mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-11-09 03:20:01 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
Carles Fernandez
commit
7d39da18b9
@ -183,31 +183,31 @@ endif()
|
|||||||
# Trick to find out that GNU Radio is >= 3.7.4 if pkgconfig is not present
|
# Trick to find out that GNU Radio is >= 3.7.4 if pkgconfig is not present
|
||||||
if(NOT PC_GNURADIO_RUNTIME_VERSION)
|
if(NOT PC_GNURADIO_RUNTIME_VERSION)
|
||||||
find_file(GNURADIO_VERSION_GREATER_THAN_373
|
find_file(GNURADIO_VERSION_GREATER_THAN_373
|
||||||
NAMES gnuradio/blocks/tsb_vector_sink_f.h
|
NAMES gnuradio/blocks/tsb_vector_sink_f.h
|
||||||
HINTS $ENV{GNURADIO_RUNTIME_DIR}/include
|
HINTS $ENV{GNURADIO_RUNTIME_DIR}/include
|
||||||
${CMAKE_INSTALL_PREFIX}/include
|
${CMAKE_INSTALL_PREFIX}/include
|
||||||
${GNURADIO_INSTALL_PREFIX}/include
|
${GNURADIO_INSTALL_PREFIX}/include
|
||||||
PATHS /usr/local/include
|
PATHS /usr/local/include
|
||||||
/usr/include
|
/usr/include
|
||||||
${GNURADIO_INSTALL_PREFIX}/include
|
${GNURADIO_INSTALL_PREFIX}/include
|
||||||
${GNURADIO_ROOT}/include
|
${GNURADIO_ROOT}/include
|
||||||
$ENV{GNURADIO_ROOT}/include
|
$ENV{GNURADIO_ROOT}/include
|
||||||
)
|
)
|
||||||
if(GNURADIO_VERSION_GREATER_THAN_373)
|
if(GNURADIO_VERSION_GREATER_THAN_373)
|
||||||
set(PC_GNURADIO_RUNTIME_VERSION "3.7.4+")
|
set(PC_GNURADIO_RUNTIME_VERSION "3.7.4+")
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||||||
endif()
|
endif()
|
||||||
|
|
||||||
find_file(GNURADIO_VERSION_GREATER_THAN_38
|
find_file(GNURADIO_VERSION_GREATER_THAN_38
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||||||
NAMES gnuradio/filter/mmse_resampler_cc.h
|
NAMES gnuradio/filter/mmse_resampler_cc.h
|
||||||
HINTS $ENV{GNURADIO_RUNTIME_DIR}/include
|
HINTS $ENV{GNURADIO_RUNTIME_DIR}/include
|
||||||
${CMAKE_INSTALL_PREFIX}/include
|
${CMAKE_INSTALL_PREFIX}/include
|
||||||
${GNURADIO_INSTALL_PREFIX}/include
|
${GNURADIO_INSTALL_PREFIX}/include
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||||||
PATHS /usr/local/include
|
PATHS /usr/local/include
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||||||
/usr/include
|
/usr/include
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||||||
${GNURADIO_INSTALL_PREFIX}/include
|
${GNURADIO_INSTALL_PREFIX}/include
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||||||
${GNURADIO_ROOT}/include
|
${GNURADIO_ROOT}/include
|
||||||
$ENV{GNURADIO_ROOT}/include
|
$ENV{GNURADIO_ROOT}/include
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||||||
)
|
)
|
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if(GNURADIO_VERSION_GREATER_THAN_38)
|
if(GNURADIO_VERSION_GREATER_THAN_38)
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set(PC_GNURADIO_RUNTIME_VERSION "3.8.0+")
|
set(PC_GNURADIO_RUNTIME_VERSION "3.8.0+")
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endif()
|
endif()
|
||||||
|
|||||||
@ -50,7 +50,7 @@ Acquisition_1C.doppler_max=10000
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Acquisition_1C.doppler_step=500
|
Acquisition_1C.doppler_step=500
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||||||
|
|
||||||
;######### TRACKING GLOBAL CONFIG ############
|
;######### TRACKING GLOBAL CONFIG ############
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Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga
|
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking_Fpga
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Tracking_1C.item_type=cshort
|
Tracking_1C.item_type=cshort
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Tracking_1C.dump=false
|
Tracking_1C.dump=false
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Tracking_1C.dump_filename=../data/epl_tracking_ch_
|
Tracking_1C.dump_filename=../data/epl_tracking_ch_
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@ -57,7 +57,7 @@ Acquisition_1C.dump_filename=./acq_dump.dat
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|
|
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|
|
||||||
;######### TRACKING GLOBAL CONFIG ############
|
;######### TRACKING GLOBAL CONFIG ############
|
||||||
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
|
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
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Tracking_1C.item_type=gr_complex
|
Tracking_1C.item_type=gr_complex
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Tracking_1C.dump=true
|
Tracking_1C.dump=true
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Tracking_1C.dump_filename=epl_tracking_ch_
|
Tracking_1C.dump_filename=epl_tracking_ch_
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|
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@ -56,7 +56,7 @@ Acquisition_1C.dump_filename=./acq_dump.dat
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Acquisition_1C.blocking=false;
|
Acquisition_1C.blocking=false;
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|
|
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;######### TRACKING GLOBAL CONFIG ############
|
;######### TRACKING GLOBAL CONFIG ############
|
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Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
|
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
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Tracking_1C.item_type=cshort
|
Tracking_1C.item_type=cshort
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Tracking_1C.pll_bw_hz=40.0;
|
Tracking_1C.pll_bw_hz=40.0;
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Tracking_1C.dll_bw_hz=4.0;
|
Tracking_1C.dll_bw_hz=4.0;
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@ -69,7 +69,7 @@ Acquisition_1C.dump_filename=./acq_dump.dat
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|
|
||||||
|
|
||||||
;######### TRACKING GPS CONFIG ############
|
;######### TRACKING GPS CONFIG ############
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Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
|
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
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Tracking_1C.item_type=gr_complex
|
Tracking_1C.item_type=gr_complex
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Tracking_1C.extend_correlation_ms=10
|
Tracking_1C.extend_correlation_ms=10
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Tracking_1C.pll_bw_hz=35;
|
Tracking_1C.pll_bw_hz=35;
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|
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@ -104,7 +104,7 @@ Acquisition_1B.dump=false
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Acquisition_1B.dump_filename=./acq_dump.dat
|
Acquisition_1B.dump_filename=./acq_dump.dat
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|
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;######### TRACKING GPS CONFIG ############
|
;######### TRACKING GPS CONFIG ############
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Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
|
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
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Tracking_1C.item_type=gr_complex
|
Tracking_1C.item_type=gr_complex
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Tracking_1C.extend_correlation_ms=1
|
Tracking_1C.extend_correlation_ms=1
|
||||||
Tracking_1C.pll_bw_hz=40;
|
Tracking_1C.pll_bw_hz=40;
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|
|||||||
@ -75,7 +75,7 @@ Acquisition_1B.dump_filename=./acq_dump.dat
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|
|
||||||
|
|
||||||
;######### TRACKING GPS CONFIG ############
|
;######### TRACKING GPS CONFIG ############
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||||||
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
|
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
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||||||
Tracking_1C.item_type=gr_complex
|
Tracking_1C.item_type=gr_complex
|
||||||
Tracking_1C.extend_correlation_ms=10
|
Tracking_1C.extend_correlation_ms=10
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Tracking_1C.pll_bw_hz=40;
|
Tracking_1C.pll_bw_hz=40;
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|
|||||||
@ -103,7 +103,7 @@ Acquisition_1B.dump_filename=./acq_dump.dat
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|||||||
|
|
||||||
|
|
||||||
;######### TRACKING GPS CONFIG ############
|
;######### TRACKING GPS CONFIG ############
|
||||||
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
|
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
|
||||||
Tracking_1C.item_type=gr_complex
|
Tracking_1C.item_type=gr_complex
|
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Tracking_1C.pll_bw_hz=50.0;
|
Tracking_1C.pll_bw_hz=50.0;
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||||||
Tracking_1C.dll_bw_hz=5.0;
|
Tracking_1C.dll_bw_hz=5.0;
|
||||||
|
|||||||
@ -120,7 +120,7 @@ Acquisition_1B.dump=false
|
|||||||
Acquisition_1B.dump_filename=./acq_dump.dat
|
Acquisition_1B.dump_filename=./acq_dump.dat
|
||||||
|
|
||||||
;######### TRACKING GPS CONFIG ############
|
;######### TRACKING GPS CONFIG ############
|
||||||
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
|
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
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||||||
Tracking_1C.item_type=gr_complex
|
Tracking_1C.item_type=gr_complex
|
||||||
Tracking_1C.extend_correlation_ms=1
|
Tracking_1C.extend_correlation_ms=1
|
||||||
Tracking_1C.pll_bw_hz=40;
|
Tracking_1C.pll_bw_hz=40;
|
||||||
|
|||||||
@ -143,7 +143,7 @@ Acquisition_1C.dump_filename=./acq_dump.dat
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|||||||
|
|
||||||
|
|
||||||
;######### TRACKING GLOBAL CONFIG ############
|
;######### TRACKING GLOBAL CONFIG ############
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||||||
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
|
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
|
||||||
Tracking_1C.item_type=gr_complex
|
Tracking_1C.item_type=gr_complex
|
||||||
Tracking_1C.extend_correlation_ms=10
|
Tracking_1C.extend_correlation_ms=10
|
||||||
Tracking_1C.pll_bw_hz=40.0;
|
Tracking_1C.pll_bw_hz=40.0;
|
||||||
|
|||||||
@ -51,7 +51,6 @@ set(TRACKING_ADAPTER_SOURCES
|
|||||||
galileo_e1_dll_pll_veml_tracking.cc
|
galileo_e1_dll_pll_veml_tracking.cc
|
||||||
galileo_e1_tcp_connector_tracking.cc
|
galileo_e1_tcp_connector_tracking.cc
|
||||||
gps_l1_ca_dll_pll_tracking.cc
|
gps_l1_ca_dll_pll_tracking.cc
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking.cc
|
|
||||||
gps_l1_ca_tcp_connector_tracking.cc
|
gps_l1_ca_tcp_connector_tracking.cc
|
||||||
galileo_e5a_dll_pll_tracking.cc
|
galileo_e5a_dll_pll_tracking.cc
|
||||||
gps_l2_m_dll_pll_tracking.cc
|
gps_l2_m_dll_pll_tracking.cc
|
||||||
@ -70,7 +69,6 @@ set(TRACKING_ADAPTER_HEADERS
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|||||||
galileo_e1_dll_pll_veml_tracking.h
|
galileo_e1_dll_pll_veml_tracking.h
|
||||||
galileo_e1_tcp_connector_tracking.h
|
galileo_e1_tcp_connector_tracking.h
|
||||||
gps_l1_ca_dll_pll_tracking.h
|
gps_l1_ca_dll_pll_tracking.h
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking.h
|
|
||||||
gps_l1_ca_tcp_connector_tracking.h
|
gps_l1_ca_tcp_connector_tracking.h
|
||||||
galileo_e5a_dll_pll_tracking.h
|
galileo_e5a_dll_pll_tracking.h
|
||||||
gps_l2_m_dll_pll_tracking.h
|
gps_l2_m_dll_pll_tracking.h
|
||||||
|
|||||||
@ -1,240 +0,0 @@
|
|||||||
/*!
|
|
||||||
* \file gps_l1_ca_dll_pll_c_aid_tracking.cc
|
|
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* \brief Implementation of an adapter of a DLL+PLL tracking loop block
|
|
||||||
* for GPS L1 C/A to a TrackingInterface
|
|
||||||
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
|
||||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
|
||||||
*
|
|
||||||
* Code DLL + carrier PLL according to the algorithms described in:
|
|
||||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
|
||||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
|
||||||
* Approach, Birkhauser, 2007
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*
|
|
||||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
|
||||||
*
|
|
||||||
* GNSS-SDR is a software defined Global Navigation
|
|
||||||
* Satellite Systems receiver
|
|
||||||
*
|
|
||||||
* This file is part of GNSS-SDR.
|
|
||||||
*
|
|
||||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
|
||||||
* it under the terms of the GNU General Public License as published by
|
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
|
||||||
* (at your option) any later version.
