mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-10-31 15:23:04 +00:00
coherent 2or3 ms adding noncoherently I+Q acquisition,
dll+pll tracking still diverges
This commit is contained in:
marc-sales
@@ -31,7 +31,10 @@ SignalSource.implementation=File_Signal_Source
|
||||
;#filename: path to file with the captured GNSS signal samples to be processed
|
||||
;SignalSource.filename=/home/marc/E5a_acquisitions/signal_source_5X_primary.dat
|
||||
;SignalSource.filename=/home/marc/E5a_acquisitions/galileo_E5_8M_r2_upsampled_12.dat
|
||||
SignalSource.filename=/home/marc/E5a_acquisitions/Tiered_sim_4sat_stup4_2s_up.dat
|
||||
;SignalSource.filename=/home/marc/E5a_acquisitions/Tiered_sim_4sat_stup4_2s_up.dat
|
||||
SignalSource.filename=/home/marc/E5a_acquisitions/signal_source_sec21M_long.dat
|
||||
|
||||
|
||||
|
||||
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
|
||||
SignalSource.item_type=gr_complex
|
||||
@@ -288,7 +291,7 @@ Acquisition.if=0
|
||||
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
|
||||
Acquisition.coherent_integration_time_ms=2
|
||||
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
|
||||
Acquisition.implementation=Galileo_E5ax_2ms_Pcps_Acquisition
|
||||
Acquisition.implementation=Galileo_E5a_3ms_Noncoherent_IQ_Acquisition
|
||||
;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
|
||||
Acquisition.threshold=0.0005
|
||||
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
|
||||
|
||||
@@ -31,6 +31,7 @@ if(OPENCL_FOUND)
|
||||
galileo_e5a_pcps_acquisition.cc
|
||||
galileo_e5a_pilot_3ms_acquisition.cc
|
||||
galileo_e5ax_2ms_pcps_acquisition.cc
|
||||
galileo_e5a_3ms_noncoherent_iq_acquisition.cc
|
||||
)
|
||||
else(OPENCL_FOUND)
|
||||
set(ACQ_ADAPTER_SOURCES
|
||||
@@ -46,6 +47,7 @@ else(OPENCL_FOUND)
|
||||
galileo_e5a_pcps_acquisition.cc
|
||||
galileo_e5a_pilot_3ms_acquisition.cc
|
||||
galileo_e5ax_2ms_pcps_acquisition.cc
|
||||
galileo_e5a_3ms_noncoherent_iq_acquisition.cc
|
||||
)
|
||||
endif(OPENCL_FOUND)
|
||||
|
||||
|
||||
@@ -0,0 +1,316 @@
|
||||
/*!
|
||||
* \file galileo_e5a_3ms_noncoherent_iq_acquisition.cc
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Galileo E5a data and pilot Signals
|
||||
* \author Marc Sales, 2014. marcsales92(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "galileo_e5a_3ms_noncoherent_iq_acquisition.h"
|
||||
#include <iostream>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <stdexcept>
|
||||
#include <boost/math/distributions/exponential.hpp>
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include "galileo_e5_signal_processing.h"
|
||||
#include "Galileo_E5a.h"
|
||||
#include "configuration_interface.h"
|
||||
//#include <tgmath.h>
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
GalileoE5a3msNoncoherentIQAcquisition::GalileoE5a3msNoncoherentIQAcquisition(
|
||||
ConfigurationInterface* configuration, std::string role,
|
||||
unsigned int in_streams, unsigned int out_streams,
|
||||
boost::shared_ptr<gr::msg_queue> queue) :
|
||||
role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(queue)
|
||||
{
|
||||
configuration_ = configuration;
|
||||
std::string default_item_type = "gr_complex";
|
||||
std::string default_dump_filename = "../data/acquisition.dat";
|
||||
|
||||
DLOG(INFO) << "role " << role;
|
||||
|
||||
item_type_ = configuration_->property(role + ".item_type",
|
||||
default_item_type);
|
||||
|
||||
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 21000000);
|
||||
if_ = configuration_->property(role + ".ifreq", 0);
|
||||
dump_ = configuration_->property(role + ".dump", false);
|
||||
shift_resolution_ = configuration_->property(role + ".doppler_max", 15);
|
||||
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 3);
|
||||
if (sampled_ms_ < 2)
|
||||
{
|
||||
sampled_ms_=2;
|
||||
DLOG(INFO) << "Coherent integration time should be 2 or 3 ms. Changing to 2ms ";
|
||||
std::cout<<"Too low coherent integration time. Changing to 2ms" << std::endl;
|
||||
}
|
||||
else if (sampled_ms_ > 3)
|
||||
{
|
||||
sampled_ms_=3;
|
||||
DLOG(INFO) << "Coherent integration time should be 2 or 3 ms. Changing to 3ms ";
|
||||
std::cout<<"Too low coherent integration time. Changing to 3ms" << std::endl;
|
||||
}
|
||||
//bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
|
||||
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
|
||||
|
||||
dump_filename_ = configuration_->property(role + ".dump_filename",
|
||||
default_dump_filename);
|
||||
|
||||
//--- Find number of samples per spreading code (1ms)-------------------------
|
||||
code_length_ = round(fs_in_/ Galileo_E5a_CODE_CHIP_RATE_HZ*Galileo_E5a_CODE_LENGTH_CHIPS);
|
||||
|
||||
// WARNING: In presence of secondary codes, 2ms must be correlated with 1ms
|
||||
// of primary code and 1ms of padded zeros.
|
||||
vector_length_=code_length_ * sampled_ms_;
|
||||
// vector_length_=15*code_length_;
|
||||
|
||||
//std::cout << sampled_ms_ << " sampledms" << code_length_ << " cdelength" << std::endl;
|
||||
|
||||
//if (posix_memalign((void**)&(code_), 16,vector_length_ * sizeof(gr_complex)) == 0){};
|
||||
|
||||
codeI_= new gr_complex[vector_length_];
|
||||
codeQ_= new gr_complex[vector_length_];
|
||||
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
item_size_ = sizeof(gr_complex);
|
||||
acquisition_cc_ = galileo_e5a_3ms_noncoherentIQ_make_acquisition_cc(sampled_ms_, max_dwells_,
|
||||
shift_resolution_, if_, fs_in_, code_length_, code_length_,
|
||||
bit_transition_flag_, queue_, dump_, dump_filename_);
|
||||
|
||||
// stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
|
||||
//
|
||||
// DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id()
|
||||
// << ")";
|
||||
// DLOG(INFO) << "acquisition(" << acquisition_cc_->unique_id()
|
||||
// << ")";
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG(WARNING) << item_type_
|
||||
<< " unknown acquisition item type";
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
GalileoE5a3msNoncoherentIQAcquisition::~GalileoE5a3msNoncoherentIQAcquisition()
|
||||
{
|
||||
delete[] codeI_;
|
||||
delete[] codeQ_;
|
||||
}
|
||||
|
||||
void GalileoE5a3msNoncoherentIQAcquisition::set_channel(unsigned int channel)
|
||||
{
|
||||
channel_ = channel;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_channel(channel_);
|
||||
}
|
||||
}
|
||||
|
||||
void GalileoE5a3msNoncoherentIQAcquisition::set_threshold(float threshold)
|
||||
{
|
||||
|
||||
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
|
||||
|
||||
if(pfa==0.0) pfa = configuration_->property(role_+".pfa", 0.0);
|
||||
|
||||
if(pfa==0.0)
|
||||
{
|
||||
threshold_ = threshold;
|
||||
}
|
||||
else
|
||||
{
|
||||
threshold_ = calculate_threshold(pfa);
|
||||
}
|
||||
|
||||
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_;
|
||||
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_threshold(threshold_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5a3msNoncoherentIQAcquisition::set_doppler_max(unsigned int doppler_max)
|
||||
{
|
||||
doppler_max_ = doppler_max;
|
||||
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_doppler_max(doppler_max_);
|
||||
}
|
||||
}
|
||||
|
||||
void GalileoE5a3msNoncoherentIQAcquisition::set_doppler_step(unsigned int doppler_step)
|
||||
{
|
||||
doppler_step_ = doppler_step;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_doppler_step(doppler_step_);
|
||||
}
|
||||
}
|
||||
|
||||
void GalileoE5a3msNoncoherentIQAcquisition::set_channel_queue(
|
||||
concurrent_queue<int> *channel_internal_queue)
|
||||
{
|
||||
channel_internal_queue_ = channel_internal_queue;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_channel_queue(channel_internal_queue_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5a3msNoncoherentIQAcquisition::set_gnss_synchro(
|
||||
Gnss_Synchro* gnss_synchro)
|
||||
{
|
||||
gnss_synchro_ = gnss_synchro;
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
signed int GalileoE5a3msNoncoherentIQAcquisition::mag()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
return acquisition_cc_->mag();
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5a3msNoncoherentIQAcquisition::init()
|
||||
{
|
||||
acquisition_cc_->init();
|
||||
set_local_code();
|
||||
}
|
||||
|
||||
void GalileoE5a3msNoncoherentIQAcquisition::set_local_code()
|
||||
{
|
||||
if (item_type_.compare("gr_complex")==0)
|
||||
{
|
||||
|
||||
std::complex<float>* codeI = new std::complex<float>[code_length_];
|
||||
std::complex<float>* codeQ = new std::complex<float>[code_length_];
|
||||
|
||||
std::cout << "ADAPTER E5a 3ms noncoherentIQ. SIGNAL = " << gnss_synchro_->Signal << " PRN = " << gnss_synchro_->PRN << std::endl;
|
||||
|
||||
char a[3];
|
||||
strcpy(a,"5I");
|
||||
galileo_e5_a_code_gen_complex_sampled(codeI, a,
|
||||
gnss_synchro_->PRN, fs_in_, 0, false);
|
||||
|
||||
strcpy(a,"5Q");
|
||||
galileo_e5_a_code_gen_complex_sampled(codeQ, a,
|
||||
gnss_synchro_->PRN, fs_in_, 0, false);
|
||||
|
||||
// WARNING: 3ms are coherently integrated. Secondary sequence (1,1,1)
|
||||
// is generated, and modulated in the 'block'.
|
||||
for (unsigned int i = 0; i < sampled_ms_; i++)
|
||||
{
|
||||
memcpy(&(codeI_[i*code_length_]), codeI,
|
||||
sizeof(gr_complex)*code_length_);
|
||||
|
||||
memcpy(&(codeQ_[i*code_length_]), codeQ,
|
||||
sizeof(gr_complex)*code_length_);
|
||||
}
|
||||
|
||||
|
||||
acquisition_cc_->set_local_code(codeI_,codeQ_);
|
||||
delete[] codeI;
|
||||
delete[] codeQ;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void GalileoE5a3msNoncoherentIQAcquisition::reset()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
acquisition_cc_->set_active(true);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
float GalileoE5a3msNoncoherentIQAcquisition::calculate_threshold(float pfa)
|
||||
{
|
||||
//Calculate the threshold
|
||||
unsigned int frequency_bins = 0;
|
||||
for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
|
||||
{
|
||||
frequency_bins++;
|
||||
}
|
||||
DLOG(INFO) << "Channel " << channel_<< " Pfa = " << pfa;
|
||||
unsigned int ncells = vector_length_*frequency_bins;
|
||||
double exponent = 1/(double)ncells;
|
||||
double val = pow(1.0 - pfa, exponent);
|
||||
double lambda = double(vector_length_);
|
||||
boost::math::exponential_distribution<double> mydist (lambda);
|
||||
float threshold = (float)quantile(mydist,val);
|
||||
|
||||
return threshold;
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5a3msNoncoherentIQAcquisition::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
// if (item_type_.compare("gr_complex") == 0)
|
||||
// {
|
||||
// top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
|
||||
// }
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5a3msNoncoherentIQAcquisition::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
// if (item_type_.compare("gr_complex") == 0)
|
||||
// {
|
||||
// top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
|
||||
// }
|
||||
}
|
||||
|
||||
gr::basic_block_sptr GalileoE5a3msNoncoherentIQAcquisition::get_left_block()
|
||||
{
|
||||
return acquisition_cc_;
|
||||
//return stream_to_vector_;
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GalileoE5a3msNoncoherentIQAcquisition::get_right_block()
|
||||
{
|
||||
return acquisition_cc_;
|
||||
}
|
||||
@@ -0,0 +1,157 @@
|
||||
/*!
