) else if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
} }
@ -115,14 +117,22 @@ void GalileoE5aPcpsAcquisition::set_channel(unsigned int channel)
void GalileoE5aPcpsAcquisition::set_threshold(float threshold) void GalileoE5aPcpsAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); if (pfa == 0.0)
{
pfa = configuration_->property(role_ + ".pfa", 0.0);
}
if(pfa == 0.0) { pfa = configuration_->property(role_ + ".pfa", 0.0); } if (pfa == 0.0)
{
threshold_ = threshold;
}
if(pfa == 0.0) { threshold_ = threshold; } else
{
else { threshold_ = calculate_threshold(pfa); } threshold_ = calculate_threshold(pfa);
}
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
@ -168,13 +178,22 @@ void GalileoE5aPcpsAcquisition::set_local_code()
gr_complex* code = new gr_complex[code_length_]; gr_complex* code = new gr_complex[code_length_];
char signal_[3]; char signal_[3];
if(acq_iq_) { strcpy(signal_, "5X"); } if (acq_iq_)
else if(acq_pilot_) { strcpy(signal_, "5Q"); } {
else { strcpy(signal_, "5I"); } strcpy(signal_, "5X");
}
else if (acq_pilot_)
{
strcpy(signal_, "5Q");
}
else
{
strcpy(signal_, "5I");
}
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0); galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
for(unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(code_ + (i * code_length_), code, sizeof(gr_complex) * code_length_); memcpy(code_ + (i * code_length_), code, sizeof(gr_complex) * code_length_);
} }
@ -202,8 +221,8 @@ float GalileoE5aPcpsAcquisition::calculate_threshold(float pfa)
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }

4
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h
View File

@ -40,7 +40,7 @@
class ConfigurationInterface; class ConfigurationInterface;
class GalileoE5aPcpsAcquisition: public AcquisitionInterface class GalileoE5aPcpsAcquisition : public AcquisitionInterface
{ {
public: public:
GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration, GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
@ -124,7 +124,6 @@ public:
void set_state(int state); void set_state(int state);
private: private:
float calculate_threshold(float pfa); float calculate_threshold(float pfa);
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
@ -167,6 +166,5 @@ private:
gr_complex* code_; gr_complex* code_;
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;
}; };
#endif /* GALILEO_E5A_PCPS_ACQUISITION_H_ */ #endif /* GALILEO_E5A_PCPS_ACQUISITION_H_ */

25
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
View File

@ -44,8 +44,7 @@ using google::LogMessage;
GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition( GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -61,11 +60,11 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
@ -76,14 +75,14 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
} }
@ -129,7 +128,7 @@ void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + ".pfa", 0.0); float pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -186,12 +185,12 @@ void GlonassL1CaPcpsAcquisition::set_local_code()
{ {
std::complex<float>* code = new std::complex<float>[code_length_]; std::complex<float>* code = new std::complex<float>[code_length_];
glonass_l1_ca_code_gen_complex_sampled(code,/* gnss_synchro_->PRN,*/ fs_in_, 0); glonass_l1_ca_code_gen_complex_sampled(code, /* gnss_synchro_->PRN,*/ fs_in_, 0);
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_->set_local_code(code_); acquisition_->set_local_code(code_);
@ -222,15 +221,15 @@ float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
} }
*/ */
frequency_bins = (2*doppler_max_ + doppler_step_)/doppler_step_; frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(vector_length_); double lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }

6
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
View File

@ -48,7 +48,7 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals * for GPS L1 C/A signals
*/ */
class GlonassL1CaPcpsAcquisition: public AcquisitionInterface class GlonassL1CaPcpsAcquisition : public AcquisitionInterface
{ {
public: public:
GlonassL1CaPcpsAcquisition(ConfigurationInterface* configuration, GlonassL1CaPcpsAcquisition(ConfigurationInterface* configuration,
@ -155,8 +155,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

24
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -42,13 +42,11 @@
#include <glog/logging.h> #include <glog/logging.h>
using google::LogMessage; using google::LogMessage;
GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition( GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -63,11 +61,11 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
@ -78,14 +76,14 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
} }
@ -131,7 +129,7 @@ void GpsL1CaPcpsAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + ".pfa", 0.0); float pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -191,8 +189,8 @@ void GpsL1CaPcpsAcquisition::set_local_code()
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_->set_local_code(code_); acquisition_->set_local_code(code_);
@ -212,7 +210,6 @@ void GpsL1CaPcpsAcquisition::set_state(int state)
} }
float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa) float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold //Calculate the threshold
@ -226,8 +223,8 @@ float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa)
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -309,4 +306,3 @@ gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_right_block()
{ {
return acquisition_; return acquisition_;
} }

6
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -52,7 +52,7 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals * for GPS L1 C/A signals
*/ */
class GpsL1CaPcpsAcquisition: public AcquisitionInterface class GpsL1CaPcpsAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsAcquisition(ConfigurationInterface* configuration, GpsL1CaPcpsAcquisition(ConfigurationInterface* configuration,
@ -159,8 +159,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

23
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
View File

@ -43,8 +43,7 @@ using google::LogMessage;
GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler( GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat"; std::string default_dump_filename = "./data/acquisition.dat";
@ -58,21 +57,20 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
dump_ = configuration->property(role + ".dump", false); dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
doppler_min_ = configuration->property(role + ".doppler_min", - doppler_max_); doppler_min_ = configuration->property(role + ".doppler_min", -doppler_max_);
sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1);
max_dwells_= configuration->property(role + ".max_dwells", 1); max_dwells_ = configuration->property(role + ".max_dwells", 1);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
vector_length_ = round(fs_in_ vector_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_make_acquisition_fine_doppler_cc(max_dwells_,sampled_ms_, acquisition_cc_ = pcps_make_acquisition_fine_doppler_cc(max_dwells_, sampled_ms_,
doppler_max_, doppler_min_, if_, fs_in_, vector_length_, doppler_max_, doppler_min_, if_, fs_in_, vector_length_,
dump_, dump_filename_); dump_, dump_filename_);
} }
@ -158,14 +156,18 @@ void GpsL1CaPcpsAcquisitionFineDoppler::reset()
void GpsL1CaPcpsAcquisitionFineDoppler::connect(boost::shared_ptr<gr::top_block> top_block) void GpsL1CaPcpsAcquisitionFineDoppler::connect(boost::shared_ptr<gr::top_block> top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator //nothing to disconnect, now the tracking uses gr_sync_decimator
} }
void GpsL1CaPcpsAcquisitionFineDoppler::disconnect(boost::shared_ptr<gr::top_block> top_block) void GpsL1CaPcpsAcquisitionFineDoppler::disconnect(boost::shared_ptr<gr::top_block> top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator //nothing to disconnect, now the tracking uses gr_sync_decimator
} }
@ -180,4 +182,3 @@ boost::shared_ptr<gr::basic_block> GpsL1CaPcpsAcquisitionFineDoppler::get_right_
{ {
return acquisition_cc_; return acquisition_cc_;
} }

7
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h
View File

@ -40,14 +40,13 @@
#include "pcps_acquisition_fine_doppler_cc.h" #include "pcps_acquisition_fine_doppler_cc.h"
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
* \brief This class Adapts a PCPS acquisition block with fine Doppler estimation to an AcquisitionInterface for * \brief This class Adapts a PCPS acquisition block with fine Doppler estimation to an AcquisitionInterface for
* GPS L1 C/A signals * GPS L1 C/A signals
*/ */
class GpsL1CaPcpsAcquisitionFineDoppler: public AcquisitionInterface class GpsL1CaPcpsAcquisitionFineDoppler : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsAcquisitionFineDoppler(ConfigurationInterface* configuration, GpsL1CaPcpsAcquisitionFineDoppler(ConfigurationInterface* configuration,
@ -139,8 +138,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -144,7 +144,7 @@ private:
unsigned int doppler_max_; unsigned int doppler_max_;
unsigned int doppler_step_; unsigned int doppler_step_;
unsigned int max_dwells_; unsigned int max_dwells_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

19
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
View File

@ -44,8 +44,7 @@ using google::LogMessage;
GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition( GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat"; std::string default_dump_filename = "./data/acquisition.dat";
@ -58,15 +57,14 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
if_ = configuration->property(role + ".if", 0); if_ = configuration->property(role + ".if", 0);
dump_ = configuration->property(role + ".dump", false); dump_ = configuration->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
doppler_min_ = configuration->property(role + ".doppler_min", -doppler_max_); doppler_min_ = configuration->property(role + ".doppler_min", -doppler_max_);
sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1);
max_dwells_= configuration->property(role + ".max_dwells", 1); max_dwells_ = configuration->property(role + ".max_dwells", 1);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
vector_length_ = round(fs_in_ vector_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
@ -157,14 +155,18 @@ void GpsL1CaPcpsAssistedAcquisition::reset()
void GpsL1CaPcpsAssistedAcquisition::connect(gr::top_block_sptr top_block) void GpsL1CaPcpsAssistedAcquisition::connect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator //nothing to disconnect, now the tracking uses gr_sync_decimator
} }
void GpsL1CaPcpsAssistedAcquisition::disconnect(gr::top_block_sptr top_block) void GpsL1CaPcpsAssistedAcquisition::disconnect(gr::top_block_sptr top_block)
{ {
if(top_block) { /* top_block is not null */}; if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator //nothing to disconnect, now the tracking uses gr_sync_decimator
} }
@ -179,4 +181,3 @@ gr::basic_block_sptr GpsL1CaPcpsAssistedAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

7
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h
View File

@ -40,14 +40,13 @@
#include "pcps_assisted_acquisition_cc.h" #include "pcps_assisted_acquisition_cc.h"
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals * for GPS L1 C/A signals
*/ */
class GpsL1CaPcpsAssistedAcquisition: public AcquisitionInterface class GpsL1CaPcpsAssistedAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsAssistedAcquisition(ConfigurationInterface* configuration, GpsL1CaPcpsAssistedAcquisition(ConfigurationInterface* configuration,
@ -140,8 +139,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

22
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc
View File

@ -42,8 +42,7 @@ using google::LogMessage;
GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition( GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -59,7 +58,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
bit_transition_flag_ = configuration_->property("Acquisition.bit_transition_flag", false); bit_transition_flag_ = configuration_->property("Acquisition.bit_transition_flag", false);
@ -77,8 +76,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
default_dump_filename); default_dump_filename);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = round(fs_in_ code_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
@ -129,11 +127,11 @@ void GpsL1CaPcpsOpenClAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
pfa = configuration_->property(role_ + ".pfa", 0.0); pfa = configuration_->property(role_ + ".pfa", 0.0);
} }
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -168,7 +166,6 @@ void GpsL1CaPcpsOpenClAcquisition::set_doppler_step(unsigned int doppler_step)
{ {
acquisition_cc_->set_doppler_step(doppler_step_); acquisition_cc_->set_doppler_step(doppler_step_);
} }
} }
@ -212,8 +209,8 @@ void GpsL1CaPcpsOpenClAcquisition::set_local_code()
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_cc_->set_local_code(code_); acquisition_cc_->set_local_code(code_);
@ -248,8 +245,8 @@ float GpsL1CaPcpsOpenClAcquisition::calculate_threshold(float pfa)
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -283,4 +280,3 @@ gr::basic_block_sptr GpsL1CaPcpsOpenClAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

7
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h
View File

@ -39,14 +39,13 @@
#include "pcps_opencl_acquisition_cc.h" #include "pcps_opencl_acquisition_cc.h"
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
* \brief This class adapts an OpenCL PCPS acquisition block to an * \brief This class adapts an OpenCL PCPS acquisition block to an
* AcquisitionInterface for GPS L1 C/A signals * AcquisitionInterface for GPS L1 C/A signals
*/ */
class GpsL1CaPcpsOpenClAcquisition: public AcquisitionInterface class GpsL1CaPcpsOpenClAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsOpenClAcquisition(ConfigurationInterface* configuration, GpsL1CaPcpsOpenClAcquisition(ConfigurationInterface* configuration,
@ -144,8 +143,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

41
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc
View File

@ -43,8 +43,7 @@ using google::LogMessage;
GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition( GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -58,23 +57,22 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = round(fs_in_ code_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/*Calculate the folding factor value based on the calculations*/ /*Calculate the folding factor value based on the calculations*/
unsigned int temp = static_cast<unsigned int>(ceil(sqrt(log2(code_length_)))); unsigned int temp = static_cast<unsigned int>(ceil(sqrt(log2(code_length_))));
folding_factor_ = configuration_->property(role + ".folding_factor", temp); folding_factor_ = configuration_->property(role + ".folding_factor", temp);
if ( sampled_ms_ % folding_factor_ != 0) if (sampled_ms_ % folding_factor_ != 0)
{ {
LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time" LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time"
<< " multiple of " << folding_factor_ << "ms, Value entered " << " multiple of " << folding_factor_ << "ms, Value entered "
<< sampled_ms_ << " ms"; << sampled_ms_ << " ms";
if(sampled_ms_ < folding_factor_) if (sampled_ms_ < folding_factor_)
{ {
sampled_ms_ = static_cast<int>(folding_factor_); sampled_ms_ = static_cast<int>(folding_factor_);
} }
@ -115,12 +113,12 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
{ {
item_size_ = sizeof(gr_complex); item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_, acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_,
sampled_ms_, max_dwells_,doppler_max_, if_, fs_in_, sampled_ms_, max_dwells_, doppler_max_, if_, fs_in_,
samples_per_ms, code_length_,bit_transition_flag_, samples_per_ms, code_length_, bit_transition_flag_,
dump_, dump_filename_); dump_, dump_filename_);
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_,
code_length_*folding_factor_); code_length_ * folding_factor_);
DLOG(INFO) << "stream_to_vector_quicksync(" << stream_to_vector_->unique_id() << ")"; DLOG(INFO) << "stream_to_vector_quicksync(" << stream_to_vector_->unique_id() << ")";
DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")"; DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id() << ")";
@ -157,13 +155,14 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_channel(unsigned int channel)
void GpsL1CaPcpsQuickSyncAcquisition::set_threshold(float threshold) void GpsL1CaPcpsQuickSyncAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + float pfa = configuration_->property(role_ +
boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); boost::lexical_cast<std::string>(channel_) + ".pfa",
0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
pfa = configuration_->property(role_ + ".pfa", 0.0); pfa = configuration_->property(role_ + ".pfa", 0.0);
} }
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -172,7 +171,7 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa); threshold_ = calculate_threshold(pfa);
} }
DLOG(INFO) << "Channel "<< channel_ << " Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0) if (item_type_.compare("gr_complex") == 0)
{ {
@ -240,10 +239,10 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_local_code()
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0); gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
for (unsigned int i = 0; i < (sampled_ms_/folding_factor_); i++) for (unsigned int i = 0; i < (sampled_ms_ / folding_factor_); i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
//memcpy(code_, code,sizeof(gr_complex)*code_length_); //memcpy(code_, code,sizeof(gr_complex)*code_length_);
@ -280,13 +279,13 @@ float GpsL1CaPcpsQuickSyncAcquisition::calculate_threshold(float pfa)
{ {
frequency_bins++; frequency_bins++;
} }
DLOG(INFO) << "Channel " << channel_<< " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = (code_length_ / folding_factor_) * frequency_bins; unsigned int ncells = (code_length_ / folding_factor_) * frequency_bins;
double exponent = 1.0 / static_cast<double>(ncells); double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_); double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -320,5 +319,3 @@ gr::basic_block_sptr GpsL1CaPcpsQuickSyncAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

9
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h
View File

@ -41,14 +41,13 @@
#include "configuration_interface.h" #include "configuration_interface.h"
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals * for GPS L1 C/A signals
*/ */
class GpsL1CaPcpsQuickSyncAcquisition: public AcquisitionInterface class GpsL1CaPcpsQuickSyncAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsQuickSyncAcquisition(ConfigurationInterface* configuration, GpsL1CaPcpsQuickSyncAcquisition(ConfigurationInterface* configuration,
@ -131,6 +130,7 @@ public:
* \brief If state = 1, it forces the block to start acquiring from the first sample * \brief If state = 1, it forces the block to start acquiring from the first sample
*/ */
void set_state(int state); void set_state(int state);
private: private:
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
pcps_quicksync_acquisition_cc_sptr acquisition_cc_; pcps_quicksync_acquisition_cc_sptr acquisition_cc_;
@ -151,14 +151,13 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;
float calculate_threshold(float pfa); float calculate_threshold(float pfa);
}; };
#endif /* GNSS_SDR_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H_ */ #endif /* GNSS_SDR_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H_ */

27
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc
View File

@ -42,8 +42,7 @@ using google::LogMessage;
GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition( GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -58,7 +57,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
if_ = configuration_->property(role + ".if", 0); if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
tong_init_val_ = configuration->property(role + ".tong_init_val", 1); tong_init_val_ = configuration->property(role + ".tong_init_val", 1);
@ -68,8 +67,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = round(fs_in_ code_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
@ -120,11 +118,11 @@ void GpsL1CaPcpsTongAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
pfa = configuration_->property(role_+".pfa", 0.0); pfa = configuration_->property(role_ + ".pfa", 0.0);
} }
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -159,7 +157,6 @@ void GpsL1CaPcpsTongAcquisition::set_doppler_step(unsigned int doppler_step)
{ {
acquisition_cc_->set_doppler_step(doppler_step_); acquisition_cc_->set_doppler_step(doppler_step_);
} }
} }
@ -202,8 +199,8 @@ void GpsL1CaPcpsTongAcquisition::set_local_code()
for (unsigned int i = 0; i < sampled_ms_; i++) for (unsigned int i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(code_[i*code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex)*code_length_); sizeof(gr_complex) * code_length_);
} }
acquisition_cc_->set_local_code(code_); acquisition_cc_->set_local_code(code_);
@ -240,13 +237,13 @@ float GpsL1CaPcpsTongAcquisition::calculate_threshold(float pfa)
frequency_bins++; frequency_bins++;
} }
DLOG(INFO) << "Channel "<< channel_ <<" Pfa = "<< pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa,exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
@ -259,7 +256,6 @@ void GpsL1CaPcpsTongAcquisition::connect(gr::top_block_sptr top_block)
{ {
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0); top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
} }
} }
@ -282,4 +278,3 @@ gr::basic_block_sptr GpsL1CaPcpsTongAcquisition::get_right_block()
{ {
return acquisition_cc_; return acquisition_cc_;
} }

6
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h
View File

@ -45,7 +45,7 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS Tong acquisition block to an * \brief This class adapts a PCPS Tong acquisition block to an
* AcquisitionInterface for GPS L1 C/A signals * AcquisitionInterface for GPS L1 C/A signals
*/ */
class GpsL1CaPcpsTongAcquisition: public AcquisitionInterface class GpsL1CaPcpsTongAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL1CaPcpsTongAcquisition(ConfigurationInterface* configuration, GpsL1CaPcpsTongAcquisition(ConfigurationInterface* configuration,
@ -149,8 +149,8 @@ private:
long if_; long if_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