|
|
||||||
*
|
|
||||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
* GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* You should have received a copy of the GNU General Public License
|
|
||||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*/
|
|
||||||
|
|
||||||
|
|
||||||
#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
|
|
||||||
#include "GPS_L1_CA.h"
|
|
||||||
#include "configuration_interface.h"
|
|
||||||
#include "gnss_sdr_flags.h"
|
|
||||||
#include <glog/logging.h>
|
|
||||||
|
|
||||||
|
|
||||||
GpsL1CaDllPllCAidTracking::GpsL1CaDllPllCAidTracking(
|
|
||||||
ConfigurationInterface* configuration, const std::string& role,
|
|
||||||
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
|
|
||||||
{
|
|
||||||
DLOG(INFO) << "role " << role;
|
|
||||||
//################# CONFIGURATION PARAMETERS ########################
|
|
||||||
int fs_in;
|
|
||||||
int vector_length;
|
|
||||||
bool dump;
|
|
||||||
std::string dump_filename;
|
|
||||||
std::string default_item_type = "gr_complex";
|
|
||||||
float pll_bw_hz;
|
|
||||||
float pll_bw_narrow_hz;
|
|
||||||
float dll_bw_hz;
|
|
||||||
float dll_bw_narrow_hz;
|
|
||||||
float early_late_space_chips;
|
|
||||||
item_type_ = configuration->property(role + ".item_type", default_item_type);
|
|
||||||
//vector_length = configuration->property(role + ".vector_length", 2048);
|
|
||||||
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
|
|
||||||
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
|
|
||||||
dump = configuration->property(role + ".dump", false);
|
|
||||||
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
|
|
||||||
if (FLAGS_pll_bw_hz != 0.0)
|
|
||||||
{
|
|
||||||
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
|
|
||||||
}
|
|
||||||
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
|
|
||||||
if (FLAGS_dll_bw_hz != 0.0)
|
|
||||||
{
|
|
||||||
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
|
|
||||||
}
|
|
||||||
pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
|
|
||||||
dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
|
|
||||||
int extend_correlation_ms;
|
|
||||||
extend_correlation_ms = configuration->property(role + ".extend_correlation_ms", 1);
|
|
||||||
|
|
||||||
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
|
|
||||||
std::string default_dump_filename = "./track_ch";
|
|
||||||
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
|
|
||||||
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
|
|
||||||
|
|
||||||
//################# MAKE TRACKING GNURadio object ###################
|
|
||||||
if (item_type_ == "gr_complex")
|
|
||||||
{
|
|
||||||
item_size_ = sizeof(gr_complex);
|
|
||||||
tracking_cc = gps_l1_ca_dll_pll_c_aid_make_tracking_cc(
|
|
||||||
fs_in,
|
|
||||||
vector_length,
|
|
||||||
dump,
|
|
||||||
dump_filename,
|
|
||||||
pll_bw_hz,
|
|
||||||
dll_bw_hz,
|
|
||||||
pll_bw_narrow_hz,
|
|
||||||
dll_bw_narrow_hz,
|
|
||||||
extend_correlation_ms,
|
|
||||||
early_late_space_chips);
|
|
||||||
DLOG(INFO) << "tracking(" << tracking_cc->unique_id() << ")";
|
|
||||||
}
|
|
||||||
else if (item_type_ == "cshort")
|
|
||||||
{
|
|
||||||
item_size_ = sizeof(lv_16sc_t);
|
|
||||||
tracking_sc = gps_l1_ca_dll_pll_c_aid_make_tracking_sc(
|
|
||||||
fs_in,
|
|
||||||
vector_length,
|
|
||||||
dump,
|
|
||||||
dump_filename,
|
|
||||||
pll_bw_hz,
|
|
||||||
dll_bw_hz,
|
|
||||||
pll_bw_narrow_hz,
|
|
||||||
dll_bw_narrow_hz,
|
|
||||||
extend_correlation_ms,
|
|
||||||
early_late_space_chips);
|
|
||||||
DLOG(INFO) << "tracking(" << tracking_sc->unique_id() << ")";
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
item_size_ = sizeof(gr_complex);
|
|
||||||
LOG(WARNING) << item_type_ << " unknown tracking item type.";
|
|
||||||
}
|
|
||||||
channel_ = 0;
|
|
||||||
if (in_streams_ > 1)
|
|
||||||
{
|
|
||||||
LOG(ERROR) << "This implementation only supports one input stream";
|
|
||||||
}
|
|
||||||
if (out_streams_ > 1)
|
|
||||||
{
|
|
||||||
LOG(ERROR) << "This implementation only supports one output stream";
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
GpsL1CaDllPllCAidTracking::~GpsL1CaDllPllCAidTracking() = default;
|
|
||||||
|
|
||||||
|
|
||||||
void GpsL1CaDllPllCAidTracking::stop_tracking()
|
|
||||||
{
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void GpsL1CaDllPllCAidTracking::start_tracking()
|
|
||||||
{
|
|
||||||
if (item_type_ == "gr_complex")
|
|
||||||
{
|
|
||||||
tracking_cc->start_tracking();
|
|
||||||
}
|
|
||||||
else if (item_type_ == "cshort")
|
|
||||||
{
|
|
||||||
tracking_sc->start_tracking();
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
LOG(WARNING) << item_type_ << " unknown tracking item type";
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
* Set tracking channel unique ID
|
|
||||||
*/
|
|
||||||
void GpsL1CaDllPllCAidTracking::set_channel(unsigned int channel)
|
|
||||||
{
|
|
||||||
channel_ = channel;
|
|
||||||
|
|
||||||
if (item_type_ == "gr_complex")
|
|
||||||
{
|
|
||||||
tracking_cc->set_channel(channel);
|
|
||||||
}
|
|
||||||
else if (item_type_ == "cshort")
|
|
||||||
{
|
|
||||||
tracking_sc->set_channel(channel);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
LOG(WARNING) << item_type_ << " unknown tracking item type";
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void GpsL1CaDllPllCAidTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
|
||||||
{
|
|
||||||
if (item_type_ == "gr_complex")
|
|
||||||
{
|
|
||||||
tracking_cc->set_gnss_synchro(p_gnss_synchro);
|
|
||||||
}
|
|
||||||
else if (item_type_ == "cshort")
|
|
||||||
{
|
|
||||||
tracking_sc->set_gnss_synchro(p_gnss_synchro);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
LOG(WARNING) << item_type_ << " unknown tracking item type";
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void GpsL1CaDllPllCAidTracking::connect(gr::top_block_sptr top_block)
|
|
||||||
{
|
|
||||||
if (top_block)
|
|
||||||
{ /* top_block is not null */
|
|
||||||
};
|
|
||||||
//nothing to connect, now the tracking uses gr_sync_decimator
|
|
||||||
}
|
|
||||||
|
|
||||||
void GpsL1CaDllPllCAidTracking::disconnect(gr::top_block_sptr top_block)
|
|
||||||
{
|
|
||||||
if (top_block)
|
|
||||||
{ /* top_block is not null */
|
|
||||||
};
|
|
||||||
//nothing to disconnect, now the tracking uses gr_sync_decimator
|
|
||||||
}
|
|
||||||
|
|
||||||
gr::basic_block_sptr GpsL1CaDllPllCAidTracking::get_left_block()
|
|
||||||
{
|
|
||||||
if (item_type_ == "gr_complex")
|
|
||||||
{
|
|
||||||
return tracking_cc;
|
|
||||||
}
|
|
||||||
if (item_type_ == "cshort")
|
|
||||||
{
|
|
||||||
return tracking_sc;
|
|
||||||
}
|
|
||||||
LOG(WARNING) << item_type_ << " unknown tracking item type";
|
|
||||||
return nullptr;
|
|
||||||
}
|
|
||||||
|
|
||||||
gr::basic_block_sptr GpsL1CaDllPllCAidTracking::get_right_block()
|
|
||||||
{
|
|
||||||
if (item_type_ == "gr_complex")
|
|
||||||
{
|
|
||||||
return tracking_cc;
|
|
||||||
}
|
|
||||||
if (item_type_ == "cshort")
|
|
||||||
{
|
|
||||||
return tracking_sc;
|
|
||||||
}
|
|
||||||
LOG(WARNING) << item_type_ << " unknown tracking item type";
|
|
||||||
return nullptr;
|
|
||||||
}
|
|
||||||
@ -1,111 +0,0 @@
|
|||||||
/*!
|
|
||||||
* \file gps_l1_ca_dll_pll_c_aid_tracking.h
|
|
||||||
* \brief Interface of an adapter of a DLL+PLL tracking loop block
|
|
||||||
* for GPS L1 C/A to a TrackingInterface
|
|
||||||
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
|
||||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
|
||||||
*
|
|
||||||
* Code DLL + carrier PLL according to the algorithms described in:
|
|
||||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
|
||||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
|
||||||
* Approach, Birkhauser, 2007
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*
|
|
||||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
|
||||||
*
|
|
||||||
* GNSS-SDR is a software defined Global Navigation
|
|
||||||
* Satellite Systems receiver
|
|
||||||
*
|
|
||||||
* This file is part of GNSS-SDR.
|
|
||||||
*
|
|
||||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
|
||||||
* it under the terms of the GNU General Public License as published by
|
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
|
||||||
* (at your option) any later version.
|
|
||||||
*
|
|
||||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
* GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* You should have received a copy of the GNU General Public License
|
|
||||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*/
|
|
||||||
|
|
||||||
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
|
|
||||||
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
|
|
||||||
|
|
||||||
#include "gps_l1_ca_dll_pll_c_aid_tracking_cc.h"
|
|
||||||
#include "gps_l1_ca_dll_pll_c_aid_tracking_sc.h"
|
|
||||||
#include "tracking_interface.h"
|
|
||||||
#include <string>
|
|
||||||
|
|
||||||
|
|
||||||
class ConfigurationInterface;
|
|
||||||
|
|
||||||
/*!
|
|
||||||
* \brief This class implements a code DLL + carrier PLL tracking loop
|
|
||||||
*/
|
|
||||||
class GpsL1CaDllPllCAidTracking : public TrackingInterface
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
GpsL1CaDllPllCAidTracking(ConfigurationInterface* configuration,
|
|
||||||
const std::string& role,
|
|
||||||
unsigned int in_streams,
|
|
||||||
unsigned int out_streams);
|
|
||||||
|
|
||||||
virtual ~GpsL1CaDllPllCAidTracking();
|
|
||||||
|
|
||||||
inline std::string role() override
|
|
||||||
{
|
|
||||||
return role_;
|
|
||||||
}
|
|
||||||
|
|
||||||
//! Returns "GPS_L1_CA_DLL_PLL_C_Aid_Tracking"
|
|
||||||
inline std::string implementation() override
|
|
||||||
{
|
|
||||||
return "GPS_L1_CA_DLL_PLL_C_Aid_Tracking";
|
|
||||||
}
|
|
||||||
|
|
||||||
inline size_t item_size() override
|
|
||||||
{
|
|
||||||
return item_size_;
|
|
||||||
}
|
|
||||||
|
|
||||||
void connect(gr::top_block_sptr top_block) override;
|
|
||||||
void disconnect(gr::top_block_sptr top_block) override;
|
|
||||||
gr::basic_block_sptr get_left_block() override;
|
|
||||||
gr::basic_block_sptr get_right_block() override;
|
|
||||||
|
|
||||||
/*!
|
|
||||||
* \brief Set tracking channel unique ID
|
|
||||||
*/
|
|
||||||
void set_channel(unsigned int channel) override;
|
|
||||||
|
|
||||||
/*!
|
|
||||||
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
|
|
||||||
* to efficiently exchange synchronization data between acquisition and tracking blocks
|
|
||||||
*/
|
|
||||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
|
|
||||||
|
|
||||||
void start_tracking() override;
|
|
||||||
/*!
|
|
||||||
* \brief Stop running tracking
|
|
||||||
*/
|
|
||||||
void stop_tracking() override;
|
|
||||||
|
|
||||||
private:
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr tracking_cc;
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr tracking_sc;
|
|
||||||
size_t item_size_;
|
|
||||||
std::string item_type_;
|
|
||||||
unsigned int channel_;
|
|
||||||
std::string role_;
|
|
||||||
unsigned int in_streams_;
|
|
||||||
unsigned int out_streams_;
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_H_
|
|
||||||
@ -41,8 +41,6 @@ endif()
|
|||||||
set(TRACKING_GR_BLOCKS_SOURCES
|
set(TRACKING_GR_BLOCKS_SOURCES
|
||||||
galileo_e1_tcp_connector_tracking_cc.cc
|
galileo_e1_tcp_connector_tracking_cc.cc
|
||||||
gps_l1_ca_tcp_connector_tracking_cc.cc
|
gps_l1_ca_tcp_connector_tracking_cc.cc
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
|
|
||||||
glonass_l1_ca_dll_pll_tracking_cc.cc
|
glonass_l1_ca_dll_pll_tracking_cc.cc
|
||||||
glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
|
glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
|
||||||
glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
|
glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
|
||||||
@ -57,8 +55,6 @@ set(TRACKING_GR_BLOCKS_SOURCES
|
|||||||
set(TRACKING_GR_BLOCKS_HEADERS
|
set(TRACKING_GR_BLOCKS_HEADERS
|
||||||
galileo_e1_tcp_connector_tracking_cc.h
|
galileo_e1_tcp_connector_tracking_cc.h
|
||||||
gps_l1_ca_tcp_connector_tracking_cc.h
|
gps_l1_ca_tcp_connector_tracking_cc.h
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_cc.h
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_sc.h
|
|
||||||
glonass_l1_ca_dll_pll_tracking_cc.h
|
glonass_l1_ca_dll_pll_tracking_cc.h
|
||||||
glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
|
glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
|
||||||
glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
|
glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
|
||||||
|
|||||||
@ -1,920 +0,0 @@
|
|||||||
/*!
|
|
||||||
* \file gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
|
|
||||||
* \brief Implementation of a code DLL + carrier PLL tracking block
|
|
||||||
* \author Javier Arribas, 2015. jarribas(at)cttc.es
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*
|
|
||||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
|
||||||
*
|
|
||||||
* GNSS-SDR is a software defined Global Navigation
|
|
||||||
* Satellite Systems receiver
|
|
||||||
*
|
|
||||||
* This file is part of GNSS-SDR.
|
|
||||||
*
|
|
||||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
|
||||||
* it under the terms of the GNU General Public License as published by
|
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
|
||||||
* (at your option) any later version.