|
||||
* \file galileo_e5a_3ms_noncoherent_iq_acquisition.h
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Galileo E5a data and pilot Signals
|
||||
* \author Marc Sales, 2014. marcsales92(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GALILEO_E5A_3MS_NONCOHERENT_IQ_ACQUISITION_H_
|
||||
#define GALILEO_E5A_3MS_NONCOHERENT_IQ_ACQUISITION_H_
|
||||
|
||||
#include <string>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/stream_to_vector.h>
|
||||
#include "gnss_synchro.h"
|
||||
#include "acquisition_interface.h"
|
||||
#include "galileo_e5a_3ms_noncoherent_iq_acquisition_cc.h"
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
class GalileoE5a3msNoncoherentIQAcquisition: public AcquisitionInterface
|
||||
{
|
||||
public:
|
||||
GalileoE5a3msNoncoherentIQAcquisition(ConfigurationInterface* configuration,
|
||||
std::string role, unsigned int in_streams,
|
||||
unsigned int out_streams, boost::shared_ptr<gr::msg_queue> queue);
|
||||
|
||||
virtual ~GalileoE5a3msNoncoherentIQAcquisition();
|
||||
|
||||
std::string role()
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
/*!
|
||||
* \brief Returns "Galileo_E5a_3ms_Noncoherent_IQ_Acquisition"
|
||||
*/
|
||||
std::string implementation()
|
||||
{
|
||||
return "Galileo_E5a_3ms_Noncoherent_IQ_Acquisition";
|
||||
}
|
||||
size_t item_size()
|
||||
{
|
||||
return item_size_;
|
||||
}
|
||||
|
||||
void connect(gr::top_block_sptr top_block);
|
||||
void disconnect(gr::top_block_sptr top_block);
|
||||
gr::basic_block_sptr get_left_block();
|
||||
gr::basic_block_sptr get_right_block();
|
||||
|
||||
|
||||
/*!
|
||||
* \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);
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition channel unique ID
|
||||
*/
|
||||
void set_channel(unsigned int channel);
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm
|
||||
*/
|
||||
void set_threshold(float threshold);
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler off grid search
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max);
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step);
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel internal queue
|
||||
*/
|
||||
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init();
|
||||
|
||||
/*!
|
||||
* \brief Sets local Galileo E5a code for PCPS acquisition algorithm.
|
||||
*/
|
||||
void set_local_code();
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search
|
||||
*/
|
||||
signed int mag();
|
||||
|
||||
/*!
|
||||
* \brief Restart acquisition algorithm
|
||||
*/
|
||||
void reset();
|
||||
|
||||
private:
|
||||
ConfigurationInterface* configuration_;
|
||||
galileo_e5a_3ms_noncoherentIQ_acquisition_cc_sptr acquisition_cc_;
|
||||
gr::blocks::stream_to_vector::sptr stream_to_vector_;
|
||||
size_t item_size_;
|
||||
std::string item_type_;
|
||||
unsigned int vector_length_;
|
||||
unsigned int code_length_;
|
||||
bool bit_transition_flag_;
|
||||
unsigned int channel_;
|
||||
float threshold_;
|
||||
unsigned int doppler_max_;
|
||||
unsigned int doppler_step_;
|
||||
unsigned int shift_resolution_;
|
||||
unsigned int sampled_ms_;
|
||||
unsigned int max_dwells_;
|
||||
long fs_in_;
|
||||
long if_;
|
||||
bool dump_;
|
||||
std::string dump_filename_;
|
||||
std::complex<float> * codeI_;
|
||||
std::complex<float> * codeQ_;
|
||||
Gnss_Synchro * gnss_synchro_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
boost::shared_ptr<gr::msg_queue> queue_;
|
||||
concurrent_queue<int> *channel_internal_queue_;
|
||||
float calculate_threshold(float pfa);
|
||||
};
|
||||
#endif /* GALILEO_E5A_3MS_NONCOHERENT_IQ_ACQUISITION_H_ */
|
||||
@@ -27,6 +27,7 @@ if(OPENCL_FOUND)
|
||||
galileo_pcps_8ms_acquisition_cc.cc
|
||||
galileo_e5a_pilot_3ms_acquisition_cc.cc
|
||||
galileo_e5ax_2ms_pcps_acquisition_cc.cc
|
||||
galileo_e5a_3ms_noncoherent_iq_acquisition_cc.cc
|
||||
pcps_opencl_acquisition_cc.cc # Needs OpenCL
|
||||
)
|
||||
else(OPENCL_FOUND)
|
||||
@@ -40,6 +41,7 @@ else(OPENCL_FOUND)
|
||||
galileo_pcps_8ms_acquisition_cc.cc
|
||||
galileo_e5a_pilot_3ms_acquisition_cc.cc
|
||||
galileo_e5ax_2ms_pcps_acquisition_cc.cc
|
||||
galileo_e5a_3ms_noncoherent_iq_acquisition_cc.cc
|
||||
)
|
||||
endif(OPENCL_FOUND)
|
||||
|
||||
|
||||
@@ -0,0 +1,592 @@
|
||||
/*!
|
||||
* \file galileo_e5a_3ms_noncoherent_iq_acquisition_cc.cc
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Galileo E5a data and pilot Signals
|
||||
* \author Marc Sales, 2014. marcsales92(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "galileo_e5a_3ms_noncoherent_iq_acquisition_cc.h"
|
||||
#include <sys/time.h>
|
||||
#include <sstream>
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <glog/logging.h>
|
||||
#include <volk/volk.h>
|
||||
#include "gnss_signal_processing.h"
|
||||
#include "control_message_factory.h"
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
galileo_e5a_3ms_noncoherentIQ_acquisition_cc_sptr galileo_e5a_3ms_noncoherentIQ_make_acquisition_cc(
|
||||
unsigned int sampled_ms,
|
||||
unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename)
|
||||
{
|
||||
|
||||
return galileo_e5a_3ms_noncoherentIQ_acquisition_cc_sptr(
|
||||
new galileo_e5a_3ms_noncoherentIQ_acquisition_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms,
|
||||
samples_per_code, bit_transition_flag, queue, dump, dump_filename));
|
||||
}
|
||||
|
||||
galileo_e5a_3ms_noncoherentIQ_acquisition_cc::galileo_e5a_3ms_noncoherentIQ_acquisition_cc(
|
||||
unsigned int sampled_ms,
|
||||
unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename) :
|
||||
gr::block("galileo_e5a_3ms_noncoherentIQ_acquisition_cc",
|
||||
gr::io_signature::make(1, 1, sizeof(gr_complex)),
|
||||
gr::io_signature::make(0, 0, sizeof(gr_complex)))
|
||||
//gr::io_signature::make(1, 1, sizeof(gr_complex) * 3 * samples_per_ms),
|
||||
//gr::io_signature::make(0, 0, sizeof(gr_complex) * 3 * samples_per_ms))
|
||||
{
|
||||
//this->set_relative_rate(1.0/1*samples_per_ms);
|
||||
d_sample_counter = 0; // SAMPLE COUNTER
|
||||
d_active = false;
|
||||
d_state = 0;
|
||||
d_queue = queue;
|
||||
d_freq = freq;
|
||||
d_fs_in = fs_in;
|
||||
d_samples_per_ms = samples_per_ms;
|
||||
d_samples_per_code = samples_per_code;
|
||||
d_max_dwells = max_dwells;
|
||||
d_well_count = 0;
|
||||
d_doppler_max = doppler_max;
|
||||
d_fft_size = sampled_ms * d_samples_per_ms;
|
||||
d_mag = 0;
|
||||
d_input_power = 0.0;
|
||||
d_num_doppler_bins = 0;
|
||||
d_bit_transition_flag = bit_transition_flag;
|
||||
d_buffer_count=0;
|
||||
d_gr_stream_buffer = 7000; // number of samples entering each general work, arbitrary number. Works with all numbers below gnu radio maximum buffer
|
||||
|
||||
//todo: do something if posix_memalign fails
|
||||
if (posix_memalign((void**)&d_inbuffer, 16, ceil((double)d_fft_size/(double)d_gr_stream_buffer)*d_gr_stream_buffer * sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_fft_code_I_A, 16, d_fft_size * sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_fft_code_I_B, 16, d_fft_size * sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_fft_code_Q_A, 16, d_fft_size * sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_fft_code_Q_B, 16, d_fft_size * sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_magnitudeIA, 16, d_fft_size * sizeof(float)) == 0){};
|
||||
if (posix_memalign((void**)&d_magnitudeIB, 16, d_fft_size * sizeof(float)) == 0){};
|
||||
if (posix_memalign((void**)&d_magnitudeQA, 16, d_fft_size * sizeof(float)) == 0){};
|
||||
if (posix_memalign((void**)&d_magnitudeQB, 16, d_fft_size * sizeof(float)) == 0){};
|
||||
|
||||
// Direct FFT
|
||||
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
|
||||
|
||||
// Inverse FFT
|
||||
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
|
||||
// d_ifft = new gr::fft::fft_complex(d_fft_size, true);
|
||||
|
||||
// For dumping samples into a file
|
||||
d_dump = dump;
|
||||
d_dump_filename = dump_filename;
|
||||
}
|
||||
|
||||
galileo_e5a_3ms_noncoherentIQ_acquisition_cc::~galileo_e5a_3ms_noncoherentIQ_acquisition_cc()
|
||||
{
|
||||
if (d_num_doppler_bins > 0)
|
||||
{
|
||||
for (unsigned int i = 0; i < d_num_doppler_bins; i++)
|
||||
{
|
||||
free(d_grid_doppler_wipeoffs[i]);
|
||||
}
|
||||
delete[] d_grid_doppler_wipeoffs;
|
||||
}
|
||||
|
||||
free(d_fft_code_I_A);
|
||||
free(d_fft_code_I_B);
|
||||
free(d_fft_code_Q_A);
|
||||
free(d_fft_code_Q_B);
|
||||
free(d_magnitudeIA);
|
||||
free(d_magnitudeIB);
|
||||
free(d_magnitudeQA);
|
||||
free(d_magnitudeQB);
|
||||
|
||||
|
||||
delete d_fft_if;
|
||||
delete d_ifft;
|
||||
|
||||
|
||||
if (d_dump)
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
}
|
||||
|
||||
void galileo_e5a_3ms_noncoherentIQ_acquisition_cc::forecast (int noutput_items,
|
||||
gr_vector_int &ninput_items_required)
|
||||
{
|
||||
ninput_items_required[0] = d_gr_stream_buffer ; //set the required available samples in each call
|
||||
}
|
||||
|
||||
void galileo_e5a_3ms_noncoherentIQ_acquisition_cc::set_local_code(std::complex<float> * codeI, std::complex<float> * codeQ )
|
||||
{
|
||||
// DATA SIGNAL
|
||||
// Three replicas of data primary code. CODE A: (1,1,1)
|
||||
memcpy(d_fft_if->get_inbuf(), codeI, sizeof(gr_complex)*d_fft_size);
|
||||
|
||||
d_fft_if->execute(); // We need the FFT of local code
|
||||
|
||||
//Conjugate the local code
|
||||
if (is_unaligned())
|
||||
{
|
||||
volk_32fc_conjugate_32fc_u(d_fft_code_I_A,d_fft_if->get_outbuf(),d_fft_size);
|
||||
}
|
||||
else
|
||||
{
|
||||
volk_32fc_conjugate_32fc_a(d_fft_code_I_A,d_fft_if->get_outbuf(),d_fft_size);
|
||||
}
|
||||
|
||||
// CODE B: First replica is inverted (0,1,1)
|
||||
volk_32fc_s32fc_multiply_32fc_a(&(d_fft_if->get_inbuf())[0],
|
||||
&codeI[0], gr_complex(-1,0),
|
||||
d_samples_per_code);
|
||||
d_fft_if->execute(); // We need the FFT of local code
|
||||
|
||||
//Conjugate the local code
|
||||
if (is_unaligned())
|
||||
{
|
||||
volk_32fc_conjugate_32fc_u(d_fft_code_I_B,d_fft_if->get_outbuf(),d_fft_size);
|
||||
}
|
||||
else
|
||||
{
|
||||
volk_32fc_conjugate_32fc_a(d_fft_code_I_B,d_fft_if->get_outbuf(),d_fft_size);
|
||||
}
|
||||
|
||||
// SAME FOR PILOT SIGNAL
|
||||
// Three replicas of pilot primary code. CODE A: (1,1,1)
|
||||
memcpy(d_fft_if->get_inbuf(), codeQ, sizeof(gr_complex)*d_fft_size);
|
||||
|
||||
d_fft_if->execute(); // We need the FFT of local code
|
||||
|
||||
//Conjugate the local code
|
||||
if (is_unaligned())
|
||||
{
|
||||