29
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
View File

@ -44,8 +44,7 @@ using google::LogMessage;
GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition( GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -62,29 +61,28 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = round(static_cast<double>(fs_in_) code_length_ = round(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
/ (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_; vector_length_ = code_length_;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
} }
@ -131,11 +129,11 @@ void GpsL2MPcpsAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
pfa = configuration_->property(role_ + ".pfa", 0.0); pfa = configuration_->property(role_ + ".pfa", 0.0);
} }
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -144,7 +142,7 @@ void GpsL2MPcpsAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa); threshold_ = calculate_threshold(pfa);
} }
DLOG(INFO) << "Channel " << channel_ <<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
acquisition_->set_threshold(threshold_); acquisition_->set_threshold(threshold_);
} }
@ -191,7 +189,6 @@ void GpsL2MPcpsAcquisition::init()
void GpsL2MPcpsAcquisition::set_local_code() void GpsL2MPcpsAcquisition::set_local_code()
{ {
gps_l2c_m_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_); gps_l2c_m_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_);
acquisition_->set_local_code(code_); acquisition_->set_local_code(code_);
@ -209,7 +206,6 @@ void GpsL2MPcpsAcquisition::set_state(int state)
} }
float GpsL2MPcpsAcquisition::calculate_threshold(float pfa) float GpsL2MPcpsAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold //Calculate the threshold
@ -218,13 +214,13 @@ float GpsL2MPcpsAcquisition::calculate_threshold(float pfa)
{ {
frequency_bins++; frequency_bins++;
} }
DLOG(INFO) << "Channel " << channel_<< " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1.0 / static_cast<double>(ncells); double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -306,4 +302,3 @@ gr::basic_block_sptr GpsL2MPcpsAcquisition::get_right_block()
{ {
return acquisition_; return acquisition_;
} }

7
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h
View File

@ -44,14 +44,13 @@
#include <string> #include <string>
class ConfigurationInterface; class ConfigurationInterface;
/*! /*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L2 M signals * for GPS L2 M signals
*/ */
class GpsL2MPcpsAcquisition: public AcquisitionInterface class GpsL2MPcpsAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL2MPcpsAcquisition(ConfigurationInterface* configuration, GpsL2MPcpsAcquisition(ConfigurationInterface* configuration,
@ -157,8 +156,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

29
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
View File

@ -44,8 +44,7 @@ using google::LogMessage;
GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition( GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
ConfigurationInterface* configuration, std::string role, ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
configuration_ = configuration; configuration_ = configuration;
std::string default_item_type = "gr_complex"; std::string default_item_type = "gr_complex";
@ -61,29 +60,28 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0 ) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = round(static_cast<double>(fs_in_) code_length_ = round(static_cast<double>(fs_in_) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS)));
/ (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_; vector_length_ = code_length_;
if( bit_transition_flag_ ) if (bit_transition_flag_)
{ {
vector_length_ *= 2; vector_length_ *= 2;
} }
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0 ) if (item_type_.compare("cshort") == 0)
{ {
item_size_ = sizeof(lv_16sc_t); item_size_ = sizeof(lv_16sc_t);
} }
@ -130,11 +128,11 @@ void GpsL5iPcpsAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa == 0.0) if (pfa == 0.0)
{ {
pfa = configuration_->property(role_ + ".pfa", 0.0); pfa = configuration_->property(role_ + ".pfa", 0.0);
} }
if(pfa == 0.0) if (pfa == 0.0)
{ {
threshold_ = threshold; threshold_ = threshold;
} }
@ -143,7 +141,7 @@ void GpsL5iPcpsAcquisition::set_threshold(float threshold)
threshold_ = calculate_threshold(pfa); threshold_ = calculate_threshold(pfa);
} }
DLOG(INFO) << "Channel " << channel_ <<" Threshold = " << threshold_; DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
acquisition_->set_threshold(threshold_); acquisition_->set_threshold(threshold_);
} }
@ -188,7 +186,6 @@ void GpsL5iPcpsAcquisition::init()
void GpsL5iPcpsAcquisition::set_local_code() void GpsL5iPcpsAcquisition::set_local_code()
{ {
gps_l5i_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_); gps_l5i_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_);
acquisition_->set_local_code(code_); acquisition_->set_local_code(code_);
@ -206,7 +203,6 @@ void GpsL5iPcpsAcquisition::set_state(int state)
} }
float GpsL5iPcpsAcquisition::calculate_threshold(float pfa) float GpsL5iPcpsAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold //Calculate the threshold
@ -215,13 +211,13 @@ float GpsL5iPcpsAcquisition::calculate_threshold(float pfa)
{ {
frequency_bins++; frequency_bins++;
} }
DLOG(INFO) << "Channel " << channel_<< " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1.0 / static_cast<double>(ncells); double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_); double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda); boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist,val)); float threshold = static_cast<float>(quantile(mydist, val));
return threshold; return threshold;
} }
@ -303,4 +299,3 @@ gr::basic_block_sptr GpsL5iPcpsAcquisition::get_right_block()
{ {
return acquisition_; return acquisition_;
} }

6
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h
View File

@ -50,7 +50,7 @@ class ConfigurationInterface;
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface * \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L5i signals * for GPS L5i signals
*/ */
class GpsL5iPcpsAcquisition: public AcquisitionInterface class GpsL5iPcpsAcquisition : public AcquisitionInterface
{ {
public: public:
GpsL5iPcpsAcquisition(ConfigurationInterface* configuration, GpsL5iPcpsAcquisition(ConfigurationInterface* configuration,
@ -156,8 +156,8 @@ private:
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float> * code_; std::complex<float>* code_;
Gnss_Synchro * gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; unsigned int in_streams_;
unsigned int out_streams_; unsigned int out_streams_;

127
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
View File

@ -57,7 +57,6 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make
int CAF_window_hz_, int CAF_window_hz_,
int Zero_padding_) int Zero_padding_)
{ {
return galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr( return galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr(
new galileo_e5a_noncoherentIQ_acquisition_caf_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms, new galileo_e5a_noncoherentIQ_acquisition_caf_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms,
samples_per_code, bit_transition_flag, dump, dump_filename, both_signal_components_, CAF_window_hz_, Zero_padding_)); samples_per_code, bit_transition_flag, dump, dump_filename, both_signal_components_, CAF_window_hz_, Zero_padding_));
@ -73,8 +72,7 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
std::string dump_filename, std::string dump_filename,
bool both_signal_components_, bool both_signal_components_,
int CAF_window_hz_, int CAF_window_hz_,
int Zero_padding_) : int Zero_padding_) : gr::block("galileo_e5a_noncoherentIQ_acquisition_caf_cc",
gr::block("galileo_e5a_noncoherentIQ_acquisition_caf_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex))) gr::io_signature::make(0, 0, sizeof(gr_complex)))
{ {
@ -106,14 +104,14 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
d_both_signal_components = both_signal_components_; d_both_signal_components = both_signal_components_;
d_CAF_window_hz = CAF_window_hz_; d_CAF_window_hz = CAF_window_hz_;
d_inbuffer = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_inbuffer = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_code_I_A = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_I_A = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitudeIA = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitudeIA = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
if (d_both_signal_components == true) if (d_both_signal_components == true)
{ {
d_fft_code_Q_A = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_Q_A = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitudeQA = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitudeQA = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
} }
else else
{ {
@ -123,12 +121,12 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
// IF COHERENT INTEGRATION TIME > 1 // IF COHERENT INTEGRATION TIME > 1
if (d_sampled_ms > 1) if (d_sampled_ms > 1)
{ {
d_fft_code_I_B = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_I_B = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitudeIB = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitudeIB = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
if (d_both_signal_components == true) if (d_both_signal_components == true)
{ {
d_fft_code_Q_B = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_Q_B = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitudeQB = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitudeQB = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
} }
else else
{ {
@ -219,27 +217,27 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::~galileo_e5a_noncoherentIQ_acquisi
} }
void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<float> * codeI, std::complex<float> * codeQ ) void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<float> *codeI, std::complex<float> *codeQ)
{ {
// DATA SIGNAL // DATA SIGNAL
// Three replicas of data primary code. CODE A: (1,1,1) // Three replicas of data primary code. CODE A: (1,1,1)
memcpy(d_fft_if->get_inbuf(), codeI, sizeof(gr_complex)*d_fft_size); memcpy(d_fft_if->get_inbuf(), codeI, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code //Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_I_A,d_fft_if->get_outbuf(),d_fft_size); volk_32fc_conjugate_32fc(d_fft_code_I_A, d_fft_if->get_outbuf(), d_fft_size);
// SAME FOR PILOT SIGNAL // SAME FOR PILOT SIGNAL
if (d_both_signal_components == true) if (d_both_signal_components == true)
{ {
// Three replicas of pilot primary code. CODE A: (1,1,1) // Three replicas of pilot primary code. CODE A: (1,1,1)
memcpy(d_fft_if->get_inbuf(), codeQ, sizeof(gr_complex)*d_fft_size); memcpy(d_fft_if->get_inbuf(), codeQ, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code //Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_Q_A,d_fft_if->get_outbuf(),d_fft_size); volk_32fc_conjugate_32fc(d_fft_code_Q_A, d_fft_if->get_outbuf(), d_fft_size);
} }
// IF INTEGRATION TIME > 1 code, we need to evaluate the other possible combination // IF INTEGRATION TIME > 1 code, we need to evaluate the other possible combination
// Note: max integration time allowed = 3ms (dealt in adapter) // Note: max integration time allowed = 3ms (dealt in adapter)
@ -247,24 +245,24 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<f
{ {
// DATA CODE B: First replica is inverted (0,1,1) // DATA CODE B: First replica is inverted (0,1,1)
volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[0], volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[0],
&codeI[0], gr_complex(-1,0), &codeI[0], gr_complex(-1, 0),
d_samples_per_code); d_samples_per_code);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code //Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_I_B,d_fft_if->get_outbuf(),d_fft_size); volk_32fc_conjugate_32fc(d_fft_code_I_B, d_fft_if->get_outbuf(), d_fft_size);
if (d_both_signal_components == true) if (d_both_signal_components == true)
{ {
// PILOT CODE B: First replica is inverted (0,1,1) // PILOT CODE B: First replica is inverted (0,1,1)
volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[0], volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[0],
&codeQ[0], gr_complex(-1,0), &codeQ[0], gr_complex(-1, 0),
d_samples_per_code); d_samples_per_code);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code //Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_Q_B,d_fft_if->get_outbuf(),d_fft_size); volk_32fc_conjugate_32fc(d_fft_code_Q_B, d_fft_if->get_outbuf(), d_fft_size);
} }
} }
} }
@ -293,15 +291,15 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::init()
} }
// Create the carrier Doppler wipeoff signals // Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{ {
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index; int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GALILEO_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in); float phase_step_rad = GALILEO_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
} }
/* CAF Filtering to resolve doppler ambiguity. Phase and quadrature must be processed /* CAF Filtering to resolve doppler ambiguity. Phase and quadrature must be processed
@ -309,17 +307,16 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::init()
// if (d_CAF_filter) // if (d_CAF_filter)
if (d_CAF_window_hz > 0) if (d_CAF_window_hz > 0)
{ {
d_CAF_vector = static_cast<float*>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment())); d_CAF_vector = static_cast<float *>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment()));
d_CAF_vector_I = static_cast<float*>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment())); d_CAF_vector_I = static_cast<float *>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment()));
if (d_both_signal_components == true) if (d_both_signal_components == true)
{ {
d_CAF_vector_Q = static_cast<float*>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment())); d_CAF_vector_Q = static_cast<float *>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment()));
} }
} }
} }
void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_state(int state) void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_state(int state)
{ {
d_state = state; d_state = state;
@ -334,7 +331,8 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_state(int state)
d_test_statistics = 0.0; d_test_statistics = 0.0;
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
@ -342,8 +340,6 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_state(int state)
} }
int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items __attribute__((unused)), int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star &output_items __attribute__((unused)))
@ -417,7 +413,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
if (d_buffer_count < d_fft_size) if (d_buffer_count < d_fft_size)
{ {
memcpy(&d_inbuffer[d_buffer_count], in, sizeof(gr_complex)*(d_fft_size-d_buffer_count)); memcpy(&d_inbuffer[d_buffer_count], in, sizeof(gr_complex) * (d_fft_size - d_buffer_count));
} }
d_sample_counter += (d_fft_size - d_buffer_count); // sample counter d_sample_counter += (d_fft_size - d_buffer_count); // sample counter
@ -439,7 +435,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
d_well_count++; d_well_count++;
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
@ -519,15 +515,21 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
if (magt_IA >= magt_IB) if (magt_IA >= magt_IB)
{ {
// if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IA;} // if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_I[doppler_index] = d_magnitudeIA[indext_IA];} if (d_CAF_window_hz > 0)
{
d_CAF_vector_I[doppler_index] = d_magnitudeIA[indext_IA];
}
if (d_both_signal_components) if (d_both_signal_components)
{ {
// Integrate non-coherently I+Q // Integrate non-coherently I+Q
if (magt_QA >= magt_QB) if (magt_QA >= magt_QB)
{ {
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;} // if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];} if (d_CAF_window_hz > 0)
for (unsigned int i=0; i<d_fft_size; i++) {
d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];
}
for (unsigned int i = 0; i < d_fft_size; i++)
{ {
d_magnitudeIA[i] += d_magnitudeQA[i]; d_magnitudeIA[i] += d_magnitudeQA[i];
} }
@ -535,8 +537,11 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
else else
{ {
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QB;} // if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QB;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQB[indext_QB];} if (d_CAF_window_hz > 0)
for (unsigned int i=0; i<d_fft_size; i++) {
d_CAF_vector_Q[doppler_index] = d_magnitudeQB[indext_QB];
}
for (unsigned int i = 0; i < d_fft_size; i++)
{ {
d_magnitudeIA[i] += d_magnitudeQB[i]; d_magnitudeIA[i] += d_magnitudeQB[i];
} }
@ -548,15 +553,21 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
else else
{ {
// if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IB;} // if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IB;}
if (d_CAF_window_hz > 0) {d_CAF_vector_I[doppler_index] = d_magnitudeIB[indext_IB];} if (d_CAF_window_hz > 0)
{
d_CAF_vector_I[doppler_index] = d_magnitudeIB[indext_IB];
}
if (d_both_signal_components) if (d_both_signal_components)
{ {
// Integrate non-coherently I+Q // Integrate non-coherently I+Q
if (magt_QA >= magt_QB) if (magt_QA >= magt_QB)
{ {
//if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;} //if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];} if (d_CAF_window_hz > 0)
for (unsigned int i=0; i<d_fft_size; i++) {
d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];
}
for (unsigned int i = 0; i < d_fft_size; i++)
{ {
d_magnitudeIB[i] += d_magnitudeQA[i]; d_magnitudeIB[i] += d_magnitudeQA[i];
} }
@ -564,8 +575,11 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
else else
{ {
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QB;} // if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QB;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQB[indext_QB];} if (d_CAF_window_hz > 0)
for (unsigned int i=0; i<d_fft_size; i++) {
d_CAF_vector_Q[doppler_index] = d_magnitudeQB[indext_QB];
}
for (unsigned int i = 0; i < d_fft_size; i++)
{ {
d_magnitudeIB[i] += d_magnitudeQB[i]; d_magnitudeIB[i] += d_magnitudeQB[i];
} }
@ -578,13 +592,19 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
else else
{ {
// if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IA;} // if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_I[doppler_index] = d_magnitudeIA[indext_IA];} if (d_CAF_window_hz > 0)
{
d_CAF_vector_I[doppler_index] = d_magnitudeIA[indext_IA];
}
if (d_both_signal_components) if (d_both_signal_components)
{ {
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;} // if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];} if (d_CAF_window_hz > 0)
{
d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];
}
// NON-Coherent integration of only 1 code // NON-Coherent integration of only 1 code
for (unsigned int i=0; i<d_fft_size; i++) for (unsigned int i = 0; i < d_fft_size; i++)
{ {
d_magnitudeIA[i] += d_magnitudeQA[i]; d_magnitudeIA[i] += d_magnitudeQA[i];
} }
@ -628,16 +648,16 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
{ {
if (magt_IA >= magt_IB) if (magt_IA >= magt_IB)
{ {
d_dump_file.write(reinterpret_cast<char*>(d_magnitudeIA), n); d_dump_file.write(reinterpret_cast<char *>(d_magnitudeIA), n);
} }
else else
{ {
d_dump_file.write(reinterpret_cast<char*>(d_magnitudeIB), n); d_dump_file.write(reinterpret_cast<char *>(d_magnitudeIB), n);
} }
} }
else else
{ {
d_dump_file.write(reinterpret_cast<char*>(d_magnitudeIA), n); d_dump_file.write(reinterpret_cast<char *>(d_magnitudeIA), n);
} }
d_dump_file.close(); d_dump_file.close();
} }
@ -647,7 +667,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
if (d_CAF_window_hz > 0) if (d_CAF_window_hz > 0)
{ {
int CAF_bins_half; int CAF_bins_half;
float* accum = static_cast<float*>(volk_gnsssdr_malloc(sizeof(float), volk_gnsssdr_get_alignment())); float *accum = static_cast<float *>(volk_gnsssdr_malloc(sizeof(float), volk_gnsssdr_get_alignment()));
CAF_bins_half = d_CAF_window_hz / (2 * d_doppler_step); CAF_bins_half = d_CAF_window_hz / (2 * d_doppler_step);
float weighting_factor; float weighting_factor;
weighting_factor = 0.5 / static_cast<float>(CAF_bins_half); weighting_factor = 0.5 / static_cast<float>(CAF_bins_half);
@ -692,7 +712,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
{ {
accum[0] = 0; accum[0] = 0;
// volk_32f_accumulator_s32f_a(&accum[0], &d_CAF_vector_Q[doppler_index-CAF_bins_half], 2*CAF_bins_half); // volk_32f_accumulator_s32f_a(&accum[0], &d_CAF_vector_Q[doppler_index-CAF_bins_half], 2*CAF_bins_half);
for (int i = doppler_index-CAF_bins_half; i < static_cast<int>(doppler_index + CAF_bins_half + 1); i++) for (int i = doppler_index - CAF_bins_half; i < static_cast<int>(doppler_index + CAF_bins_half + 1); i++)
{ {
accum[0] += d_CAF_vector_Q[i] * (1 - weighting_factor * static_cast<unsigned int>((doppler_index - i))); accum[0] += d_CAF_vector_Q[i] * (1 - weighting_factor * static_cast<unsigned int>((doppler_index - i)));
} }
@ -716,7 +736,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
{ {
accum[0] = 0; accum[0] = 0;
// volk_32f_accumulator_s32f_a(&accum[0], &d_CAF_vector_Q[doppler_index-CAF_bins_half], CAF_bins_half + (d_num_doppler_bins-doppler_index)); // volk_32f_accumulator_s32f_a(&accum[0], &d_CAF_vector_Q[doppler_index-CAF_bins_half], CAF_bins_half + (d_num_doppler_bins-doppler_index));
for (int i = doppler_index-CAF_bins_half; i < static_cast<int>(d_num_doppler_bins); i++) for (int i = doppler_index - CAF_bins_half; i < static_cast<int>(d_num_doppler_bins); i++)
{ {
accum[0] += d_CAF_vector_Q[i] * (1 - weighting_factor * (abs(doppler_index - i))); accum[0] += d_CAF_vector_Q[i] * (1 - weighting_factor * (abs(doppler_index - i)));
} }
@ -738,7 +758,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
filename.str(""); filename.str("");
filename << "../data/test_statistics_E5a_sat_" << d_gnss_synchro->PRN << "_CAF.dat"; filename << "../data/test_statistics_E5a_sat_" << d_gnss_synchro->PRN << "_CAF.dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_CAF_vector), n); d_dump_file.write(reinterpret_cast<char *>(d_CAF_vector), n);
d_dump_file.close(); d_dump_file.close();
} }
volk_gnsssdr_free(accum); volk_gnsssdr_free(accum);
@ -812,4 +832,3 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
return 0; return 0;
} }