|
|
||||||
*
|
|
||||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
* GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* You should have received a copy of the GNU General Public License
|
|
||||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include "gps_l1_ca_dll_pll_c_aid_tracking_cc.h"
|
|
||||||
#include "GPS_L1_CA.h"
|
|
||||||
#include "gnss_sdr_flags.h"
|
|
||||||
#include "gps_sdr_signal_processing.h"
|
|
||||||
#include "lock_detectors.h"
|
|
||||||
#include "tracking_discriminators.h"
|
|
||||||
#include <boost/bind.hpp>
|
|
||||||
#include <glog/logging.h>
|
|
||||||
#include <gnuradio/io_signature.h>
|
|
||||||
#include <matio.h>
|
|
||||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
|
||||||
#include <cmath>
|
|
||||||
#include <exception>
|
|
||||||
#include <iostream>
|
|
||||||
#include <memory>
|
|
||||||
#include <sstream>
|
|
||||||
#include <utility>
|
|
||||||
|
|
||||||
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr
|
|
||||||
gps_l1_ca_dll_pll_c_aid_make_tracking_cc(
|
|
||||||
int64_t fs_in,
|
|
||||||
uint32_t vector_length,
|
|
||||||
bool dump,
|
|
||||||
std::string dump_filename,
|
|
||||||
float pll_bw_hz,
|
|
||||||
float dll_bw_hz,
|
|
||||||
float pll_bw_narrow_hz,
|
|
||||||
float dll_bw_narrow_hz,
|
|
||||||
int32_t extend_correlation_ms,
|
|
||||||
float early_late_space_chips)
|
|
||||||
{
|
|
||||||
return gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr(new gps_l1_ca_dll_pll_c_aid_tracking_cc(
|
|
||||||
fs_in, vector_length, dump, std::move(dump_filename), pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void gps_l1_ca_dll_pll_c_aid_tracking_cc::forecast(int noutput_items,
|
|
||||||
gr_vector_int &ninput_items_required)
|
|
||||||
{
|
|
||||||
if (noutput_items != 0)
|
|
||||||
{
|
|
||||||
ninput_items_required[0] = static_cast<int32_t>(d_vector_length) * 2; //set the required available samples in each call
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void gps_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index(pmt::pmt_t msg)
|
|
||||||
{
|
|
||||||
//pmt::print(msg);
|
|
||||||
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
|
|
||||||
if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
|
|
||||||
{
|
|
||||||
d_preamble_timestamp_s = pmt::to_double(std::move(msg));
|
|
||||||
d_enable_extended_integration = true;
|
|
||||||
d_preamble_synchronized = false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
|
|
||||||
int64_t fs_in,
|
|
||||||
uint32_t vector_length,
|
|
||||||
bool dump,
|
|
||||||
std::string dump_filename,
|
|
||||||
float pll_bw_hz,
|
|
||||||
float dll_bw_hz,
|
|
||||||
float pll_bw_narrow_hz,
|
|
||||||
float dll_bw_narrow_hz,
|
|
||||||
int32_t extend_correlation_ms,
|
|
||||||
float early_late_space_chips) : gr::block("gps_l1_ca_dll_pll_c_aid_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
|
|
||||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
|
||||||
{
|
|
||||||
// Telemetry bit synchronization message port input
|
|
||||||
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
|
|
||||||
|
|
||||||
this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
|
|
||||||
boost::bind(&gps_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index, this, _1));
|
|
||||||
|
|
||||||
this->message_port_register_out(pmt::mp("events"));
|
|
||||||
this->message_port_register_in(pmt::mp("telemetry_to_trk"));
|
|
||||||
|
|
||||||
// initialize internal vars
|
|
||||||
d_dump = dump;
|
|
||||||
d_fs_in = fs_in;
|
|
||||||
d_vector_length = vector_length;
|
|
||||||
d_dump_filename = std::move(dump_filename);
|
|
||||||
d_correlation_length_samples = static_cast<int32_t>(d_vector_length);
|
|
||||||
|
|
||||||
// Initialize tracking ==========================================
|
|
||||||
d_pll_bw_hz = pll_bw_hz;
|
|
||||||
d_dll_bw_hz = dll_bw_hz;
|
|
||||||
d_pll_bw_narrow_hz = pll_bw_narrow_hz;
|
|
||||||
d_dll_bw_narrow_hz = dll_bw_narrow_hz;
|
|
||||||
d_extend_correlation_ms = extend_correlation_ms;
|
|
||||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
|
|
||||||
d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
|
|
||||||
|
|
||||||
// --- DLL variables --------------------------------------------------------
|
|
||||||
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
|
|
||||||
|
|
||||||
// Initialization of local code replica
|
|
||||||
// Get space for a vector with the C/A code replica sampled 1x/chip
|
|
||||||
d_ca_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
|
|
||||||
|
|
||||||
// correlator outputs (scalar)
|
|
||||||
d_n_correlator_taps = 3; // Early, Prompt, and Late
|
|
||||||
d_correlator_outs = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
|
|
||||||
for (int32_t n = 0; n < d_n_correlator_taps; n++)
|
|
||||||
{
|
|
||||||
d_correlator_outs[n] = gr_complex(0, 0);
|
|
||||||
}
|
|
||||||
d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment()));
|
|
||||||
// Set TAPs delay values [chips]
|
|
||||||
d_local_code_shift_chips[0] = -d_early_late_spc_chips;
|
|
||||||
d_local_code_shift_chips[1] = 0.0;
|
|
||||||
d_local_code_shift_chips[2] = d_early_late_spc_chips;
|
|
||||||
|
|
||||||
multicorrelator_cpu.init(2 * d_correlation_length_samples, d_n_correlator_taps);
|
|
||||||
|
|
||||||
//--- Perform initializations ------------------------------
|
|
||||||
// define initial code frequency basis of NCO
|
|
||||||
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
|
|
||||||
// define residual code phase (in chips)
|
|
||||||
d_rem_code_phase_samples = 0.0;
|
|
||||||
// define residual carrier phase
|
|
||||||
d_rem_carrier_phase_rad = 0.0;
|
|
||||||
|
|
||||||
// sample synchronization
|
|
||||||
d_sample_counter = 0ULL; //(from trk to tlm)
|
|
||||||
d_acq_sample_stamp = 0;
|
|
||||||
d_enable_tracking = false;
|
|
||||||
d_pull_in = false;
|
|
||||||
|
|
||||||
// CN0 estimation and lock detector buffers
|
|
||||||
d_cn0_estimation_counter = 0;
|
|
||||||
d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples];
|
|
||||||
d_carrier_lock_test = 1;
|
|
||||||
d_CN0_SNV_dB_Hz = 0;
|
|
||||||
d_carrier_lock_fail_counter = 0;
|
|
||||||
d_carrier_lock_threshold = FLAGS_carrier_lock_th;
|
|
||||||
|
|
||||||
systemName["G"] = std::string("GPS");
|
|
||||||
systemName["S"] = std::string("SBAS");
|
|
||||||
|
|
||||||
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
|
|
||||||
|
|
||||||
d_acquisition_gnss_synchro = nullptr;
|
|
||||||
d_channel = 0;
|
|
||||||
d_acq_code_phase_samples = 0.0;
|
|
||||||
d_acq_carrier_doppler_hz = 0.0;
|
|
||||||
d_carrier_doppler_hz = 0.0;
|
|
||||||
d_code_error_filt_chips_Ti = 0.0;
|
|
||||||
d_acc_carrier_phase_cycles = 0.0;
|
|
||||||
d_code_phase_samples = 0.0;
|
|
||||||
|
|
||||||
d_pll_to_dll_assist_secs_Ti = 0.0;
|
|
||||||
d_rem_code_phase_chips = 0.0;
|
|
||||||
d_code_phase_step_chips = 0.0;
|
|
||||||
d_carrier_phase_step_rad = 0.0;
|
|
||||||
d_enable_extended_integration = false;
|
|
||||||
d_preamble_synchronized = false;
|
|
||||||
d_rem_code_phase_integer_samples = 0;
|
|
||||||
d_code_error_chips_Ti = 0.0;
|
|
||||||
d_code_error_filt_chips_s = 0.0;
|
|
||||||
d_carr_phase_error_secs_Ti = 0.0;
|
|
||||||
d_preamble_timestamp_s = 0.0;
|
|
||||||
//set_min_output_buffer((int64_t)300);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void gps_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
|
|
||||||
{
|
|
||||||
/*
|
|
||||||
* correct the code phase according to the delay between acq and trk
|
|
||||||
*/
|
|
||||||
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
|
|
||||||
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
|
|
||||||
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
|
|
||||||
|
|
||||||
int64_t acq_trk_diff_samples;
|
|
||||||
double acq_trk_diff_seconds;
|
|
||||||
acq_trk_diff_samples = static_cast<int64_t>(d_sample_counter) - static_cast<int64_t>(d_acq_sample_stamp); //-d_vector_length;
|
|
||||||
DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
|
|
||||||
acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
|
|
||||||
// Doppler effect
|
|
||||||
// Fd=(C/(C+Vr))*F
|
|
||||||
double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
|
|
||||||
// new chip and prn sequence periods based on acq Doppler
|
|
||||||
double T_chip_mod_seconds;
|
|
||||||
double T_prn_mod_seconds;
|
|
||||||
double T_prn_mod_samples;
|
|
||||||
d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
|
|
||||||
d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
|
|
||||||
T_chip_mod_seconds = 1.0 / d_code_freq_chips;
|
|
||||||
T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
|
||||||
T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
|
|
||||||
|
|
||||||
d_correlation_length_samples = round(T_prn_mod_samples);
|
|
||||||
|
|
||||||
double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
|
|
||||||
double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
|
|
||||||
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
|
|
||||||
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
|
|
||||||
double corrected_acq_phase_samples, delay_correction_samples;
|
|
||||||
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
|
|
||||||
if (corrected_acq_phase_samples < 0)
|
|
||||||
{
|
|
||||||
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
|
|
||||||
}
|
|
||||||
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
|
|
||||||
|
|
||||||
d_acq_code_phase_samples = corrected_acq_phase_samples;
|
|
||||||
|
|
||||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
|
||||||
|
|
||||||
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
|
||||||
|
|
||||||
// DLL/PLL filter initialization
|
|
||||||
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
|
|
||||||
d_code_loop_filter.initialize(); // initialize the code filter
|
|
||||||
|
|
||||||
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
|
|
||||||
gps_l1_ca_code_gen_complex(d_ca_code, d_acquisition_gnss_synchro->PRN, 0);
|
|
||||||
|
|
||||||
multicorrelator_cpu.set_local_code_and_taps(static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
|
|
||||||
for (int32_t n = 0; n < d_n_correlator_taps; n++)
|
|
||||||
{
|
|
||||||
d_correlator_outs[n] = gr_complex(0, 0);
|
|
||||||
}
|
|
||||||
|
|
||||||
d_carrier_lock_fail_counter = 0;
|
|
||||||
d_rem_code_phase_samples = 0.0;
|
|
||||||
d_rem_carrier_phase_rad = 0.0;
|
|
||||||
d_rem_code_phase_chips = 0.0;
|
|
||||||
d_acc_carrier_phase_cycles = 0.0;
|
|
||||||
d_pll_to_dll_assist_secs_Ti = 0.0;
|
|
||||||
d_code_phase_samples = d_acq_code_phase_samples;
|
|
||||||
|
|
||||||
std::string sys_ = &d_acquisition_gnss_synchro->System;
|
|
||||||
sys = sys_.substr(0, 1);
|
|
||||||
|
|
||||||
// DEBUG OUTPUT
|
|
||||||
std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
|
|
||||||
LOG(INFO) << "Tracking of GPS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
|
|
||||||
|
|
||||||
// enable tracking
|
|
||||||
d_pull_in = true;
|
|
||||||
d_enable_tracking = true;
|
|
||||||
d_enable_extended_integration = false;
|
|
||||||
d_preamble_synchronized = false;
|
|
||||||
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
|
|
||||||
<< " Code Phase correction [samples]=" << delay_correction_samples
|
|
||||||
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_cc::~gps_l1_ca_dll_pll_c_aid_tracking_cc()
|
|
||||||
{
|
|
||||||
if (d_dump_file.is_open())
|
|
||||||
{
|
|
||||||
try
|
|
||||||
{
|
|
||||||
d_dump_file.close();
|
|
||||||
}
|
|
||||||
catch (const std::exception &ex)
|
|
||||||
{
|
|
||||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (d_dump)
|
|
||||||
{
|
|
||||||
if (d_channel == 0)
|
|
||||||
{
|
|
||||||
std::cout << "Writing .mat files ...";
|
|
||||||
}
|
|
||||||
try
|
|
||||||
{
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_cc::save_matfile();
|
|
||||||
}
|
|
||||||
catch (const std::exception &ex)
|
|
||||||
{
|
|
||||||
LOG(WARNING) << "Error saving the .mat file: " << ex.what();
|
|
||||||
}
|
|
||||||
|
|
||||||
if (d_channel == 0)
|
|
||||||
{
|
|
||||||
std::cout << " done." << std::endl;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
try
|
|
||||||
{
|
|
||||||
volk_gnsssdr_free(d_local_code_shift_chips);
|
|
||||||
volk_gnsssdr_free(d_correlator_outs);
|
|
||||||
volk_gnsssdr_free(d_ca_code);
|
|
||||||
delete[] d_Prompt_buffer;
|
|
||||||
multicorrelator_cpu.free();
|
|
||||||
}
|
|
||||||
catch (const std::exception &ex)
|
|
||||||
{
|
|
||||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
int32_t gps_l1_ca_dll_pll_c_aid_tracking_cc::save_matfile()
|
|
||||||
{
|
|
||||||
// READ DUMP FILE
|
|
||||||
std::ifstream::pos_type size;
|
|
||||||
int32_t number_of_double_vars = 11;
|
|
||||||
int32_t number_of_float_vars = 5;
|
|
||||||
int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
|
|
||||||
sizeof(float) * number_of_float_vars + sizeof(uint32_t);
|
|
||||||
std::ifstream dump_file;
|
|
||||||
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
|
||||||
try
|
|
||||||
{
|
|
||||||
dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
|
||||||
}
|
|
||||||
catch (const std::ifstream::failure &e)
|
|
||||||
{
|
|
||||||
std::cerr << "Problem opening dump file:" << e.what() << std::endl;
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
// count number of epochs and rewind
|
|
||||||
int64_t num_epoch = 0;
|
|
||||||
if (dump_file.is_open())
|
|
||||||
{
|
|
||||||
size = dump_file.tellg();
|
|
||||||
num_epoch = static_cast<int64_t>(size) / static_cast<int64_t>(epoch_size_bytes);
|
|
||||||
dump_file.seekg(0, std::ios::beg);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
auto *abs_E = new float[num_epoch];
|
|
||||||
auto *abs_P = new float[num_epoch];
|
|
||||||
auto *abs_L = new float[num_epoch];
|
|
||||||
auto *Prompt_I = new float[num_epoch];
|
|
||||||
auto *Prompt_Q = new float[num_epoch];
|
|
||||||
auto *PRN_start_sample_count = new uint64_t[num_epoch];
|
|
||||||
auto *acc_carrier_phase_rad = new double[num_epoch];
|
|
||||||
auto *carrier_doppler_hz = new double[num_epoch];
|
|
||||||
auto *code_freq_chips = new double[num_epoch];
|
|
||||||
auto *carr_error_hz = new double[num_epoch];
|
|
||||||
auto *carr_error_filt_hz = new double[num_epoch];
|
|
||||||
auto *code_error_chips = new double[num_epoch];
|
|
||||||
auto *code_error_filt_chips = new double[num_epoch];
|
|
||||||
auto *CN0_SNV_dB_Hz = new double[num_epoch];
|
|
||||||
auto *carrier_lock_test = new double[num_epoch];
|
|
||||||
auto *aux1 = new double[num_epoch];
|
|
||||||
auto *aux2 = new double[num_epoch];
|
|
||||||
auto *PRN = new uint32_t[num_epoch];
|
|
||||||
|
|
||||||
try
|
|
||||||
{
|
|
||||||
if (dump_file.is_open())
|
|
||||||
{
|
|
||||||
for (int64_t i = 0; i < num_epoch; i++)
|
|
||||||
{
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(uint64_t));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(uint32_t));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
dump_file.close();
|
|
||||||
}
|
|
||||||
catch (const std::ifstream::failure &e)
|
|
||||||
{
|
|
||||||
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
|
|
||||||
delete[] abs_E;
|
|
||||||
delete[] abs_P;
|
|
||||||
delete[] abs_L;
|
|
||||||
delete[] Prompt_I;
|
|
||||||
delete[] Prompt_Q;
|
|
||||||
delete[] PRN_start_sample_count;
|
|
||||||
delete[] acc_carrier_phase_rad;
|
|
||||||
delete[] carrier_doppler_hz;
|
|
||||||
delete[] code_freq_chips;
|
|
||||||
delete[] carr_error_hz;
|
|
||||||
delete[] carr_error_filt_hz;
|
|
||||||
delete[] code_error_chips;
|
|
||||||
delete[] code_error_filt_chips;
|
|
||||||
delete[] CN0_SNV_dB_Hz;
|
|
||||||
delete[] carrier_lock_test;
|
|
||||||
delete[] aux1;
|
|
||||||
delete[] aux2;
|
|
||||||
delete[] PRN;
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
// WRITE MAT FILE
|
|
||||||
mat_t *matfp;
|
|
||||||
matvar_t *matvar;
|
|
||||||
std::string filename = d_dump_filename;
|
|
||||||
filename.erase(filename.length() - 4, 4);
|
|
||||||
filename.append(".mat");
|
|
||||||
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
|
|
||||||
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
|
|
||||||
{
|
|
||||||
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
|
|
||||||
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
}
|
|
||||||
Mat_Close(matfp);
|
|
||||||
delete[] abs_E;
|
|
||||||
delete[] abs_P;
|
|
||||||
delete[] abs_L;
|
|
||||||
delete[] Prompt_I;
|
|
||||||
delete[] Prompt_Q;
|
|
||||||
delete[] PRN_start_sample_count;
|
|
||||||
delete[] acc_carrier_phase_rad;
|
|
||||||
delete[] carrier_doppler_hz;
|
|
||||||
delete[] code_freq_chips;
|
|
||||||
delete[] carr_error_hz;
|
|
||||||
delete[] carr_error_filt_hz;
|
|
||||||
delete[] code_error_chips;
|
|
||||||
delete[] code_error_filt_chips;
|
|
||||||
delete[] CN0_SNV_dB_Hz;