volk_32fc_conjugate_32fc_u(d_fft_code_Q_A,d_fft_if->get_outbuf(),d_fft_size);
|
||||
}
|
||||
else
|
||||
{
|
||||
volk_32fc_conjugate_32fc_a(d_fft_code_Q_A,d_fft_if->get_outbuf(),d_fft_size);
|
||||
}
|
||||
|
||||
// CODE B: First replica is inverted (0,1,1)
|
||||
volk_32fc_s32fc_multiply_32fc_a(&(d_fft_if->get_inbuf())[0],
|
||||
&codeQ[0], gr_complex(-1,0),
|
||||
d_samples_per_code);
|
||||
d_fft_if->execute(); // We need the FFT of local code
|
||||
|
||||
//Conjugate the local code
|
||||
if (is_unaligned())
|
||||
{
|
||||
volk_32fc_conjugate_32fc_u(d_fft_code_Q_B,d_fft_if->get_outbuf(),d_fft_size);
|
||||
}
|
||||
else
|
||||
{
|
||||
volk_32fc_conjugate_32fc_a(d_fft_code_Q_B,d_fft_if->get_outbuf(),d_fft_size);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
void galileo_e5a_3ms_noncoherentIQ_acquisition_cc::init()
|
||||
{
|
||||
d_gnss_synchro->Acq_delay_samples = 0.0;
|
||||
d_gnss_synchro->Acq_doppler_hz = 0.0;
|
||||
d_gnss_synchro->Acq_samplestamp_samples = 0;
|
||||
d_mag = 0.0;
|
||||
d_input_power = 0.0;
|
||||
|
||||
// Count the number of bins
|
||||
d_num_doppler_bins = 0;
|
||||
for (int doppler = (int)(-d_doppler_max);
|
||||
doppler <= (int)d_doppler_max;
|
||||
doppler += d_doppler_step)
|
||||
{
|
||||
d_num_doppler_bins++;
|
||||
}
|
||||
|
||||
// Create the carrier Doppler wipeoff signals
|
||||
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
|
||||
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
|
||||
{
|
||||
if (posix_memalign((void**)&(d_grid_doppler_wipeoffs[doppler_index]), 16,
|
||||
d_fft_size * sizeof(gr_complex)) == 0){};
|
||||
|
||||
int doppler = -(int)d_doppler_max + d_doppler_step*doppler_index;
|
||||
complex_exp_gen_conj(d_grid_doppler_wipeoffs[doppler_index],
|
||||
d_freq + doppler, d_fs_in, d_fft_size);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int galileo_e5a_3ms_noncoherentIQ_acquisition_cc::general_work(int noutput_items,
|
||||
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
|
||||
gr_vector_void_star &output_items)
|
||||
{
|
||||
/*
|
||||
* By J.Arribas, L.Esteve, M.Molina and M.Sales
|
||||
* Acquisition strategy (Kay Borre book + CFAR threshold):
|
||||
* 1. Compute the input signal power estimation
|
||||
* 2. Doppler serial search loop
|
||||
* 3. Perform the FFT-based circular convolution (parallel time search)
|
||||
* 4. Record the maximum peak and the associated synchronization parameters
|
||||
* 5. Compute the test statistics and compare to the threshold
|
||||
* 6. Declare positive or negative acquisition using a message queue
|
||||
*/
|
||||
|
||||
int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
|
||||
/* States: 0 Reset and load first stream
|
||||
* 1 Load the buffer until it reaches fft_size
|
||||
* 2 Acquisition algorithm
|
||||
* 3 Positive acquisition
|
||||
* 4 Negative acquisition
|
||||
*/
|
||||
|
||||
d_sample_counter += d_gr_stream_buffer;
|
||||
std::cout << d_state <<" "<< d_sample_counter << std::endl;
|
||||
switch (d_state)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
if (d_active)
|
||||
{
|
||||
//restart acquisition variables
|
||||
d_gnss_synchro->Acq_delay_samples = 0.0;
|
||||
d_gnss_synchro->Acq_doppler_hz = 0.0;
|
||||
d_gnss_synchro->Acq_samplestamp_samples = 0;
|
||||
d_well_count = 0;
|
||||
d_mag = 0.0;
|
||||
d_input_power = 0.0;
|
||||
d_test_statistics = 0.0;
|
||||
d_state = 1;
|
||||
}
|
||||
const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
|
||||
memcpy(&d_inbuffer[d_buffer_count*d_gr_stream_buffer], in, sizeof(gr_complex)*d_gr_stream_buffer);
|
||||
d_buffer_count++;
|
||||
//d_sample_counter += ninput_items[0]; // sample counter
|
||||
//consume_each(ninput_items[0]);
|
||||
break;
|
||||
}
|
||||
case 1:
|
||||
{
|
||||
const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
|
||||
memcpy(&d_inbuffer[d_buffer_count*d_gr_stream_buffer], in, sizeof(gr_complex)*d_gr_stream_buffer);
|
||||
d_buffer_count++;
|
||||
if (d_buffer_count*d_gr_stream_buffer >= d_fft_size-d_gr_stream_buffer)
|
||||
{
|
||||
d_state=2;
|
||||
}
|
||||
// volk_32fc_x2_multiply_32fc_a(d_fft_if->get_inbuf(), in,
|
||||
// d_grid_doppler_wipeoffs[0], d_fft_size);
|
||||
//consume_each(7000);
|
||||
break;
|
||||
}
|
||||
case 2:
|
||||
{
|
||||
// Fill last part of the buffer and reset counter
|
||||
const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
|
||||
memcpy(&d_inbuffer[d_buffer_count*d_gr_stream_buffer], in, sizeof(gr_complex)*d_gr_stream_buffer);
|
||||
d_buffer_count = 0;
|
||||
// initialize acquisition algorithm
|
||||
int doppler;
|
||||
unsigned int indext = 0;
|
||||
unsigned int indext_IA = 0;
|
||||
unsigned int indext_IB = 0;
|
||||
unsigned int indext_QA = 0;
|
||||
unsigned int indext_QB = 0;
|
||||
float magt = 0.0;
|
||||
float magt_IA = 0.0;
|
||||
float magt_IB = 0.0;
|
||||
float magt_QA = 0.0;
|
||||
float magt_QB = 0.0;
|
||||
//const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
|
||||
float fft_normalization_factor = (float)d_fft_size * (float)d_fft_size;
|
||||
d_input_power = 0.0;
|
||||
d_mag = 0.0;
|
||||
int comb = 0;
|
||||
|
||||
//d_sample_counter += d_fft_size; // sample counter
|
||||
|
||||
d_well_count++;
|
||||
|
||||
DLOG(INFO) << "Channel: " << d_channel
|
||||
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN
|
||||
<< " ,sample stamp: " << d_sample_counter << ", threshold: "
|
||||
<< d_threshold << ", doppler_max: " << d_doppler_max
|
||||
<< ", doppler_step: " << d_doppler_step;
|
||||
|
||||
// 1- Compute the input signal power estimation
|
||||
volk_32fc_magnitude_squared_32f_a(d_magnitudeIA, d_inbuffer, d_fft_size);
|
||||
volk_32f_accumulator_s32f_a(&d_input_power, d_magnitudeIA, d_fft_size);
|
||||
d_input_power /= (float)d_fft_size;
|
||||
|
||||
// 2- Doppler frequency search loop
|
||||
for (unsigned int doppler_index=0;doppler_index<d_num_doppler_bins;doppler_index++)
|
||||
{
|
||||
// doppler search steps
|
||||
|
||||
doppler=-(int)d_doppler_max+d_doppler_step*doppler_index;
|
||||
|
||||
volk_32fc_x2_multiply_32fc_a(d_fft_if->get_inbuf(), d_inbuffer,
|
||||
d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
|
||||
|
||||
// 3- Perform the FFT-based convolution (parallel time search)
|
||||
// Compute the FFT of the carrier wiped--off incoming signal
|
||||
d_fft_if->execute();
|
||||
|
||||
// CODE IA
|
||||
// Multiply carrier wiped--off, Fourier transformed incoming signal
|
||||
// with the local FFT'd code reference using SIMD operations with VOLK library
|
||||
volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(),
|
||||
d_fft_if->get_outbuf(), d_fft_code_I_A, d_fft_size);
|
||||
|
||||
// compute the inverse FFT
|
||||
d_ifft->execute();
|
||||
|
||||
// Search maximum
|
||||
volk_32fc_magnitude_squared_32f_a(d_magnitudeIA, d_ifft->get_outbuf(), d_fft_size);
|
||||
volk_32f_index_max_16u_a(&indext_IA, d_magnitudeIA, d_fft_size);
|
||||
|
||||
// Normalize the maximum value to correct the scale factor introduced by FFTW
|
||||
magt_IA = d_magnitudeIA[indext_IA] / (fft_normalization_factor * fft_normalization_factor);
|
||||
|
||||
// only 1 ms
|
||||
//magt=magt_A;
|
||||
//indext=indext_A;
|
||||
|
||||
|
||||
// REPEAT FOR ALL CODES. CODE_IB
|
||||
volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(),
|
||||
d_fft_if->get_outbuf(), d_fft_code_I_B, d_fft_size);
|
||||
d_ifft->execute();
|
||||
volk_32fc_magnitude_squared_32f_a(d_magnitudeIB, d_ifft->get_outbuf(), d_fft_size);
|
||||
volk_32f_index_max_16u_a(&indext_IB, d_magnitudeIB, d_fft_size);
|
||||
magt_IB = d_magnitudeIB[indext_IB] / (fft_normalization_factor * fft_normalization_factor);
|
||||
|
||||
// REPEAT FOR ALL CODES. CODE_QA
|
||||
volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(),
|
||||
d_fft_if->get_outbuf(), d_fft_code_Q_A, d_fft_size);
|
||||
d_ifft->execute();
|
||||
volk_32fc_magnitude_squared_32f_a(d_magnitudeQA, d_ifft->get_outbuf(), d_fft_size);
|
||||
volk_32f_index_max_16u_a(&indext_QA, d_magnitudeQA, d_fft_size);
|
||||
magt_QA = d_magnitudeQA[indext_QA] / (fft_normalization_factor * fft_normalization_factor);
|
||||
|
||||
// REPEAT FOR ALL CODES. CODE_QB
|
||||
volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(),
|
||||
d_fft_if->get_outbuf(), d_fft_code_Q_B, d_fft_size);
|
||||
d_ifft->execute();
|
||||
volk_32fc_magnitude_squared_32f_a(d_magnitudeQB, d_ifft->get_outbuf(), d_fft_size);
|
||||
volk_32f_index_max_16u_a(&indext_QB, d_magnitudeQB, d_fft_size);
|
||||
magt_QB = d_magnitudeIB[indext_QB] / (fft_normalization_factor * fft_normalization_factor);
|
||||
|
||||
// Integrate noncoherently the two best combinations (I² + Q²)
|
||||
// and store the result in the I channel.
|
||||
if (magt_IA >= magt_IB)
|
||||
{
|
||||
if (magt_QA >= magt_QB)
|
||||
{
|
||||
for (unsigned int i=0; i<d_fft_size; i++)
|
||||
{
|
||||
d_magnitudeIA[i] += d_magnitudeQA[i];
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (unsigned int i=0; i<d_fft_size; i++)
|
||||
{
|
||||
d_magnitudeIA[i] += d_magnitudeQB[i];
|
||||
}
|
||||
}
|
||||
volk_32f_index_max_16u_a(&indext, d_magnitudeIA, d_fft_size);
|
||||
magt = d_magnitudeIA[indext] / (fft_normalization_factor * fft_normalization_factor);
|
||||
}
|
||||
else
|
||||
{
|
||||
if (magt_QA >= magt_QB)
|
||||
{
|
||||
for (unsigned int i=0; i<d_fft_size; i++)
|
||||
{
|
||||
d_magnitudeIB[i] += d_magnitudeQA[i];
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (unsigned int i=0; i<d_fft_size; i++)
|
||||
{
|
||||
d_magnitudeIB[i] += d_magnitudeQB[i];
|
||||
}
|
||||
}
|
||||
volk_32f_index_max_16u_a(&indext, d_magnitudeIB, d_fft_size);
|
||||
magt = d_magnitudeIB[indext] / (fft_normalization_factor * fft_normalization_factor);
|
||||
}
|
||||
|
||||
// 4- record the maximum peak and the associated synchronization parameters
|
||||
if (d_mag < magt)
|
||||
{
|
||||
d_mag = magt;
|
||||
//std::cout << "ACQ_block_e5a_3ms secondary combination " << sec_comb << std::endl;
|
||||
|
||||
// In case that d_bit_transition_flag = true, we compare the potentially
|
||||
// new maximum test statistics (d_mag/d_input_power) with the value in
|
||||
// d_test_statistics. When the second dwell is being processed, the value
|
||||
// of d_mag/d_input_power could be lower than d_test_statistics (i.e,
|
||||
// the maximum test statistics in the previous dwell is greater than
|
||||
// current d_mag/d_input_power). Note that d_test_statistics is not
|
||||
// restarted between consecutive dwells in multidwell operation.