23
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
View File

@ -67,7 +67,7 @@ galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(unsigned int sampled_ms,
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver", * Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation. * Algorithm 1, for a pseudocode description of this implementation.
*/ */
class galileo_e5a_noncoherentIQ_acquisition_caf_cc: public gr::block class galileo_e5a_noncoherentIQ_acquisition_caf_cc : public gr::block
{ {
private: private:
friend galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr friend galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr
@ -97,7 +97,7 @@ private:
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift, void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset); int doppler_offset);
float estimate_input_power(gr_complex *in ); float estimate_input_power(gr_complex* in);
long d_fs_in; long d_fs_in;
long d_freq; long d_freq;
@ -122,7 +122,7 @@ private:
gr_complex* d_inbuffer; gr_complex* d_inbuffer;
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_mag; float d_mag;
@ -138,14 +138,14 @@ private:
int d_state; int d_state;
bool d_dump; bool d_dump;
bool d_both_signal_components; bool d_both_signal_components;
// bool d_CAF_filter; // bool d_CAF_filter;
int d_CAF_window_hz; int d_CAF_window_hz;
float* d_CAF_vector; float* d_CAF_vector;
float* d_CAF_vector_I; float* d_CAF_vector_I;
float* d_CAF_vector_Q; float* d_CAF_vector_Q;
// double* d_CAF_vector; // double* d_CAF_vector;
// double* d_CAF_vector_I; // double* d_CAF_vector_I;
// double* d_CAF_vector_Q; // double* d_CAF_vector_Q;
unsigned int d_channel; unsigned int d_channel;
std::string d_dump_filename; std::string d_dump_filename;
unsigned int d_buffer_count; unsigned int d_buffer_count;
@ -184,7 +184,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code, std::complex<float> * codeQ); void set_local_code(std::complex<float>* code, std::complex<float>* codeQ);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -243,9 +243,8 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
}; };
#endif /* GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_CC_H_ */ #endif /* GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_CC_H_ */

33
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc
View File

@ -45,7 +45,6 @@ galileo_pcps_8ms_acquisition_cc_sptr galileo_pcps_8ms_make_acquisition_cc(
int samples_per_ms, int samples_per_code, int samples_per_ms, int samples_per_code,
bool dump, std::string dump_filename) bool dump, std::string dump_filename)
{ {
return galileo_pcps_8ms_acquisition_cc_sptr( return galileo_pcps_8ms_acquisition_cc_sptr(
new galileo_pcps_8ms_acquisition_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms, new galileo_pcps_8ms_acquisition_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms,
samples_per_code, dump, dump_filename)); samples_per_code, dump, dump_filename));
@ -55,8 +54,8 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
unsigned int sampled_ms, unsigned int max_dwells, unsigned int sampled_ms, unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in, unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code, int samples_per_ms, int samples_per_code,
bool dump, std::string dump_filename) : bool dump,
gr::block("galileo_pcps_8ms_acquisition_cc", std::string dump_filename) : gr::block("galileo_pcps_8ms_acquisition_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms), gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms)) gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{ {
@ -77,9 +76,9 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
d_input_power = 0.0; d_input_power = 0.0;
d_num_doppler_bins = 0; d_num_doppler_bins = 0;
d_fft_code_A = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_A = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_code_B = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_B = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
// Direct FFT // Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true); d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
@ -126,10 +125,10 @@ galileo_pcps_8ms_acquisition_cc::~galileo_pcps_8ms_acquisition_cc()
} }
} }
void galileo_pcps_8ms_acquisition_cc::set_local_code(std::complex<float> * code) void galileo_pcps_8ms_acquisition_cc::set_local_code(std::complex<float> *code)
{ {
// code A: two replicas of a primary code // code A: two replicas of a primary code
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex)*d_fft_size); memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
@ -138,7 +137,7 @@ void galileo_pcps_8ms_acquisition_cc::set_local_code(std::complex<float> * code)
// code B: two replicas of a primary code; the second replica is inverted. // code B: two replicas of a primary code; the second replica is inverted.
volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[d_samples_per_code], volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[d_samples_per_code],
&code[d_samples_per_code], gr_complex(-1,0), &code[d_samples_per_code], gr_complex(-1, 0),
d_samples_per_code); d_samples_per_code);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
@ -170,15 +169,15 @@ void galileo_pcps_8ms_acquisition_cc::init()
} }
// Create the carrier Doppler wipeoff signals // Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{ {
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index; int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = static_cast<float>(GALILEO_TWO_PI) * (d_freq + doppler) / static_cast<float>(d_fs_in); float phase_step_rad = static_cast<float>(GALILEO_TWO_PI) * (d_freq + doppler) / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
} }
} }
@ -197,7 +196,8 @@ void galileo_pcps_8ms_acquisition_cc::set_state(int state)
d_test_statistics = 0.0; d_test_statistics = 0.0;
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
@ -205,7 +205,6 @@ void galileo_pcps_8ms_acquisition_cc::set_state(int state)
} }
int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items, int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star &output_items __attribute__((unused)))
@ -256,7 +255,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
d_well_count++; d_well_count++;
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
@ -339,10 +338,10 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str(""); filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System filename << "../data/test_statistics_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin? d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
} }

12
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h
View File

@ -53,7 +53,7 @@ galileo_pcps_8ms_make_acquisition_cc(unsigned int sampled_ms, unsigned int max_d
* \brief This class implements a Parallel Code Phase Search Acquisition for * \brief This class implements a Parallel Code Phase Search Acquisition for
* Galileo E1 signals with coherent integration time = 8 ms (two codes) * Galileo E1 signals with coherent integration time = 8 ms (two codes)
*/ */
class galileo_pcps_8ms_acquisition_cc: public gr::block class galileo_pcps_8ms_acquisition_cc : public gr::block
{ {
private: private:
friend galileo_pcps_8ms_acquisition_cc_sptr friend galileo_pcps_8ms_acquisition_cc_sptr
@ -91,7 +91,7 @@ private:
gr_complex* d_fft_code_B; gr_complex* d_fft_code_B;
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_mag; float d_mag;
@ -138,7 +138,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -197,9 +197,9 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
}; };
#endif /* GNSS_SDR_PCPS_8MS_ACQUISITION_CC_H_*/ #endif /* GNSS_SDR_PCPS_8MS_ACQUISITION_CC_H_*/

83
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -65,10 +65,10 @@ pcps_acquisition::pcps_acquisition(
int samples_per_ms, int samples_per_code, int samples_per_ms, int samples_per_code,
bool bit_transition_flag, bool use_CFAR_algorithm_flag, bool bit_transition_flag, bool use_CFAR_algorithm_flag,
bool dump, bool blocking, bool dump, bool blocking,
std::string dump_filename, size_t it_size) : std::string dump_filename,
gr::block("pcps_acquisition", size_t it_size) : gr::block("pcps_acquisition",
gr::io_signature::make(1, 1, it_size * sampled_ms * samples_per_ms * ( bit_transition_flag ? 2 : 1 )), gr::io_signature::make(1, 1, it_size * sampled_ms * samples_per_ms * (bit_transition_flag ? 2 : 1)),
gr::io_signature::make(0, 0, it_size * sampled_ms * samples_per_ms * ( bit_transition_flag ? 2 : 1 )) ) gr::io_signature::make(0, 0, it_size * sampled_ms * samples_per_ms * (bit_transition_flag ? 2 : 1)))
{ {
this->message_port_register_out(pmt::mp("events")); this->message_port_register_out(pmt::mp("events"));
@ -95,8 +95,14 @@ pcps_acquisition::pcps_acquisition(
d_code_phase = 0; d_code_phase = 0;
d_test_statistics = 0.0; d_test_statistics = 0.0;
d_channel = 0; d_channel = 0;
if(it_size == sizeof(gr_complex)) { d_cshort = false; } if (it_size == sizeof(gr_complex))
else { d_cshort = true; } {
d_cshort = false;
}
else
{
d_cshort = true;
}
// COD: // COD:
// Experimenting with the overlap/save technique for handling bit trannsitions // Experimenting with the overlap/save technique for handling bit trannsitions
@ -108,7 +114,7 @@ pcps_acquisition::pcps_acquisition(
// //
// We can avoid this by doing linear correlation, effectively doubling the // We can avoid this by doing linear correlation, effectively doubling the
// size of the input buffer and padding the code with zeros. // size of the input buffer and padding the code with zeros.
if( d_bit_transition_flag ) if (d_bit_transition_flag)
{ {
d_fft_size *= 2; d_fft_size *= 2;
d_max_dwells = 1; //Activation of d_bit_transition_flag invalidates the value of d_max_dwells d_max_dwells = 1; //Activation of d_bit_transition_flag invalidates the value of d_max_dwells
@ -131,7 +137,7 @@ pcps_acquisition::pcps_acquisition(
d_blocking = blocking; d_blocking = blocking;
d_worker_active = false; d_worker_active = false;
d_data_buffer = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_data_buffer = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
if(d_cshort) if (d_cshort)
{ {
d_data_buffer_sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(d_fft_size * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment())); d_data_buffer_sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(d_fft_size * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
} }
@ -158,16 +164,19 @@ pcps_acquisition::~pcps_acquisition()
delete d_ifft; delete d_ifft;
delete d_fft_if; delete d_fft_if;
volk_gnsssdr_free(d_data_buffer); volk_gnsssdr_free(d_data_buffer);
if(d_cshort) { volk_gnsssdr_free(d_data_buffer_sc); } if (d_cshort)
{
volk_gnsssdr_free(d_data_buffer_sc);
}
} }
void pcps_acquisition::set_local_code(std::complex<float> * code) void pcps_acquisition::set_local_code(std::complex<float>* code)
{ {
// reset the intermediate frequency // reset the intermediate frequency
d_freq = d_old_freq; d_freq = d_old_freq;
// This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid // This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
if( is_fdma() ) if (is_fdma())
{ {
update_grid_doppler_wipeoffs(); update_grid_doppler_wipeoffs();
} }
@ -176,10 +185,10 @@ void pcps_acquisition::set_local_code(std::complex<float> * code)
// [ 0 0 0 ... 0 c_0 c_1 ... c_L] // [ 0 0 0 ... 0 c_0 c_1 ... c_L]
// where c_i is the local code and there are L zeros and L chips // where c_i is the local code and there are L zeros and L chips
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
if( d_bit_transition_flag ) if (d_bit_transition_flag)
{ {
int offset = d_fft_size / 2; int offset = d_fft_size / 2;
std::fill_n( d_fft_if->get_inbuf(), offset, gr_complex( 0.0, 0.0 ) ); std::fill_n(d_fft_if->get_inbuf(), offset, gr_complex(0.0, 0.0));
memcpy(d_fft_if->get_inbuf() + offset, code, sizeof(gr_complex) * offset); memcpy(d_fft_if->get_inbuf() + offset, code, sizeof(gr_complex) * offset);
} }
else else
@ -195,7 +204,7 @@ void pcps_acquisition::set_local_code(std::complex<float> * code)
bool pcps_acquisition::is_fdma() bool pcps_acquisition::is_fdma()
{ {
// Dealing with FDMA system // Dealing with FDMA system
if( strcmp(d_gnss_synchro->Signal,"1G") == 0 ) if (strcmp(d_gnss_synchro->Signal, "1G") == 0)
{ {
d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN); d_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_freq << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl; LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_freq << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
@ -213,7 +222,7 @@ void pcps_acquisition::update_local_carrier(gr_complex* carrier_vector, int corr
float phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(d_fs_in); float phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(carrier_vector, - phase_step_rad, _phase, correlator_length_samples); volk_gnsssdr_s32f_sincos_32fc(carrier_vector, -phase_step_rad, _phase, correlator_length_samples);
} }
@ -230,7 +239,7 @@ void pcps_acquisition::init()
d_mag = 0.0; d_mag = 0.0;
d_input_power = 0.0; d_input_power = 0.0;
d_num_doppler_bins = static_cast<unsigned int>(std::ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step))); d_num_doppler_bins = static_cast<unsigned int>(std::ceil(static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step)));
// Create the carrier Doppler wipeoff signals // Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
@ -243,7 +252,7 @@ void pcps_acquisition::init()
} }
d_worker_active = false; d_worker_active = false;
if(d_dump) if (d_dump)
{ {
unsigned int effective_fft_size = (d_bit_transition_flag ? (d_fft_size / 2) : d_fft_size); unsigned int effective_fft_size = (d_bit_transition_flag ? (d_fft_size / 2) : d_fft_size);
grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins, arma::fill::zeros); grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins, arma::fill::zeros);
@ -278,7 +287,8 @@ void pcps_acquisition::set_state(int state)
d_active = true; d_active = true;
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
@ -323,8 +333,8 @@ void pcps_acquisition::send_negative_acquisition()
int pcps_acquisition::general_work(int noutput_items __attribute__((unused)), int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_int& ninput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star& output_items __attribute__((unused)))
{ {
/* /*
* By J.Arribas, L.Esteve and M.Molina * By J.Arribas, L.Esteve and M.Molina
@ -338,14 +348,14 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
*/ */
gr::thread::scoped_lock lk(d_setlock); gr::thread::scoped_lock lk(d_setlock);
if(!d_active || d_worker_active) if (!d_active || d_worker_active)
{ {
d_sample_counter += d_fft_size * ninput_items[0]; d_sample_counter += d_fft_size * ninput_items[0];
consume_each(ninput_items[0]); consume_each(ninput_items[0]);
return 0; return 0;
} }
switch(d_state) switch (d_state)
{ {
case 0: case 0:
{ {
@ -366,9 +376,15 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
case 1: case 1:
{ {
// Copy the data to the core and let it know that new data is available // Copy the data to the core and let it know that new data is available
if(d_cshort) { memcpy(d_data_buffer_sc, input_items[0], d_fft_size * sizeof(lv_16sc_t)); } if (d_cshort)
else { memcpy(d_data_buffer, input_items[0], d_fft_size * sizeof(gr_complex)); } {
if(d_blocking) memcpy(d_data_buffer_sc, input_items[0], d_fft_size * sizeof(lv_16sc_t));
}
else
{
memcpy(d_data_buffer, input_items[0], d_fft_size * sizeof(gr_complex));
}
if (d_blocking)
{ {
lk.unlock(); lk.unlock();
acquisition_core(d_sample_counter); acquisition_core(d_sample_counter);
@ -387,7 +403,7 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
} }
void pcps_acquisition::acquisition_core( unsigned long int samp_count ) void pcps_acquisition::acquisition_core(unsigned long int samp_count)
{ {
gr::thread::scoped_lock lk(d_setlock); gr::thread::scoped_lock lk(d_setlock);
@ -396,8 +412,11 @@ void pcps_acquisition::acquisition_core( unsigned long int samp_count )
uint32_t indext = 0; uint32_t indext = 0;
float magt = 0.0; float magt = 0.0;
const gr_complex* in = d_data_buffer; //Get the input samples pointer const gr_complex* in = d_data_buffer; //Get the input samples pointer
int effective_fft_size = ( d_bit_transition_flag ? d_fft_size/2 : d_fft_size ); int effective_fft_size = (d_bit_transition_flag ? d_fft_size / 2 : d_fft_size);
if(d_cshort) { volk_gnsssdr_16ic_convert_32fc(d_data_buffer, d_data_buffer_sc, d_fft_size); } if (d_cshort)
{
volk_gnsssdr_16ic_convert_32fc(d_data_buffer, d_data_buffer_sc, d_fft_size);
}
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size); float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
d_input_power = 0.0; d_input_power = 0.0;
@ -409,7 +428,7 @@ void pcps_acquisition::acquisition_core( unsigned long int samp_count )
<< " ,sample stamp: " << samp_count << ", threshold: " << " ,sample stamp: " << samp_count << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step << ", doppler_step: " << d_doppler_step
<< ", use_CFAR_algorithm_flag: " << ( d_use_CFAR_algorithm_flag ? "true" : "false" ); << ", use_CFAR_algorithm_flag: " << (d_use_CFAR_algorithm_flag ? "true" : "false");
lk.unlock(); lk.unlock();
if (d_use_CFAR_algorithm_flag) if (d_use_CFAR_algorithm_flag)
@ -439,7 +458,7 @@ void pcps_acquisition::acquisition_core( unsigned long int samp_count )
d_ifft->execute(); d_ifft->execute();
// Search maximum // Search maximum
size_t offset = ( d_bit_transition_flag ? effective_fft_size : 0 ); size_t offset = (d_bit_transition_flag ? effective_fft_size : 0);
volk_32fc_magnitude_squared_32f(d_magnitude, d_ifft->get_outbuf() + offset, effective_fft_size); volk_32fc_magnitude_squared_32f(d_magnitude, d_ifft->get_outbuf() + offset, effective_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitude, effective_fft_size); volk_gnsssdr_32f_index_max_32u(&indext, d_magnitude, effective_fft_size);
magt = d_magnitude[indext]; magt = d_magnitude[indext];
@ -484,7 +503,7 @@ void pcps_acquisition::acquisition_core( unsigned long int samp_count )
if (d_dump) if (d_dump)
{ {
memcpy(grid_.colptr(doppler_index), d_magnitude, sizeof(float) * effective_fft_size); memcpy(grid_.colptr(doppler_index), d_magnitude, sizeof(float) * effective_fft_size);
if(doppler_index == (d_num_doppler_bins - 1)) if (doppler_index == (d_num_doppler_bins - 1))
{ {
std::string filename = d_dump_filename; std::string filename = d_dump_filename;
filename.append("_"); filename.append("_");
@ -496,7 +515,7 @@ void pcps_acquisition::acquisition_core( unsigned long int samp_count )
filename.append(std::to_string(d_gnss_synchro->PRN)); filename.append(std::to_string(d_gnss_synchro->PRN));
filename.append(".mat"); filename.append(".mat");
mat_t* matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73); mat_t* matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if(matfp == NULL) if (matfp == NULL)
{ {
std::cout << "Unable to create or open Acquisition dump file" << std::endl; std::cout << "Unable to create or open Acquisition dump file" << std::endl;
d_dump = false; d_dump = false;

13
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@ -78,7 +78,7 @@ pcps_make_acquisition(unsigned int sampled_ms, unsigned int max_dwells,
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver", * Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation. * Algorithm 1, for a pseudocode description of this implementation.
*/ */
class pcps_acquisition: public gr::block class pcps_acquisition : public gr::block
{ {
private: private:
friend pcps_acquisition_sptr friend pcps_acquisition_sptr
@ -100,7 +100,7 @@ private:
void update_grid_doppler_wipeoffs(); void update_grid_doppler_wipeoffs();
bool is_fdma(); bool is_fdma();
void acquisition_core( unsigned long int samp_count ); void acquisition_core(unsigned long int samp_count);
void send_negative_acquisition(); void send_negative_acquisition();
@ -175,7 +175,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -239,10 +239,9 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
}; };
#endif /* GNSS_SDR_PCPS_ACQUISITION_H_*/ #endif /* GNSS_SDR_PCPS_ACQUISITION_H_*/