|
|
||||||
delete[] carrier_lock_test;
|
|
||||||
delete[] aux1;
|
|
||||||
delete[] aux2;
|
|
||||||
delete[] PRN;
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void gps_l1_ca_dll_pll_c_aid_tracking_cc::set_channel(uint32_t channel)
|
|
||||||
{
|
|
||||||
d_channel = channel;
|
|
||||||
LOG(INFO) << "Tracking Channel set to " << d_channel;
|
|
||||||
// ############# ENABLE DATA FILE LOG #################
|
|
||||||
if (d_dump == true)
|
|
||||||
{
|
|
||||||
if (d_dump_file.is_open() == false)
|
|
||||||
{
|
|
||||||
try
|
|
||||||
{
|
|
||||||
d_dump_filename.append(std::to_string(d_channel));
|
|
||||||
d_dump_filename.append(".dat");
|
|
||||||
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);
|
|
||||||
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
|
|
||||||
}
|
|
||||||
catch (const std::ifstream::failure &e)
|
|
||||||
{
|
|
||||||
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void gps_l1_ca_dll_pll_c_aid_tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
|
|
||||||
{
|
|
||||||
d_acquisition_gnss_synchro = p_gnss_synchro;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
|
||||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
|
||||||
{
|
|
||||||
// Block input data and block output stream pointers
|
|
||||||
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]);
|
|
||||||
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
|
|
||||||
|
|
||||||
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
|
||||||
Gnss_Synchro current_synchro_data = Gnss_Synchro();
|
|
||||||
|
|
||||||
// process vars
|
|
||||||
double code_error_filt_secs_Ti = 0.0;
|
|
||||||
double CURRENT_INTEGRATION_TIME_S = 0.0;
|
|
||||||
double CORRECTED_INTEGRATION_TIME_S = 0.0;
|
|
||||||
|
|
||||||
if (d_enable_tracking == true)
|
|
||||||
{
|
|
||||||
// Fill the acquisition data
|
|
||||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
|
||||||
// Receiver signal alignment
|
|
||||||
if (d_pull_in == true)
|
|
||||||
{
|
|
||||||
int32_t samples_offset;
|
|
||||||
double acq_trk_shif_correction_samples;
|
|
||||||
int32_t acq_to_trk_delay_samples;
|
|
||||||
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
|
||||||
acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
|
|
||||||
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
|
||||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(samples_offset);
|
|
||||||
d_sample_counter += static_cast<uint64_t>(samples_offset); // count for the processed samples
|
|
||||||
d_pull_in = false;
|
|
||||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GPS_TWO_PI;
|
|
||||||
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GPS_TWO_PI;
|
|
||||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
|
|
||||||
current_synchro_data.fs = d_fs_in;
|
|
||||||
*out[0] = current_synchro_data;
|
|
||||||
consume_each(samples_offset); // shift input to perform alignment with local replica
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
|
|
||||||
// perform carrier wipe-off and compute Early, Prompt and Late correlation
|
|
||||||
multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, in);
|
|
||||||
multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
|
|
||||||
d_carrier_phase_step_rad,
|
|
||||||
d_rem_code_phase_chips,
|
|
||||||
d_code_phase_step_chips,
|
|
||||||
d_correlation_length_samples);
|
|
||||||
|
|
||||||
// ####### coherent integration extension
|
|
||||||
// keep the last symbols
|
|
||||||
d_E_history.push_back(d_correlator_outs[0]); // save early output
|
|
||||||
d_P_history.push_back(d_correlator_outs[1]); // save prompt output
|
|
||||||
d_L_history.push_back(d_correlator_outs[2]); // save late output
|
|
||||||
|
|
||||||
if (static_cast<int32_t>(d_P_history.size()) > d_extend_correlation_ms)
|
|
||||||
{
|
|
||||||
d_E_history.pop_front();
|
|
||||||
d_P_history.pop_front();
|
|
||||||
d_L_history.pop_front();
|
|
||||||
}
|
|
||||||
|
|
||||||
bool enable_dll_pll;
|
|
||||||
if (d_enable_extended_integration == true)
|
|
||||||
{
|
|
||||||
int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
|
|
||||||
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
|
|
||||||
{
|
|
||||||
// compute coherent integration and enable tracking loop
|
|
||||||
// perform coherent integration using correlator output history
|
|
||||||
// std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
|
|
||||||
d_correlator_outs[0] = gr_complex(0.0, 0.0);
|
|
||||||
d_correlator_outs[1] = gr_complex(0.0, 0.0);
|
|
||||||
d_correlator_outs[2] = gr_complex(0.0, 0.0);
|
|
||||||
for (int32_t n = 0; n < d_extend_correlation_ms; n++)
|
|
||||||
{
|
|
||||||
d_correlator_outs[0] += d_E_history.at(n);
|
|
||||||
d_correlator_outs[1] += d_P_history.at(n);
|
|
||||||
d_correlator_outs[2] += d_L_history.at(n);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (d_preamble_synchronized == false)
|
|
||||||
{
|
|
||||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
|
|
||||||
d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz, 2);
|
|
||||||
d_preamble_synchronized = true;
|
|
||||||
std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH " << d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
|
||||||
<< " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
|
|
||||||
<< " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
|
|
||||||
}
|
|
||||||
// UPDATE INTEGRATION TIME
|
|
||||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GPS_L1_CA_CODE_PERIOD;
|
|
||||||
d_code_loop_filter.set_pdi(CURRENT_INTEGRATION_TIME_S);
|
|
||||||
enable_dll_pll = true;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
if (d_preamble_synchronized == true)
|
|
||||||
{
|
|
||||||
// continue extended coherent correlation
|
|
||||||
// Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
|
|
||||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
|
||||||
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
|
||||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
|
||||||
int32_t K_prn_samples = round(T_prn_samples);
|
|
||||||
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
|
|
||||||
|
|
||||||
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
|
|
||||||
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
|
|
||||||
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
|
|
||||||
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
|
|
||||||
// code phase step (Code resampler phase increment per sample) [chips/sample]
|
|
||||||
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
|
|
||||||
// remnant code phase [chips]
|
|
||||||
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
|
|
||||||
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GPS_TWO_PI);
|
|
||||||
|
|
||||||
// UPDATE ACCUMULATED CARRIER PHASE
|
|
||||||
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
|
|
||||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI;
|
|
||||||
|
|
||||||
// disable tracking loop and inform telemetry decoder
|
|
||||||
enable_dll_pll = false;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
// perform basic (1ms) correlation
|
|
||||||
// UPDATE INTEGRATION TIME
|
|
||||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
|
|
||||||
d_code_loop_filter.set_pdi(CURRENT_INTEGRATION_TIME_S);
|
|
||||||
enable_dll_pll = true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
// UPDATE INTEGRATION TIME
|
|
||||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
|
|
||||||
enable_dll_pll = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (enable_dll_pll == true)
|
|
||||||
{
|
|
||||||
// ################## PLL ##########################################################
|
|
||||||
// Update PLL discriminator [rads/Ti -> Secs/Ti]
|
|
||||||
d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; // prompt output
|
|
||||||
// Carrier discriminator filter
|
|
||||||
// NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
|
|
||||||
// Input [s/Ti] -> output [Hz]
|
|
||||||
d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
|
|
||||||
// PLL to DLL assistance [Secs/Ti]
|
|
||||||
d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / GPS_L1_FREQ_HZ;
|
|
||||||
// code Doppler frequency update
|
|
||||||
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ);
|
|
||||||
|
|
||||||
// ################## 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
|
|
||||||
// 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;
|
|
||||||
code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
|
|
||||||
|
|
||||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
|
||||||
// keep alignment parameters for the next input buffer
|
|
||||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
|
||||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
|
||||||
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
|
||||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
|
||||||
double K_prn_samples = round(T_prn_samples);
|
|
||||||
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
|
|
||||||
|
|
||||||
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
|
|
||||||
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
|
|
||||||
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
|
|
||||||
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
|
|
||||||
|
|
||||||
//################### PLL COMMANDS #################################################
|
|
||||||
//carrier phase step (NCO phase increment per sample) [rads/sample]
|
|
||||||
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
|
||||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI;
|
|
||||||
// UPDATE ACCUMULATED CARRIER PHASE
|
|
||||||
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
|
|
||||||
//remnant carrier phase [rad]
|
|
||||||
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GPS_TWO_PI);
|
|
||||||
|
|
||||||
//################### DLL COMMANDS #################################################
|
|
||||||
//code phase step (Code resampler phase increment per sample) [chips/sample]
|
|
||||||
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
|
|
||||||
//remnant code phase [chips]
|
|
||||||
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
|
|
||||||
|
|
||||||
// ####### CN0 ESTIMATION AND LOCK DETECTORS #######################################
|
|
||||||
if (d_cn0_estimation_counter < FLAGS_cn0_samples)
|
|
||||||
{
|
|
||||||
// fill buffer with prompt correlator output values
|
|
||||||
d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; // prompt
|
|
||||||
d_cn0_estimation_counter++;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
d_cn0_estimation_counter = 0;
|
|
||||||
// Code lock indicator
|
|
||||||
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, GPS_L1_CA_CODE_PERIOD);
|
|
||||||
// Carrier lock indicator
|
|
||||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples);
|
|
||||||
// Loss of lock detection
|
|
||||||
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
|
|
||||||
{
|
|
||||||
d_carrier_lock_fail_counter++;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
if (d_carrier_lock_fail_counter > 0)
|
|
||||||
{
|
|
||||||
d_carrier_lock_fail_counter--;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail)
|
|
||||||
{
|
|
||||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
|
||||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
|
||||||
this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); //3 -> loss of lock
|
|
||||||
d_carrier_lock_fail_counter = 0;
|
|
||||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
|
||||||
}
|
|
||||||
}
|
|
||||||
// ########### Output the tracking data to navigation and PVT ##########
|
|
||||||
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
|
|
||||||
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
|
|
||||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(d_correlation_length_samples);
|
|
||||||
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
|
||||||
current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles;
|
|
||||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
|
|
||||||
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
|
||||||
current_synchro_data.Flag_valid_symbol_output = true;
|
|
||||||
if (d_preamble_synchronized == true)
|
|
||||||
{
|
|
||||||
current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
current_synchro_data.correlation_length_ms = 1;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
|
|
||||||
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
|
|
||||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(d_correlation_length_samples);
|
|
||||||
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
|
||||||
current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles;
|
|
||||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; // todo: project the carrier doppler
|
|
||||||
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
for (int32_t n = 0; n < d_n_correlator_taps; n++)
|
|
||||||
{
|
|
||||||
d_correlator_outs[n] = gr_complex(0, 0);
|
|
||||||
}
|
|
||||||
|
|
||||||
current_synchro_data.System = {'G'};
|
|
||||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(d_correlation_length_samples);
|
|
||||||
}
|
|
||||||
//assign the GNURadio block output data
|
|
||||||
current_synchro_data.fs = d_fs_in;
|
|
||||||
*out[0] = current_synchro_data;
|
|
||||||
if (d_dump)
|
|
||||||
{
|
|
||||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
|
||||||
float prompt_I;
|
|
||||||
float prompt_Q;
|
|
||||||
float tmp_E, tmp_P, tmp_L;
|
|
||||||
float tmp_VE = 0.0;
|
|
||||||
float tmp_VL = 0.0;
|
|
||||||
float tmp_float;
|
|
||||||
prompt_I = d_correlator_outs[1].real();
|
|
||||||
prompt_Q = d_correlator_outs[1].imag();
|
|
||||||
tmp_E = std::abs<float>(d_correlator_outs[0]);
|
|
||||||
tmp_P = std::abs<float>(d_correlator_outs[1]);
|
|
||||||
tmp_L = std::abs<float>(d_correlator_outs[2]);
|
|
||||||
try
|
|
||||||
{
|
|
||||||
// Dump correlators output
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
|
||||||
// PROMPT I and Q (to analyze navigation symbols)
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
|
||||||
// PRN start sample stamp
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(uint64_t));
|
|
||||||
// accumulated carrier phase
|
|
||||||
tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
// carrier and code frequency
|
|
||||||
tmp_float = d_carrier_doppler_hz;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
tmp_float = d_code_freq_chips;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
// PLL commands
|
|
||||||
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
// DLL commands
|
|
||||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
tmp_float = d_code_error_filt_chips_Ti;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
// CN0 and carrier lock test
|
|
||||||
tmp_float = d_CN0_SNV_dB_Hz;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
tmp_float = d_carrier_lock_test;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
// AUX vars (for debug purposes)
|
|
||||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
auto tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
|
||||||
// PRN
|
|
||||||
uint32_t prn_ = d_acquisition_gnss_synchro->PRN;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(uint32_t));
|
|
||||||
}
|
|
||||||
catch (const std::ifstream::failure &e)
|
|
||||||
{
|
|
||||||
LOG(WARNING) << "Exception writing trk dump file " << e.what();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
|
|
||||||
d_sample_counter += d_correlation_length_samples; //count for the processed samples
|
|
||||||
|
|
||||||
if (d_enable_tracking)
|
|
||||||
{
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
@ -1,197 +0,0 @@
|
|||||||
/*!
|
|
||||||
* \file gps_l1_ca_dll_pll_c_aid_tracking_cc.h
|
|
||||||
* \brief Interface of a code DLL + carrier PLL tracking block
|
|
||||||
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
|
||||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
|
||||||
*
|
|
||||||
* Code DLL + carrier PLL according to the algorithms described in:
|
|
||||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
|
||||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
|
|
||||||
* Birkhauser, 2007
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*
|
|
||||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
|
||||||
*
|
|
||||||
* GNSS-SDR is a software defined Global Navigation
|
|
||||||
* Satellite Systems receiver
|
|
||||||
*
|
|
||||||
* This file is part of GNSS-SDR.
|
|
||||||
*
|
|
||||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
|
||||||
* it under the terms of the GNU General Public License as published by
|
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
|
||||||
* (at your option) any later version.