|
||||
if (d_test_statistics < (d_mag / d_input_power) || !d_bit_transition_flag)
|
||||
{
|
||||
d_gnss_synchro->Acq_delay_samples = (double)(indext % d_samples_per_code);
|
||||
d_gnss_synchro->Acq_doppler_hz = (double)doppler;
|
||||
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
|
||||
|
||||
// 5- Compute the test statistics and compare to the threshold
|
||||
//d_test_statistics = 2 * d_fft_size * d_mag / d_input_power;
|
||||
d_test_statistics = d_mag / d_input_power;
|
||||
}
|
||||
}
|
||||
|
||||
// Record results to file if required
|
||||
if (d_dump)
|
||||
{
|
||||
std::stringstream filename;
|
||||
std::streamsize n = sizeof(float) * (d_fft_size); // noncomplex file write
|
||||
filename.str("");
|
||||
filename << "../data/test_statistics_" << d_gnss_synchro->System
|
||||
<<"_" << d_gnss_synchro->Signal << "_sat_"
|
||||
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
|
||||
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
|
||||
if (magt_IA >= magt_IB)
|
||||
{
|
||||
d_dump_file.write((char*)d_magnitudeIA, n);
|
||||
}
|
||||
else
|
||||
{
|
||||
d_dump_file.write((char*)d_magnitudeIB, n);
|
||||
}
|
||||
//d_dump_file.write((char*)d_magnitudeIA, n);
|
||||
d_dump_file.close();
|
||||
}
|
||||
}
|
||||
|
||||
if (!d_bit_transition_flag)
|
||||
{
|
||||
if (d_test_statistics > d_threshold)
|
||||
{
|
||||
d_state = 3; // Positive acquisition
|
||||
}
|
||||
else if (d_well_count == d_max_dwells)
|
||||
{
|
||||
d_state = 4; // Negative acquisition
|
||||
}
|
||||
else
|
||||
{
|
||||
d_state = 2;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_well_count == d_max_dwells) // d_max_dwells = 2
|
||||
{
|
||||
if (d_test_statistics > d_threshold)
|
||||
{
|
||||
d_state = 3; // Positive acquisition
|
||||
}
|
||||
else
|
||||
{
|
||||
d_state = 4; // Negative acquisition
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
d_state = 2;
|
||||
}
|
||||
}
|
||||
|
||||
//consume_each(1);
|
||||
//consume_each(d_fft_size);
|
||||
break;
|
||||
}
|
||||
case 3:
|
||||
{
|
||||
// 6.1- Declare positive acquisition using a message queue
|
||||
DLOG(INFO) << "positive acquisition";
|
||||
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
|
||||
DLOG(INFO) << "sample_stamp " << d_sample_counter;
|
||||
DLOG(INFO) << "test statistics value " << d_test_statistics;
|
||||
DLOG(INFO) << "test statistics threshold " << d_threshold;
|
||||
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
|
||||
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
|
||||
DLOG(INFO) << "magnitude " << d_mag;
|
||||
DLOG(INFO) << "input signal power " << d_input_power;
|
||||
|
||||
d_active = false;
|
||||
d_state = 0;
|
||||
|
||||
//d_sample_counter += 7000;
|
||||
//d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
|
||||
//consume_each(ninput_items[0]);
|
||||
//consume_each(d_fft_size);
|
||||
acquisition_message = 1;
|
||||
d_channel_internal_queue->push(acquisition_message);
|
||||
break;
|
||||
}
|
||||
case 4:
|
||||
{
|
||||
// 6.2- Declare negative acquisition using a message queue
|
||||
DLOG(INFO) << "negative acquisition";
|
||||
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
|
||||
DLOG(INFO) << "sample_stamp " << d_sample_counter;
|
||||
DLOG(INFO) << "test statistics value " << d_test_statistics;
|
||||
DLOG(INFO) << "test statistics threshold " << d_threshold;
|
||||
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
|
||||
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
|
||||
DLOG(INFO) << "magnitude " << d_mag;
|
||||
DLOG(INFO) << "input signal power " << d_input_power;
|
||||
|
||||
d_active = false;
|
||||
d_state = 0;
|
||||
|
||||
//d_sample_counter += 7000;
|
||||
//d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
|
||||
//consume_each(ninput_items[0]);
|
||||
//consume_each(d_fft_size);
|
||||
acquisition_message = 2;
|
||||
d_channel_internal_queue->push(acquisition_message);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
consume_each(d_gr_stream_buffer);
|
||||
return 0;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,237 @@
|
||||
/*!
|
||||
* \file galileo_e5a_3ms_noncoherent_iq_acquisition_cc.h
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Galileo E5a data and pilot Signals
|
||||
* \author Marc Sales, 2014. marcsales92(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GALILEO_E5A_3MS_NONCOHERENT_IQ_ACQUISITION_CC_H_
|
||||
#define GALILEO_E5A_3MS_NONCOHERENT_IQ_ACQUISITION_CC_H_
|
||||
|
||||
#include <fstream>
|
||||
#include <queue>
|
||||
#include <string>
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <boost/thread/thread.hpp>
|
||||
#include <gnuradio/block.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/gr_complex.h>
|
||||
#include <gnuradio/fft/fft.h>
|
||||
#include "concurrent_queue.h"
|
||||
#include "gnss_synchro.h"
|
||||
|
||||
class galileo_e5a_3ms_noncoherentIQ_acquisition_cc;
|
||||
|
||||
typedef boost::shared_ptr<galileo_e5a_3ms_noncoherentIQ_acquisition_cc> galileo_e5a_3ms_noncoherentIQ_acquisition_cc_sptr;
|
||||
|
||||
galileo_e5a_3ms_noncoherentIQ_acquisition_cc_sptr
|
||||
galileo_e5a_3ms_noncoherentIQ_make_acquisition_cc(unsigned int sampled_ms,
|
||||
unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename);
|
||||
|
||||
/*!
|
||||
* \brief This class implements a Parallel Code Phase Search Acquisition.
|
||||
*
|
||||
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
|
||||
* Algorithm 1, for a pseudocode description of this implementation.
|
||||
*/
|
||||
class galileo_e5a_3ms_noncoherentIQ_acquisition_cc: public gr::block
|
||||
{
|
||||
private:
|
||||
friend galileo_e5a_3ms_noncoherentIQ_acquisition_cc_sptr
|
||||
galileo_e5a_3ms_noncoherentIQ_make_acquisition_cc(
|
||||
unsigned int sampled_ms,
|
||||
unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename);
|
||||
|
||||
galileo_e5a_3ms_noncoherentIQ_acquisition_cc(
|
||||
unsigned int sampled_ms,
|
||||
unsigned int max_dwells,
|
||||
unsigned int doppler_max, long freq, long fs_in,
|
||||
int samples_per_ms, int samples_per_code,
|
||||
bool bit_transition_flag,
|
||||
gr::msg_queue::sptr queue, bool dump,
|
||||
std::string dump_filename);
|
||||
|
||||
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
|
||||
int doppler_offset);
|
||||
float estimate_input_power(gr_complex *in );
|
||||
|
||||
long d_fs_in;
|
||||
long d_freq;
|
||||
int d_samples_per_ms;
|
||||
int d_samples_per_code;
|
||||
unsigned int d_doppler_resolution;
|
||||
float d_threshold;
|
||||
std::string d_satellite_str;
|
||||
unsigned int d_doppler_max;
|
||||
unsigned int d_doppler_step;
|
||||
unsigned int d_max_dwells;
|
||||
unsigned int d_well_count;
|
||||
unsigned int d_fft_size;
|
||||
unsigned long int d_sample_counter;
|
||||
gr_complex** d_grid_doppler_wipeoffs;
|
||||
unsigned int d_num_doppler_bins;
|
||||
gr_complex* d_fft_code_I_A;
|
||||
gr_complex* d_fft_code_I_B;
|
||||
gr_complex* d_fft_code_Q_A;
|
||||
gr_complex* d_fft_code_Q_B;
|
||||
gr_complex* d_inbuffer;
|
||||
gr::fft::fft_complex* d_fft_if;
|
||||
gr::fft::fft_complex* d_ifft;
|
||||
Gnss_Synchro *d_gnss_synchro;
|
||||
unsigned int d_code_phase;
|
||||
float d_doppler_freq;
|
||||
float d_mag;
|
||||
float* d_magnitudeIA;
|
||||
float* d_magnitudeIB;
|
||||
float* d_magnitudeQA;
|
||||
float* d_magnitudeQB;
|
||||
float d_input_power;
|
||||
float d_test_statistics;
|
||||
bool d_bit_transition_flag;
|
||||
gr::msg_queue::sptr d_queue;
|
||||
concurrent_queue<int> *d_channel_internal_queue;
|
||||
std::ofstream d_dump_file;
|
||||
bool d_active;
|
||||
int d_state;
|
||||
bool d_dump;
|
||||
unsigned int d_channel;
|
||||
std::string d_dump_filename;
|
||||
unsigned int d_buffer_count;
|
||||
unsigned int d_gr_stream_buffer;
|
||||
|
||||
public:
|
||||
/*!
|
||||
* \brief Default destructor.
|
||||
*/
|
||||
~galileo_e5a_3ms_noncoherentIQ_acquisition_cc();
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
|
||||
* to exchange synchronization data between acquisition and tracking blocks.
|
||||
* \param p_gnss_synchro Satellite information shared by the processing blocks.
|
||||
*/
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
||||
{
|
||||
d_gnss_synchro = p_gnss_synchro;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search.
|
||||
*/
|
||||
unsigned int mag()
|
||||
{
|
||||
return d_mag;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init();
|
||||
|
||||
/*!
|
||||
* \brief Sets local code for PCPS acquisition algorithm.
|
||||
* \param code - Pointer to the PRN code.
|
||||
*/
|
||||
void set_local_code(std::complex<float> * code, std::complex<float> * codeQ);
|
||||
|
||||
/*!
|
||||
* \brief Starts acquisition algorithm, turning from standby mode to
|
||||
* active mode
|
||||
* \param active - bool that activates/deactivates the block.
|
||||
*/
|
||||
void set_active(bool active)
|
||||
{
|
||||
d_active = active;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition channel unique ID
|
||||
* \param channel - receiver channel.
|
||||
*/
|
||||
void set_channel(unsigned int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm.
|
||||
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
|
||||
* Algorithm 1, for a definition of this threshold).
|
||||
*/
|
||||
void set_threshold(float threshold)
|
||||
{
|
||||
d_threshold = threshold;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler grid search
|
||||
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max)
|
||||
{
|
||||
d_doppler_max = doppler_max;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
* \param doppler_step - Frequency bin of the search grid [Hz].