49
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -49,7 +49,6 @@ pcps_acquisition_fine_doppler_cc_sptr pcps_make_acquisition_fine_doppler_cc(
long fs_in, int samples_per_ms, bool dump, long fs_in, int samples_per_ms, bool dump,
std::string dump_filename) std::string dump_filename)
{ {
return pcps_acquisition_fine_doppler_cc_sptr( return pcps_acquisition_fine_doppler_cc_sptr(
new pcps_acquisition_fine_doppler_cc(max_dwells, sampled_ms, doppler_max, doppler_min, freq, new pcps_acquisition_fine_doppler_cc(max_dwells, sampled_ms, doppler_max, doppler_min, freq,
fs_in, samples_per_ms, dump, dump_filename)); fs_in, samples_per_ms, dump, dump_filename));
@ -59,8 +58,7 @@ pcps_acquisition_fine_doppler_cc_sptr pcps_make_acquisition_fine_doppler_cc(
pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc( pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(
int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min, long freq, int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min, long freq,
long fs_in, int samples_per_ms, bool dump, long fs_in, int samples_per_ms, bool dump,
std::string dump_filename) : std::string dump_filename) : gr::block("pcps_acquisition_fine_doppler_cc",
gr::block("pcps_acquisition_fine_doppler_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex))) gr::io_signature::make(0, 0, sizeof(gr_complex)))
{ {
@ -79,9 +77,9 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(
d_gnuradio_forecast_samples = d_fft_size; d_gnuradio_forecast_samples = d_fft_size;
d_input_power = 0.0; d_input_power = 0.0;
d_state = 0; d_state = 0;
d_carrier = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_carrier = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_codes = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
// Direct FFT // Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true); d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
@ -115,10 +113,10 @@ void pcps_acquisition_fine_doppler_cc::set_doppler_step(unsigned int doppler_ste
d_num_doppler_points = floor(std::abs(d_config_doppler_max - d_config_doppler_min) / d_doppler_step); d_num_doppler_points = floor(std::abs(d_config_doppler_max - d_config_doppler_min) / d_doppler_step);
d_grid_data = new float*[d_num_doppler_points]; d_grid_data = new float *[d_num_doppler_points];
for (int i = 0; i < d_num_doppler_points; i++) for (int i = 0; i < d_num_doppler_points; i++)
{ {
d_grid_data[i] = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_grid_data[i] = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
} }
update_carrier_wipeoff(); update_carrier_wipeoff();
} }
@ -151,7 +149,7 @@ pcps_acquisition_fine_doppler_cc::~pcps_acquisition_fine_doppler_cc()
} }
void pcps_acquisition_fine_doppler_cc::set_local_code(std::complex<float> * code) void pcps_acquisition_fine_doppler_cc::set_local_code(std::complex<float> *code)
{ {
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size); memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
@ -175,12 +173,12 @@ void pcps_acquisition_fine_doppler_cc::init()
} }
void pcps_acquisition_fine_doppler_cc::forecast (int noutput_items, void pcps_acquisition_fine_doppler_cc::forecast(int noutput_items,
gr_vector_int &ninput_items_required) gr_vector_int &ninput_items_required)
{ {
if (noutput_items != 0) if (noutput_items != 0)
{ {
ninput_items_required[0] = d_gnuradio_forecast_samples ; //set the required available samples in each call ninput_items_required[0] = d_gnuradio_forecast_samples; //set the required available samples in each call
} }
} }
@ -203,17 +201,17 @@ void pcps_acquisition_fine_doppler_cc::update_carrier_wipeoff()
// create the carrier Doppler wipeoff signals // create the carrier Doppler wipeoff signals
int doppler_hz; int doppler_hz;
float phase_step_rad; float phase_step_rad;
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_points]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_points];
for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++) for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{ {
doppler_hz = d_config_doppler_min + d_doppler_step*doppler_index; doppler_hz = d_config_doppler_min + d_doppler_step * doppler_index;
// doppler search steps // doppler search steps
// compute the carrier doppler wipe-off signal and store it // compute the carrier doppler wipe-off signal and store it
phase_step_rad = static_cast<float>(GPS_TWO_PI) * ( d_freq + doppler_hz ) / static_cast<float>(d_fs_in); phase_step_rad = static_cast<float>(GPS_TWO_PI) * (d_freq + doppler_hz) / static_cast<float>(d_fs_in);
d_grid_doppler_wipeoffs[doppler_index] = new gr_complex[d_fft_size]; d_grid_doppler_wipeoffs[doppler_index] = new gr_complex[d_fft_size];
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
} }
} }
@ -226,7 +224,7 @@ double pcps_acquisition_fine_doppler_cc::search_maximum()
uint32_t tmp_intex_t = 0; uint32_t tmp_intex_t = 0;
uint32_t index_time = 0; uint32_t index_time = 0;
for (int i=0;i<d_num_doppler_points;i++) for (int i = 0; i < d_num_doppler_points; i++)
{ {
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i], d_fft_size); volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i], d_fft_size);
if (d_grid_data[i][tmp_intex_t] > magt) if (d_grid_data[i][tmp_intex_t] > magt)
@ -243,7 +241,7 @@ double pcps_acquisition_fine_doppler_cc::search_maximum()
magt = magt / (fft_normalization_factor * fft_normalization_factor); magt = magt / (fft_normalization_factor * fft_normalization_factor);
// 5- Compute the test statistics and compare to the threshold // 5- Compute the test statistics and compare to the threshold
d_test_statistics = magt/(d_input_power*std::sqrt(d_well_count)); d_test_statistics = magt / (d_input_power * std::sqrt(d_well_count));
// 4- record the maximum peak and the associated synchronization parameters // 4- record the maximum peak and the associated synchronization parameters
d_gnss_synchro->Acq_delay_samples = static_cast<double>(index_time); d_gnss_synchro->Acq_delay_samples = static_cast<double>(index_time);
@ -257,11 +255,10 @@ double pcps_acquisition_fine_doppler_cc::search_maximum()
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str(""); filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System filename << "../data/test_statistics_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
| std::ios::binary); d_dump_file.write(reinterpret_cast<char *>(d_grid_data[index_doppler]), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.write(reinterpret_cast<char*>(d_grid_data[index_doppler]), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
@ -287,13 +284,13 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_config_doppler_max << d_threshold << ", doppler_max: " << d_config_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
// 2- Doppler frequency search loop // 2- Doppler frequency search loop
float* p_tmp_vector = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); float *p_tmp_vector = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++) for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{ {
@ -314,7 +311,7 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
// save the grid matrix delay file // save the grid matrix delay file
volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size); volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size);
const float* old_vector = d_grid_data[doppler_index]; const float *old_vector = d_grid_data[doppler_index];
volk_32f_x2_add_32f(d_grid_data[doppler_index], old_vector, p_tmp_vector, d_fft_size); volk_32f_x2_add_32f(d_grid_data[doppler_index], old_vector, p_tmp_vector, d_fft_size);
} }
@ -334,7 +331,7 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
std::fill_n(fft_operator->get_inbuf(), fft_size_extended, gr_complex(0.0, 0.0)); std::fill_n(fft_operator->get_inbuf(), fft_size_extended, gr_complex(0.0, 0.0));
//1. generate local code aligned with the acquisition code phase estimation //1. generate local code aligned with the acquisition code phase estimation
gr_complex *code_replica = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); gr_complex *code_replica = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
gps_l1_ca_code_gen_complex_sampled(code_replica, d_gnss_synchro->PRN, d_fs_in, 0); gps_l1_ca_code_gen_complex_sampled(code_replica, d_gnss_synchro->PRN, d_fs_in, 0);
@ -355,7 +352,7 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
fft_operator->execute(); fft_operator->execute();
// 4. Compute the magnitude and find the maximum // 4. Compute the magnitude and find the maximum
float* p_tmp_vector = static_cast<float*>(volk_gnsssdr_malloc(fft_size_extended * sizeof(float), volk_gnsssdr_get_alignment())); float *p_tmp_vector = static_cast<float *>(volk_gnsssdr_malloc(fft_size_extended * sizeof(float), volk_gnsssdr_get_alignment()));
volk_32fc_magnitude_squared_32f(p_tmp_vector, fft_operator->get_outbuf(), fft_size_extended); volk_32fc_magnitude_squared_32f(p_tmp_vector, fft_operator->get_outbuf(), fft_size_extended);

22
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
View File

@ -58,7 +58,7 @@
class pcps_acquisition_fine_doppler_cc; class pcps_acquisition_fine_doppler_cc;
typedef boost::shared_ptr<pcps_acquisition_fine_doppler_cc> typedef boost::shared_ptr<pcps_acquisition_fine_doppler_cc>
pcps_acquisition_fine_doppler_cc_sptr; pcps_acquisition_fine_doppler_cc_sptr;
pcps_acquisition_fine_doppler_cc_sptr pcps_acquisition_fine_doppler_cc_sptr
pcps_make_acquisition_fine_doppler_cc(int max_dwells, unsigned int sampled_ms, pcps_make_acquisition_fine_doppler_cc(int max_dwells, unsigned int sampled_ms,
@ -72,7 +72,7 @@ pcps_make_acquisition_fine_doppler_cc(int max_dwells, unsigned int sampled_ms,
* Algorithm 1, for a pseudocode description of this implementation. * Algorithm 1, for a pseudocode description of this implementation.
*/ */
class pcps_acquisition_fine_doppler_cc: public gr::block class pcps_acquisition_fine_doppler_cc : public gr::block
{ {
private: private:
friend pcps_acquisition_fine_doppler_cc_sptr friend pcps_acquisition_fine_doppler_cc_sptr
@ -89,9 +89,9 @@ private:
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift, void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset); int doppler_offset);
int compute_and_accumulate_grid(gr_vector_const_void_star &input_items); int compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
int estimate_Doppler(gr_vector_const_void_star &input_items); int estimate_Doppler(gr_vector_const_void_star& input_items);
float estimate_input_power(gr_vector_const_void_star &input_items); float estimate_input_power(gr_vector_const_void_star& input_items);
double search_maximum(); double search_maximum();
void reset_grid(); void reset_grid();
void update_carrier_wipeoff(); void update_carrier_wipeoff();
@ -122,7 +122,7 @@ private:
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_input_power; float d_input_power;
@ -169,7 +169,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -218,11 +218,11 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
void forecast (int noutput_items, gr_vector_int &ninput_items_required); void forecast(int noutput_items, gr_vector_int& ninput_items_required);
}; };
#endif /* pcps_acquisition_fine_doppler_cc*/ #endif /* pcps_acquisition_fine_doppler_cc*/

69
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@ -56,12 +56,10 @@ pcps_assisted_acquisition_cc_sptr pcps_make_assisted_acquisition_cc(
} }
pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc( pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min, long freq, int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min, long freq,
long fs_in, int samples_per_ms, bool dump, long fs_in, int samples_per_ms, bool dump,
std::string dump_filename) : std::string dump_filename) : gr::block("pcps_assisted_acquisition_cc",
gr::block("pcps_assisted_acquisition_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex))) gr::io_signature::make(0, 0, sizeof(gr_complex)))
{ {
@ -77,12 +75,12 @@ pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
d_fft_size = d_sampled_ms * d_samples_per_ms; d_fft_size = d_sampled_ms * d_samples_per_ms;
// HS Acquisition // HS Acquisition
d_max_dwells = max_dwells; d_max_dwells = max_dwells;
d_gnuradio_forecast_samples = d_fft_size*4; d_gnuradio_forecast_samples = d_fft_size * 4;
d_input_power = 0.0; d_input_power = 0.0;
d_state = 0; d_state = 0;
d_disable_assist = false; d_disable_assist = false;
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_codes = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_carrier = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_carrier = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
// Direct FFT // Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true); d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
@ -111,14 +109,12 @@ pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
} }
void pcps_assisted_acquisition_cc::set_doppler_step(unsigned int doppler_step) void pcps_assisted_acquisition_cc::set_doppler_step(unsigned int doppler_step)
{ {
d_doppler_step = doppler_step; d_doppler_step = doppler_step;
} }
void pcps_assisted_acquisition_cc::free_grid_memory() void pcps_assisted_acquisition_cc::free_grid_memory()
{ {
for (int i = 0; i < d_num_doppler_points; i++) for (int i = 0; i < d_num_doppler_points; i++)
@ -130,7 +126,6 @@ void pcps_assisted_acquisition_cc::free_grid_memory()
} }
pcps_assisted_acquisition_cc::~pcps_assisted_acquisition_cc() pcps_assisted_acquisition_cc::~pcps_assisted_acquisition_cc()
{ {
volk_gnsssdr_free(d_carrier); volk_gnsssdr_free(d_carrier);
@ -144,14 +139,12 @@ pcps_assisted_acquisition_cc::~pcps_assisted_acquisition_cc()
} }
void pcps_assisted_acquisition_cc::set_local_code(std::complex<float> *code)
void pcps_assisted_acquisition_cc::set_local_code(std::complex<float> * code)
{ {
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex)*d_fft_size); memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
} }
void pcps_assisted_acquisition_cc::init() void pcps_assisted_acquisition_cc::init()
{ {
d_gnss_synchro->Flag_valid_acquisition = false; d_gnss_synchro->Flag_valid_acquisition = false;
@ -172,28 +165,26 @@ void pcps_assisted_acquisition_cc::init()
} }
void pcps_assisted_acquisition_cc::forecast(int noutput_items,
void pcps_assisted_acquisition_cc::forecast (int noutput_items,
gr_vector_int &ninput_items_required) gr_vector_int &ninput_items_required)
{ {
if (noutput_items != 0) if (noutput_items != 0)
{ {
ninput_items_required[0] = d_gnuradio_forecast_samples ; //set the required available samples in each call ninput_items_required[0] = d_gnuradio_forecast_samples; //set the required available samples in each call
} }
} }
void pcps_assisted_acquisition_cc::get_assistance() void pcps_assisted_acquisition_cc::get_assistance()
{ {
Gps_Acq_Assist gps_acq_assisistance; Gps_Acq_Assist gps_acq_assisistance;
if (global_gps_acq_assist_map.read(this->d_gnss_synchro->PRN, gps_acq_assisistance)==true) if (global_gps_acq_assist_map.read(this->d_gnss_synchro->PRN, gps_acq_assisistance) == true)
{ {
//TODO: use the LO tolerance here //TODO: use the LO tolerance here
if (gps_acq_assisistance.dopplerUncertainty >= 1000) if (gps_acq_assisistance.dopplerUncertainty >= 1000)
{ {
d_doppler_max = gps_acq_assisistance.d_Doppler0 + gps_acq_assisistance.dopplerUncertainty*2; d_doppler_max = gps_acq_assisistance.d_Doppler0 + gps_acq_assisistance.dopplerUncertainty * 2;
d_doppler_min = gps_acq_assisistance.d_Doppler0 - gps_acq_assisistance.dopplerUncertainty*2; d_doppler_min = gps_acq_assisistance.d_Doppler0 - gps_acq_assisistance.dopplerUncertainty * 2;
} }
else else
{ {
@ -201,18 +192,17 @@ void pcps_assisted_acquisition_cc::get_assistance()
d_doppler_min = gps_acq_assisistance.d_Doppler0 - 1000; d_doppler_min = gps_acq_assisistance.d_Doppler0 - 1000;
} }
this->d_disable_assist = false; this->d_disable_assist = false;
std::cout << "Acq assist ENABLED for GPS SV "<< this->d_gnss_synchro->PRN <<" (Doppler max,Doppler min)=(" std::cout << "Acq assist ENABLED for GPS SV " << this->d_gnss_synchro->PRN << " (Doppler max,Doppler min)=("
<< d_doppler_max << "," << d_doppler_min << ")" << std::endl; << d_doppler_max << "," << d_doppler_min << ")" << std::endl;
} }
else else
{ {
this->d_disable_assist = true; this->d_disable_assist = true;
std::cout << "Acq assist DISABLED for GPS SV "<< this->d_gnss_synchro->PRN << std::endl; std::cout << "Acq assist DISABLED for GPS SV " << this->d_gnss_synchro->PRN << std::endl;
} }
} }
void pcps_assisted_acquisition_cc::reset_grid() void pcps_assisted_acquisition_cc::reset_grid()
{ {
d_well_count = 0; d_well_count = 0;
@ -226,7 +216,6 @@ void pcps_assisted_acquisition_cc::reset_grid()
} }
void pcps_assisted_acquisition_cc::redefine_grid() void pcps_assisted_acquisition_cc::redefine_grid()
{ {
if (this->d_disable_assist == true) if (this->d_disable_assist == true)
@ -237,7 +226,7 @@ void pcps_assisted_acquisition_cc::redefine_grid()
// Create the search grid array // Create the search grid array
d_num_doppler_points = floor(std::abs(d_doppler_max - d_doppler_min) / d_doppler_step); d_num_doppler_points = floor(std::abs(d_doppler_max - d_doppler_min) / d_doppler_step);
d_grid_data = new float*[d_num_doppler_points]; d_grid_data = new float *[d_num_doppler_points];
for (int i = 0; i < d_num_doppler_points; i++) for (int i = 0; i < d_num_doppler_points; i++)
{ {
d_grid_data[i] = new float[d_fft_size]; d_grid_data[i] = new float[d_fft_size];
@ -246,22 +235,21 @@ void pcps_assisted_acquisition_cc::redefine_grid()
// create the carrier Doppler wipeoff signals // create the carrier Doppler wipeoff signals
int doppler_hz; int doppler_hz;
float phase_step_rad; float phase_step_rad;
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_points]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_points];
for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++) for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{ {
doppler_hz = d_doppler_min + d_doppler_step*doppler_index; doppler_hz = d_doppler_min + d_doppler_step * doppler_index;
// doppler search steps // doppler search steps
// compute the carrier doppler wipe-off signal and store it // compute the carrier doppler wipe-off signal and store it
phase_step_rad = static_cast<float>(GPS_TWO_PI) * doppler_hz / static_cast<float>(d_fs_in); phase_step_rad = static_cast<float>(GPS_TWO_PI) * doppler_hz / static_cast<float>(d_fs_in);
d_grid_doppler_wipeoffs[doppler_index] = new gr_complex[d_fft_size]; d_grid_doppler_wipeoffs[doppler_index] = new gr_complex[d_fft_size];
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
} }
} }
double pcps_assisted_acquisition_cc::search_maximum() double pcps_assisted_acquisition_cc::search_maximum()
{ {
float magt = 0.0; float magt = 0.0;
@ -270,9 +258,9 @@ double pcps_assisted_acquisition_cc::search_maximum()
uint32_t tmp_intex_t = 0; uint32_t tmp_intex_t = 0;
uint32_t index_time = 0; uint32_t index_time = 0;
for (int i=0;i<d_num_doppler_points;i++) for (int i = 0; i < d_num_doppler_points; i++)
{ {
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t,d_grid_data[i],d_fft_size); volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i], d_fft_size);
if (d_grid_data[i][tmp_intex_t] > magt) if (d_grid_data[i][tmp_intex_t] > magt)
{ {
magt = d_grid_data[i][index_time]; magt = d_grid_data[i][index_time];
@ -303,7 +291,7 @@ double pcps_assisted_acquisition_cc::search_maximum()
<< "_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_grid_data[index_doppler]), n); //write directly |abs(x)|^2 in this Doppler bin? d_dump_file.write(reinterpret_cast<char *>(d_grid_data[index_doppler]), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
@ -311,24 +299,22 @@ double pcps_assisted_acquisition_cc::search_maximum()
} }
float pcps_assisted_acquisition_cc::estimate_input_power(gr_vector_const_void_star &input_items) float pcps_assisted_acquisition_cc::estimate_input_power(gr_vector_const_void_star &input_items)
{ {
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
// 1- Compute the input signal power estimation // 1- Compute the input signal power estimation
float* p_tmp_vector = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); float *p_tmp_vector = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
volk_32fc_magnitude_squared_32f(p_tmp_vector, in, d_fft_size); volk_32fc_magnitude_squared_32f(p_tmp_vector, in, d_fft_size);
const float* p_const_tmp_vector = p_tmp_vector; const float *p_const_tmp_vector = p_tmp_vector;
float power; float power;
volk_32f_accumulator_s32f(&power, p_const_tmp_vector, d_fft_size); volk_32f_accumulator_s32f(&power, p_const_tmp_vector, d_fft_size);
volk_gnsssdr_free(p_tmp_vector); volk_gnsssdr_free(p_tmp_vector);
return ( power / static_cast<float>(d_fft_size)); return (power / static_cast<float>(d_fft_size));
} }
int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_void_star &input_items) int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_void_star &input_items)
{ {
// initialize acquisition algorithm // initialize acquisition algorithm
@ -342,7 +328,7 @@ int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_vo
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
// 2- Doppler frequency search loop // 2- Doppler frequency search loop
float* p_tmp_vector = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); float *p_tmp_vector = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++) for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{ {
@ -362,7 +348,7 @@ int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_vo
// save the grid matrix delay file // save the grid matrix delay file
volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size); volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size);
const float* old_vector = d_grid_data[doppler_index]; const float *old_vector = d_grid_data[doppler_index];
volk_32f_x2_add_32f(d_grid_data[doppler_index], old_vector, p_tmp_vector, d_fft_size); volk_32f_x2_add_32f(d_grid_data[doppler_index], old_vector, p_tmp_vector, d_fft_size);
} }
volk_gnsssdr_free(p_tmp_vector); volk_gnsssdr_free(p_tmp_vector);
@ -370,7 +356,6 @@ int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_vo
} }
int pcps_assisted_acquisition_cc::general_work(int noutput_items, int pcps_assisted_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star &output_items __attribute__((unused)))
@ -413,7 +398,7 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
d_well_count++; d_well_count++;
if (d_well_count >= d_max_dwells) if (d_well_count >= d_max_dwells)
{ {
d_state=3; d_state = 3;
} }
d_sample_counter += consumed_samples; d_sample_counter += consumed_samples;
consume_each(consumed_samples); consume_each(consumed_samples);
@ -430,7 +415,7 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
if (d_disable_assist == false) if (d_disable_assist == false)
{ {
d_disable_assist = true; d_disable_assist = true;
std::cout << "Acq assist DISABLED for GPS SV "<< this->d_gnss_synchro->PRN << std::endl; std::cout << "Acq assist DISABLED for GPS SV " << this->d_gnss_synchro->PRN << std::endl;
d_state = 4; d_state = 4;
} }
else else