|
|
||||||
*
|
|
||||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
* GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* You should have received a copy of the GNU General Public License
|
|
||||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*/
|
|
||||||
|
|
||||||
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
|
|
||||||
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
|
|
||||||
|
|
||||||
#include "gnss_synchro.h"
|
|
||||||
#include "tracking_2nd_DLL_filter.h"
|
|
||||||
#include "tracking_FLL_PLL_filter.h"
|
|
||||||
//#include "tracking_loop_filter.h"
|
|
||||||
#include "cpu_multicorrelator.h"
|
|
||||||
#include <gnuradio/block.h>
|
|
||||||
#include <pmt/pmt.h>
|
|
||||||
#include <deque>
|
|
||||||
#include <fstream>
|
|
||||||
#include <map>
|
|
||||||
#include <string>
|
|
||||||
|
|
||||||
class gps_l1_ca_dll_pll_c_aid_tracking_cc;
|
|
||||||
|
|
||||||
using gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr = boost::shared_ptr<gps_l1_ca_dll_pll_c_aid_tracking_cc>;
|
|
||||||
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr
|
|
||||||
gps_l1_ca_dll_pll_c_aid_make_tracking_cc(
|
|
||||||
int64_t fs_in, uint32_t vector_length,
|
|
||||||
bool dump,
|
|
||||||
std::string dump_filename,
|
|
||||||
float pll_bw_hz,
|
|
||||||
float dll_bw_hz,
|
|
||||||
float pll_bw_narrow_hz,
|
|
||||||
float dll_bw_narrow_hz,
|
|
||||||
int32_t extend_correlation_ms,
|
|
||||||
float early_late_space_chips);
|
|
||||||
|
|
||||||
|
|
||||||
/*!
|
|
||||||
* \brief This class implements a DLL + PLL tracking loop block
|
|
||||||
*/
|
|
||||||
class gps_l1_ca_dll_pll_c_aid_tracking_cc : public gr::block
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
~gps_l1_ca_dll_pll_c_aid_tracking_cc();
|
|
||||||
|
|
||||||
void set_channel(uint32_t channel);
|
|
||||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
|
|
||||||
void start_tracking();
|
|
||||||
|
|
||||||
int general_work(int noutput_items, gr_vector_int& ninput_items,
|
|
||||||
gr_vector_const_void_star& input_items, gr_vector_void_star& output_items);
|
|
||||||
|
|
||||||
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
|
|
||||||
|
|
||||||
private:
|
|
||||||
friend gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr
|
|
||||||
gps_l1_ca_dll_pll_c_aid_make_tracking_cc(
|
|
||||||
int64_t fs_in, uint32_t vector_length,
|
|
||||||
bool dump,
|
|
||||||
std::string dump_filename,
|
|
||||||
float pll_bw_hz,
|
|
||||||
float dll_bw_hz,
|
|
||||||
float pll_bw_narrow_hz,
|
|
||||||
float dll_bw_narrow_hz,
|
|
||||||
int32_t extend_correlation_ms,
|
|
||||||
float early_late_space_chips);
|
|
||||||
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_cc(
|
|
||||||
int64_t fs_in, uint32_t vector_length,
|
|
||||||
bool dump,
|
|
||||||
std::string dump_filename,
|
|
||||||
float pll_bw_hz,
|
|
||||||
float dll_bw_hz,
|
|
||||||
float pll_bw_narrow_hz,
|
|
||||||
float dll_bw_narrow_hz,
|
|
||||||
int32_t extend_correlation_ms,
|
|
||||||
float early_late_space_chips);
|
|
||||||
|
|
||||||
// tracking configuration vars
|
|
||||||
uint32_t d_vector_length;
|
|
||||||
bool d_dump;
|
|
||||||
|
|
||||||
Gnss_Synchro* d_acquisition_gnss_synchro;
|
|
||||||
uint32_t d_channel;
|
|
||||||
int64_t d_fs_in;
|
|
||||||
|
|
||||||
double d_early_late_spc_chips;
|
|
||||||
int32_t d_n_correlator_taps;
|
|
||||||
|
|
||||||
gr_complex* d_ca_code;
|
|
||||||
float* d_local_code_shift_chips;
|
|
||||||
gr_complex* d_correlator_outs;
|
|
||||||
Cpu_Multicorrelator multicorrelator_cpu;
|
|
||||||
|
|
||||||
// remaining code phase and carrier phase between tracking loops
|
|
||||||
double d_rem_code_phase_samples;
|
|
||||||
double d_rem_code_phase_chips;
|
|
||||||
double d_rem_carrier_phase_rad;
|
|
||||||
int32_t d_rem_code_phase_integer_samples;
|
|
||||||
|
|
||||||
// PLL and DLL filter library
|
|
||||||
//Tracking_2nd_DLL_filter d_code_loop_filter;
|
|
||||||
Tracking_2nd_DLL_filter d_code_loop_filter;
|
|
||||||
Tracking_FLL_PLL_filter d_carrier_loop_filter;
|
|
||||||
|
|
||||||
// acquisition
|
|
||||||
double d_acq_code_phase_samples;
|
|
||||||
double d_acq_carrier_doppler_hz;
|
|
||||||
|
|
||||||
// tracking vars
|
|
||||||
float d_dll_bw_hz;
|
|
||||||
float d_pll_bw_hz;
|
|
||||||
float d_dll_bw_narrow_hz;
|
|
||||||
float d_pll_bw_narrow_hz;
|
|
||||||
double d_code_freq_chips;
|
|
||||||
double d_code_phase_step_chips;
|
|
||||||
double d_carrier_doppler_hz;
|
|
||||||
double d_carrier_phase_step_rad;
|
|
||||||
double d_acc_carrier_phase_cycles;
|
|
||||||
double d_code_phase_samples;
|
|
||||||
double d_pll_to_dll_assist_secs_Ti;
|
|
||||||
double d_code_error_chips_Ti;
|
|
||||||
double d_code_error_filt_chips_s;
|
|
||||||
double d_code_error_filt_chips_Ti;
|
|
||||||
double d_carr_phase_error_secs_Ti;
|
|
||||||
|
|
||||||
// symbol history to detect bit transition
|
|
||||||
std::deque<gr_complex> d_E_history;
|
|
||||||
std::deque<gr_complex> d_P_history;
|
|
||||||
std::deque<gr_complex> d_L_history;
|
|
||||||
double d_preamble_timestamp_s;
|
|
||||||
int32_t d_extend_correlation_ms;
|
|
||||||
bool d_enable_extended_integration;
|
|
||||||
bool d_preamble_synchronized;
|
|
||||||
void msg_handler_preamble_index(pmt::pmt_t msg);
|
|
||||||
|
|
||||||
//Integration period in samples
|
|
||||||
int32_t d_correlation_length_samples;
|
|
||||||
|
|
||||||
//processing samples counters
|
|
||||||
uint64_t d_sample_counter;
|
|
||||||
uint64_t d_acq_sample_stamp;
|
|
||||||
|
|
||||||
// CN0 estimation and lock detector
|
|
||||||
int32_t d_cn0_estimation_counter;
|
|
||||||
gr_complex* d_Prompt_buffer;
|
|
||||||
double d_carrier_lock_test;
|
|
||||||
double d_CN0_SNV_dB_Hz;
|
|
||||||
double d_carrier_lock_threshold;
|
|
||||||
int32_t d_carrier_lock_fail_counter;
|
|
||||||
|
|
||||||
// control vars
|
|
||||||
bool d_enable_tracking;
|
|
||||||
bool d_pull_in;
|
|
||||||
|
|
||||||
// file dump
|
|
||||||
std::string d_dump_filename;
|
|
||||||
std::ofstream d_dump_file;
|
|
||||||
|
|
||||||
std::map<std::string, std::string> systemName;
|
|
||||||
std::string sys;
|
|
||||||
|
|
||||||
int32_t save_matfile();
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H
|
|
||||||
@ -1,920 +0,0 @@
|
|||||||
/*!
|
|
||||||
* \file gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
|
|
||||||
* \brief Implementation of a code DLL + carrier PLL tracking block
|
|
||||||
* \author Javier Arribas, 2015. jarribas(at)cttc.es
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*
|
|
||||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
|
||||||
*
|
|
||||||
* GNSS-SDR is a software defined Global Navigation
|
|
||||||
* Satellite Systems receiver
|
|
||||||
*
|
|
||||||
* This file is part of GNSS-SDR.
|
|
||||||
*
|
|
||||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
|
||||||
* it under the terms of the GNU General Public License as published by
|
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
|
||||||
* (at your option) any later version.
|
|
||||||
*
|
|
||||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
* GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* You should have received a copy of the GNU General Public License
|
|
||||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include "gps_l1_ca_dll_pll_c_aid_tracking_sc.h"
|
|
||||||
#include "GPS_L1_CA.h"
|
|
||||||
#include "gnss_sdr_flags.h"
|
|
||||||
#include "gps_sdr_signal_processing.h"
|
|
||||||
#include "lock_detectors.h"
|
|
||||||
#include "tracking_discriminators.h"
|
|
||||||
#include <boost/bind.hpp>
|
|
||||||
#include <glog/logging.h>
|
|
||||||
#include <gnuradio/io_signature.h>
|
|
||||||
#include <matio.h>
|
|
||||||
#include <pmt/pmt.h>
|
|
||||||
#include <cmath>
|
|
||||||
#include <exception>
|
|
||||||
#include <iostream>
|
|
||||||
#include <memory>
|
|
||||||
#include <sstream>
|
|
||||||
#include <utility>
|
|
||||||
|
|
||||||
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr
|
|
||||||
gps_l1_ca_dll_pll_c_aid_make_tracking_sc(
|
|
||||||
int64_t fs_in,
|
|
||||||
uint32_t vector_length,
|
|
||||||
bool dump,
|
|
||||||
std::string dump_filename,
|
|
||||||
float pll_bw_hz,
|
|
||||||
float dll_bw_hz,
|
|
||||||
float pll_bw_narrow_hz,
|
|
||||||
float dll_bw_narrow_hz,
|
|
||||||
int32_t extend_correlation_ms,
|
|
||||||
float early_late_space_chips)
|
|
||||||
{
|
|
||||||
return gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr(new gps_l1_ca_dll_pll_c_aid_tracking_sc(
|
|
||||||
fs_in, vector_length, dump, std::move(dump_filename), pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void gps_l1_ca_dll_pll_c_aid_tracking_sc::forecast(int noutput_items,
|
|
||||||
gr_vector_int &ninput_items_required)
|
|
||||||
{
|
|
||||||
if (noutput_items != 0)
|
|
||||||
{
|
|
||||||
ninput_items_required[0] = static_cast<int32_t>(d_vector_length) * 2; //set the required available samples in each call
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void gps_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(pmt::pmt_t msg)
|
|
||||||
{
|
|
||||||
//pmt::print(msg);
|
|
||||||
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
|
|
||||||
if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
|
|
||||||
{
|
|
||||||
d_preamble_timestamp_s = pmt::to_double(std::move(msg));
|
|
||||||
d_enable_extended_integration = true;
|
|
||||||
d_preamble_synchronized = false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc(
|
|
||||||
int64_t fs_in,
|
|
||||||
uint32_t vector_length,
|
|
||||||
bool dump,
|
|
||||||
std::string dump_filename,
|
|
||||||
float pll_bw_hz,
|
|
||||||
float dll_bw_hz,
|
|
||||||
float pll_bw_narrow_hz,
|
|
||||||
float dll_bw_narrow_hz,
|
|
||||||
int32_t extend_correlation_ms,
|
|
||||||
float early_late_space_chips) : gr::block("gps_l1_ca_dll_pll_c_aid_tracking_sc", gr::io_signature::make(1, 1, sizeof(lv_16sc_t)),
|
|
||||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
|
||||||
{
|
|
||||||
// Telemetry bit synchronization message port input
|
|
||||||
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
|
|
||||||
this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
|
|
||||||
boost::bind(&gps_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index, this, _1));
|
|
||||||
this->message_port_register_out(pmt::mp("events"));
|
|
||||||
this->message_port_register_in(pmt::mp("telemetry_to_trk"));
|
|
||||||
// initialize internal vars
|
|
||||||
d_dump = dump;
|
|
||||||
d_fs_in = fs_in;
|
|
||||||
d_vector_length = vector_length;
|
|
||||||
d_dump_filename = std::move(dump_filename);
|
|
||||||
d_correlation_length_samples = static_cast<int32_t>(d_vector_length);
|
|
||||||
|
|
||||||
// Initialize tracking ==========================================
|
|
||||||
d_pll_bw_hz = pll_bw_hz;
|
|
||||||
d_dll_bw_hz = dll_bw_hz;
|
|
||||||
d_pll_bw_narrow_hz = pll_bw_narrow_hz;
|
|
||||||
d_dll_bw_narrow_hz = dll_bw_narrow_hz;
|
|
||||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
|
|
||||||
d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
|
|
||||||
d_extend_correlation_ms = extend_correlation_ms;
|
|
||||||
|
|
||||||
// --- DLL variables --------------------------------------------------------
|
|
||||||
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
|
|
||||||
|
|
||||||
// Initialization of local code replica
|
|
||||||
// Get space for a vector with the C/A code replica sampled 1x/chip
|
|
||||||
d_ca_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
|
|
||||||
d_ca_code_16sc = static_cast<lv_16sc_t *>(volk_gnsssdr_malloc(static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
|
|
||||||
|
|
||||||
// correlator outputs (scalar)
|
|
||||||
d_n_correlator_taps = 3; // Early, Prompt, and Late
|
|
||||||
|
|
||||||
d_correlator_outs_16sc = static_cast<lv_16sc_t *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
|
|
||||||
for (int32_t n = 0; n < d_n_correlator_taps; n++)
|
|
||||||
{
|
|
||||||
d_correlator_outs_16sc[n] = lv_cmake(0, 0);
|
|
||||||
}
|
|
||||||
|
|
||||||
d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment()));
|
|
||||||
// Set TAPs delay values [chips]
|
|
||||||
d_local_code_shift_chips[0] = -d_early_late_spc_chips;
|
|
||||||
d_local_code_shift_chips[1] = 0.0;
|
|
||||||
d_local_code_shift_chips[2] = d_early_late_spc_chips;
|
|
||||||
|
|
||||||
multicorrelator_cpu_16sc.init(2 * d_correlation_length_samples, d_n_correlator_taps);
|
|
||||||
|
|
||||||
//--- Perform initializations ------------------------------
|
|
||||||
// define initial code frequency basis of NCO
|
|
||||||
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
|
|
||||||
// define residual code phase (in chips)
|
|
||||||
d_rem_code_phase_samples = 0.0;
|
|
||||||
// define residual carrier phase
|
|
||||||
d_rem_carrier_phase_rad = 0.0;
|
|
||||||
|
|
||||||
// sample synchronization
|
|
||||||
d_sample_counter = 0ULL; //(from trk to tlm)
|
|
||||||
d_acq_sample_stamp = 0;
|
|
||||||
d_enable_tracking = false;
|
|
||||||
d_pull_in = false;
|
|
||||||
|
|
||||||
// CN0 estimation and lock detector buffers
|
|
||||||
d_cn0_estimation_counter = 0;
|
|
||||||
d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples];
|
|
||||||
d_carrier_lock_test = 1;
|
|
||||||
d_CN0_SNV_dB_Hz = 0;
|
|
||||||
d_carrier_lock_fail_counter = 0;
|
|
||||||
d_carrier_lock_threshold = FLAGS_carrier_lock_th;
|
|
||||||
|
|
||||||
systemName["G"] = std::string("GPS");
|
|
||||||
systemName["S"] = std::string("SBAS");
|
|
||||||
|
|
||||||
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
|
|
||||||
|
|
||||||
d_acquisition_gnss_synchro = nullptr;
|
|
||||||
d_channel = 0;
|
|
||||||
d_acq_code_phase_samples = 0.0;
|
|
||||||
d_acq_carrier_doppler_hz = 0.0;
|
|
||||||
d_carrier_doppler_hz = 0.0;
|
|
||||||
d_acc_carrier_phase_cycles = 0.0;
|
|
||||||
d_code_phase_samples = 0.0;
|
|
||||||
d_enable_extended_integration = false;
|
|
||||||
d_preamble_synchronized = false;
|
|
||||||
d_rem_code_phase_integer_samples = 0;
|
|
||||||
d_code_error_chips_Ti = 0.0;
|
|
||||||
d_pll_to_dll_assist_secs_Ti = 0.0;
|
|
||||||
d_rem_code_phase_chips = 0.0;
|
|
||||||
d_code_phase_step_chips = 0.0;
|
|
||||||
d_carrier_phase_step_rad = 0.0;
|
|
||||||
d_code_error_filt_chips_s = 0.0;
|
|
||||||
d_code_error_filt_chips_Ti = 0.0;
|
|
||||||
d_preamble_timestamp_s = 0.0;
|
|
||||||
d_carr_phase_error_secs_Ti = 0.0;
|
|
||||||