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step)
|
||||
{
|
||||
d_doppler_step = doppler_step;
|
||||
}
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel internal queue.
|
||||
* \param channel_internal_queue - Channel's internal blocks information queue.
|
||||
*/
|
||||
void set_channel_queue(concurrent_queue<int> *channel_internal_queue)
|
||||
{
|
||||
d_channel_internal_queue = channel_internal_queue;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Parallel Code Phase Search Acquisition signal processing.
|
||||
*/
|
||||
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);
|
||||
};
|
||||
#endif /* GALILEO_E5A_3MS_NONCOHERENT_IQ_ACQUISITION_CC_H_ */
|
||||
@@ -97,7 +97,7 @@ void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, signed in
|
||||
// last 2 bits are filled up zeros
|
||||
hex_to_binary_converter(a,
|
||||
Galileo_E5a_I_PRIMARY_CODE[prn].at(Galileo_E5a_I_PRIMARY_CODE[prn].length()-1));
|
||||
hex_to_binary_converter(a,
|
||||
hex_to_binary_converter(b,
|
||||
Galileo_E5a_Q_PRIMARY_CODE[prn].at(Galileo_E5a_Q_PRIMARY_CODE[prn].length()-1));
|
||||
_dest[index]=std::complex<float>(float(a[0]),float(b[0]));
|
||||
_dest[index+1]=std::complex<float>(float(a[1]),float(b[1]));
|
||||
|
||||
@@ -209,10 +209,22 @@ void signal_generator_c::generate_codes()
|
||||
// (int)Galileo_E5a_Q_SECONDARY_CODE_LENGTH - delay_chips_[sat], true);
|
||||
|
||||
galileo_e5_a_code_gen_complex_sampled(sampled_code_data_[sat] , signal, PRN_[sat], fs_in_,
|
||||
(int)Galileo_E5a_CODE_LENGTH_CHIPS - delay_chips_[sat],false);
|
||||
(int)Galileo_E5a_CODE_LENGTH_CHIPS-delay_chips_[sat],false);
|
||||
|
||||
std::cout << "PRN "<< PRN_[sat] << " first two bytes "<< sampled_code_data_[sat][0] << sampled_code_data_[sat][1] << sampled_code_data_[sat][2] << sampled_code_data_[sat][3] << sampled_code_data_[sat][4] << sampled_code_data_[sat][5] << sampled_code_data_[sat][6] << sampled_code_data_[sat][7] << std::endl;
|
||||
//// std::ofstream myfile;
|
||||
///////////
|
||||
/*
|
||||
std::ofstream d_dump_file;
|
||||
std::stringstream filename;
|
||||
std::streamsize n = 2 * sizeof(float) * (Galileo_E5a_CODE_LENGTH_CHIPS); // complex file write
|
||||
filename.str("");
|
||||
filename << "../data/PRN11_Xcode_noiseless" << ".dat";
|
||||
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
|
||||
d_dump_file.write((char*)&sampled_code_data_[sat][0], n);
|
||||
d_dump_file.close();
|
||||
*/
|
||||
/////////////////////
|
||||
//// std::ofstream myfile;
|
||||
// //myfile.open ("example_sink_gencode.dat");
|
||||
// std::ofstream myfile("example_sink_gencode.bin",std::ios_base::binary);
|
||||
//// for (int k=0; k< vector_length_; k++)
|
||||
@@ -399,8 +411,8 @@ gr_vector_void_star &output_items)
|
||||
|
||||
// if (work_counter_==1)
|
||||
// {
|
||||
std::cout << "ms " << ms_counter_[sat] << " sat " << sat << " PRN" << PRN_[sat];
|
||||
std::cout << " delay_secI " << (ms_counter_[sat]+delay_sec_[sat])%20 << " delay_secQ " << (ms_counter_[sat]+delay_sec_[sat])%100 << std::endl;//" pilot mod " << pilot_modulation_[sat] << " data bit " << current_data_bit_int_[sat] << " data mod " << data_modulation_[sat] << std::endl;
|
||||
//std::cout << "ms " << ms_counter_[sat] << " sat " << sat << " PRN" << PRN_[sat];
|
||||
//std::cout << " delay_secI " << (ms_counter_[sat]+delay_sec_[sat])%20 << " delay_secQ " << (ms_counter_[sat]+delay_sec_[sat])%100 << std::endl;//" pilot mod " << pilot_modulation_[sat] << " data bit " << current_data_bit_int_[sat] << " data mod " << data_modulation_[sat] << std::endl;
|
||||
//std::cout << "code 1st 2 byte " << out[0] << out[1] << out[2] << out[3] << out[4] << out[5] << out[6] << out[7] << std::endl;
|
||||
// }
|
||||
ms_counter_[sat] = ms_counter_[sat] + (int)round(1e3*GALILEO_E5a_CODE_PERIOD);
|
||||
@@ -461,7 +473,19 @@ gr_vector_void_star &output_items)
|
||||
out[out_idx] += gr_complex(random_->gasdev(),random_->gasdev());
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
if (work_counter_==1)
|
||||
{
|
||||
std::ofstream d_dump_file;
|
||||
std::stringstream filename;
|
||||
std::streamsize n = 2 * sizeof(float) * (samples_per_code_[0]); // complex file write
|
||||
filename.str("");
|
||||
filename << "../data/PRN11_Xcode_genwork" << ".dat";
|
||||
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
|
||||
d_dump_file.write((char*)out, n);
|
||||
d_dump_file.close();
|
||||
}
|
||||
*/
|
||||
// Tell runtime system how many output items we produced.
|
||||
return 1;
|
||||
}
|
||||
|
||||
@@ -1,8 +1,32 @@
|
||||
/*
|
||||
* galileo_e5a_dll_pll_tracking_cc.cc
|
||||
/*!
|
||||
* \file galileo_e5a_dll_fll_pll_tracking_cc.h
|
||||
* \brief Implementation of a code DLL + carrier PLL
|
||||
* tracking block for Galileo E5a signals
|
||||
* \author Marc Sales, 2014. marcsales92(at)gmail.com
|
||||
*
|
||||
* Created on: Jun 19, 2014
|
||||
* Author: marc
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "galileo_e5a_dll_pll_tracking_cc.h"
|
||||
@@ -24,7 +48,8 @@
|
||||
/*!
|
||||
* \todo Include in definition header file
|
||||
*/
|
||||
#define CN0_ESTIMATION_SAMPLES 20
|
||||
//#define CN0_ESTIMATION_SAMPLES 20
|
||||
#define CN0_ESTIMATION_SAMPLES 80
|
||||
#define MINIMUM_VALID_CN0 25
|
||||
#define MAXIMUM_LOCK_FAIL_COUNTER 50
|
||||
#define CARRIER_LOCK_THRESHOLD 0.85
|
||||
@@ -77,8 +102,8 @@ Galileo_E5a_Dll_Pll_Tracking_cc::Galileo_E5a_Dll_Pll_Tracking_cc(
|
||||
d_fs_in = fs_in;
|
||||
d_vector_length = vector_length;
|
||||
d_dump_filename = dump_filename;
|
||||
d_code_loop_filter = Tracking_2nd_DLL_filter(Galileo_E1_CODE_PERIOD);
|
||||
d_carrier_loop_filter = Tracking_2nd_PLL_filter(Galileo_E1_CODE_PERIOD);
|
||||
d_code_loop_filter = Tracking_2nd_DLL_filter(GALILEO_E5a_CODE_PERIOD);
|
||||
d_carrier_loop_filter = Tracking_2nd_PLL_filter(GALILEO_E5a_CODE_PERIOD);
|
||||
|
||||
// Initialize tracking ==========================================
|
||||
d_code_loop_filter.set_DLL_BW(dll_bw_hz);
|
||||
@@ -124,6 +149,9 @@ Galileo_E5a_Dll_Pll_Tracking_cc::Galileo_E5a_Dll_Pll_Tracking_cc(
|
||||
d_pull_in = false;
|
||||
d_last_seg = 0;
|
||||
|
||||
d_secondary_lock=false;
|
||||
d_secondary_delay=0;
|
||||
|
||||
d_current_prn_length_samples = (int)d_vector_length;
|
||||
|
||||
// CN0 estimation and lock detector buffers
|
||||
@@ -210,7 +238,9 @@ void Galileo_E5a_Dll_Pll_Tracking_cc::start_tracking()
|
||||
d_code_loop_filter.initialize(); // initialize the code filter
|
||||
|
||||
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
|
||||
galileo_e5_a_code_gen_complex_primary(&d_code[1], d_acquisition_gnss_synchro->PRN, d_acquisition_gnss_synchro->Signal);
|
||||
char sig_pilot[3];
|
||||
strcpy(sig_pilot,"5Q");
|
||||
galileo_e5_a_code_gen_complex_primary(&d_code[1], d_acquisition_gnss_synchro->PRN, sig_pilot);
|
||||
|
||||
d_code[0] = d_code[(int)Galileo_E5a_CODE_LENGTH_CHIPS];
|
||||
d_code[(int)Galileo_E5a_CODE_LENGTH_CHIPS + 1] = d_code[1];
|
||||
@@ -239,7 +269,71 @@ void Galileo_E5a_Dll_Pll_Tracking_cc::start_tracking()
|
||||
<< " Code Phase correction [samples]=" << delay_correction_samples
|
||||
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
|
||||
}
|
||||
|
||||
void Galileo_E5a_Dll_Pll_Tracking_cc::acquire_secondary()
|
||||
{
|
||||
//d_Prompt_buffer
|
||||
//CN0_ESTIMATION_SAMPLES
|
||||
//d_secondary_lock
|
||||
//d_secondary_delay
|
||||
// 1. Transform replica to 1 and -1
|
||||
int sec_code_signed[Galileo_E5a_Q_SECONDARY_CODE_LENGTH];
|
||||
for (unsigned int i=0; i<Galileo_E5a_Q_SECONDARY_CODE_LENGTH; i++)
|
||||
{
|
||||
if (Galileo_E5a_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN-1].at(i) == '0')
|
||||
{
|
||||
sec_code_signed[i]=1;
|
||||
}
|
||||
else
|
||||
{
|
||||
sec_code_signed[i]=-1;
|
||||
}
|
||||
}
|
||||
// 2. Transform buffer to 1 and -1
|
||||
int in_corr[CN0_ESTIMATION_SAMPLES];
|
||||
for (unsigned int i=0; i<CN0_ESTIMATION_SAMPLES; i++)
|
||||
{
|
||||
std::cout << d_Prompt_buffer[i] << std::endl;
|
||||
if (d_Prompt_buffer[i].real() >0)
|
||||
{
|
||||
in_corr[i]=1;
|
||||
}
|
||||
else
|
||||
{
|
||||
in_corr[i]=-1;
|
||||
}
|
||||
}
|
||||
// 3. Serial search
|
||||
int out_corr;
|
||||
int current_best_=0;
|
||||
for (unsigned int i=0; i<Galileo_E5a_Q_SECONDARY_CODE_LENGTH; i++)
|
||||
{
|
||||
out_corr=0;
|
||||
for (unsigned int j=0; j<CN0_ESTIMATION_SAMPLES; j++)
|
||||
{
|
||||
//reverse replica sign since i*i=-1 (conjugated complex)
|
||||
out_corr += in_corr[j] * -sec_code_signed[(j+i)%Galileo_E5a_Q_SECONDARY_CODE_LENGTH];
|
||||
}
|
||||
// VOLK function uses floats, possibly slower
|
||||
// if (is_unaligned())
|
||||
// {
|
||||
// volk_32f_x2_dot_prod_32f_u();
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// volk_32f_x2_dot_prod_32f_a();
|
||||
// }
|
||||
if (abs(out_corr) > current_best_)
|
||||
{
|
||||
current_best_ = abs(out_corr);
|
||||
d_secondary_delay=i;
|
||||
}
|
||||
}
|
||||
//if (current_best_ > SECONDARY_THRESHOLD)
|
||||
if (current_best_ >= 0.8*CN0_ESTIMATION_SAMPLES)
|
||||
{
|
||||
d_secondary_lock = true;
|
||||
}
|
||||
}
|
||||
void Galileo_E5a_Dll_Pll_Tracking_cc::update_local_code()
|
||||
{
|
||||
double tcode_chips;
|
||||
@@ -254,7 +348,10 @@ void Galileo_E5a_Dll_Pll_Tracking_cc::update_local_code()
|
||||
code_phase_step_chips = ((double)d_code_freq_chips) / ((double)d_fs_in);
|
||||
rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / d_fs_in);
|
||||
tcode_chips = -rem_code_phase_chips;
|
||||
// SPACING USING QUADRATURE COMPONENT as 0.5 CHIP
|
||||
double corr_spc_samples = d_early_late_spc_chips / code_phase_step_chips;
|
||||
|
||||
// CONVENTIONAL
|
||||
// Alternative EPL code generation (40% of speed improvement!)