20
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h
View File

@ -58,7 +58,7 @@
class pcps_assisted_acquisition_cc; class pcps_assisted_acquisition_cc;
typedef boost::shared_ptr<pcps_assisted_acquisition_cc> typedef boost::shared_ptr<pcps_assisted_acquisition_cc>
pcps_assisted_acquisition_cc_sptr; pcps_assisted_acquisition_cc_sptr;
pcps_assisted_acquisition_cc_sptr pcps_assisted_acquisition_cc_sptr
pcps_make_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms, pcps_make_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
@ -71,7 +71,7 @@ pcps_make_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver", * Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation. * Algorithm 1, for a pseudocode description of this implementation.
*/ */
class pcps_assisted_acquisition_cc: public gr::block class pcps_assisted_acquisition_cc : public gr::block
{ {
private: private:
friend pcps_assisted_acquisition_cc_sptr friend pcps_assisted_acquisition_cc_sptr
@ -88,8 +88,8 @@ private:
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift, void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset); int doppler_offset);
int compute_and_accumulate_grid(gr_vector_const_void_star &input_items); int compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
float estimate_input_power(gr_vector_const_void_star &input_items); float estimate_input_power(gr_vector_const_void_star& input_items);
double search_maximum(); double search_maximum();
void get_assistance(); void get_assistance();
void reset_grid(); void reset_grid();
@ -122,7 +122,7 @@ private:
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_input_power; float d_input_power;
@ -170,7 +170,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -219,11 +219,11 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
void forecast (int noutput_items, gr_vector_int &ninput_items_required); void forecast(int noutput_items, gr_vector_int& ninput_items_required);
}; };
#endif /* GNSS_SDR_PCPS_assisted_acquisition_cc_H_*/ #endif /* GNSS_SDR_PCPS_assisted_acquisition_cc_H_*/

44
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc
View File

@ -61,8 +61,8 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
unsigned int sampled_ms, unsigned int max_dwells, unsigned int sampled_ms, unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in, unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code, int samples_per_ms, int samples_per_code,
bool dump, std::string dump_filename) : bool dump,
gr::block("pcps_cccwsr_acquisition_cc", std::string dump_filename) : gr::block("pcps_cccwsr_acquisition_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms), gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms)) gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{ {
@ -83,13 +83,13 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
d_input_power = 0.0; d_input_power = 0.0;
d_num_doppler_bins = 0; d_num_doppler_bins = 0;
d_fft_code_data = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_data = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_code_pilot = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_code_pilot = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_data_correlation = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_data_correlation = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_pilot_correlation = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_pilot_correlation = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_correlation_plus = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_correlation_plus = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_correlation_minus = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_correlation_minus = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
// Direct FFT // Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true); d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
@ -140,8 +140,8 @@ pcps_cccwsr_acquisition_cc::~pcps_cccwsr_acquisition_cc()
} }
} }
void pcps_cccwsr_acquisition_cc::set_local_code(std::complex<float>* code_data, void pcps_cccwsr_acquisition_cc::set_local_code(std::complex<float> *code_data,
std::complex<float>* code_pilot) std::complex<float> *code_pilot)
{ {
// Data code (E1B) // Data code (E1B)
memcpy(d_fft_if->get_inbuf(), code_data, sizeof(gr_complex) * d_fft_size); memcpy(d_fft_if->get_inbuf(), code_data, sizeof(gr_complex) * d_fft_size);
@ -149,7 +149,7 @@ void pcps_cccwsr_acquisition_cc::set_local_code(std::complex<float>* code_data,
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code //Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_data,d_fft_if->get_outbuf(),d_fft_size); volk_32fc_conjugate_32fc(d_fft_code_data, d_fft_if->get_outbuf(), d_fft_size);
// Pilot code (E1C) // Pilot code (E1C)
memcpy(d_fft_if->get_inbuf(), code_pilot, sizeof(gr_complex) * d_fft_size); memcpy(d_fft_if->get_inbuf(), code_pilot, sizeof(gr_complex) * d_fft_size);
@ -183,16 +183,16 @@ void pcps_cccwsr_acquisition_cc::init()
} }
// Create the carrier Doppler wipeoff signals // Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{ {
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index; int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in); float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
} }
} }
@ -211,7 +211,8 @@ void pcps_cccwsr_acquisition_cc::set_state(int state)
d_test_statistics = 0.0; d_test_statistics = 0.0;
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
@ -223,7 +224,6 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star &output_items __attribute__((unused)))
{ {
int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
switch (d_state) switch (d_state)
@ -268,7 +268,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
d_well_count++; d_well_count++;
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
@ -303,7 +303,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
// Copy the result of the correlation between wiped--off signal and data code in // Copy the result of the correlation between wiped--off signal and data code in
// d_data_correlation. // d_data_correlation.
memcpy(d_data_correlation, d_ifft->get_outbuf(), sizeof(gr_complex)*d_fft_size); memcpy(d_data_correlation, d_ifft->get_outbuf(), sizeof(gr_complex) * d_fft_size);
// Multiply carrier wiped--off, Fourier transformed incoming signal // Multiply carrier wiped--off, Fourier transformed incoming signal
// with the local FFT'd pilot code reference (E1C) using SIMD operations // with the local FFT'd pilot code reference (E1C) using SIMD operations
@ -316,7 +316,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
// Copy the result of the correlation between wiped--off signal and pilot code in // Copy the result of the correlation between wiped--off signal and pilot code in
// d_data_correlation. // d_data_correlation.
memcpy(d_pilot_correlation, d_ifft->get_outbuf(), sizeof(gr_complex)*d_fft_size); memcpy(d_pilot_correlation, d_ifft->get_outbuf(), sizeof(gr_complex) * d_fft_size);
for (unsigned int i = 0; i < d_fft_size; i++) for (unsigned int i = 0; i < d_fft_size; i++)
{ {
@ -364,10 +364,10 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str(""); filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System filename << "../data/test_statistics_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin? d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
} }

12
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h
View File

@ -59,7 +59,7 @@ pcps_cccwsr_make_acquisition_cc(unsigned int sampled_ms, unsigned int max_dwells
* \brief This class implements a Parallel Code Phase Search Acquisition with * \brief This class implements a Parallel Code Phase Search Acquisition with
* Coherent Channel Combining With Sign Recovery scheme. * Coherent Channel Combining With Sign Recovery scheme.
*/ */
class pcps_cccwsr_acquisition_cc: public gr::block class pcps_cccwsr_acquisition_cc : public gr::block
{ {
private: private:
friend pcps_cccwsr_acquisition_cc_sptr friend pcps_cccwsr_acquisition_cc_sptr
@ -96,7 +96,7 @@ private:
gr_complex* d_fft_code_pilot; gr_complex* d_fft_code_pilot;
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_mag; float d_mag;
@ -148,7 +148,7 @@ public:
* \param data_code - Pointer to the data PRN code. * \param data_code - Pointer to the data PRN code.
* \param pilot_code - Pointer to the pilot PRN code. * \param pilot_code - Pointer to the pilot PRN code.
*/ */
void set_local_code(std::complex<float> * code_data, std::complex<float> * code_pilot); void set_local_code(std::complex<float>* code_data, std::complex<float>* code_pilot);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -207,9 +207,9 @@ public:
/*! /*!
* \brief Coherent Channel Combining With Sign Recovery Acquisition signal processing. * \brief Coherent Channel Combining With Sign Recovery Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
}; };
#endif /* GNSS_SDR_PCPS_CCCWSR_ACQUISITION_CC_H_*/ #endif /* GNSS_SDR_PCPS_CCCWSR_ACQUISITION_CC_H_*/

128
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc
View File

@ -58,8 +58,8 @@
#include <volk/volk.h> #include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include "control_message_factory.h" #include "control_message_factory.h"
#include "fft_base_kernels.h" #include "opencl/fft_base_kernels.h"
#include "fft_internal.h" #include "opencl/fft_internal.h"
#include "GPS_L1_CA.h" //GPS_TWO_PI #include "GPS_L1_CA.h" //GPS_TWO_PI
@ -73,7 +73,6 @@ pcps_opencl_acquisition_cc_sptr pcps_make_opencl_acquisition_cc(
bool dump, bool dump,
std::string dump_filename) std::string dump_filename)
{ {
return pcps_opencl_acquisition_cc_sptr( return pcps_opencl_acquisition_cc_sptr(
new pcps_opencl_acquisition_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms, new pcps_opencl_acquisition_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms,
samples_per_code, bit_transition_flag, dump, dump_filename)); samples_per_code, bit_transition_flag, dump, dump_filename));
@ -85,8 +84,7 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
int samples_per_ms, int samples_per_code, int samples_per_ms, int samples_per_code,
bool bit_transition_flag, bool bit_transition_flag,
bool dump, bool dump,
std::string dump_filename) : std::string dump_filename) : gr::block("pcps_opencl_acquisition_cc",
gr::block("pcps_opencl_acquisition_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms), gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms)) gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{ {
@ -112,18 +110,18 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
d_in_dwell_count = 0; d_in_dwell_count = 0;
d_cl_fft_batch_size = 1; d_cl_fft_batch_size = 1;
d_in_buffer = new gr_complex*[d_max_dwells]; d_in_buffer = new gr_complex *[d_max_dwells];
for (unsigned int i = 0; i < d_max_dwells; i++) for (unsigned int i = 0; i < d_max_dwells; i++)
{ {
d_in_buffer[i] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_in_buffer[i] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
} }
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size_pow2 * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_codes = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size_pow2 * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_zero_vector = static_cast<gr_complex*>(volk_gnsssdr_malloc((d_fft_size_pow2 - d_fft_size) * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_zero_vector = static_cast<gr_complex *>(volk_gnsssdr_malloc((d_fft_size_pow2 - d_fft_size) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
for (unsigned int i = 0; i < (d_fft_size_pow2-d_fft_size); i++) for (unsigned int i = 0; i < (d_fft_size_pow2 - d_fft_size); i++)
{ {
d_zero_vector[i] = gr_complex(0.0,0.0); d_zero_vector[i] = gr_complex(0.0, 0.0);
} }
d_opencl = init_opencl_environment("math_kernel.cl"); d_opencl = init_opencl_environment("math_kernel.cl");
@ -140,11 +138,9 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
// For dumping samples into a file // For dumping samples into a file
d_dump = dump; d_dump = dump;
d_dump_filename = dump_filename; d_dump_filename = dump_filename;
} }
pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc() pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc()
{ {
if (d_num_doppler_bins > 0) if (d_num_doppler_bins > 0)
@ -174,7 +170,7 @@ pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc()
delete d_cl_buffer_2; delete d_cl_buffer_2;
delete d_cl_buffer_magnitude; delete d_cl_buffer_magnitude;
delete d_cl_buffer_fft_codes; delete d_cl_buffer_fft_codes;
if(d_num_doppler_bins > 0) if (d_num_doppler_bins > 0)
{ {
delete[] d_cl_buffer_grid_doppler_wipeoffs; delete[] d_cl_buffer_grid_doppler_wipeoffs;
} }
@ -194,14 +190,13 @@ pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc()
} }
int pcps_opencl_acquisition_cc::init_opencl_environment(std::string kernel_filename) int pcps_opencl_acquisition_cc::init_opencl_environment(std::string kernel_filename)
{ {
//get all platforms (drivers) //get all platforms (drivers)
std::vector<cl::Platform> all_platforms; std::vector<cl::Platform> all_platforms;
cl::Platform::get(&all_platforms); cl::Platform::get(&all_platforms);
if(all_platforms.size()==0) if (all_platforms.size() == 0)
{ {
std::cout << "No OpenCL platforms found. Check OpenCL installation!" << std::endl; std::cout << "No OpenCL platforms found. Check OpenCL installation!" << std::endl;
return 1; return 1;
@ -215,7 +210,7 @@ int pcps_opencl_acquisition_cc::init_opencl_environment(std::string kernel_filen
std::vector<cl::Device> gpu_devices; std::vector<cl::Device> gpu_devices;
d_cl_platform.getDevices(CL_DEVICE_TYPE_GPU, &gpu_devices); d_cl_platform.getDevices(CL_DEVICE_TYPE_GPU, &gpu_devices);
if(gpu_devices.size()==0) if (gpu_devices.size() == 0)
{ {
std::cout << "No GPU devices found. Check OpenCL installation!" << std::endl; std::cout << "No GPU devices found. Check OpenCL installation!" << std::endl;
return 2; return 2;
@ -240,10 +235,10 @@ int pcps_opencl_acquisition_cc::init_opencl_environment(std::string kernel_filen
cl::Program::Sources sources; cl::Program::Sources sources;
sources.push_back({kernel_code.c_str(),kernel_code.length()}); sources.push_back({kernel_code.c_str(), kernel_code.length()});
cl::Program program(context,sources); cl::Program program(context, sources);
if(program.build(device)!=CL_SUCCESS) if (program.build(device) != CL_SUCCESS)
{ {
std::cout << " Error building: " std::cout << " Error building: "
<< program.getBuildInfo<CL_PROGRAM_BUILD_LOG>(device[0]) << program.getBuildInfo<CL_PROGRAM_BUILD_LOG>(device[0])
@ -253,14 +248,14 @@ int pcps_opencl_acquisition_cc::init_opencl_environment(std::string kernel_filen
d_cl_program = program; d_cl_program = program;
// create buffers on the device // create buffers on the device
d_cl_buffer_in = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex)*d_fft_size); d_cl_buffer_in = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex) * d_fft_size);
d_cl_buffer_fft_codes = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex)*d_fft_size_pow2); d_cl_buffer_fft_codes = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex) * d_fft_size_pow2);
d_cl_buffer_1 = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex)*d_fft_size_pow2); d_cl_buffer_1 = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex) * d_fft_size_pow2);
d_cl_buffer_2 = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex)*d_fft_size_pow2); d_cl_buffer_2 = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex) * d_fft_size_pow2);
d_cl_buffer_magnitude = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(float)*d_fft_size); d_cl_buffer_magnitude = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(float) * d_fft_size);
//create queue to which we will push commands for the device. //create queue to which we will push commands for the device.
d_cl_queue = new cl::CommandQueue(d_cl_context,d_cl_device); d_cl_queue = new cl::CommandQueue(d_cl_context, d_cl_device);
//create FFT plan //create FFT plan
cl_int err; cl_int err;
@ -286,7 +281,6 @@ int pcps_opencl_acquisition_cc::init_opencl_environment(std::string kernel_filen
} }
void pcps_opencl_acquisition_cc::init() void pcps_opencl_acquisition_cc::init()
{ {
d_gnss_synchro->Flag_valid_acquisition = false; d_gnss_synchro->Flag_valid_acquisition = false;
@ -310,29 +304,29 @@ void pcps_opencl_acquisition_cc::init()
} }
// Create the carrier Doppler wipeoff signals // Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
if (d_opencl == 0) if (d_opencl == 0)
{ {
d_cl_buffer_grid_doppler_wipeoffs = new cl::Buffer*[d_num_doppler_bins]; d_cl_buffer_grid_doppler_wipeoffs = new cl::Buffer *[d_num_doppler_bins];
} }
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{ {
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index; int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = static_cast<float>(GPS_TWO_PI) * (d_freq + doppler) / static_cast<float>(d_fs_in); float phase_step_rad = static_cast<float>(GPS_TWO_PI) * (d_freq + doppler) / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
if (d_opencl == 0) if (d_opencl == 0)
{ {
d_cl_buffer_grid_doppler_wipeoffs[doppler_index] = d_cl_buffer_grid_doppler_wipeoffs[doppler_index] =
new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex)*d_fft_size); new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex) * d_fft_size);
d_cl_queue->enqueueWriteBuffer(*(d_cl_buffer_grid_doppler_wipeoffs[doppler_index]), d_cl_queue->enqueueWriteBuffer(*(d_cl_buffer_grid_doppler_wipeoffs[doppler_index]),
CL_TRUE, 0, sizeof(gr_complex)*d_fft_size, CL_TRUE, 0, sizeof(gr_complex) * d_fft_size,
d_grid_doppler_wipeoffs[doppler_index]); d_grid_doppler_wipeoffs[doppler_index]);
} }
} }
@ -340,25 +334,24 @@ void pcps_opencl_acquisition_cc::init()
// zero padding in buffer_1 (FFT input) // zero padding in buffer_1 (FFT input)
if (d_opencl == 0) if (d_opencl == 0)
{ {
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_1, CL_TRUE, sizeof(gr_complex)*d_fft_size, d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_1, CL_TRUE, sizeof(gr_complex) * d_fft_size,
sizeof(gr_complex)*(d_fft_size_pow2 - d_fft_size), d_zero_vector); sizeof(gr_complex) * (d_fft_size_pow2 - d_fft_size), d_zero_vector);
} }
} }
void pcps_opencl_acquisition_cc::set_local_code(std::complex<float> * code) void pcps_opencl_acquisition_cc::set_local_code(std::complex<float> *code)
{ {
if(d_opencl == 0) if (d_opencl == 0)
{ {
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, 0, d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, 0,
sizeof(gr_complex)*d_fft_size, code); sizeof(gr_complex) * d_fft_size, code);
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, sizeof(gr_complex)*d_fft_size, d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, sizeof(gr_complex) * d_fft_size,
sizeof(gr_complex)*(d_fft_size_pow2 - 2*d_fft_size), sizeof(gr_complex) * (d_fft_size_pow2 - 2 * d_fft_size),
d_zero_vector); d_zero_vector);
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, sizeof(gr_complex) d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, sizeof(gr_complex) * (d_fft_size_pow2 - d_fft_size),
*(d_fft_size_pow2 - d_fft_size), sizeof(gr_complex) * d_fft_size, code);
sizeof(gr_complex)*d_fft_size, code);
clFFT_ExecuteInterleaved((*d_cl_queue)(), d_cl_fft_plan, d_cl_fft_batch_size, clFFT_ExecuteInterleaved((*d_cl_queue)(), d_cl_fft_plan, d_cl_fft_batch_size,
clFFT_Forward, (*d_cl_buffer_2)(), (*d_cl_buffer_2)(), clFFT_Forward, (*d_cl_buffer_2)(), (*d_cl_buffer_2)(),
@ -372,7 +365,7 @@ void pcps_opencl_acquisition_cc::set_local_code(std::complex<float> * code)
} }
else else
{ {
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex)*d_fft_size); memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
@ -388,7 +381,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
uint32_t indext = 0; uint32_t indext = 0;
float magt = 0.0; float magt = 0.0;
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size); float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
gr_complex* in = d_in_buffer[d_well_count]; gr_complex *in = d_in_buffer[d_well_count];
unsigned long int samplestamp = d_sample_counter_buffer[d_well_count]; unsigned long int samplestamp = d_sample_counter_buffer[d_well_count];
d_input_power = 0.0; d_input_power = 0.0;
@ -397,7 +390,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
d_well_count++; d_well_count++;
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
@ -466,10 +459,10 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str(""); filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System filename << "../data/test_statistics_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin? d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
} }
@ -510,23 +503,23 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
uint32_t indext = 0; uint32_t indext = 0;
float magt = 0.0; float magt = 0.0;
float fft_normalization_factor = (static_cast<float>(d_fft_size_pow2) * static_cast<float>(d_fft_size)); //This works, but I am not sure why. float fft_normalization_factor = (static_cast<float>(d_fft_size_pow2) * static_cast<float>(d_fft_size)); //This works, but I am not sure why.
gr_complex* in = d_in_buffer[d_well_count]; gr_complex *in = d_in_buffer[d_well_count];
unsigned long int samplestamp = d_sample_counter_buffer[d_well_count]; unsigned long int samplestamp = d_sample_counter_buffer[d_well_count];
d_input_power = 0.0; d_input_power = 0.0;
d_mag = 0.0; d_mag = 0.0;
// write input vector in buffer of OpenCL device // write input vector in buffer of OpenCL device
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_in, CL_TRUE, 0, sizeof(gr_complex)*d_fft_size, in); d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_in, CL_TRUE, 0, sizeof(gr_complex) * d_fft_size, in);
d_well_count++; d_well_count++;
// struct timeval tv; // struct timeval tv;
// long long int begin = 0; // long long int begin = 0;
// long long int end = 0; // long long int end = 0;
// gettimeofday(&tv, NULL); // gettimeofday(&tv, NULL);
// begin = tv.tv_sec *1e6 + tv.tv_usec; // begin = tv.tv_sec *1e6 + tv.tv_usec;
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
@ -546,14 +539,14 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
{ {
// doppler search steps // doppler search steps
doppler = -static_cast<int>(d_doppler_max) + d_doppler_step*doppler_index; doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
//Multiply input signal with doppler wipe-off //Multiply input signal with doppler wipe-off
kernel = cl::Kernel(d_cl_program, "mult_vectors"); kernel = cl::Kernel(d_cl_program, "mult_vectors");
kernel.setArg(0, *d_cl_buffer_in); //input 1 kernel.setArg(0, *d_cl_buffer_in); //input 1
kernel.setArg(1, *d_cl_buffer_grid_doppler_wipeoffs[doppler_index]); //input 2 kernel.setArg(1, *d_cl_buffer_grid_doppler_wipeoffs[doppler_index]); //input 2
kernel.setArg(2, *d_cl_buffer_1); //output kernel.setArg(2, *d_cl_buffer_1); //output
d_cl_queue->enqueueNDRangeKernel(kernel,cl::NullRange, cl::NDRange(d_fft_size), d_cl_queue->enqueueNDRangeKernel(kernel, cl::NullRange, cl::NDRange(d_fft_size),
cl::NullRange); cl::NullRange);
// In the previous operation, we store the result in the first d_fft_size positions // In the previous operation, we store the result in the first d_fft_size positions
@ -561,7 +554,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
// (zero-padding is made in init() for optimization purposes). // (zero-padding is made in init() for optimization purposes).
clFFT_ExecuteInterleaved((*d_cl_queue)(), d_cl_fft_plan, d_cl_fft_batch_size, clFFT_ExecuteInterleaved((*d_cl_queue)(), d_cl_fft_plan, d_cl_fft_batch_size,
clFFT_Forward,(*d_cl_buffer_1)(), (*d_cl_buffer_2)(), clFFT_Forward, (*d_cl_buffer_1)(), (*d_cl_buffer_2)(),
0, NULL, NULL); 0, NULL, NULL);
// Multiply carrier wiped--off, Fourier transformed incoming signal // Multiply carrier wiped--off, Fourier transformed incoming signal
@ -588,7 +581,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
// This is the only function that blocks this thread until all previously enqueued // This is the only function that blocks this thread until all previously enqueued
// OpenCL commands are completed. // OpenCL commands are completed.
d_cl_queue->enqueueReadBuffer(*d_cl_buffer_magnitude, CL_TRUE, 0, d_cl_queue->enqueueReadBuffer(*d_cl_buffer_magnitude, CL_TRUE, 0,
sizeof(float)*d_fft_size,d_magnitude); sizeof(float) * d_fft_size, d_magnitude);
// Search maximum // Search maximum
// @TODO: find an efficient way to search the maximum with OpenCL in the GPU. // @TODO: find an efficient way to search the maximum with OpenCL in the GPU.
@ -631,14 +624,14 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
<< "_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin? d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
} }
// gettimeofday(&tv, NULL); // gettimeofday(&tv, NULL);
// end = tv.tv_sec *1e6 + tv.tv_usec; // end = tv.tv_sec *1e6 + tv.tv_usec;
// std::cout << "Acq time = " << (end-begin) << " us" << std::endl; // std::cout << "Acq time = " << (end-begin) << " us" << std::endl;
if (!d_bit_transition_flag) if (!d_bit_transition_flag)
{ {
@ -686,7 +679,8 @@ void pcps_opencl_acquisition_cc::set_state(int state)
d_sample_counter_buffer.clear(); d_sample_counter_buffer.clear();
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
@ -733,8 +727,8 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
unsigned int num_dwells = std::min(static_cast<int>(d_max_dwells - d_in_dwell_count), ninput_items[0]); unsigned int num_dwells = std::min(static_cast<int>(d_max_dwells - d_in_dwell_count), ninput_items[0]);
for (unsigned int i = 0; i < num_dwells; i++) for (unsigned int i = 0; i < num_dwells; i++)
{ {
memcpy(d_in_buffer[d_in_dwell_count++], static_cast<const gr_complex*>(input_items[i]), memcpy(d_in_buffer[d_in_dwell_count++], static_cast<const gr_complex *>(input_items[i]),
sizeof(gr_complex)*d_fft_size); sizeof(gr_complex) * d_fft_size);
d_sample_counter += d_fft_size; d_sample_counter += d_fft_size;
d_sample_counter_buffer.push_back(d_sample_counter); d_sample_counter_buffer.push_back(d_sample_counter);
} }