//set_min_output_buffer((int64_t)300);
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void gps_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
|
|
||||||
{
|
|
||||||
/*
|
|
||||||
* correct the code phase according to the delay between acq and trk
|
|
||||||
*/
|
|
||||||
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
|
|
||||||
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
|
|
||||||
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
|
|
||||||
|
|
||||||
int64_t acq_trk_diff_samples;
|
|
||||||
double acq_trk_diff_seconds;
|
|
||||||
acq_trk_diff_samples = static_cast<int64_t>(d_sample_counter) - static_cast<int64_t>(d_acq_sample_stamp); //-d_vector_length;
|
|
||||||
DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
|
|
||||||
acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
|
|
||||||
// Doppler effect
|
|
||||||
// Fd=(C/(C+Vr))*F
|
|
||||||
double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
|
|
||||||
// new chip and prn sequence periods based on acq Doppler
|
|
||||||
double T_chip_mod_seconds;
|
|
||||||
double T_prn_mod_seconds;
|
|
||||||
double T_prn_mod_samples;
|
|
||||||
d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
|
|
||||||
d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
|
|
||||||
T_chip_mod_seconds = 1.0 / d_code_freq_chips;
|
|
||||||
T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
|
||||||
T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
|
|
||||||
|
|
||||||
d_correlation_length_samples = round(T_prn_mod_samples);
|
|
||||||
|
|
||||||
double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
|
|
||||||
double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
|
|
||||||
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
|
|
||||||
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
|
|
||||||
double corrected_acq_phase_samples, delay_correction_samples;
|
|
||||||
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
|
|
||||||
if (corrected_acq_phase_samples < 0)
|
|
||||||
{
|
|
||||||
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
|
|
||||||
}
|
|
||||||
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
|
|
||||||
|
|
||||||
d_acq_code_phase_samples = corrected_acq_phase_samples;
|
|
||||||
|
|
||||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
|
||||||
|
|
||||||
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
|
||||||
|
|
||||||
// DLL/PLL filter initialization
|
|
||||||
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
|
|
||||||
d_code_loop_filter.initialize(); // initialize the code filter
|
|
||||||
|
|
||||||
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
|
|
||||||
gps_l1_ca_code_gen_complex(d_ca_code, d_acquisition_gnss_synchro->PRN, 0);
|
|
||||||
volk_gnsssdr_32fc_convert_16ic(d_ca_code_16sc, d_ca_code, static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS));
|
|
||||||
|
|
||||||
multicorrelator_cpu_16sc.set_local_code_and_taps(static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc, d_local_code_shift_chips);
|
|
||||||
for (int32_t n = 0; n < d_n_correlator_taps; n++)
|
|
||||||
{
|
|
||||||
d_correlator_outs_16sc[n] = lv_16sc_t(0, 0);
|
|
||||||
}
|
|
||||||
|
|
||||||
d_carrier_lock_fail_counter = 0;
|
|
||||||
d_rem_code_phase_samples = 0.0;
|
|
||||||
d_rem_carrier_phase_rad = 0.0;
|
|
||||||
d_rem_code_phase_chips = 0.0;
|
|
||||||
d_acc_carrier_phase_cycles = 0.0;
|
|
||||||
d_pll_to_dll_assist_secs_Ti = 0.0;
|
|
||||||
d_code_phase_samples = d_acq_code_phase_samples;
|
|
||||||
|
|
||||||
std::string sys_ = &d_acquisition_gnss_synchro->System;
|
|
||||||
sys = sys_.substr(0, 1);
|
|
||||||
|
|
||||||
// DEBUG OUTPUT
|
|
||||||
std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
|
|
||||||
LOG(INFO) << "Tracking of GPS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
|
|
||||||
|
|
||||||
// enable tracking
|
|
||||||
d_pull_in = true;
|
|
||||||
d_enable_tracking = true;
|
|
||||||
d_enable_extended_integration = false;
|
|
||||||
d_preamble_synchronized = false;
|
|
||||||
|
|
||||||
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
|
|
||||||
<< " Code Phase correction [samples]=" << delay_correction_samples
|
|
||||||
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_sc::~gps_l1_ca_dll_pll_c_aid_tracking_sc()
|
|
||||||
{
|
|
||||||
if (d_dump_file.is_open())
|
|
||||||
{
|
|
||||||
try
|
|
||||||
{
|
|
||||||
d_dump_file.close();
|
|
||||||
}
|
|
||||||
catch (const std::exception &ex)
|
|
||||||
{
|
|
||||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (d_dump)
|
|
||||||
{
|
|
||||||
if (d_channel == 0)
|
|
||||||
{
|
|
||||||
std::cout << "Writing .mat files ...";
|
|
||||||
}
|
|
||||||
try
|
|
||||||
{
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_sc::save_matfile();
|
|
||||||
}
|
|
||||||
catch (const std::exception &ex)
|
|
||||||
{
|
|
||||||
LOG(WARNING) << "Error saving the .mat file: " << ex.what();
|
|
||||||
}
|
|
||||||
|
|
||||||
if (d_channel == 0)
|
|
||||||
{
|
|
||||||
std::cout << " done." << std::endl;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
try
|
|
||||||
{
|
|
||||||
volk_gnsssdr_free(d_local_code_shift_chips);
|
|
||||||
volk_gnsssdr_free(d_ca_code);
|
|
||||||
volk_gnsssdr_free(d_ca_code_16sc);
|
|
||||||
volk_gnsssdr_free(d_correlator_outs_16sc);
|
|
||||||
delete[] d_Prompt_buffer;
|
|
||||||
multicorrelator_cpu_16sc.free();
|
|
||||||
}
|
|
||||||
catch (const std::exception &ex)
|
|
||||||
{
|
|
||||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
int32_t gps_l1_ca_dll_pll_c_aid_tracking_sc::save_matfile()
|
|
||||||
{
|
|
||||||
// READ DUMP FILE
|
|
||||||
std::ifstream::pos_type size;
|
|
||||||
int32_t number_of_double_vars = 11;
|
|
||||||
int32_t number_of_float_vars = 5;
|
|
||||||
int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
|
|
||||||
sizeof(float) * number_of_float_vars + sizeof(uint32_t);
|
|
||||||
std::ifstream dump_file;
|
|
||||||
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
|
||||||
try
|
|
||||||
{
|
|
||||||
dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
|
||||||
}
|
|
||||||
catch (const std::ifstream::failure &e)
|
|
||||||
{
|
|
||||||
std::cerr << "Problem opening dump file:" << e.what() << std::endl;
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
// count number of epochs and rewind
|
|
||||||
int64_t num_epoch = 0;
|
|
||||||
if (dump_file.is_open())
|
|
||||||
{
|
|
||||||
size = dump_file.tellg();
|
|
||||||
num_epoch = static_cast<int64_t>(size) / static_cast<int64_t>(epoch_size_bytes);
|
|
||||||
dump_file.seekg(0, std::ios::beg);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
auto *abs_E = new float[num_epoch];
|
|
||||||
auto *abs_P = new float[num_epoch];
|
|
||||||
auto *abs_L = new float[num_epoch];
|
|
||||||
auto *Prompt_I = new float[num_epoch];
|
|
||||||
auto *Prompt_Q = new float[num_epoch];
|
|
||||||
auto *PRN_start_sample_count = new uint64_t[num_epoch];
|
|
||||||
auto *acc_carrier_phase_rad = new double[num_epoch];
|
|
||||||
auto *carrier_doppler_hz = new double[num_epoch];
|
|
||||||
auto *code_freq_chips = new double[num_epoch];
|
|
||||||
auto *carr_error_hz = new double[num_epoch];
|
|
||||||
auto *carr_error_filt_hz = new double[num_epoch];
|
|
||||||
auto *code_error_chips = new double[num_epoch];
|
|
||||||
auto *code_error_filt_chips = new double[num_epoch];
|
|
||||||
auto *CN0_SNV_dB_Hz = new double[num_epoch];
|
|
||||||
auto *carrier_lock_test = new double[num_epoch];
|
|
||||||
auto *aux1 = new double[num_epoch];
|
|
||||||
auto *aux2 = new double[num_epoch];
|
|
||||||
auto *PRN = new uint32_t[num_epoch];
|
|
||||||
|
|
||||||
try
|
|
||||||
{
|
|
||||||
if (dump_file.is_open())
|
|
||||||
{
|
|
||||||
for (int64_t i = 0; i < num_epoch; i++)
|
|
||||||
{
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(uint64_t));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
|
|
||||||
dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(uint32_t));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
dump_file.close();
|
|
||||||
}
|
|
||||||
catch (const std::ifstream::failure &e)
|
|
||||||
{
|
|
||||||
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
|
|
||||||
delete[] abs_E;
|
|
||||||
delete[] abs_P;
|
|
||||||
delete[] abs_L;
|
|
||||||
delete[] Prompt_I;
|
|
||||||
delete[] Prompt_Q;
|
|
||||||
delete[] PRN_start_sample_count;
|
|
||||||
delete[] acc_carrier_phase_rad;
|
|
||||||
delete[] carrier_doppler_hz;
|
|
||||||
delete[] code_freq_chips;
|
|
||||||
delete[] carr_error_hz;
|
|
||||||
delete[] carr_error_filt_hz;
|
|
||||||
delete[] code_error_chips;
|
|
||||||
delete[] code_error_filt_chips;
|
|
||||||
delete[] CN0_SNV_dB_Hz;
|
|
||||||
delete[] carrier_lock_test;
|
|
||||||
delete[] aux1;
|
|
||||||
delete[] aux2;
|
|
||||||
delete[] PRN;
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
// WRITE MAT FILE
|
|
||||||
mat_t *matfp;
|
|
||||||
matvar_t *matvar;
|
|
||||||
std::string filename = d_dump_filename;
|
|
||||||
filename.erase(filename.length() - 4, 4);
|
|
||||||
filename.append(".mat");
|
|
||||||
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
|
|
||||||
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
|
|
||||||
{
|
|
||||||
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
|
|
||||||
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
|
|
||||||
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0);
|
|
||||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
||||||
Mat_VarFree(matvar);
|
|
||||||
}
|
|
||||||
Mat_Close(matfp);
|
|
||||||
delete[] abs_E;
|
|
||||||
delete[] abs_P;
|
|
||||||
delete[] abs_L;
|
|
||||||
delete[] Prompt_I;
|
|
||||||
delete[] Prompt_Q;
|
|
||||||
delete[] PRN_start_sample_count;
|
|
||||||
delete[] acc_carrier_phase_rad;
|
|
||||||
delete[] carrier_doppler_hz;
|
|
||||||
delete[] code_freq_chips;
|
|
||||||
delete[] carr_error_hz;
|
|
||||||
delete[] carr_error_filt_hz;
|
|
||||||
delete[] code_error_chips;
|
|
||||||
delete[] code_error_filt_chips;
|
|
||||||
delete[] CN0_SNV_dB_Hz;
|
|
||||||
delete[] carrier_lock_test;
|
|
||||||
delete[] aux1;
|
|
||||||
delete[] aux2;
|
|
||||||
delete[] PRN;
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void gps_l1_ca_dll_pll_c_aid_tracking_sc::set_channel(uint32_t channel)
|
|
||||||
{
|
|
||||||
d_channel = channel;
|
|
||||||
LOG(INFO) << "Tracking Channel set to " << d_channel;
|
|
||||||
// ############# ENABLE DATA FILE LOG #################
|
|
||||||
if (d_dump == true)
|
|
||||||
{
|
|
||||||
if (d_dump_file.is_open() == false)
|
|
||||||
{
|
|
||||||
try
|
|
||||||
{
|
|
||||||
d_dump_filename.append(std::to_string(d_channel));
|
|
||||||
d_dump_filename.append(".dat");
|
|
||||||
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);
|
|
||||||
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
|
|
||||||
}
|
|
||||||
catch (const std::ifstream::failure &e)
|
|
||||||
{
|
|
||||||
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void gps_l1_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
|
|
||||||
{
|
|
||||||
d_acquisition_gnss_synchro = p_gnss_synchro;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
|
||||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
|
||||||
{
|
|
||||||
// Block input data and block output stream pointers
|
|
||||||
const auto *in = reinterpret_cast<const lv_16sc_t *>(input_items[0]); //PRN start block alignment
|
|
||||||
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
|
|
||||||
|
|
||||||
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
|
||||||
Gnss_Synchro current_synchro_data = Gnss_Synchro();
|
|
||||||
|
|
||||||
// process vars
|
|
||||||
double code_error_filt_secs_Ti = 0.0;
|
|
||||||
double CURRENT_INTEGRATION_TIME_S = 0.0;
|
|
||||||
double CORRECTED_INTEGRATION_TIME_S = 0.0;
|
|
||||||
|
|
||||||
if (d_enable_tracking == true)
|
|
||||||
{
|
|
||||||
// Fill the acquisition data
|
|
||||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
|
||||||
// Receiver signal alignment
|
|
||||||
if (d_pull_in == true)
|
|
||||||
{
|
|
||||||
int32_t samples_offset;
|
|
||||||
double acq_trk_shif_correction_samples;
|
|
||||||
int32_t acq_to_trk_delay_samples;
|
|
||||||
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
|
||||||
acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
|
|
||||||
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
|
||||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(samples_offset);
|
|
||||||
d_sample_counter += static_cast<uint64_t>(samples_offset); // count for the processed samples
|
|
||||||
d_pull_in = false;
|
|
||||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GPS_TWO_PI;
|
|
||||||
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GPS_TWO_PI;
|
|
||||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
|
|
||||||
current_synchro_data.fs = d_fs_in;
|
|
||||||
*out[0] = current_synchro_data;
|
|
||||||
consume_each(samples_offset); // shift input to perform alignment with local replica
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
|
|
||||||
// perform carrier wipe-off and compute Early, Prompt and Late correlation
|
|
||||||
multicorrelator_cpu_16sc.set_input_output_vectors(d_correlator_outs_16sc, in);
|
|
||||||
multicorrelator_cpu_16sc.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
|
|
||||||
d_carrier_phase_step_rad,
|
|
||||||
d_rem_code_phase_chips,
|
|
||||||
d_code_phase_step_chips,
|
|
||||||
d_correlation_length_samples);
|
|
||||||
|
|
||||||
// ####### coherent integration extension
|
|
||||||
// keep the last symbols
|
|
||||||
d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output
|
|
||||||
d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output
|
|
||||||
d_L_history.push_back(d_correlator_outs_16sc[2]); // save late output
|
|
||||||
|
|
||||||
if (static_cast<int32_t>(d_P_history.size()) > d_extend_correlation_ms)
|
|
||||||
{
|
|
||||||
d_E_history.pop_front();
|
|
||||||
d_P_history.pop_front();
|
|
||||||
d_L_history.pop_front();
|
|
||||||
}
|
|
||||||
|
|
||||||
bool enable_dll_pll;
|
|
||||||
if (d_enable_extended_integration == true)
|
|
||||||
{
|
|
||||||
int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
|
|
||||||
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
|
|
||||||
{
|
|
||||||
// compute coherent integration and enable tracking loop
|
|
||||||
// perform coherent integration using correlator output history