|
||||
early_late_spc_samples = round(d_early_late_spc_chips / code_phase_step_chips);
|
||||
epl_loop_length_samples = d_current_prn_length_samples + early_late_spc_samples*2;
|
||||
@@ -267,6 +364,11 @@ void Galileo_E5a_Dll_Pll_Tracking_cc::update_local_code()
|
||||
|
||||
memcpy(d_prompt_code,&d_early_code[early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
|
||||
memcpy(d_late_code,&d_early_code[early_late_spc_samples*2],d_current_prn_length_samples* sizeof(gr_complex));
|
||||
|
||||
//EXPERIMENTAL
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -296,159 +398,187 @@ int Galileo_E5a_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_
|
||||
|
||||
if (d_enable_tracking == true)
|
||||
{
|
||||
// Receiver signal alignment
|
||||
if (d_pull_in == true)
|
||||
{
|
||||
int samples_offset;
|
||||
float acq_trk_shif_correction_samples;
|
||||
int acq_to_trk_delay_samples;
|
||||
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
||||
acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_current_prn_length_samples);
|
||||
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
||||
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
|
||||
//d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / (double)d_fs_in);
|
||||
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
|
||||
d_pull_in = false;
|
||||
//std::cout<<" samples_offset="<<samples_offset<<"\r\n";
|
||||
consume_each(samples_offset); //shift input to perform alignment with local replica
|
||||
return 1;
|
||||
}
|
||||
if (d_secondary_lock==false)
|
||||
{
|
||||
// Receiver signal alignment
|
||||
if (d_pull_in == true)
|
||||
{
|
||||
int samples_offset;
|
||||
float acq_trk_shif_correction_samples;
|
||||
int acq_to_trk_delay_samples;
|
||||
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
||||
acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_current_prn_length_samples);
|
||||
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
||||
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
|
||||
//d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / (double)d_fs_in);
|
||||
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
|
||||
d_pull_in = false;
|
||||
std::cout<<" samples_offset="<<samples_offset<<"\r\n";
|
||||
consume_each(samples_offset); //shift input to perform alignment with local replica
|
||||
return 1;
|
||||
}
|
||||
|
||||
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
||||
Gnss_Synchro current_synchro_data;
|
||||
// Fill the acquisition data
|
||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
||||
Gnss_Synchro current_synchro_data;
|
||||
// Fill the acquisition data
|
||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||
|
||||
// Block input data and block output stream pointers
|
||||
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
|
||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
||||
// Block input data and block output stream pointers
|
||||
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
|
||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
||||
|
||||
// Generate local code and carrier replicas (using \hat{f}_d(k-1))
|
||||
update_local_code();
|
||||
update_local_carrier();
|
||||
// Generate local code and carrier replicas (using \hat{f}_d(k-1))
|
||||
update_local_code();
|
||||
update_local_carrier();
|
||||
|
||||
// perform carrier wipe-off and compute Early, Prompt and Late correlation
|
||||
d_correlator.Carrier_wipeoff_and_EPL_volk(d_current_prn_length_samples,
|
||||
in,
|
||||
d_carr_sign,
|
||||
d_early_code,
|
||||
d_prompt_code,
|
||||
d_late_code,
|
||||
d_Early,
|
||||
d_Prompt,
|
||||
d_Late,
|
||||
is_unaligned());
|
||||
// perform carrier wipe-off and compute Early, Prompt and Late correlation
|
||||
d_correlator.Carrier_wipeoff_and_EPL_volk(d_current_prn_length_samples,
|
||||
in,
|
||||
d_carr_sign,
|
||||
d_early_code,
|
||||
d_prompt_code,
|
||||
d_late_code,
|
||||
d_Early,
|
||||
d_Prompt,
|
||||
d_Late,
|
||||
is_unaligned());
|
||||
|
||||
// check for samples consistency (this should be done before in the receiver / here only if the source is a file)
|
||||
if (std::isnan((*d_Prompt).real()) == true or std::isnan((*d_Prompt).imag()) == true ) // or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
|
||||
{
|
||||
const int samples_available = ninput_items[0];
|
||||
d_sample_counter = d_sample_counter + samples_available;
|
||||
LOG(WARNING) << "Detected NaN samples at sample number " << d_sample_counter;
|
||||
consume_each(samples_available);
|
||||
// check for samples consistency (this should be done before in the receiver / here only if the source is a file)
|
||||
if (std::isnan((*d_Prompt).real()) == true or std::isnan((*d_Prompt).imag()) == true ) // or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
|
||||
{
|
||||
const int samples_available = ninput_items[0];
|
||||
d_sample_counter = d_sample_counter + samples_available;
|
||||
LOG(WARNING) << "Detected NaN samples at sample number " << d_sample_counter;
|
||||
consume_each(samples_available);
|
||||
|
||||
// make an output to not stop the rest of the processing blocks
|
||||
current_synchro_data.Prompt_I = 0.0;
|
||||
current_synchro_data.Prompt_Q = 0.0;
|
||||
current_synchro_data.Tracking_timestamp_secs = (double)d_sample_counter/(double)d_fs_in;
|
||||
current_synchro_data.Carrier_phase_rads = 0.0;
|
||||
current_synchro_data.Code_phase_secs = 0.0;
|
||||
current_synchro_data.CN0_dB_hz = 0.0;
|
||||
current_synchro_data.Flag_valid_tracking = false;
|
||||
// make an output to not stop the rest of the processing blocks
|
||||
current_synchro_data.Prompt_I = 0.0;
|
||||
current_synchro_data.Prompt_Q = 0.0;
|
||||
current_synchro_data.Tracking_timestamp_secs = (double)d_sample_counter/(double)d_fs_in;
|
||||
current_synchro_data.Carrier_phase_rads = 0.0;
|
||||
current_synchro_data.Code_phase_secs = 0.0;
|
||||
current_synchro_data.CN0_dB_hz = 0.0;
|
||||
current_synchro_data.Flag_valid_tracking = false;
|
||||
|
||||
*out[0] = current_synchro_data;
|
||||
*out[0] = current_synchro_data;
|
||||
|
||||
return 1;
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
// ################## PLL ##########################################################
|
||||
// PLL discriminator
|
||||
carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / (float)GALILEO_PI*2;
|
||||
// Carrier discriminator filter
|
||||
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
|
||||
// New carrier Doppler frequency estimation
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
|
||||
// New code Doppler frequency estimation
|
||||
d_code_freq_chips = Galileo_E5a_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E5a_CODE_CHIP_RATE_HZ) / Galileo_E5a_FREQ_HZ);
|
||||
//carrier phase accumulator for (K) doppler estimation
|
||||
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + 2*GALILEO_PI*d_carrier_doppler_hz*GPS_L1_CA_CODE_PERIOD;
|
||||
//remanent carrier phase to prevent overflow in the code NCO
|
||||
d_rem_carr_phase_rad = d_rem_carr_phase_rad+2*GALILEO_PI*d_carrier_doppler_hz*GALILEO_E5a_CODE_PERIOD;
|
||||
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, 2*GALILEO_PI);
|
||||
// ################## PLL ##########################################################
|
||||
// PLL discriminator
|
||||
carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / (float)GALILEO_PI*2;
|
||||
// Carrier discriminator filter
|
||||
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
|
||||
// New carrier Doppler frequency estimation
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
|
||||
// New code Doppler frequency estimation
|
||||
d_code_freq_chips = Galileo_E5a_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E5a_CODE_CHIP_RATE_HZ) / Galileo_E5a_FREQ_HZ);
|
||||
//carrier phase accumulator for (K) doppler estimation
|
||||
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + 2*GALILEO_PI*d_carrier_doppler_hz*GALILEO_E5a_CODE_PERIOD;
|
||||
//remanent carrier phase to prevent overflow in the code NCO
|
||||
d_rem_carr_phase_rad = d_rem_carr_phase_rad+2*GALILEO_PI*d_carrier_doppler_hz*GALILEO_E5a_CODE_PERIOD;
|
||||
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, 2*GALILEO_PI);
|
||||
|
||||
// ################## DLL ##########################################################
|
||||
// DLL discriminator
|
||||
code_error_chips = dll_nc_e_minus_l_normalized(*d_Early, *d_Late); //[chips/Ti]
|
||||
// Code discriminator filter
|
||||
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
|
||||
//Code phase accumulator
|
||||
float code_error_filt_secs;
|
||||
code_error_filt_secs = (GALILEO_E5a_CODE_PERIOD*code_error_filt_chips)/Galileo_E5a_CODE_CHIP_RATE_HZ; //[seconds]
|
||||
d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
|
||||
// ################## DLL ##########################################################
|
||||
// DLL discriminator
|
||||
code_error_chips = dll_nc_e_minus_l_normalized(*d_Early, *d_Late); //[chips/Ti]
|
||||
// Code discriminator filter
|
||||
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
|
||||
//Code phase accumulator
|
||||
float code_error_filt_secs;
|
||||
code_error_filt_secs = (GALILEO_E5a_CODE_PERIOD*code_error_filt_chips)/Galileo_E5a_CODE_CHIP_RATE_HZ; //[seconds]
|
||||
d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
float T_chip_seconds;
|
||||
float T_prn_seconds;
|
||||
float T_prn_samples;
|
||||
float K_blk_samples;
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
T_chip_seconds = 1 / d_code_freq_chips;
|
||||
T_prn_seconds = T_chip_seconds * Galileo_E5a_CODE_LENGTH_CHIPS;
|
||||
T_prn_samples = T_prn_seconds * (float)d_fs_in;
|
||||
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs*(float)d_fs_in;
|
||||
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
|
||||
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
|
||||
std::cout<< "Early " << *d_Early << std::endl;
|
||||
std::cout<< "Prompt " << *d_Prompt << std::endl;
|
||||
std::cout<< "Late " << *d_Late << std::endl;
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
float T_chip_seconds;
|
||||
float T_prn_seconds;
|
||||
float T_prn_samples;
|
||||
float K_blk_samples;
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
T_chip_seconds = 1 / d_code_freq_chips;
|
||||
T_prn_seconds = T_chip_seconds * Galileo_E5a_CODE_LENGTH_CHIPS;
|
||||
T_prn_samples = T_prn_seconds * (float)d_fs_in;
|
||||
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs*(float)d_fs_in;
|
||||
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
|
||||
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
|
||||
|
||||
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
|
||||
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter] = *d_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, CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E5a_CODE_LENGTH_CHIPS);
|
||||
// Carrier lock indicator
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
||||
// Loss of lock detection
|
||||
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
|
||||
{
|
||||
d_carrier_lock_fail_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
|
||||
}
|
||||
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
|
||||
{
|
||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
||||
ControlMessageFactory* cmf = new ControlMessageFactory();
|
||||
if (d_queue != gr::msg_queue::sptr())
|
||||
{
|
||||
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
||||
}
|
||||
delete cmf;
|
||||
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 = (double)(*d_Prompt).real();
|
||||
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
|
||||
// Tracking_timestamp_secs is aligned with the PRN start sample
|
||||
current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples)/(double)d_fs_in;
|
||||
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
|
||||
current_synchro_data.Code_phase_secs = 0;
|
||||
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
|
||||
current_synchro_data.Carrier_Doppler_hz = (double)d_carrier_doppler_hz;
|
||||
current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
|
||||
*out[0] = current_synchro_data;
|
||||
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
|
||||
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
|
||||
d_cn0_estimation_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
// ATTEMPT SECONDARY CODE ACQUISITION
|
||||
acquire_secondary(); // changes d_secondary_lock and d_secondary_delay
|
||||
//
|
||||
d_cn0_estimation_counter = 0;
|
||||
// Code lock indicator
|
||||
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E5a_CODE_LENGTH_CHIPS);
|
||||
// Carrier lock indicator
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
||||
// Loss of lock detection
|
||||
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
|
||||
{
|
||||
d_carrier_lock_fail_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
|
||||
}
|
||||
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
|
||||
{
|
||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
||||
ControlMessageFactory* cmf = new ControlMessageFactory();
|
||||
if (d_queue != gr::msg_queue::sptr())
|
||||
{
|
||||
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
||||
}
|
||||
delete cmf;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
}
|
||||
}
|
||||
|
||||
// make an output to not stop the rest of the processing blocks
|
||||
current_synchro_data.Prompt_I = 0.0;
|
||||
current_synchro_data.Prompt_Q = 0.0;
|
||||
current_synchro_data.Tracking_timestamp_secs = (double)d_sample_counter/(double)d_fs_in;
|
||||
current_synchro_data.Carrier_phase_rads = 0.0;
|
||||
current_synchro_data.Code_phase_secs = 0.0;
|
||||
current_synchro_data.CN0_dB_hz = 0.0;
|
||||
current_synchro_data.Flag_valid_tracking = false;
|
||||
|
||||
*out[0] = current_synchro_data;
|
||||
|
||||
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
// code with known secondary chip delay
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
/*
|
||||
current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
|
||||
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
|
||||
// Tracking_timestamp_secs is aligned with the PRN start sample
|
||||
current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples)/(double)d_fs_in;
|
||||
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
|
||||
current_synchro_data.Code_phase_secs = 0;
|
||||
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
|
||||
current_synchro_data.Carrier_Doppler_hz = (double)d_carrier_doppler_hz;
|
||||
current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
|
||||
*out[0] = current_synchro_data;
|
||||
*/
|
||||
}
|
||||
// ########## DEBUG OUTPUT
|
||||
/*!