18
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h
View File

@ -57,13 +57,13 @@
#include <gnuradio/block.h> #include <gnuradio/block.h>
#include <gnuradio/gr_complex.h> #include <gnuradio/gr_complex.h>
#include <gnuradio/fft/fft.h> #include <gnuradio/fft/fft.h>
#include "fft_internal.h" #include "opencl/fft_internal.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#ifdef __APPLE__ #ifdef __APPLE__
#include "cl.hpp" #include "opencl/cl.hpp"
#else #else
#include <CL/cl.hpp> #include <CL/cl.hpp>
#endif #endif
class pcps_opencl_acquisition_cc; class pcps_opencl_acquisition_cc;
@ -84,7 +84,7 @@ pcps_make_opencl_acquisition_cc(unsigned int sampled_ms, unsigned int max_dwells
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver", * Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation. * Algorithm 1, for a pseudocode description of this implementation.
*/ */
class pcps_opencl_acquisition_cc: public gr::block class pcps_opencl_acquisition_cc : public gr::block
{ {
private: private:
friend pcps_opencl_acquisition_cc_sptr friend pcps_opencl_acquisition_cc_sptr
@ -128,7 +128,7 @@ private:
gr_complex* d_fft_codes; gr_complex* d_fft_codes;
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_mag; float d_mag;
@ -197,7 +197,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -256,9 +256,9 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
void acquisition_core_volk(); void acquisition_core_volk();

50
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
View File

@ -67,10 +67,10 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
unsigned int doppler_max, long freq, long fs_in, unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code, int samples_per_ms, int samples_per_code,
bool bit_transition_flag, bool bit_transition_flag,
bool dump, std::string dump_filename): bool dump,
gr::block("pcps_quicksync_acquisition_cc", std::string dump_filename) : gr::block("pcps_quicksync_acquisition_cc",
gr::io_signature::make(1, 1, (sizeof(gr_complex)*sampled_ms * samples_per_ms )), gr::io_signature::make(1, 1, (sizeof(gr_complex) * sampled_ms * samples_per_ms)),
gr::io_signature::make(0, 0, (sizeof(gr_complex)*sampled_ms * samples_per_ms ))) gr::io_signature::make(0, 0, (sizeof(gr_complex) * sampled_ms * samples_per_ms)))
{ {
this->message_port_register_out(pmt::mp("events")); this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER d_sample_counter = 0; // SAMPLE COUNTER
@ -178,7 +178,7 @@ void pcps_quicksync_acquisition_cc::set_local_code(std::complex<float>* code)
in the frequency domain after applying the fftw operation*/ in the frequency domain after applying the fftw operation*/
for (unsigned int i = 0; i < d_folding_factor; i++) for (unsigned int i = 0; i < d_folding_factor; i++)
{ {
std::transform ((code + i * d_fft_size), (code + ((i + 1) * d_fft_size)) , std::transform((code + i * d_fft_size), (code + ((i + 1) * d_fft_size)),
d_fft_if->get_inbuf(), d_fft_if->get_inbuf(), d_fft_if->get_inbuf(), d_fft_if->get_inbuf(),
std::plus<gr_complex>()); std::plus<gr_complex>());
} }
@ -187,7 +187,6 @@ void pcps_quicksync_acquisition_cc::set_local_code(std::complex<float>* code)
//Conjugate the local code //Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size); volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
} }
@ -205,7 +204,7 @@ void pcps_quicksync_acquisition_cc::init()
d_mag = 0.0; d_mag = 0.0;
d_input_power = 0.0; d_input_power = 0.0;
if(d_doppler_step == 0) d_doppler_step = 250; if (d_doppler_step == 0) d_doppler_step = 250;
// Count the number of bins // Count the number of bins
d_num_doppler_bins = 0; d_num_doppler_bins = 0;
@ -225,14 +224,14 @@ void pcps_quicksync_acquisition_cc::init()
float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in); float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_samples_per_code * d_folding_factor); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_samples_per_code * d_folding_factor);
} }
// DLOG(INFO) << "end init"; // DLOG(INFO) << "end init";
} }
void pcps_quicksync_acquisition_cc::set_state(int state) void pcps_quicksync_acquisition_cc::set_state(int state)
{ {
d_state = state; d_state = state;
if (d_state == 1) if (d_state == 1)
{ {
@ -246,16 +245,17 @@ void pcps_quicksync_acquisition_cc::set_state(int state)
d_active = 1; d_active = 1;
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
} }
} }
int pcps_quicksync_acquisition_cc::general_work(int noutput_items, int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_int& ninput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star& output_items __attribute__((unused)))
{ {
/* /*
* By J.Arribas, L.Esteve and M.Molina * By J.Arribas, L.Esteve and M.Molina
@ -302,7 +302,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
int doppler; int doppler;
uint32_t indext = 0; uint32_t indext = 0;
float magt = 0.0; float magt = 0.0;
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer const gr_complex* in = reinterpret_cast<const gr_complex*>(input_items[0]); //Get the input samples pointer
gr_complex* in_temp = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_samples_per_code * d_folding_factor * sizeof(gr_complex), volk_gnsssdr_get_alignment())); gr_complex* in_temp = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_samples_per_code * d_folding_factor * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
gr_complex* in_temp_folded = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); gr_complex* in_temp_folded = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
@ -331,7 +331,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << " , doing acquisition of satellite: "
<< d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,algorithm: pcps_quicksync_acquisition" << " ,algorithm: pcps_quicksync_acquisition"
<< " ,folding factor: " << d_folding_factor << " ,folding factor: " << d_folding_factor
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
@ -352,7 +352,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
at zero. This is done to avoid over acumulation when performing at zero. This is done to avoid over acumulation when performing
the folding process to be stored in d_fft_if->get_inbuf()*/ the folding process to be stored in d_fft_if->get_inbuf()*/
d_signal_folded = new gr_complex[d_fft_size](); d_signal_folded = new gr_complex[d_fft_size]();
memcpy( d_fft_if->get_inbuf(), d_signal_folded, sizeof(gr_complex) * (d_fft_size)); memcpy(d_fft_if->get_inbuf(), d_signal_folded, sizeof(gr_complex) * (d_fft_size));
/*Doppler search steps and then multiplication of the incoming /*Doppler search steps and then multiplication of the incoming
signal with the doppler wipeoffs to eliminate frequency offset signal with the doppler wipeoffs to eliminate frequency offset
@ -369,10 +369,10 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
/*Perform folding of the carrier wiped-off incoming signal. Since /*Perform folding of the carrier wiped-off incoming signal. Since
superlinear method is being used the folding factor in the superlinear method is being used the folding factor in the
incoming raw data signal is of d_folding_factor^2*/ incoming raw data signal is of d_folding_factor^2*/
for ( int i = 0; i < static_cast<int>(d_folding_factor * d_folding_factor); i++) for (int i = 0; i < static_cast<int>(d_folding_factor * d_folding_factor); i++)
{ {
std::transform ((in_temp + i * d_fft_size), std::transform((in_temp + i * d_fft_size),
(in_temp + ((i + 1) * d_fft_size)) , (in_temp + ((i + 1) * d_fft_size)),
d_fft_if->get_inbuf(), d_fft_if->get_inbuf(),
d_fft_if->get_inbuf(), d_fft_if->get_inbuf(),
std::plus<gr_complex>()); std::plus<gr_complex>());
@ -427,15 +427,14 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
for (int i = 0; i < static_cast<int>(d_folding_factor); i++) for (int i = 0; i < static_cast<int>(d_folding_factor); i++)
{ {
d_possible_delay[i] = detected_delay_samples_folded + (i) * d_fft_size; d_possible_delay[i] = detected_delay_samples_folded + (i)*d_fft_size;
} }
for ( int i = 0; i < static_cast<int>(d_folding_factor); i++) for (int i = 0; i < static_cast<int>(d_folding_factor); i++)
{ {
/*Copy a signal of 1 code length into suggested buffer. /*Copy a signal of 1 code length into suggested buffer.
The copied signal must have doppler effect corrected*/ The copied signal must have doppler effect corrected*/
memcpy(in_1code,&in_temp[d_possible_delay[i]], memcpy(in_1code, &in_temp[d_possible_delay[i]],
sizeof(gr_complex) * (d_samples_per_code)); sizeof(gr_complex) * (d_samples_per_code));
/*Perform multiplication of the unmodified local /*Perform multiplication of the unmodified local
@ -445,11 +444,10 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
of a shift*/ of a shift*/
volk_32fc_x2_multiply_32fc(corr_output, in_1code, d_code, d_samples_per_code); volk_32fc_x2_multiply_32fc(corr_output, in_1code, d_code, d_samples_per_code);
for(int j = 0; j < d_samples_per_code; j++) for (int j = 0; j < d_samples_per_code; j++)
{ {
complex_acumulator[i] += (corr_output[j]); complex_acumulator[i] += (corr_output[j]);
} }
} }
/*Obtain maximun value of correlation given the possible delay selected */ /*Obtain maximun value of correlation given the possible delay selected */
volk_32fc_magnitude_squared_32f(d_corr_output_f, complex_acumulator, d_folding_factor); volk_32fc_magnitude_squared_32f(d_corr_output_f, complex_acumulator, d_folding_factor);
@ -557,7 +555,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
DLOG(INFO) << "sample_stamp " << d_sample_counter; DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << d_test_statistics; DLOG(INFO) << "test statistics value " << d_test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold; DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "folding factor "<<d_folding_factor; DLOG(INFO) << "folding factor " << d_folding_factor;
DLOG(INFO) << "possible delay corr output"; DLOG(INFO) << "possible delay corr output";
for (int i = 0; i < static_cast<int>(d_folding_factor); i++) DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i]; for (int i = 0; i < static_cast<int>(d_folding_factor); i++) DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i];
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples; DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;

14
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h
View File

@ -64,7 +64,7 @@
class pcps_quicksync_acquisition_cc; class pcps_quicksync_acquisition_cc;
typedef boost::shared_ptr<pcps_quicksync_acquisition_cc> typedef boost::shared_ptr<pcps_quicksync_acquisition_cc>
pcps_quicksync_acquisition_cc_sptr; pcps_quicksync_acquisition_cc_sptr;
pcps_quicksync_acquisition_cc_sptr pcps_quicksync_acquisition_cc_sptr
pcps_quicksync_make_acquisition_cc(unsigned int folding_factor, pcps_quicksync_make_acquisition_cc(unsigned int folding_factor,
@ -82,7 +82,7 @@ pcps_quicksync_make_acquisition_cc(unsigned int folding_factor,
* Check \ref Navitec2012 "Faster GPS via the Sparse Fourier Transform", * Check \ref Navitec2012 "Faster GPS via the Sparse Fourier Transform",
* for details of its implementation and functionality. * for details of its implementation and functionality.
*/ */
class pcps_quicksync_acquisition_cc: public gr::block class pcps_quicksync_acquisition_cc : public gr::block
{ {
private: private:
friend pcps_quicksync_acquisition_cc_sptr friend pcps_quicksync_acquisition_cc_sptr
@ -135,7 +135,7 @@ private:
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_fft_if2; gr::fft::fft_complex* d_fft_if2;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_mag; float d_mag;
@ -183,7 +183,7 @@ public:
* \brief Sets local code for PCPS acquisition algorithm. * \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -242,9 +242,9 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
}; };
#endif /* GNSS_SDR_PCPS_ACQUISITION_CC_H_*/ #endif /* GNSS_SDR_PCPS_ACQUISITION_CC_H_*/

35
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc
View File

@ -76,8 +76,8 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
long freq, long fs_in, int samples_per_ms, long freq, long fs_in, int samples_per_ms,
int samples_per_code, unsigned int tong_init_val, int samples_per_code, unsigned int tong_init_val,
unsigned int tong_max_val, unsigned int tong_max_dwells, unsigned int tong_max_val, unsigned int tong_max_dwells,
bool dump, std::string dump_filename) : bool dump,
gr::block("pcps_tong_acquisition_cc", std::string dump_filename) : gr::block("pcps_tong_acquisition_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms), gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms)) gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{ {
@ -101,8 +101,8 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
d_input_power = 0.0; d_input_power = 0.0;
d_num_doppler_bins = 0; d_num_doppler_bins = 0;
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_fft_codes = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
// Direct FFT // Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true); d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
@ -151,9 +151,9 @@ pcps_tong_acquisition_cc::~pcps_tong_acquisition_cc()
} }
} }
void pcps_tong_acquisition_cc::set_local_code(std::complex<float> * code) void pcps_tong_acquisition_cc::set_local_code(std::complex<float> *code)
{ {
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex)*d_fft_size); memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code d_fft_if->execute(); // We need the FFT of local code
@ -184,19 +184,19 @@ void pcps_tong_acquisition_cc::init()
} }
// Create the carrier Doppler wipeoff signals and allocate data grid. // Create the carrier Doppler wipeoff signals and allocate data grid.
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
d_grid_data = new float*[d_num_doppler_bins]; d_grid_data = new float *[d_num_doppler_bins];
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{ {
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index; int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in); float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float _phase[1]; float _phase[1];
_phase[0] = 0; _phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], - phase_step_rad, _phase, d_fft_size); volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
d_grid_data[doppler_index] = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment())); d_grid_data[doppler_index] = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
for (unsigned int i = 0; i < d_fft_size; i++) for (unsigned int i = 0; i < d_fft_size; i++)
{ {
@ -228,7 +228,8 @@ void pcps_tong_acquisition_cc::set_state(int state)
} }
} }
else if (d_state == 0) else if (d_state == 0)
{} {
}
else else
{ {
LOG(ERROR) << "State can only be set to 0 or 1"; LOG(ERROR) << "State can only be set to 0 or 1";
@ -290,7 +291,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
d_dwell_count++; d_dwell_count++;
DLOG(INFO) << "Channel: " << d_channel DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: " << " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max << d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step; << ", doppler_step: " << d_doppler_step;
@ -327,7 +328,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
// Compute vector of test statistics corresponding to current doppler index. // Compute vector of test statistics corresponding to current doppler index.
volk_32f_s32f_multiply_32f(d_magnitude, d_magnitude, volk_32f_s32f_multiply_32f(d_magnitude, d_magnitude,
1/(fft_normalization_factor*fft_normalization_factor*d_input_power), 1 / (fft_normalization_factor * fft_normalization_factor * d_input_power),
d_fft_size); d_fft_size);
// Accumulate test statistics in d_grid_data. // Accumulate test statistics in d_grid_data.
@ -354,10 +355,10 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str(""); filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System filename << "../data/test_statistics_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_" << "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat"; << d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary); d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin? d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close(); d_dump_file.close();
} }
} }
@ -382,7 +383,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
} }
} }
if(d_dwell_count >= d_tong_max_dwells) if (d_dwell_count >= d_tong_max_dwells)
{ {
d_state = 3; // Negative acquisition d_state = 3; // Negative acquisition
} }