|
|
||||||
// std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
|
|
||||||
d_correlator_outs_16sc[0] = lv_cmake(0, 0);
|
|
||||||
d_correlator_outs_16sc[1] = lv_cmake(0, 0);
|
|
||||||
d_correlator_outs_16sc[2] = lv_cmake(0, 0);
|
|
||||||
for (int32_t n = 0; n < d_extend_correlation_ms; n++)
|
|
||||||
{
|
|
||||||
d_correlator_outs_16sc[0] += d_E_history.at(n);
|
|
||||||
d_correlator_outs_16sc[1] += d_P_history.at(n);
|
|
||||||
d_correlator_outs_16sc[2] += d_L_history.at(n);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (d_preamble_synchronized == false)
|
|
||||||
{
|
|
||||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
|
|
||||||
d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz, 2);
|
|
||||||
d_preamble_synchronized = true;
|
|
||||||
std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH " << d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
|
||||||
<< " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
|
|
||||||
<< " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
|
|
||||||
}
|
|
||||||
// UPDATE INTEGRATION TIME
|
|
||||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GPS_L1_CA_CODE_PERIOD;
|
|
||||||
enable_dll_pll = true;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
if (d_preamble_synchronized == true)
|
|
||||||
{
|
|
||||||
// continue extended coherent correlation
|
|
||||||
// Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
|
|
||||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
|
||||||
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
|
||||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
|
||||||
int32_t K_prn_samples = round(T_prn_samples);
|
|
||||||
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
|
|
||||||
|
|
||||||
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
|
|
||||||
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
|
|
||||||
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
|
|
||||||
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
|
|
||||||
// code phase step (Code resampler phase increment per sample) [chips/sample]
|
|
||||||
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
|
|
||||||
// remnant code phase [chips]
|
|
||||||
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
|
|
||||||
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GPS_TWO_PI);
|
|
||||||
|
|
||||||
// UPDATE ACCUMULATED CARRIER PHASE
|
|
||||||
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
|
|
||||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI;
|
|
||||||
|
|
||||||
// disable tracking loop and inform telemetry decoder
|
|
||||||
enable_dll_pll = false;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
// perform basic (1ms) correlation
|
|
||||||
// UPDATE INTEGRATION TIME
|
|
||||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
|
|
||||||
enable_dll_pll = true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
// UPDATE INTEGRATION TIME
|
|
||||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
|
|
||||||
enable_dll_pll = true;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (enable_dll_pll == true)
|
|
||||||
{
|
|
||||||
// ################## PLL ##########################################################
|
|
||||||
// Update PLL discriminator [rads/Ti -> Secs/Ti]
|
|
||||||
d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag())) / GPS_TWO_PI; //prompt output
|
|
||||||
|
|
||||||
// Carrier discriminator filter
|
|
||||||
// NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
|
|
||||||
// Input [s/Ti] -> output [Hz]
|
|
||||||
d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
|
|
||||||
// PLL to DLL assistance [Secs/Ti]
|
|
||||||
d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / GPS_L1_FREQ_HZ;
|
|
||||||
// code Doppler frequency update
|
|
||||||
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ);
|
|
||||||
|
|
||||||
// ################## 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
|
|
||||||
// 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;
|
|
||||||
code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
|
|
||||||
|
|
||||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
|
||||||
// keep alignment parameters for the next input buffer
|
|
||||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
|
||||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
|
||||||
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
|
||||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
|
||||||
double K_prn_samples = round(T_prn_samples);
|
|
||||||
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
|
|
||||||
|
|
||||||
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
|
|
||||||
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
|
|
||||||
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
|
|
||||||
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
|
|
||||||
|
|
||||||
//################### PLL COMMANDS #################################################
|
|
||||||
//carrier phase step (NCO phase increment per sample) [rads/sample]
|
|
||||||
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
|
||||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI;
|
|
||||||
// UPDATE ACCUMULATED CARRIER PHASE
|
|
||||||
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
|
|
||||||
//remnant carrier phase [rad]
|
|
||||||
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GPS_TWO_PI);
|
|
||||||
|
|
||||||
//################### DLL COMMANDS #################################################
|
|
||||||
//code phase step (Code resampler phase increment per sample) [chips/sample]
|
|
||||||
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
|
|
||||||
//remnant code phase [chips]
|
|
||||||
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
|
|
||||||
|
|
||||||
// ####### CN0 ESTIMATION AND LOCK DETECTORS #######################################
|
|
||||||
if (d_cn0_estimation_counter < FLAGS_cn0_samples)
|
|
||||||
{
|
|
||||||
// fill buffer with prompt correlator output values
|
|
||||||
d_Prompt_buffer[d_cn0_estimation_counter] = lv_cmake(static_cast<float>(d_correlator_outs_16sc[1].real()), static_cast<float>(d_correlator_outs_16sc[1].imag())); // prompt
|
|
||||||
d_cn0_estimation_counter++;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
d_cn0_estimation_counter = 0;
|
|
||||||
// Code lock indicator
|
|
||||||
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, GPS_L1_CA_CODE_PERIOD);
|
|
||||||
// Carrier lock indicator
|
|
||||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples);
|
|
||||||
// Loss of lock detection
|
|
||||||
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
|
|
||||||
{
|
|
||||||
d_carrier_lock_fail_counter++;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
if (d_carrier_lock_fail_counter > 0)
|
|
||||||
{
|
|
||||||
d_carrier_lock_fail_counter--;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail)
|
|
||||||
{
|
|
||||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
|
||||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
|
||||||
this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); //3 -> loss of lock
|
|
||||||
d_carrier_lock_fail_counter = 0;
|
|
||||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
|
||||||
}
|
|
||||||
}
|
|
||||||
// ########### Output the tracking data to navigation and PVT ##########
|
|
||||||
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
|
|
||||||
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
|
|
||||||
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!)
|
|
||||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(d_correlation_length_samples);
|
|
||||||
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
|
||||||
current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles;
|
|
||||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
|
|
||||||
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
|
||||||
current_synchro_data.Flag_valid_symbol_output = true;
|
|
||||||
if (d_preamble_synchronized == true)
|
|
||||||
{
|
|
||||||
current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
current_synchro_data.correlation_length_ms = 1;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
|
|
||||||
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
|
|
||||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(d_correlation_length_samples);
|
|
||||||
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
|
||||||
current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles;
|
|
||||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; // todo: project the carrier doppler
|
|
||||||
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
for (int32_t n = 0; n < d_n_correlator_taps; n++)
|
|
||||||
{
|
|
||||||
d_correlator_outs_16sc[n] = lv_cmake(0, 0);
|
|
||||||
}
|
|
||||||
|
|
||||||
current_synchro_data.System = {'G'};
|
|
||||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(d_correlation_length_samples);
|
|
||||||
}
|
|
||||||
current_synchro_data.fs = d_fs_in;
|
|
||||||
*out[0] = current_synchro_data;
|
|
||||||
if (d_dump)
|
|
||||||
{
|
|
||||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
|
||||||
float prompt_I;
|
|
||||||
float prompt_Q;
|
|
||||||
float tmp_E, tmp_P, tmp_L;
|
|
||||||
float tmp_VE = 0.0;
|
|
||||||
float tmp_VL = 0.0;
|
|
||||||
float tmp_float;
|
|
||||||
prompt_I = d_correlator_outs_16sc[1].real();
|
|
||||||
prompt_Q = d_correlator_outs_16sc[1].imag();
|
|
||||||
tmp_E = std::abs<float>(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
|
|
||||||
tmp_P = std::abs<float>(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
|
|
||||||
tmp_L = std::abs<float>(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
|
|
||||||
try
|
|
||||||
{
|
|
||||||
// Dump correlators output
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
|
||||||
// PROMPT I and Q (to analyze navigation symbols)
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
|
||||||
// PRN start sample stamp
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(uint64_t));
|
|
||||||
// accumulated carrier phase
|
|
||||||
tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
// carrier and code frequency
|
|
||||||
tmp_float = d_carrier_doppler_hz;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
tmp_float = d_code_freq_chips;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
// PLL commands
|
|
||||||
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
// DLL commands
|
|
||||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
tmp_float = d_code_error_filt_chips_Ti;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
// CN0 and carrier lock test
|
|
||||||
tmp_float = d_CN0_SNV_dB_Hz;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
tmp_float = d_carrier_lock_test;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
// AUX vars (for debug purposes)
|
|
||||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
||||||
auto tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
|
||||||
// PRN
|
|
||||||
uint32_t prn_ = d_acquisition_gnss_synchro->PRN;
|
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(uint32_t));
|
|
||||||
}
|
|
||||||
catch (const std::ifstream::failure &e)
|
|
||||||
{
|
|
||||||
LOG(WARNING) << "Exception writing trk dump file " << e.what();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
|
|
||||||
d_sample_counter += d_correlation_length_samples; //count for the processed samples
|
|
||||||
|
|
||||||
if (d_enable_tracking)
|
|
||||||
{
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
@ -1,201 +0,0 @@
|
|||||||
/*!
|
|
||||||
* \file gps_l1_ca_dll_pll_c_aid_tracking_sc.h
|
|
||||||
* \brief Interface of a code DLL + carrier PLL tracking block
|
|
||||||
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
|
||||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
|
||||||
*
|
|
||||||
* Code DLL + carrier PLL according to the algorithms described in:
|
|
||||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
|
||||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
|
|
||||||
* Birkhauser, 2007
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*
|
|
||||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
|
||||||
*
|
|
||||||
* GNSS-SDR is a software defined Global Navigation
|
|
||||||
* Satellite Systems receiver
|
|
||||||
*
|
|
||||||
* This file is part of GNSS-SDR.
|
|
||||||
*
|
|
||||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
|
||||||
* it under the terms of the GNU General Public License as published by
|
|
||||||
* the Free Software Foundation, either version 3 of the License, or
|
|
||||||
* (at your option) any later version.
|
|
||||||
*
|
|
||||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
|
||||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
||||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
||||||
* GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* You should have received a copy of the GNU General Public License
|
|
||||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*/
|
|
||||||
|
|
||||||
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
|
|
||||||
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
|
|
||||||
|
|
||||||
#include "cpu_multicorrelator_16sc.h"
|
|
||||||
#include "gnss_synchro.h"
|
|
||||||
#include "gps_sdr_signal_processing.h"
|
|
||||||
#include "tracking_2nd_DLL_filter.h"
|
|
||||||
#include "tracking_FLL_PLL_filter.h"
|
|
||||||
#include <boost/thread/mutex.hpp>
|
|
||||||
#include <boost/thread/thread.hpp>
|
|
||||||
#include <gnuradio/block.h>
|
|
||||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
|
||||||
#include <fstream>
|
|
||||||
#include <map>
|
|
||||||
#include <string>
|
|
||||||
|
|
||||||
class gps_l1_ca_dll_pll_c_aid_tracking_sc;
|
|
||||||
|
|
||||||
using gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr = boost::shared_ptr<gps_l1_ca_dll_pll_c_aid_tracking_sc>;
|
|
||||||
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr
|
|
||||||
gps_l1_ca_dll_pll_c_aid_make_tracking_sc(
|
|
||||||
int64_t fs_in, uint32_t vector_length,
|
|
||||||
bool dump,
|
|
||||||
std::string dump_filename,
|
|
||||||
float pll_bw_hz,
|
|
||||||
float dll_bw_hz,
|
|
||||||
float pll_bw_narrow_hz,
|
|
||||||
float dll_bw_narrow_hz,
|
|
||||||
int32_t extend_correlation_ms,
|
|
||||||
float early_late_space_chips);
|
|
||||||
|
|
||||||
|
|
||||||
/*!