|
||||
* \todo The stop timer has to be moved to the signal source!
|
||||
|
||||
@@ -1,8 +1,32 @@
|
||||
/*
|
||||
* galileo_e5a_dll_pll_tracking_cc.h
|
||||
/*!
|
||||
* \file galileo_e5a_dll_fll_pll_tracking_cc.h
|
||||
* \brief Implementation of a code DLL + carrier PLL
|
||||
* tracking block for Galileo E5a signals
|
||||
* \author Marc Sales, 2014. marcsales92(at)gmail.com
|
||||
*
|
||||
* Created on: Jun 19, 2014
|
||||
* Author: marc
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_CC_H_
|
||||
@@ -82,7 +106,7 @@ private:
|
||||
float early_late_space_chips);
|
||||
void update_local_code();
|
||||
void update_local_carrier();
|
||||
|
||||
void acquire_secondary();
|
||||
// tracking configuration vars
|
||||
boost::shared_ptr<gr::msg_queue> d_queue;
|
||||
concurrent_queue<int> *d_channel_internal_queue;
|
||||
@@ -148,6 +172,10 @@ private:
|
||||
bool d_enable_tracking;
|
||||
bool d_pull_in;
|
||||
|
||||
// Secondary code acquisition
|
||||
bool d_secondary_lock;
|
||||
int d_secondary_delay;
|
||||
|
||||
// file dump
|
||||
std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
|
||||
@@ -68,6 +68,7 @@
|
||||
#include "galileo_e5a_pcps_acquisition.h" //
|
||||
#include "galileo_e5a_pilot_3ms_acquisition.h"
|
||||
#include "galileo_e5ax_2ms_pcps_acquisition.h"
|
||||
#include "galileo_e5a_3ms_noncoherent_iq_acquisition.h"
|
||||
#include "gps_l1_ca_dll_pll_tracking.h"
|
||||
#include "gps_l1_ca_dll_pll_optim_tracking.h"
|
||||
#include "gps_l1_ca_dll_fll_pll_tracking.h"
|
||||
@@ -477,6 +478,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("Galileo_E5a_3ms_Noncoherent_IQ_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<GNSSBlockInterface> block_(new GalileoE5a3msNoncoherentIQAcquisition(configuration.get(), role, in_streams,
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
|
||||
|
||||
// TRACKING BLOCKS -------------------------------------------------------------
|
||||
@@ -703,6 +710,12 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("Galileo_E5a_3ms_Noncoherent_IQ_Acquisition") == 0)
|
||||
{
|
||||
std::unique_ptr<AcquisitionInterface> block_(new GalileoE5a3msNoncoherentIQAcquisition(configuration.get(), role, in_streams,
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else
|
||||
{
|
||||
// Log fatal. This causes execution to stop.
|
||||
|
||||
@@ -1,8 +1,32 @@
|
||||
/*
|
||||
* galileo_e5a_pcps_acquisition_gsoc2014_test.cc
|
||||
/*!
|
||||
* \file galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc
|
||||
* \brief This class implements an acquisition test for
|
||||
* GalileoE5a3msNoncoherentIQAcquisition class.
|
||||
* \author Marc Sales, 2014. marcsales92(at)gmail.com
|
||||
*
|
||||
* Created on: Jun 6, 2014
|
||||
* Author: marc
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include <ctime>
|
||||
@@ -13,6 +37,7 @@
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include "gnss_block_factory.h"
|
||||
#include "gnss_block_interface.h"
|
||||
#include "in_memory_configuration.h"
|
||||
#include "configuration_interface.h"
|
||||
@@ -20,6 +45,7 @@
|
||||
#include "galileo_e5a_pcps_acquisition.h"
|
||||
#include "galileo_e5a_pilot_3ms_acquisition.h"
|
||||
#include "galileo_e5ax_2ms_pcps_acquisition.h"
|
||||
#include "galileo_e5a_3ms_noncoherent_iq_acquisition.h"
|
||||
#include "signal_generator.h"
|
||||
#include "signal_generator_c.h"
|
||||
#include "fir_filter.h"
|
||||
@@ -38,6 +64,7 @@ protected:
|
||||
{
|
||||
queue = gr::msg_queue::make(0);
|
||||
top_block = gr::make_top_block("Acquisition test");
|
||||
|
||||
item_size = sizeof(gr_complex);
|
||||
stop = false;
|
||||
message = 0;
|
||||
@@ -58,9 +85,11 @@ protected:
|
||||
|
||||
gr::msg_queue::sptr queue;
|
||||
gr::top_block_sptr top_block;
|
||||
//GalileoE5aPcpsAcquisition *acquisition;
|
||||
GalileoE5aPilot_3msAcquisition *acquisition;
|
||||
//std::shared_ptr<GNSSBlockFactory> factory = std::make_shared<GNSSBlockFactory>();
|
||||
// GalileoE5aPcpsAcquisition *acquisition;
|
||||
//GalileoE5aPilot_3msAcquisition *acquisition;
|
||||
//GalileoE5ax2msPcpsAcquisition *acquisition;
|
||||
GalileoE5a3msNoncoherentIQAcquisition *acquisition;
|
||||
std::shared_ptr<InMemoryConfiguration> config;
|
||||
Gnss_Synchro gnss_synchro;
|
||||
size_t item_size;
|
||||
@@ -123,21 +152,25 @@ void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::config_1()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'E';
|
||||
std::string signal = "5I";
|
||||
//std::string signal = "5Q";
|
||||
std::string signal = "5X";
|
||||
//std::string signal = "5X";
|
||||
signal.copy(gnss_synchro.Signal,2,0);
|
||||
|
||||
|
||||
integration_time_ms = 1;
|
||||
integration_time_ms = 3;
|
||||
//fs_in = 10.24e6;
|
||||
//fs_in = 12e6;
|
||||
fs_in = 12e6;
|
||||
//fs_in = 18e6;
|
||||
fs_in = 32e6;
|
||||
|
||||
//expected_delay_chips = 600;
|
||||
//expected_doppler_hz = 750;
|
||||
// unsigned int delay_samples = (delay_chips_[sat] % codelen)
|
||||
// * samples_per_code_[sat] / codelen;
|
||||
expected_delay_chips = round(14000*((double)10230000/(double)fs_in));
|
||||
expected_doppler_hz = 2800;
|
||||
expected_delay_sec = 94;
|
||||
|
||||
expected_delay_chips = 1000;
|
||||
expected_doppler_hz = 250;
|
||||
//expected_delay_chips = 1000;
|
||||
//expected_doppler_hz = 250;
|
||||
max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
|
||||
max_delay_error_chips = 0.50;
|
||||
|
||||
@@ -159,9 +192,10 @@ void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::config_1()
|
||||
config->set_property("SignalSource.system_0", "E");
|
||||
config->set_property("SignalSource.signal_0", "5X");
|
||||
config->set_property("SignalSource.PRN_0", "11");
|
||||
config->set_property("SignalSource.CN0_dB_0", "44");
|
||||
config->set_property("SignalSource.CN0_dB_0", "50");
|
||||
config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
|
||||
config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
|
||||
config->set_property("SignalSource.delay_sec_0", std::to_string(expected_delay_sec));
|
||||
|
||||
config->set_property("SignalSource.noise_flag", "false");
|
||||
config->set_property("SignalSource.data_flag", "false");
|
||||
@@ -194,15 +228,18 @@ void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::config_1()
|
||||
config->set_property("Acquisition.coherent_integration_time_ms",
|
||||
std::to_string(integration_time_ms));
|
||||
config->set_property("Acquisition.max_dwells", "1");
|
||||
config->set_property("Acquisition.implementation", "Galileo_E5a_PCPS_Acquisition");
|
||||
// config->set_property("Acquisition.implementation", "Galileo_E5a_PCPS_Acquisition");
|
||||
//config->set_property("Acquisition.implementation", "Galileo_E5a_Pilot_3ms_Acquisition");
|
||||
|
||||
config->set_property("Acquisition.implementation", "Galileo_E5a_3ms_Noncoherent_IQ_Acquisition");
|
||||
config->set_property("Acquisition.threshold", "0.1");
|
||||
config->set_property("Acquisition.doppler_max", "10000");
|
||||
config->set_property("Acquisition.doppler_step", "250");
|
||||
config->set_property("Acquisition.bit_transition_flag", "true");
|
||||
config->set_property("Acquisition.bit_transition_flag", "false");
|
||||
config->set_property("Acquisition.dump", "true");
|
||||
config->set_property("SignalSource.dump_filename", "../data/acquisition.dat");
|
||||
|
||||
}
|
||||
|
||||
void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::config_2()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
@@ -477,23 +514,26 @@ void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::stop_queue()
|
||||
/*
|
||||
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, Instantiate)
|
||||
{
|
||||
config_2();
|
||||
config_1();
|
||||
// acquisition = new GalileoE5aPilot_3msAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
acquisition = new GalileoE5ax2msPcpsAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
acquisition = new GalileoE5a3msNoncoherentIQAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
|
||||
delete acquisition;
|
||||
|
||||
}
|
||||
|
||||
|
||||
*/
|
||||
/*
|
||||
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ConnectAndRun)
|
||||
{
|
||||
int nsamples = floor(fs_in*integration_time_ms*1e-3);
|
||||
config_1();
|
||||
//int nsamples = floor(5*fs_in*integration_time_ms*1e-3);
|
||||
int nsamples = 21000*3;
|
||||
struct timeval tv;
|
||||
long long int begin = 0;
|
||||
long long int end = 0;
|
||||
|
||||
config_1();
|
||||
//acquisition = new GalileoE5aPcpsAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
//acquisition = new GalileoE5aPilot_3msAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
acquisition = new GalileoE5ax2msPcpsAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
acquisition = new GalileoE5a3msNoncoherentIQAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
@@ -556,13 +596,15 @@ TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, SOURCEValidationTOFILE)
|
||||
}) << "Failure generating signal" << std::endl;
|
||||
}
|
||||
*/
|
||||
/*
|
||||
|
||||
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ValidationOfSIM)
|
||||
{
|
||||
config_1();
|
||||
|
||||
int nsamples = floor(fs_in*integration_time_ms*1e-3);
|
||||
acquisition = new GalileoE5aPcpsAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
//int nsamples = floor(fs_in*integration_time_ms*1e-3);
|
||||
// acquisition = new GalileoE5aPcpsAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
acquisition = new GalileoE5a3msNoncoherentIQAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
unsigned int skiphead_sps = 0; // 32 Msps
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
acquisition->set_channel(1);
|
||||
@@ -593,10 +635,10 @@ TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ValidationOfSIM)
|
||||
}) << "Failure connecting acquisition to the top_block."<< std::endl;
|
||||
|
||||
acquisition->init();
|
||||
|
||||
/*
|
||||
ASSERT_NO_THROW( {
|
||||
std::string filename_ = "../data/Tiered_sink.dat";
|
||||
boost::shared_ptr<gr::blocks::file_sink> file_sink_;
|
||||
//std::string filename_ = "../data/Tiered_sink.dat";
|
||||
//boost::shared_ptr<gr::blocks::file_sink> file_sink_;
|
||||
|
||||
boost::shared_ptr<GenSignalSource> signal_source;
|
||||
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
|
||||
@@ -605,37 +647,78 @@ TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ValidationOfSIM)
|
||||
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
|
||||
signal_source->connect(top_block);
|
||||
//
|
||||
file_sink_=gr::blocks::file_sink::make(sizeof(gr_complex), filename_.c_str());
|
||||
//signal_generator->connect(top_block);
|
||||
//
|
||||
//file_sink_=gr::blocks::file_sink::make(sizeof(gr_complex), filename_.c_str());