12
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.h
View File

@ -74,7 +74,7 @@ pcps_tong_make_acquisition_cc(unsigned int sampled_ms, unsigned int doppler_max,
* \brief This class implements a Parallel Code Phase Search Acquisition with * \brief This class implements a Parallel Code Phase Search Acquisition with
* Tong algorithm. * Tong algorithm.
*/ */
class pcps_tong_acquisition_cc: public gr::block class pcps_tong_acquisition_cc : public gr::block
{ {
private: private:
friend pcps_tong_acquisition_cc_sptr friend pcps_tong_acquisition_cc_sptr
@ -116,7 +116,7 @@ private:
float** d_grid_data; float** d_grid_data;
gr::fft::fft_complex* d_fft_if; gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase; unsigned int d_code_phase;
float d_doppler_freq; float d_doppler_freq;
float d_mag; float d_mag;
@ -163,7 +163,7 @@ public:
* \brief Sets local code for TONG acquisition algorithm. * \brief Sets local code for TONG acquisition algorithm.
* \param code - Pointer to the PRN code. * \param code - Pointer to the PRN code.
*/ */
void set_local_code(std::complex<float> * code); void set_local_code(std::complex<float>* code);
/*! /*!
* \brief Starts acquisition algorithm, turning from standby mode to * \brief Starts acquisition algorithm, turning from standby mode to
@ -222,9 +222,9 @@ public:
/*! /*!
* \brief Parallel Code Phase Search Acquisition signal processing. * \brief Parallel Code Phase Search Acquisition signal processing.
*/ */
int general_work(int noutput_items, gr_vector_int &ninput_items, int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star &input_items, gr_vector_const_void_star& input_items,
gr_vector_void_star &output_items); gr_vector_void_star& output_items);
}; };
#endif /* GNSS_SDR_PCPS_TONG_ACQUISITION_CC_H_ */ #endif /* GNSS_SDR_PCPS_TONG_ACQUISITION_CC_H_ */

21
src/algorithms/channel/adapters/channel.cc
View File

@ -39,7 +39,7 @@
using google::LogMessage; using google::LogMessage;
// Constructor // Constructor
Channel::Channel(ConfigurationInterface *configuration, unsigned int channel, Channel::Channel(ConfigurationInterface* configuration, unsigned int channel,
std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq, std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav, std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
std::string role, std::string implementation, gr::msg_queue::sptr queue) std::string role, std::string implementation, gr::msg_queue::sptr queue)
@ -64,10 +64,10 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
trk_->set_gnss_synchro(&gnss_synchro_); trk_->set_gnss_synchro(&gnss_synchro_);
// Provide a warning to the user about the change of parameter name // Provide a warning to the user about the change of parameter name
if(channel_ == 0) if (channel_ == 0)
{ {
long int deprecation_warning = configuration->property("GNSS-SDR.internal_fs_hz", 0); long int deprecation_warning = configuration->property("GNSS-SDR.internal_fs_hz", 0);
if(deprecation_warning != 0) if (deprecation_warning != 0)
{ {
std::cout << "WARNING: The global parameter name GNSS-SDR.internal_fs_hz has been DEPRECATED." << std::endl; std::cout << "WARNING: The global parameter name GNSS-SDR.internal_fs_hz has been DEPRECATED." << std::endl;
std::cout << "WARNING: Please replace it by GNSS-SDR.internal_fs_sps in your configuration file." << std::endl; std::cout << "WARNING: Please replace it by GNSS-SDR.internal_fs_sps in your configuration file." << std::endl;
@ -77,14 +77,14 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
// IMPORTANT: Do not change the order between set_doppler_step and set_threshold // IMPORTANT: Do not change the order between set_doppler_step and set_threshold
unsigned int doppler_step = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".doppler_step", 0); unsigned int doppler_step = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".doppler_step", 0);
if(doppler_step == 0) doppler_step = configuration->property("Acquisition_" + implementation_ + ".doppler_step", 500); if (doppler_step == 0) doppler_step = configuration->property("Acquisition_" + implementation_ + ".doppler_step", 500);
if(FLAGS_doppler_step != 0) doppler_step = static_cast<unsigned int>(FLAGS_doppler_step); if (FLAGS_doppler_step != 0) doppler_step = static_cast<unsigned int>(FLAGS_doppler_step);
DLOG(INFO) << "Channel "<< channel_ << " Doppler_step = " << doppler_step; DLOG(INFO) << "Channel " << channel_ << " Doppler_step = " << doppler_step;
acq_->set_doppler_step(doppler_step); acq_->set_doppler_step(doppler_step);
float threshold = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".threshold", 0.0); float threshold = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".threshold", 0.0);
if(threshold == 0.0) threshold = configuration->property("Acquisition_" + implementation_ + ".threshold", 0.0); if (threshold == 0.0) threshold = configuration->property("Acquisition_" + implementation_ + ".threshold", 0.0);
acq_->set_threshold(threshold); acq_->set_threshold(threshold);
@ -107,7 +107,7 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
// Destructor // Destructor
Channel::~Channel(){} Channel::~Channel() {}
void Channel::connect(gr::top_block_sptr top_block) void Channel::connect(gr::top_block_sptr top_block)
@ -190,7 +190,7 @@ void Channel::set_signal(const Gnss_Signal& gnss_signal)
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
gnss_signal_ = gnss_signal; gnss_signal_ = gnss_signal;
std::string str_aux = gnss_signal_.get_signal_str(); std::string str_aux = gnss_signal_.get_signal_str();
const char * str = str_aux.c_str(); // get a C style null terminated string const char* str = str_aux.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(gnss_synchro_.Signal), str, 3); // copy string into synchro char array: 2 char + null std::memcpy(static_cast<void*>(gnss_synchro_.Signal), str, 3); // copy string into synchro char array: 2 char + null
gnss_synchro_.Signal[2] = 0; // make sure that string length is only two characters gnss_synchro_.Signal[2] = 0; // make sure that string length is only two characters
gnss_synchro_.PRN = gnss_signal_.get_satellite().get_PRN(); gnss_synchro_.PRN = gnss_signal_.get_satellite().get_PRN();
@ -205,11 +205,10 @@ void Channel::start_acquisition()
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
bool result = false; bool result = false;
result = channel_fsm_->Event_start_acquisition(); result = channel_fsm_->Event_start_acquisition();
if(!result) if (!result)
{ {
LOG(WARNING) << "Invalid channel event"; LOG(WARNING) << "Invalid channel event";
return; return;
} }
DLOG(INFO) << "Channel start_acquisition()"; DLOG(INFO) << "Channel start_acquisition()";
} }

11
src/algorithms/channel/adapters/channel.h
View File

@ -56,12 +56,11 @@ class TelemetryDecoderInterface;
* their interaction through a Finite State Machine * their interaction through a Finite State Machine
* *
*/ */
class Channel: public ChannelInterface class Channel : public ChannelInterface
{ {
public: public:
//! Constructor //! Constructor
Channel(ConfigurationInterface *configuration, unsigned int channel, Channel(ConfigurationInterface* configuration, unsigned int channel,
std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq, std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav, std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
std::string role, std::string implementation, gr::msg_queue::sptr queue); std::string role, std::string implementation, gr::msg_queue::sptr queue);
@ -85,9 +84,9 @@ public:
void start_acquisition() override; //!< Start the State Machine void start_acquisition() override; //!< Start the State Machine
void set_signal(const Gnss_Signal& gnss_signal_) override; //!< Sets the channel GNSS signal void set_signal(const Gnss_Signal& gnss_signal_) override; //!< Sets the channel GNSS signal
inline std::shared_ptr<AcquisitionInterface> acquisition(){ return acq_; } inline std::shared_ptr<AcquisitionInterface> acquisition() { return acq_; }
inline std::shared_ptr<TrackingInterface> tracking(){ return trk_; } inline std::shared_ptr<TrackingInterface> tracking() { return trk_; }
inline std::shared_ptr<TelemetryDecoderInterface> telemetry(){ return nav_; } inline std::shared_ptr<TelemetryDecoderInterface> telemetry() { return nav_; }
void msg_handler_events(pmt::pmt_t msg); void msg_handler_events(pmt::pmt_t msg);

15
src/algorithms/channel/libs/channel_fsm.cc
View File

@ -34,7 +34,6 @@
#include <glog/logging.h> #include <glog/logging.h>
ChannelFsm::ChannelFsm() ChannelFsm::ChannelFsm()
{ {
acq_ = nullptr; acq_ = nullptr;
@ -44,9 +43,7 @@ ChannelFsm::ChannelFsm()
} }
ChannelFsm::ChannelFsm(std::shared_ptr<AcquisitionInterface> acquisition) : acq_(acquisition)
ChannelFsm::ChannelFsm(std::shared_ptr<AcquisitionInterface> acquisition) :
acq_(acquisition)
{ {
trk_ = nullptr; trk_ = nullptr;
channel_ = 0; channel_ = 0;
@ -57,7 +54,7 @@ ChannelFsm::ChannelFsm(std::shared_ptr<AcquisitionInterface> acquisition) :
bool ChannelFsm::Event_start_acquisition() bool ChannelFsm::Event_start_acquisition()
{ {
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
if((d_state == 1) || (d_state == 2)) if ((d_state == 1) || (d_state == 2))
{ {
return false; return false;
} }
@ -74,7 +71,7 @@ bool ChannelFsm::Event_start_acquisition()
bool ChannelFsm::Event_valid_acquisition() bool ChannelFsm::Event_valid_acquisition()
{ {
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
if(d_state != 1) if (d_state != 1)
{ {
return false; return false;
} }
@ -91,7 +88,7 @@ bool ChannelFsm::Event_valid_acquisition()
bool ChannelFsm::Event_failed_acquisition_repeat() bool ChannelFsm::Event_failed_acquisition_repeat()
{ {
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
if(d_state != 1) if (d_state != 1)
{ {
return false; return false;
} }
@ -108,7 +105,7 @@ bool ChannelFsm::Event_failed_acquisition_repeat()
bool ChannelFsm::Event_failed_acquisition_no_repeat() bool ChannelFsm::Event_failed_acquisition_no_repeat()
{ {
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
if(d_state != 1) if (d_state != 1)
{ {
return false; return false;
} }
@ -125,7 +122,7 @@ bool ChannelFsm::Event_failed_acquisition_no_repeat()
bool ChannelFsm::Event_failed_tracking_standby() bool ChannelFsm::Event_failed_tracking_standby()
{ {
std::lock_guard<std::mutex> lk(mx); std::lock_guard<std::mutex> lk(mx);
if(d_state != 2) if (d_state != 2)
{ {
return false; return false;
} }

1
src/algorithms/channel/libs/channel_fsm.h
View File

@ -62,7 +62,6 @@ public:
bool Event_failed_tracking_standby(); bool Event_failed_tracking_standby();
private: private:
void start_acquisition(); void start_acquisition();
void start_tracking(); void start_tracking();
void request_satellite(); void request_satellite();

10
src/algorithms/channel/libs/channel_msg_receiver_cc.cc
View File

@ -71,19 +71,18 @@ void channel_msg_receiver_cc::msg_handler_events(pmt::pmt_t msg)
break; break;
} }
} }
catch(boost::bad_any_cast& e) catch (boost::bad_any_cast& e)
{ {
LOG(WARNING) << "msg_handler_telemetry Bad any cast!"; LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
} }
if(!result) if (!result)
{ {
LOG(WARNING) << "msg_handler_telemetry invalid event"; LOG(WARNING) << "msg_handler_telemetry invalid event";
} }
} }
channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat) : channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat) : gr::block("channel_msg_receiver_cc", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
gr::block("channel_msg_receiver_cc", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{ {
this->message_port_register_in(pmt::mp("events")); this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&channel_msg_receiver_cc::msg_handler_events, this, _1)); this->set_msg_handler(pmt::mp("events"), boost::bind(&channel_msg_receiver_cc::msg_handler_events, this, _1));
@ -93,5 +92,4 @@ channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> cha
} }
channel_msg_receiver_cc::~channel_msg_receiver_cc() channel_msg_receiver_cc::~channel_msg_receiver_cc() {}
{}

3
src/algorithms/channel/libs/channel_msg_receiver_cc.h
View File

@ -53,8 +53,7 @@ private:
channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat); channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat);
public: public:
~channel_msg_receiver_cc (); //!< Default destructor ~channel_msg_receiver_cc(); //!< Default destructor
}; };
#endif #endif

18
src/algorithms/conditioner/adapters/array_signal_conditioner.cc
View File

@ -38,18 +38,21 @@ using google::LogMessage;
// Constructor // Constructor
ArraySignalConditioner::ArraySignalConditioner(ConfigurationInterface *configuration, ArraySignalConditioner::ArraySignalConditioner(ConfigurationInterface *configuration,
std::shared_ptr<GNSSBlockInterface> data_type_adapt, std::shared_ptr<GNSSBlockInterface> in_filt, std::shared_ptr<GNSSBlockInterface> data_type_adapt, std::shared_ptr<GNSSBlockInterface> in_filt,
std::shared_ptr<GNSSBlockInterface> res, std::string role, std::string implementation) : std::shared_ptr<GNSSBlockInterface> res, std::string role, std::string implementation) : data_type_adapt_(data_type_adapt),
data_type_adapt_(data_type_adapt), in_filt_(in_filt),
in_filt_(in_filt), res_(res), role_(role), implementation_(implementation) res_(res),
role_(role),
implementation_(implementation)
{ {
connected_ = false; connected_ = false;
if(configuration){ }; if (configuration)
{
};
} }
// Destructor // Destructor
ArraySignalConditioner::~ArraySignalConditioner() ArraySignalConditioner::~ArraySignalConditioner() {}
{}
void ArraySignalConditioner::connect(gr::top_block_sptr top_block) void ArraySignalConditioner::connect(gr::top_block_sptr top_block)
@ -76,7 +79,6 @@ void ArraySignalConditioner::connect(gr::top_block_sptr top_block)
} }
void ArraySignalConditioner::disconnect(gr::top_block_sptr top_block) void ArraySignalConditioner::disconnect(gr::top_block_sptr top_block)
{ {
if (!connected_) if (!connected_)
@ -105,9 +107,7 @@ gr::basic_block_sptr ArraySignalConditioner::get_left_block()
} }
gr::basic_block_sptr ArraySignalConditioner::get_right_block() gr::basic_block_sptr ArraySignalConditioner::get_right_block()
{ {
return res_->get_right_block(); return res_->get_right_block();
} }

8
src/algorithms/conditioner/adapters/array_signal_conditioner.h
View File

@ -47,7 +47,7 @@ class TelemetryDecoderInterface;
* \brief This class wraps blocks to change data_type_adapter, input_filter and resampler * \brief This class wraps blocks to change data_type_adapter, input_filter and resampler
* to be applied to the input flow of sampled signal. * to be applied to the input flow of sampled signal.
*/ */
class ArraySignalConditioner: public GNSSBlockInterface class ArraySignalConditioner : public GNSSBlockInterface
{ {
public: public:
//! Constructor //! Constructor
@ -68,9 +68,9 @@ public:
inline std::string implementation() override { return "Array_Signal_Conditioner"; } inline std::string implementation() override { return "Array_Signal_Conditioner"; }
inline size_t item_size() override { return 0; } inline size_t item_size() override { return 0; }
inline std::shared_ptr<GNSSBlockInterface> data_type_adapter(){ return data_type_adapt_; } inline std::shared_ptr<GNSSBlockInterface> data_type_adapter() { return data_type_adapt_; }
inline std::shared_ptr<GNSSBlockInterface> input_filter(){ return in_filt_; } inline std::shared_ptr<GNSSBlockInterface> input_filter() { return in_filt_; }
inline std::shared_ptr<GNSSBlockInterface> resampler(){ return res_; } inline std::shared_ptr<GNSSBlockInterface> resampler() { return res_; }
private: private:
std::shared_ptr<GNSSBlockInterface> data_type_adapt_; std::shared_ptr<GNSSBlockInterface> data_type_adapt_;

16
src/algorithms/conditioner/adapters/signal_conditioner.cc
View File

@ -38,18 +38,21 @@ using google::LogMessage;
// Constructor // Constructor
SignalConditioner::SignalConditioner(ConfigurationInterface *configuration, SignalConditioner::SignalConditioner(ConfigurationInterface *configuration,
std::shared_ptr<GNSSBlockInterface> data_type_adapt, std::shared_ptr<GNSSBlockInterface> in_filt, std::shared_ptr<GNSSBlockInterface> data_type_adapt, std::shared_ptr<GNSSBlockInterface> in_filt,
std::shared_ptr<GNSSBlockInterface> res, std::string role, std::string implementation) : std::shared_ptr<GNSSBlockInterface> res, std::string role, std::string implementation) : data_type_adapt_(data_type_adapt),
data_type_adapt_(data_type_adapt), in_filt_(in_filt),
in_filt_(in_filt), res_(res), role_(role), implementation_(implementation) res_(res),
role_(role),
implementation_(implementation)
{ {
connected_ = false; connected_ = false;
if(configuration){ }; if (configuration)
{
};
} }
// Destructor // Destructor
SignalConditioner::~SignalConditioner() SignalConditioner::~SignalConditioner() {}
{}
void SignalConditioner::connect(gr::top_block_sptr top_block) void SignalConditioner::connect(gr::top_block_sptr top_block)
@ -102,4 +105,3 @@ gr::basic_block_sptr SignalConditioner::get_right_block()
{ {
return res_->get_right_block(); return res_->get_right_block();
} }

8
src/algorithms/conditioner/adapters/signal_conditioner.h
View File

@ -44,7 +44,7 @@ class TelemetryDecoderInterface;
* \brief This class wraps blocks to change data_type_adapter, input_filter and resampler * \brief This class wraps blocks to change data_type_adapter, input_filter and resampler
* to be applied to the input flow of sampled signal. * to be applied to the input flow of sampled signal.
*/ */
class SignalConditioner: public GNSSBlockInterface class SignalConditioner : public GNSSBlockInterface
{ {
public: public:
//! Constructor //! Constructor
@ -66,9 +66,9 @@ public:
inline size_t item_size() override { return 0; } inline size_t item_size() override { return 0; }
inline std::shared_ptr<GNSSBlockInterface> data_type_adapter(){ return data_type_adapt_; } inline std::shared_ptr<GNSSBlockInterface> data_type_adapter() { return data_type_adapt_; }
inline std::shared_ptr<GNSSBlockInterface> input_filter(){ return in_filt_; } inline std::shared_ptr<GNSSBlockInterface> input_filter() { return in_filt_; }
inline std::shared_ptr<GNSSBlockInterface> resampler(){ return res_; } inline std::shared_ptr<GNSSBlockInterface> resampler() { return res_; }
private: private:
std::shared_ptr<GNSSBlockInterface> data_type_adapt_; std::shared_ptr<GNSSBlockInterface> data_type_adapt_;