|
|
||||||
* \brief This class implements a DLL + PLL tracking loop block
|
|
||||||
*/
|
|
||||||
class gps_l1_ca_dll_pll_c_aid_tracking_sc : public gr::block
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
~gps_l1_ca_dll_pll_c_aid_tracking_sc();
|
|
||||||
|
|
||||||
void set_channel(uint32_t channel);
|
|
||||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
|
|
||||||
void start_tracking();
|
|
||||||
|
|
||||||
int general_work(int noutput_items, gr_vector_int& ninput_items,
|
|
||||||
gr_vector_const_void_star& input_items, gr_vector_void_star& output_items);
|
|
||||||
|
|
||||||
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
|
|
||||||
|
|
||||||
private:
|
|
||||||
friend gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr
|
|
||||||
gps_l1_ca_dll_pll_c_aid_make_tracking_sc(
|
|
||||||
int64_t fs_in, uint32_t vector_length,
|
|
||||||
bool dump,
|
|
||||||
std::string dump_filename,
|
|
||||||
float pll_bw_hz,
|
|
||||||
float dll_bw_hz,
|
|
||||||
float pll_bw_narrow_hz,
|
|
||||||
float dll_bw_narrow_hz,
|
|
||||||
int32_t extend_correlation_ms,
|
|
||||||
float early_late_space_chips);
|
|
||||||
|
|
||||||
gps_l1_ca_dll_pll_c_aid_tracking_sc(
|
|
||||||
int64_t fs_in, uint32_t vector_length,
|
|
||||||
bool dump,
|
|
||||||
std::string dump_filename,
|
|
||||||
float pll_bw_hz,
|
|
||||||
float dll_bw_hz,
|
|
||||||
float pll_bw_narrow_hz,
|
|
||||||
float dll_bw_narrow_hz,
|
|
||||||
int32_t extend_correlation_ms,
|
|
||||||
float early_late_space_chips);
|
|
||||||
|
|
||||||
// tracking configuration vars
|
|
||||||
uint32_t d_vector_length;
|
|
||||||
bool d_dump;
|
|
||||||
|
|
||||||
Gnss_Synchro* d_acquisition_gnss_synchro;
|
|
||||||
uint32_t d_channel;
|
|
||||||
|
|
||||||
int64_t d_fs_in;
|
|
||||||
|
|
||||||
double d_early_late_spc_chips;
|
|
||||||
int32_t d_n_correlator_taps;
|
|
||||||
|
|
||||||
gr_complex* d_ca_code;
|
|
||||||
lv_16sc_t* d_ca_code_16sc;
|
|
||||||
float* d_local_code_shift_chips;
|
|
||||||
//gr_complex* d_correlator_outs;
|
|
||||||
lv_16sc_t* d_correlator_outs_16sc;
|
|
||||||
//cpu_multicorrelator multicorrelator_cpu;
|
|
||||||
Cpu_Multicorrelator_16sc multicorrelator_cpu_16sc;
|
|
||||||
|
|
||||||
// remaining code phase and carrier phase between tracking loops
|
|
||||||
double d_rem_code_phase_samples;
|
|
||||||
double d_rem_code_phase_chips;
|
|
||||||
double d_rem_carrier_phase_rad;
|
|
||||||
int32_t d_rem_code_phase_integer_samples;
|
|
||||||
|
|
||||||
// PLL and DLL filter library
|
|
||||||
Tracking_2nd_DLL_filter d_code_loop_filter;
|
|
||||||
Tracking_FLL_PLL_filter d_carrier_loop_filter;
|
|
||||||
|
|
||||||
// acquisition
|
|
||||||
double d_acq_code_phase_samples;
|
|
||||||
double d_acq_carrier_doppler_hz;
|
|
||||||
|
|
||||||
// tracking vars
|
|
||||||
float d_dll_bw_hz;
|
|
||||||
float d_pll_bw_hz;
|
|
||||||
float d_dll_bw_narrow_hz;
|
|
||||||
float d_pll_bw_narrow_hz;
|
|
||||||
double d_code_freq_chips;
|
|
||||||
double d_code_phase_step_chips;
|
|
||||||
double d_carrier_doppler_hz;
|
|
||||||
double d_carrier_phase_step_rad;
|
|
||||||
double d_acc_carrier_phase_cycles;
|
|
||||||
double d_code_phase_samples;
|
|
||||||
double d_pll_to_dll_assist_secs_Ti;
|
|
||||||
double d_carr_phase_error_secs_Ti;
|
|
||||||
double d_code_error_chips_Ti;
|
|
||||||
double d_preamble_timestamp_s;
|
|
||||||
int32_t d_extend_correlation_ms;
|
|
||||||
bool d_enable_extended_integration;
|
|
||||||
bool d_preamble_synchronized;
|
|
||||||
double d_code_error_filt_chips_s;
|
|
||||||
double d_code_error_filt_chips_Ti;
|
|
||||||
void msg_handler_preamble_index(pmt::pmt_t msg);
|
|
||||||
|
|
||||||
// symbol history to detect bit transition
|
|
||||||
std::deque<lv_16sc_t> d_E_history;
|
|
||||||
std::deque<lv_16sc_t> d_P_history;
|
|
||||||
std::deque<lv_16sc_t> d_L_history;
|
|
||||||
|
|
||||||
//Integration period in samples
|
|
||||||
int32_t d_correlation_length_samples;
|
|
||||||
|
|
||||||
//processing samples counters
|
|
||||||
uint64_t d_sample_counter;
|
|
||||||
uint64_t d_acq_sample_stamp;
|
|
||||||
|
|
||||||
// CN0 estimation and lock detector
|
|
||||||
int32_t d_cn0_estimation_counter;
|
|
||||||
gr_complex* d_Prompt_buffer;
|
|
||||||
double d_carrier_lock_test;
|
|
||||||
double d_CN0_SNV_dB_Hz;
|
|
||||||
double d_carrier_lock_threshold;
|
|
||||||
int32_t d_carrier_lock_fail_counter;
|
|
||||||
|
|
||||||
// control vars
|
|
||||||
bool d_enable_tracking;
|
|
||||||
bool d_pull_in;
|
|
||||||
|
|
||||||
// file dump
|
|
||||||
std::string d_dump_filename;
|
|
||||||
std::ofstream d_dump_file;
|
|
||||||
|
|
||||||
std::map<std::string, std::string> systemName;
|
|
||||||
std::string sys;
|
|
||||||
|
|
||||||
int32_t save_matfile();
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H
|
|
||||||
@ -73,7 +73,6 @@
|
|||||||
#include "glonass_l2_ca_pcps_acquisition.h"
|
#include "glonass_l2_ca_pcps_acquisition.h"
|
||||||
#include "glonass_l2_ca_telemetry_decoder.h"
|
#include "glonass_l2_ca_telemetry_decoder.h"
|
||||||
#include "gnss_block_interface.h"
|
#include "gnss_block_interface.h"
|
||||||
#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
|
|
||||||
#include "gps_l1_ca_dll_pll_tracking.h"
|
#include "gps_l1_ca_dll_pll_tracking.h"
|
||||||
#include "gps_l1_ca_kf_tracking.h"
|
#include "gps_l1_ca_kf_tracking.h"
|
||||||
#include "gps_l1_ca_pcps_acquisition.h"
|
#include "gps_l1_ca_pcps_acquisition.h"
|
||||||
@ -1720,12 +1719,6 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
|
|||||||
out_streams));
|
out_streams));
|
||||||
block = std::move(block_);
|
block = std::move(block_);
|
||||||
}
|
}
|
||||||
else if (implementation == "GPS_L1_CA_DLL_PLL_C_Aid_Tracking")
|
|
||||||
{
|
|
||||||
std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllCAidTracking(configuration.get(), role, in_streams,
|
|
||||||
out_streams));
|
|
||||||
block = std::move(block_);
|
|
||||||
}
|
|
||||||
#if ENABLE_FPGA
|
#if ENABLE_FPGA
|
||||||
else if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_Fpga")
|
else if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_Fpga")
|
||||||
{
|
{
|
||||||
@ -2138,12 +2131,6 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
|
|||||||
out_streams));
|
out_streams));
|
||||||
block = std::move(block_);
|
block = std::move(block_);
|
||||||
}
|
}
|
||||||
else if (implementation == "GPS_L1_CA_DLL_PLL_C_Aid_Tracking")
|
|
||||||
{
|
|
||||||
std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllCAidTracking(configuration.get(), role, in_streams,
|
|
||||||
out_streams));
|
|
||||||
block = std::move(block_);
|
|
||||||
}
|
|
||||||
#if ENABLE_FPGA
|
#if ENABLE_FPGA
|
||||||
else if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_Fpga")
|
else if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_Fpga")
|
||||||
{
|
{
|
||||||
|
|||||||
@ -31,8 +31,8 @@
|
|||||||
*/
|
*/
|
||||||
|
|
||||||
|
|
||||||
#include "control_message_factory.h"
|
|
||||||
#include "control_thread.h"
|
#include "control_thread.h"
|
||||||
|
#include "control_message_factory.h"
|
||||||
#include "in_memory_configuration.h"
|
#include "in_memory_configuration.h"
|
||||||
#include <boost/exception/diagnostic_information.hpp>
|
#include <boost/exception/diagnostic_information.hpp>
|
||||||
#include <boost/exception_ptr.hpp>
|
#include <boost/exception_ptr.hpp>
|
||||||
@ -170,7 +170,7 @@ TEST_F(ControlThreadTest /*unused*/, InstantiateRunControlMessages2 /*unused*/)
|
|||||||
config->set_property("Acquisition_1C.threshold", "1");
|
config->set_property("Acquisition_1C.threshold", "1");
|
||||||
config->set_property("Acquisition_1C.doppler_max", "5000");
|
config->set_property("Acquisition_1C.doppler_max", "5000");
|
||||||
config->set_property("Acquisition_1C.doppler_min", "-5000");
|
config->set_property("Acquisition_1C.doppler_min", "-5000");
|
||||||
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
|
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
|
||||||
config->set_property("Tracking_1C.item_type", "gr_complex");
|
config->set_property("Tracking_1C.item_type", "gr_complex");
|
||||||
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
|
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
|
||||||
config->set_property("TelemetryDecoder_1C.item_type", "gr_complex");
|
config->set_property("TelemetryDecoder_1C.item_type", "gr_complex");
|
||||||
@ -234,7 +234,7 @@ TEST_F(ControlThreadTest /*unused*/, StopReceiverProgrammatically /*unused*/)
|
|||||||
config->set_property("Acquisition_1C.threshold", "1");
|
config->set_property("Acquisition_1C.threshold", "1");
|
||||||
config->set_property("Acquisition_1C.doppler_max", "5000");
|
config->set_property("Acquisition_1C.doppler_max", "5000");
|
||||||
config->set_property("Acquisition_1C.doppler_min", "-5000");
|
config->set_property("Acquisition_1C.doppler_min", "-5000");
|
||||||
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
|
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
|
||||||
config->set_property("Tracking_1C.item_type", "gr_complex");
|
config->set_property("Tracking_1C.item_type", "gr_complex");
|
||||||
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
|
config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
|
||||||
config->set_property("TelemetryDecoder_1C.item_type", "gr_complex");
|
config->set_property("TelemetryDecoder_1C.item_type", "gr_complex");
|
||||||
|
|||||||
@ -33,9 +33,9 @@
|
|||||||
* -------------------------------------------------------------------------
|
* -------------------------------------------------------------------------
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
#include "gnss_block_factory.h"
|
||||||
#include "acquisition_interface.h"
|
#include "acquisition_interface.h"
|
||||||
#include "channel.h"
|
#include "channel.h"
|
||||||
#include "gnss_block_factory.h"
|
|
||||||
#include "gnss_block_interface.h"
|
#include "gnss_block_interface.h"
|
||||||
#include "in_memory_configuration.h"
|
#include "in_memory_configuration.h"
|
||||||
#include "observables_interface.h"
|
#include "observables_interface.h"
|
||||||
@ -251,18 +251,6 @@ TEST(GNSSBlockFactoryTest, InstantiateGalileoE1PcpsAmbiguousAcquisition)
|
|||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
TEST(GNSSBlockFactoryTest, InstantiateGpsL1CaDllPllCAidTracking)
|
|
||||||
{
|
|
||||||
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
|
|
||||||
configuration->set_property("Tracking.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
|
|
||||||
std::unique_ptr<GNSSBlockFactory> factory;
|
|
||||||
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(configuration, "Tracking", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking", 1, 1);
|
|
||||||
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);
|
|
||||||
EXPECT_STREQ("Tracking", tracking->role().c_str());
|
|
||||||
EXPECT_STREQ("GPS_L1_CA_DLL_PLL_C_Aid_Tracking", tracking->implementation().c_str());
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
TEST(GNSSBlockFactoryTest, InstantiateGpsL1CaDllPllTracking)
|
TEST(GNSSBlockFactoryTest, InstantiateGpsL1CaDllPllTracking)
|
||||||
{
|
{
|
||||||
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
|
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
|
||||||
@ -316,7 +304,7 @@ TEST(GNSSBlockFactoryTest, InstantiateChannels)
|
|||||||
configuration->set_property("Channels_1C.count", "2");
|
configuration->set_property("Channels_1C.count", "2");
|
||||||
configuration->set_property("Channels_1E.count", "0");
|
configuration->set_property("Channels_1E.count", "0");
|
||||||
configuration->set_property("Channels.in_acquisition", "2");
|
configuration->set_property("Channels.in_acquisition", "2");
|
||||||
configuration->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
|
configuration->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
|
||||||
configuration->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
|
configuration->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
|
||||||
configuration->set_property("Channel0.item_type", "gr_complex");
|
configuration->set_property("Channel0.item_type", "gr_complex");
|
||||||
configuration->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Acquisition");
|
configuration->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Acquisition");
|
||||||
|
|||||||
@ -48,7 +48,6 @@
|
|||||||
#include "gnss_block_factory.h"
|
#include "gnss_block_factory.h"
|
||||||
#include "gnss_block_interface.h"
|
#include "gnss_block_interface.h"
|
||||||
#include "gnss_synchro.h"
|
#include "gnss_synchro.h"
|
||||||
#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
|
|
||||||
#include "gps_l1_ca_dll_pll_tracking.h"
|
#include "gps_l1_ca_dll_pll_tracking.h"
|
||||||
#include "gps_l1_ca_telemetry_decoder.h"
|
#include "gps_l1_ca_telemetry_decoder.h"
|
||||||
#include "in_memory_configuration.h"
|
#include "in_memory_configuration.h"
|
||||||
|
|||||||
@ -133,7 +133,7 @@ public:
|
|||||||
std::string p4;
|
std::string p4;
|
||||||
std::string p5;
|
std::string p5;
|
||||||
std::string p6;
|
std::string p6;
|
||||||
std::string implementation = "GPS_L1_CA_DLL_PLL_Tracking"; //"GPS_L1_CA_DLL_PLL_C_Aid_Tracking";
|
std::string implementation = "GPS_L1_CA_DLL_PLL_Tracking";
|
||||||
|
|
||||||
const int baseband_sampling_freq = FLAGS_fs_gen_sps;
|
const int baseband_sampling_freq = FLAGS_fs_gen_sps;
|
||||||
|
|
||||||
|
|||||||
@ -209,8 +209,8 @@ GpsL1CADllPllTrackingTestFpga_msg_rx::GpsL1CADllPllTrackingTestFpga_msg_rx() : g
|
|||||||
this->message_port_register_in(pmt::mp("events"));
|
this->message_port_register_in(pmt::mp("events"));
|
||||||
this->set_msg_handler(pmt::mp("events"),
|
this->set_msg_handler(pmt::mp("events"),
|
||||||
boost::bind(
|
boost::bind(
|
||||||
&GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events,
|
&GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events,
|
||||||
this, _1));
|
this, _1));
|
||||||
rx_message = 0;
|
rx_message = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -320,8 +320,6 @@ void GpsL1CADllPllTrackingTestFpga::configure_receiver()
|
|||||||
config->set_property("GNSS-SDR.internal_fs_sps",
|
config->set_property("GNSS-SDR.internal_fs_sps",
|
||||||
std::to_string(baseband_sampling_freq));
|
std::to_string(baseband_sampling_freq));
|
||||||
// Set Tracking
|
// Set Tracking
|
||||||
//config->set_property("Tracking_1C.implementation",
|
|
||||||
// "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga");
|
|
||||||
config->set_property("Tracking_1C.implementation",
|
config->set_property("Tracking_1C.implementation",
|
||||||
"GPS_L1_CA_DLL_PLL_Tracking_Fpga");
|
"GPS_L1_CA_DLL_PLL_Tracking_Fpga");
|
||||||
config->set_property("Tracking_1C.item_type", "cshort");
|
config->set_property("Tracking_1C.item_type", "cshort");
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user