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Code Issues Releases Wiki Activity

Apply new interface of dll_nc_e_minus_l_normalized

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This commit is contained in:
Carles Fernandez 2019-11-08 18:37:56 +01:00
parent 46b9402990
commit 7d24203472
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GPG Key ID: 4C583C52B0C3877D
14 changed files with 48 additions and 11 deletions
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20
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@ -145,6 +145,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
// GPS L1 C/A does not have pilot component nor secondary code
d_secondary = false;
trk_parameters.track_pilot = false;
trk_parameters.slope = 1.0;
trk_parameters.spc = trk_parameters.early_late_space_chips;
// symbol integration: 20 trk symbols (20 ms) = 1 tlm bit
// set the preamble in the secondary code acquisition to obtain tlm symbol synchronization
d_secondary_code_length = static_cast<uint32_t>(GPS_CA_PREAMBLE_LENGTH_SYMBOLS);
@ -164,6 +166,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
// GPS L2 does not have pilot component nor secondary code
d_secondary = false;
trk_parameters.track_pilot = false;
trk_parameters.slope = 1.0;
trk_parameters.spc = trk_parameters.early_late_space_chips;
}
else if (signal_type == "L5")
{
@ -176,6 +180,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_samples_per_chip = 1;
d_code_length_chips = static_cast<uint32_t>(GPS_L5I_CODE_LENGTH_CHIPS);
d_secondary = true;
trk_parameters.slope = 1.0;
trk_parameters.spc = trk_parameters.early_late_space_chips;
if (trk_parameters.track_pilot)
{
// synchronize pilot secondary code
@ -224,6 +230,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_correlation_length_ms = 4;
d_code_samples_per_chip = 2; // CBOC disabled: 2 samples per chip. CBOC enabled: 12 samples per chip
d_veml = true;
trk_parameters.slope = 3.0;
trk_parameters.spc = trk_parameters.early_late_space_chips;
if (trk_parameters.track_pilot)
{
d_secondary = true;
@ -248,6 +256,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_samples_per_chip = 1;
d_code_length_chips = static_cast<uint32_t>(GALILEO_E5A_CODE_LENGTH_CHIPS);
d_secondary = true;
trk_parameters.slope = 1.0;
trk_parameters.spc = trk_parameters.early_late_space_chips;
if (trk_parameters.track_pilot)
{
// synchronize pilot secondary code
@ -294,6 +304,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_samples_per_chip = 1;
d_secondary = true;
trk_parameters.track_pilot = false;
trk_parameters.slope = 1.0;
trk_parameters.spc = trk_parameters.early_late_space_chips;
// synchronize and remove data secondary code
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
@ -312,6 +324,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_samples_per_chip = 1;
d_secondary = false;
trk_parameters.track_pilot = false;
trk_parameters.slope = 1.0;
trk_parameters.spc = trk_parameters.early_late_space_chips;
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR);
d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
@ -976,7 +990,7 @@ void dll_pll_veml_tracking::run_dll_pll()
}
else
{
d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu); // [chips/Ti]
d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu, trk_parameters.spc, trk_parameters.slope); // [chips/Ti]
}
// Code discriminator filter
d_code_error_filt_chips = d_code_loop_filter.apply(d_code_error_chips); // [chips/second]
@ -1632,7 +1646,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_E_accu = *d_Early;
d_P_accu = *d_Prompt;
d_L_accu = *d_Late;
trk_parameters.spc = trk_parameters.early_late_space_chips;
// fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period
if (trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
{
@ -1733,11 +1747,13 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_local_code_shift_chips[1] = -trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[3] = trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[4] = trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
trk_parameters.spc = trk_parameters.early_late_space_narrow_chips;
}
else
{
d_local_code_shift_chips[0] = -trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[2] = trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
trk_parameters.spc = trk_parameters.early_late_space_narrow_chips;
}
}
else

15
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
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@ -140,6 +140,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
// GPS L1 C/A does not have pilot component nor secondary code
d_secondary = false;
trk_parameters.track_pilot = false;
trk_parameters.slope = 1.0;
trk_parameters.spc = trk_parameters.early_late_space_chips;
// symbol integration: 20 trk symbols (20 ms) = 1 tlm bit
// set the preamble in the secondary code acquisition to obtain tlm symbol synchronization
d_secondary_code_length = static_cast<uint32_t>(GPS_CA_PREAMBLE_LENGTH_SYMBOLS);
@ -154,6 +156,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
// GPS L2C has 1 trk symbol (20 ms) per tlm bit, no symbol integration required
d_symbols_per_bit = GPS_L2_SAMPLES_PER_SYMBOL;
d_correlation_length_ms = 20;
trk_parameters.slope = 1.0;
trk_parameters.spc = trk_parameters.early_late_space_chips;
// GPS L2 does not have pilot component nor secondary code
d_secondary = false;
trk_parameters.track_pilot = false;
@ -167,6 +171,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
d_symbols_per_bit = GPS_L5_SAMPLES_PER_SYMBOL;
d_correlation_length_ms = 1;
d_secondary = true;
trk_parameters.slope = 1.0;
trk_parameters.spc = trk_parameters.early_late_space_chips;
if (d_extended_correlation_in_fpga == true)
{
if (trk_parameters.extend_correlation_symbols > 1)
@ -218,6 +224,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
d_symbols_per_bit = 1;
d_correlation_length_ms = 4;
d_veml = true;
trk_parameters.slope = 3.0;
trk_parameters.spc = trk_parameters.early_late_space_chips;
if (trk_parameters.track_pilot)
{
d_secondary = true;
@ -240,6 +248,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
d_symbols_per_bit = 20;
d_correlation_length_ms = 1;
d_secondary = true;
trk_parameters.slope = 1.0;
trk_parameters.spc = trk_parameters.early_late_space_chips;
if (d_extended_correlation_in_fpga == true)
{
if (trk_parameters.extend_correlation_symbols > 1)
@ -729,7 +739,7 @@ void dll_pll_veml_tracking_fpga::run_dll_pll()
}
else
{
d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu); // [chips/Ti]
d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu, trk_parameters.spc, trk_parameters.slope); // [chips/Ti]
}
// Code discriminator filter
d_code_error_filt_chips = d_code_loop_filter.apply(d_code_error_chips); // [chips/second]
@ -1592,6 +1602,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
d_E_accu = *d_Early;
d_P_accu = *d_Prompt;
d_L_accu = *d_Late;
trk_parameters.spc = trk_parameters.early_late_space_chips;
// fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period
if (trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
@ -1734,11 +1745,13 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
d_local_code_shift_chips[1] = -trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[3] = trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[4] = trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
trk_parameters.spc = trk_parameters.early_late_space_narrow_chips;
}
else
{
d_local_code_shift_chips[0] = -trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
d_local_code_shift_chips[2] = trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
trk_parameters.spc = trk_parameters.early_late_space_narrow_chips;
}
}
else