10
src/algorithms/data_type_adapter/adapters/byte_to_short.cc
View File

@ -36,9 +36,7 @@
using google::LogMessage; using google::LogMessage;
ByteToShort::ByteToShort(ConfigurationInterface* configuration, std::string role, ByteToShort::ByteToShort(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_input_item_type = "byte"; std::string default_input_item_type = "byte";
std::string default_output_item_type = "short"; std::string default_output_item_type = "short";
@ -66,7 +64,8 @@ ByteToShort::ByteToShort(ConfigurationInterface* configuration, std::string role
ByteToShort::~ByteToShort() ByteToShort::~ByteToShort()
{} {
}
void ByteToShort::connect(gr::top_block_sptr top_block) void ByteToShort::connect(gr::top_block_sptr top_block)
@ -91,16 +90,13 @@ void ByteToShort::disconnect(gr::top_block_sptr top_block)
} }
gr::basic_block_sptr ByteToShort::get_left_block() gr::basic_block_sptr ByteToShort::get_left_block()
{ {
return gr_char_to_short_; return gr_char_to_short_;
} }
gr::basic_block_sptr ByteToShort::get_right_block() gr::basic_block_sptr ByteToShort::get_right_block()
{ {
return gr_char_to_short_; return gr_char_to_short_;
} }

2
src/algorithms/data_type_adapter/adapters/byte_to_short.h
View File

@ -42,7 +42,7 @@ class ConfigurationInterface;
* \brief Adapts an 8-bits sample stream (IF) to a short int stream (IF) * \brief Adapts an 8-bits sample stream (IF) to a short int stream (IF)
* *
*/ */
class ByteToShort: public GNSSBlockInterface class ByteToShort : public GNSSBlockInterface
{ {
public: public:
ByteToShort(ConfigurationInterface* configuration, ByteToShort(ConfigurationInterface* configuration,

19
src/algorithms/data_type_adapter/adapters/ibyte_to_cbyte.cc
View File

@ -37,9 +37,7 @@
using google::LogMessage; using google::LogMessage;
IbyteToCbyte::IbyteToCbyte(ConfigurationInterface* configuration, std::string role, IbyteToCbyte::IbyteToCbyte(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_input_item_type = "byte"; std::string default_input_item_type = "byte";
std::string default_output_item_type = "lv_8sc_t"; std::string default_output_item_type = "lv_8sc_t";
@ -64,7 +62,7 @@ IbyteToCbyte::IbyteToCbyte(ConfigurationInterface* configuration, std::string ro
DLOG(INFO) << "Dumping output into file " << dump_filename_; DLOG(INFO) << "Dumping output into file " << dump_filename_;
file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str()); file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str());
} }
if(inverted_spectrum) if (inverted_spectrum)
{ {
conjugate_ic_ = make_conjugate_ic(); conjugate_ic_ = make_conjugate_ic();
} }
@ -72,14 +70,15 @@ IbyteToCbyte::IbyteToCbyte(ConfigurationInterface* configuration, std::string ro
IbyteToCbyte::~IbyteToCbyte() IbyteToCbyte::~IbyteToCbyte()
{} {
}
void IbyteToCbyte::connect(gr::top_block_sptr top_block) void IbyteToCbyte::connect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(ibyte_to_cbyte_, 0, conjugate_ic_, 0); top_block->connect(ibyte_to_cbyte_, 0, conjugate_ic_, 0);
top_block->connect(conjugate_ic_, 0, file_sink_, 0); top_block->connect(conjugate_ic_, 0, file_sink_, 0);
@ -91,7 +90,7 @@ void IbyteToCbyte::connect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(ibyte_to_cbyte_, 0, conjugate_ic_, 0); top_block->connect(ibyte_to_cbyte_, 0, conjugate_ic_, 0);
} }
@ -107,7 +106,7 @@ void IbyteToCbyte::disconnect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(ibyte_to_cbyte_, 0, conjugate_ic_, 0); top_block->disconnect(ibyte_to_cbyte_, 0, conjugate_ic_, 0);
top_block->disconnect(conjugate_ic_, 0, file_sink_, 0); top_block->disconnect(conjugate_ic_, 0, file_sink_, 0);
@ -119,7 +118,7 @@ void IbyteToCbyte::disconnect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(ibyte_to_cbyte_, 0, conjugate_ic_, 0); top_block->disconnect(ibyte_to_cbyte_, 0, conjugate_ic_, 0);
} }
@ -135,7 +134,7 @@ gr::basic_block_sptr IbyteToCbyte::get_left_block()
gr::basic_block_sptr IbyteToCbyte::get_right_block() gr::basic_block_sptr IbyteToCbyte::get_right_block()
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
return conjugate_ic_; return conjugate_ic_;
} }

17
src/algorithms/data_type_adapter/adapters/ibyte_to_complex.cc
View File

@ -35,9 +35,7 @@
using google::LogMessage; using google::LogMessage;
IbyteToComplex::IbyteToComplex(ConfigurationInterface* configuration, std::string role, IbyteToComplex::IbyteToComplex(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_input_item_type = "byte"; std::string default_input_item_type = "byte";
std::string default_output_item_type = "gr_complex"; std::string default_output_item_type = "gr_complex";
@ -70,14 +68,15 @@ IbyteToComplex::IbyteToComplex(ConfigurationInterface* configuration, std::strin
IbyteToComplex::~IbyteToComplex() IbyteToComplex::~IbyteToComplex()
{} {
}
void IbyteToComplex::connect(gr::top_block_sptr top_block) void IbyteToComplex::connect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0); top_block->connect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0);
top_block->connect(conjugate_cc_, 0, file_sink_, 0); top_block->connect(conjugate_cc_, 0, file_sink_, 0);
@ -89,7 +88,7 @@ void IbyteToComplex::connect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0); top_block->connect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0);
} }
@ -105,7 +104,7 @@ void IbyteToComplex::disconnect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0); top_block->disconnect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0);
top_block->disconnect(conjugate_cc_, 0, file_sink_, 0); top_block->disconnect(conjugate_cc_, 0, file_sink_, 0);
@ -117,7 +116,7 @@ void IbyteToComplex::disconnect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0); top_block->disconnect(gr_interleaved_char_to_complex_, 0, conjugate_cc_, 0);
} }
@ -133,7 +132,7 @@ gr::basic_block_sptr IbyteToComplex::get_left_block()
gr::basic_block_sptr IbyteToComplex::get_right_block() gr::basic_block_sptr IbyteToComplex::get_right_block()
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
return conjugate_cc_; return conjugate_cc_;
} }

2
src/algorithms/data_type_adapter/adapters/ibyte_to_complex.h
View File

@ -44,7 +44,7 @@ class ConfigurationInterface;
* \brief Adapts an I/Q interleaved byte integer sample stream to a gr_complex (float) stream * \brief Adapts an I/Q interleaved byte integer sample stream to a gr_complex (float) stream
* *
*/ */
class IbyteToComplex: public GNSSBlockInterface class IbyteToComplex : public GNSSBlockInterface
{ {
public: public:
IbyteToComplex(ConfigurationInterface* configuration, IbyteToComplex(ConfigurationInterface* configuration,

21
src/algorithms/data_type_adapter/adapters/ibyte_to_cshort.cc
View File

@ -38,9 +38,7 @@
using google::LogMessage; using google::LogMessage;
IbyteToCshort::IbyteToCshort(ConfigurationInterface* configuration, std::string role, IbyteToCshort::IbyteToCshort(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_input_item_type = "byte"; std::string default_input_item_type = "byte";
std::string default_output_item_type = "cshort"; std::string default_output_item_type = "cshort";
@ -58,14 +56,14 @@ IbyteToCshort::IbyteToCshort(ConfigurationInterface* configuration, std::string
interleaved_byte_to_complex_short_ = make_interleaved_byte_to_complex_short(); interleaved_byte_to_complex_short_ = make_interleaved_byte_to_complex_short();
DLOG(INFO) << "data_type_adapter_(" << interleaved_byte_to_complex_short_->unique_id()<<")"; DLOG(INFO) << "data_type_adapter_(" << interleaved_byte_to_complex_short_->unique_id() << ")";
if (dump_) if (dump_)
{ {
DLOG(INFO) << "Dumping output into file " << dump_filename_; DLOG(INFO) << "Dumping output into file " << dump_filename_;
file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str()); file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str());
} }
if(inverted_spectrum) if (inverted_spectrum)
{ {
conjugate_sc_ = make_conjugate_sc(); conjugate_sc_ = make_conjugate_sc();
} }
@ -73,14 +71,15 @@ IbyteToCshort::IbyteToCshort(ConfigurationInterface* configuration, std::string
IbyteToCshort::~IbyteToCshort() IbyteToCshort::~IbyteToCshort()
{} {
}
void IbyteToCshort::connect(gr::top_block_sptr top_block) void IbyteToCshort::connect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0); top_block->connect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0);
top_block->connect(conjugate_sc_, 0, file_sink_, 0); top_block->connect(conjugate_sc_, 0, file_sink_, 0);
@ -92,7 +91,7 @@ void IbyteToCshort::connect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0); top_block->connect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0);
} }
@ -104,7 +103,7 @@ void IbyteToCshort::disconnect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0); top_block->disconnect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0);
top_block->disconnect(conjugate_sc_, 0, file_sink_, 0); top_block->disconnect(conjugate_sc_, 0, file_sink_, 0);
@ -116,7 +115,7 @@ void IbyteToCshort::disconnect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0); top_block->disconnect(interleaved_byte_to_complex_short_, 0, conjugate_sc_, 0);
} }
@ -132,7 +131,7 @@ gr::basic_block_sptr IbyteToCshort::get_left_block()
gr::basic_block_sptr IbyteToCshort::get_right_block() gr::basic_block_sptr IbyteToCshort::get_right_block()
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
return conjugate_sc_; return conjugate_sc_;
} }

2
src/algorithms/data_type_adapter/adapters/ibyte_to_cshort.h
View File

@ -44,7 +44,7 @@ class ConfigurationInterface;
* \brief Adapts a short integer (16 bits) interleaved sample stream into a std::complex<short> stream * \brief Adapts a short integer (16 bits) interleaved sample stream into a std::complex<short> stream
* *
*/ */
class IbyteToCshort: public GNSSBlockInterface class IbyteToCshort : public GNSSBlockInterface
{ {
public: public:
IbyteToCshort(ConfigurationInterface* configuration, IbyteToCshort(ConfigurationInterface* configuration,

17
src/algorithms/data_type_adapter/adapters/ishort_to_complex.cc
View File

@ -35,9 +35,7 @@
using google::LogMessage; using google::LogMessage;
IshortToComplex::IshortToComplex(ConfigurationInterface* configuration, std::string role, IshortToComplex::IshortToComplex(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_input_item_type = "short"; std::string default_input_item_type = "short";
std::string default_output_item_type = "gr_complex"; std::string default_output_item_type = "gr_complex";
@ -70,14 +68,15 @@ IshortToComplex::IshortToComplex(ConfigurationInterface* configuration, std::str
IshortToComplex::~IshortToComplex() IshortToComplex::~IshortToComplex()
{} {
}
void IshortToComplex::connect(gr::top_block_sptr top_block) void IshortToComplex::connect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0); top_block->connect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0);
top_block->connect(conjugate_cc_, 0, file_sink_, 0); top_block->connect(conjugate_cc_, 0, file_sink_, 0);
@ -89,7 +88,7 @@ void IshortToComplex::connect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0); top_block->connect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0);
} }
@ -105,7 +104,7 @@ void IshortToComplex::disconnect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0); top_block->disconnect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0);
top_block->disconnect(conjugate_cc_, 0, file_sink_, 0); top_block->disconnect(conjugate_cc_, 0, file_sink_, 0);
@ -117,7 +116,7 @@ void IshortToComplex::disconnect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0); top_block->disconnect(gr_interleaved_short_to_complex_, 0, conjugate_cc_, 0);
} }
@ -133,7 +132,7 @@ gr::basic_block_sptr IshortToComplex::get_left_block()
gr::basic_block_sptr IshortToComplex::get_right_block() gr::basic_block_sptr IshortToComplex::get_right_block()
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
return conjugate_cc_; return conjugate_cc_;
} }

2
src/algorithms/data_type_adapter/adapters/ishort_to_complex.h
View File

@ -43,7 +43,7 @@ class ConfigurationInterface;
* \brief Adapts an I/Q interleaved short integer sample stream to a gr_complex (float) stream * \brief Adapts an I/Q interleaved short integer sample stream to a gr_complex (float) stream
* *
*/ */
class IshortToComplex: public GNSSBlockInterface class IshortToComplex : public GNSSBlockInterface
{ {
public: public:
IshortToComplex(ConfigurationInterface* configuration, IshortToComplex(ConfigurationInterface* configuration,

19
src/algorithms/data_type_adapter/adapters/ishort_to_cshort.cc
View File

@ -37,9 +37,7 @@
using google::LogMessage; using google::LogMessage;
IshortToCshort::IshortToCshort(ConfigurationInterface* configuration, std::string role, IshortToCshort::IshortToCshort(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams)
{ {
std::string default_input_item_type = "short"; std::string default_input_item_type = "short";
std::string default_output_item_type = "cshort"; std::string default_output_item_type = "cshort";
@ -64,7 +62,7 @@ IshortToCshort::IshortToCshort(ConfigurationInterface* configuration, std::strin
DLOG(INFO) << "Dumping output into file " << dump_filename_; DLOG(INFO) << "Dumping output into file " << dump_filename_;
file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str()); file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str());
} }
if(inverted_spectrum) if (inverted_spectrum)
{ {
conjugate_sc_ = make_conjugate_sc(); conjugate_sc_ = make_conjugate_sc();
} }
@ -72,14 +70,15 @@ IshortToCshort::IshortToCshort(ConfigurationInterface* configuration, std::strin
IshortToCshort::~IshortToCshort() IshortToCshort::~IshortToCshort()
{} {
}
void IshortToCshort::connect(gr::top_block_sptr top_block) void IshortToCshort::connect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0); top_block->connect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0);
top_block->connect(conjugate_sc_, 0, file_sink_, 0); top_block->connect(conjugate_sc_, 0, file_sink_, 0);
@ -91,7 +90,7 @@ void IshortToCshort::connect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->connect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0); top_block->connect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0);
} }
@ -107,7 +106,7 @@ void IshortToCshort::disconnect(gr::top_block_sptr top_block)
{ {
if (dump_) if (dump_)
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0); top_block->disconnect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0);
top_block->disconnect(conjugate_sc_, 0, file_sink_, 0); top_block->disconnect(conjugate_sc_, 0, file_sink_, 0);
@ -119,7 +118,7 @@ void IshortToCshort::disconnect(gr::top_block_sptr top_block)
} }
else else
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
top_block->disconnect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0); top_block->disconnect(interleaved_short_to_complex_short_, 0, conjugate_sc_, 0);
} }
@ -135,7 +134,7 @@ gr::basic_block_sptr IshortToCshort::get_left_block()
gr::basic_block_sptr IshortToCshort::get_right_block() gr::basic_block_sptr IshortToCshort::get_right_block()
{ {
if(inverted_spectrum) if (inverted_spectrum)
{ {
return conjugate_sc_; return conjugate_sc_;
} }

2
src/algorithms/data_type_adapter/adapters/ishort_to_cshort.h
View File

@ -44,7 +44,7 @@ class ConfigurationInterface;
* \brief Adapts a short integer (16 bits) interleaved sample stream into a std::complex<short> stream * \brief Adapts a short integer (16 bits) interleaved sample stream into a std::complex<short> stream
* *
*/ */
class IshortToCshort: public GNSSBlockInterface class IshortToCshort : public GNSSBlockInterface
{ {
public: public:
IshortToCshort(ConfigurationInterface* configuration, IshortToCshort(ConfigurationInterface* configuration,

7
src/algorithms/data_type_adapter/gnuradio_blocks/interleaved_byte_to_complex_byte.cc
View File

@ -40,10 +40,9 @@ interleaved_byte_to_complex_byte_sptr make_interleaved_byte_to_complex_byte()
} }
interleaved_byte_to_complex_byte::interleaved_byte_to_complex_byte() : sync_decimator("interleaved_byte_to_complex_byte", interleaved_byte_to_complex_byte::interleaved_byte_to_complex_byte() : sync_decimator("interleaved_byte_to_complex_byte",
gr::io_signature::make (1, 1, sizeof(int8_t)), gr::io_signature::make(1, 1, sizeof(int8_t)),
gr::io_signature::make (1, 1, sizeof(lv_8sc_t)), // lv_8sc_t is a Volk's typedef for std::complex<signed char> gr::io_signature::make(1, 1, sizeof(lv_8sc_t)), // lv_8sc_t is a Volk's typedef for std::complex<signed char>
2) 2)
{ {
const int alignment_multiple = volk_get_alignment() / sizeof(lv_8sc_t); const int alignment_multiple = volk_get_alignment() / sizeof(lv_8sc_t);
@ -60,7 +59,7 @@ int interleaved_byte_to_complex_byte::work(int noutput_items,
// This could be put into a Volk kernel // This could be put into a Volk kernel
int8_t real_part; int8_t real_part;
int8_t imag_part; int8_t imag_part;
for(int number = 0; number < noutput_items; number++) for (int number = 0; number < noutput_items; number++)
{ {
// lv_cmake(r, i) defined at volk/volk_complex.h // lv_cmake(r, i) defined at volk/volk_complex.h
real_part = *in++; real_part = *in++;

1
src/algorithms/data_type_adapter/gnuradio_blocks/interleaved_byte_to_complex_byte.h
View File

@ -49,6 +49,7 @@ class interleaved_byte_to_complex_byte : public gr::sync_decimator
{ {
private: private:
friend interleaved_byte_to_complex_byte_sptr make_interleaved_byte_to_complex_byte(); friend interleaved_byte_to_complex_byte_sptr make_interleaved_byte_to_complex_byte();
public: public:
interleaved_byte_to_complex_byte(); interleaved_byte_to_complex_byte();

7
src/algorithms/data_type_adapter/gnuradio_blocks/interleaved_byte_to_complex_short.cc
View File

@ -40,10 +40,9 @@ interleaved_byte_to_complex_short_sptr make_interleaved_byte_to_complex_short()
} }
interleaved_byte_to_complex_short::interleaved_byte_to_complex_short() : sync_decimator("interleaved_byte_to_complex_short", interleaved_byte_to_complex_short::interleaved_byte_to_complex_short() : sync_decimator("interleaved_byte_to_complex_short",
gr::io_signature::make (1, 1, sizeof(int8_t)), gr::io_signature::make(1, 1, sizeof(int8_t)),
gr::io_signature::make (1, 1, sizeof(lv_16sc_t)), // lv_16sc_t is a Volk's typedef for std::complex<short int> gr::io_signature::make(1, 1, sizeof(lv_16sc_t)), // lv_16sc_t is a Volk's typedef for std::complex<short int>
2) 2)
{ {
const int alignment_multiple = volk_get_alignment() / sizeof(lv_16sc_t); const int alignment_multiple = volk_get_alignment() / sizeof(lv_16sc_t);
@ -60,7 +59,7 @@ int interleaved_byte_to_complex_short::work(int noutput_items,
// This could be put into a Volk kernel // This could be put into a Volk kernel
int8_t real_part; int8_t real_part;
int8_t imag_part; int8_t imag_part;
for(int number = 0; number < noutput_items; number++) for (int number = 0; number < noutput_items; number++)
{ {
// lv_cmake(r, i) defined at volk/volk_complex.h // lv_cmake(r, i) defined at volk/volk_complex.h
real_part = *in++; real_part = *in++;

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