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
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@ -708,7 +708,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
// ################## DLL ##########################################################
// DLL discriminator
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2], d_early_late_spc_chips, 1.0); // [chips/Ti] //early and late
// Code discriminator filter
d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
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@ -705,7 +705,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
// ################## DLL ##########################################################
// DLL discriminator
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag())); // [chips/Ti] //early and late
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()), d_early_late_spc_chips, 1.0); // [chips/Ti] //early and late
// Code discriminator filter
d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
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@ -567,7 +567,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
// ################## DLL ##########################################################
// DLL discriminator
code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2], d_early_late_spc_chips, 1.0); // [chips/Ti] //early and late
// Code discriminator filter
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second]
double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);

2
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
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@ -704,7 +704,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
// ################## DLL ##########################################################
// DLL discriminator
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2], d_early_late_spc_chips, 1.0); // [chips/Ti] //early and late
// Code discriminator filter
d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;

2
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
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@ -703,7 +703,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
// ################## DLL ##########################################################
// DLL discriminator
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag())); // [chips/Ti] //early and late
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()), d_early_late_spc_chips, 1.0); // [chips/Ti] //early and late
// Code discriminator filter
d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;

2
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc
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@ -567,7 +567,7 @@ int Glonass_L2_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
// ################## DLL ##########################################################
// DLL discriminator
code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2], d_early_late_spc_chips, 1.0); // [chips/Ti] //early and late
// Code discriminator filter
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second]
double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);

2
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
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@ -384,7 +384,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
// ################## DLL ##########################################################
// DLL discriminator
code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] // early and late
code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2], d_early_late_spc_chips, 1.0); // [chips/Ti] // early and late
// Code discriminator filter
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
code_error_filt_secs_Ti = code_error_filt_chips * CURRENT_INTEGRATION_TIME_S / d_code_freq_chips; // [s/Ti]

2
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc
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@ -748,7 +748,7 @@ int Gps_L1_Ca_Kf_Tracking_cc::general_work(int noutput_items __attribute__((unus
// New code Doppler frequency estimation based on carrier frequency estimation
d_code_freq_chips = GPS_L1_CA_CODE_RATE_CPS + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_CPS) / GPS_L1_FREQ_HZ);
// DLL discriminator
code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] early and late
code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2], d_early_late_spc_chips, 1.0); // [chips/Ti] early and late
// Code discriminator filter
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second]
double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);

2
src/algorithms/tracking/libs/dll_pll_conf.cc
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@ -61,6 +61,8 @@ Dll_Pll_Conf::Dll_Pll_Conf()
very_early_late_space_chips = 0.5;
early_late_space_narrow_chips = 0.1;
very_early_late_space_narrow_chips = 0.1;
slope = 1.0;
spc = 0.5;
extend_correlation_symbols = 5;
cn0_samples = FLAGS_cn0_samples;
cn0_smoother_samples = 200;

2
src/algorithms/tracking/libs/dll_pll_conf.h
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@ -63,6 +63,8 @@ public:
float very_early_late_space_chips;
float early_late_space_narrow_chips;
float very_early_late_space_narrow_chips;
float slope;
float spc;
int32_t extend_correlation_symbols;
bool high_dyn;
int32_t cn0_samples;

2
src/algorithms/tracking/libs/dll_pll_conf_fpga.cc
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@ -63,6 +63,8 @@ Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
very_early_late_space_chips = 0.5;
early_late_space_narrow_chips = 0.1;
very_early_late_space_narrow_chips = 0.1;
slope = 1.0;
spc = 0.5;
extend_correlation_symbols = 5;
cn0_samples = FLAGS_cn0_samples;
cn0_smoother_samples = 200;

2
src/algorithms/tracking/libs/dll_pll_conf_fpga.h
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@ -67,6 +67,8 @@ public:
float very_early_late_space_chips;
float early_late_space_narrow_chips;
float very_early_late_space_narrow_chips;
float slope;
float spc;
int32_t extend_correlation_symbols;
bool high_dyn;
int32_t cn0_samples;