|
||||
|
||||
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
top_block->connect(signal_source->get_right_block(), 0, file_sink_, 0);
|
||||
//top_block->connect(signal_source->get_right_block(), 0, file_sink_, 0);
|
||||
//
|
||||
//top_block->connect(signal_generator->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
//top_block->connect(signal_generator->get_right_block(), 0, file_sink_, 0);
|
||||
//
|
||||
|
||||
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
*/
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
//std::string path = std::string(TEST_PATH);
|
||||
//std::string file = "/home/marc/E5a_acquisitions/signal_source_21MPrimary.dat";
|
||||
//noiseless
|
||||
std::string file = "/home/marc/E5a_acquisitions/sim_32M_sec94_PRN11.dat";
|
||||
//std::string file = "/home/marc/E5a_acquisitions/signal_source_21MSecondary.dat";
|
||||
//std::string file = "/home/marc/E5a_acquisitions/32MS_complex.dat";
|
||||
//std::string file = "/home/marc/E5a_acquisitions/galileo_E5_8M_r2_upsampled_12.dat";
|
||||
//CN040
|
||||
|
||||
// ASSERT_NO_THROW( {
|
||||
// //std::string path = std::string(TEST_PATH);
|
||||
// //std::string file = "/home/marc/E5a_acquisitions/signal_source_5X_primary.dat";
|
||||
// std::string file = "/home/marc/E5a_acquisitions/galileo_E5_8M_r2_upsampled_12.dat";
|
||||
// const char * file_name = file.c_str();
|
||||
// gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
|
||||
// top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
|
||||
// }) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
const char * file_name = file.c_str();
|
||||
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
|
||||
|
||||
// gr::blocks::skiphead::sptr skip_head = gr::blocks::skiphead::make(sizeof(gr_complex), skiphead_sps);
|
||||
// top_block->connect(file_source, 0, skip_head, 0);
|
||||
// top_block->connect(skip_head, 0, acquisition->get_left_block(), 0);
|
||||
|
||||
top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
|
||||
}) << "Failure connecting the blocks of acquisition test." << std::endl;
|
||||
|
||||
// i = 0 --> satellite in acquisition is visible
|
||||
// i = 1 --> satellite in acquisition is not visible
|
||||
for (unsigned int i = 0; i < 2; i++)
|
||||
for (unsigned int i = 0; i < 1; i++)
|
||||
{
|
||||
init();
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
gnss_synchro.PRN = 11; // This satellite is visible
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
gnss_synchro.PRN = 20; // This satellite is not visible
|
||||
}
|
||||
switch (i)
|
||||
{
|
||||
case 0:
|
||||
{
|
||||
//gnss_synchro.PRN = 19; //real
|
||||
gnss_synchro.PRN = 11; //sim
|
||||
break;
|
||||
}
|
||||
// case 1:
|
||||
// {
|
||||
// gnss_synchro.PRN = 11;
|
||||
// break;
|
||||
// }
|
||||
// case 2:
|
||||
// {
|
||||
// gnss_synchro.PRN = 12;
|
||||
// break;
|
||||
// }
|
||||
// case 3:
|
||||
// {
|
||||
// gnss_synchro.PRN = 20;
|
||||
// break;
|
||||
// }
|
||||
}
|
||||
// if (i == 0)
|
||||
// {
|
||||
// gnss_synchro.PRN = 11;// This satellite is visible
|
||||
// }
|
||||
// else if (i == 1)
|
||||
// {
|
||||
// gnss_synchro.PRN = 19; // This satellite is not visible
|
||||
// }
|
||||
|
||||
acquisition->set_local_code();
|
||||
|
||||
@@ -645,37 +728,40 @@ TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ValidationOfSIM)
|
||||
top_block->run(); // Start threads and wait
|
||||
}) << "Failure running he top_block."<< std::endl;
|
||||
|
||||
if (i == 0)
|
||||
{
|
||||
EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
|
||||
if (message == 1)
|
||||
{
|
||||
std::cout << gnss_synchro.Acq_delay_samples << "acq delay" <<std::endl;
|
||||
EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
|
||||
}
|
||||
|
||||
}
|
||||
else if (i == 1)
|
||||
{
|
||||
EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
|
||||
}
|
||||
std::cout << gnss_synchro.Acq_delay_samples << "acq delay" <<std::endl;
|
||||
std::cout << gnss_synchro.Acq_doppler_hz << "acq doppler" <<std::endl;
|
||||
std::cout << gnss_synchro.Acq_samplestamp_samples << "acq samples" <<std::endl;
|
||||
// if (i == 0)
|
||||
// {
|
||||
// EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
|
||||
// if (message == 1)
|
||||
// {
|
||||
// std::cout << gnss_synchro.Acq_delay_samples << "acq delay" <<std::endl;
|
||||
// EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
|
||||
// }
|
||||
//
|
||||
// }
|
||||
// else if (i == 1)
|
||||
// {
|
||||
// EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
|
||||
// }
|
||||
}
|
||||
|
||||
// free(acquisition);
|
||||
delete acquisition;
|
||||
}
|
||||
*/
|
||||
|
||||
/*
|
||||
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ValidationOfResults)
|
||||
{
|
||||
config_2();
|
||||
config_1();
|
||||
|
||||
int nsamples = floor(fs_in*integration_time_ms*1e-3);
|
||||
//acquisition = new GalileoE5aPcpsAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
acquisition = new GalileoE5aPilot_3msAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
//acquisition = new GalileoE5ax2msPcpsAcquisition(config.get(), "Acquisition", 1, 1, queue);
|
||||
//unsigned int skiphead_sps = 12000000*4; // 12 Msps
|
||||
unsigned int skiphead_sps = 37500000*4; // 12 Msps
|
||||
unsigned int skiphead_sps = 37500000; // 12 Msps
|
||||
//unsigned int skiphead_sps = 10; // 12 Msps
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
@@ -715,8 +801,8 @@ TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ValidationOfResults)
|
||||
//std::string file = "/home/marc/E5a_acquisitions/Tiered_4sat_down_upsampled12M_stup2.dat";
|
||||
//std::string file = "/home/marc/E5a_acquisitions/Tiered_stup4_down-upsampl12.dat";
|
||||
//std::string file = "/home/marc/E5a_acquisitions/Tiered_sim_4sat_stup4_2s_up.dat";
|
||||
std::string file = "/home/marc/E5a_acquisitions/Tiered_sink_4sat_setup5_down-upsampled12M.dat";
|
||||
|
||||
// std::string file = "/home/marc/E5a_acquisitions/Tiered_sink_4sat_setup5_down-upsampled12M.dat";
|
||||
std::string file = "/home/marc/E5a_acquisitions/32Ms_complex.dat";
|
||||
//std::string file = "/home/marc/E5a_acquisitions/galileo_E5_8M_r2_upsampled_12.dat";
|
||||
|
||||
const char * file_name = file.c_str();
|
||||
@@ -734,19 +820,19 @@ TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ValidationOfResults)
|
||||
switch (i)
|
||||
{
|
||||
case 0:
|
||||
gnss_synchro.PRN = 12;
|
||||
gnss_synchro.PRN = 10;
|
||||
break;
|
||||
case 1:
|
||||
gnss_synchro.PRN = 11;
|
||||
gnss_synchro.PRN = 19;
|
||||
break;
|
||||
case 2:
|
||||
gnss_synchro.PRN = 19;
|
||||
gnss_synchro.PRN = 12;
|
||||
break;
|
||||
case 3:
|
||||
gnss_synchro.PRN = 20;
|
||||
break;
|
||||
case 4:
|
||||
gnss_synchro.PRN = 1;
|
||||
gnss_synchro.PRN = 11;
|
||||
break;
|
||||
}
|
||||
|
||||
@@ -762,7 +848,7 @@ TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ValidationOfResults)
|
||||
|
||||
delete acquisition;
|
||||
}
|
||||
|
||||
*/
|
||||
/*
|
||||
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, FourSatsGen)
|
||||
{
|
||||
|
||||
@@ -1,8 +1,33 @@
|
||||
/*
|
||||
* galileo_e5a_tracking_test.cc
|
||||
/*!
|
||||
* \file galileo_e1_dll_pll_veml_tracking_test.cc
|
||||
* \brief This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking
|
||||
* implementation based on some input parameters.
|
||||
* \author Marc Sales, 2014. marcsales92(at)gmail.com
|
||||
*
|
||||
* Created on: Jun 19, 2014
|
||||
* Author: marc
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2012-2014 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
@@ -61,20 +86,23 @@ void GalileoE5aTrackingTest::init()
|
||||
gnss_synchro.System = 'E';
|
||||
std::string signal = "5X";
|
||||
signal.copy(gnss_synchro.Signal, 2, 0);
|
||||
gnss_synchro.PRN = 11;
|
||||
//gnss_synchro.PRN = 19;//real
|
||||
gnss_synchro.PRN = 11;//sim
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", "12000000");
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", "32000000");
|
||||
config->set_property("Tracking.item_type", "gr_complex");
|
||||
config->set_property("Tracking.dump", "true");
|
||||
config->set_property("Tracking.dump_filename", "../data/e5a_tracking_ch_");
|
||||
config->set_property("Tracking.implementation", "Galileo_E5a_DLL_PLL_Tracking");
|
||||
config->set_property("Tracking.early_late_space_chips", "0.5");
|
||||
config->set_property("Tracking.pll_bw_hz", "50.0");
|
||||
config->set_property("Tracking.pll_bw_hz", "5.0");
|
||||
config->set_property("Tracking.dll_bw_hz", "2.0");
|
||||
config->set_property("Tracking.fll_bw_hz", "10.0");
|
||||
//config->set_property("Tracking.fll_bw_hz", "10.0");
|
||||
// config->set_property("Tracking.pll_bw_hz", "20.0");
|
||||
// config->set_property("Tracking.dll_bw_hz", "1.0");
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
TEST_F(GalileoE5aTrackingTest, InstantiateTrack)
|
||||
{
|
||||
|
||||
@@ -84,12 +112,12 @@ TEST_F(GalileoE5aTrackingTest, InstantiateTrack)
|
||||
// auto tracking = factory->GetBlock(config, "Tracking", "Galileo_E1_DLL_PLL_VEML_Tracking", 1, 1, queue);
|
||||
// EXPECT_STREQ("Galileo_E1_DLL_PLL_VEML_Tracking", tracking->implementation().c_str());
|
||||
|
||||
}
|
||||
|
||||
}*/
|
||||
/*
|
||||
TEST_F(GalileoE5aTrackingTest, ConnectAndRun)
|
||||
{
|
||||
int fs_in = 16000000;
|
||||
int nsamples = 160000000;
|
||||
int fs_in = 21000000;
|
||||
int nsamples = 21000000;
|
||||
struct timeval tv;
|
||||
long long int begin;
|
||||
long long int end;
|
||||
@@ -135,28 +163,33 @@ TEST_F(GalileoE5aTrackingTest, ConnectAndRun)
|
||||
|
||||
std::cout << "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
|
||||
}
|
||||
|
||||
*/
|
||||
TEST_F(GalileoE5aTrackingTest, ValidationOfResults)
|
||||
{
|
||||
struct timeval tv;
|
||||
long long int begin = 0;
|
||||
long long int end = 0;
|
||||
// int num_samples = 40000000; // 4 Msps
|
||||
// unsigned int skiphead_sps = 24000000; // 4 Msps
|
||||
int num_samples = 120000000; // 12 Msps
|
||||
unsigned int skiphead_sps = 1000000; // 1 Msample
|
||||
int num_samples = 3200000000; // 32 Msps
|
||||
//unsigned int skiphead_sps = 98000; // 1 Msample
|
||||
unsigned int skiphead_sps = 0; // 1 Msample
|
||||
init();
|
||||
|
||||
// Example using smart pointers and the block factory
|
||||
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking", "Galileo_E5a_DLL_PLL_Tracking", 1, 1, queue);
|
||||
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);
|
||||
|
||||
// gnss_synchro.Acq_delay_samples = 1753; // 4 Msps
|
||||
// gnss_synchro.Acq_doppler_hz = -9500; // 4 Msps
|
||||
gnss_synchro.Acq_delay_samples = 17256; // 8 Msps
|
||||
gnss_synchro.Acq_doppler_hz = -8750; // 8 Msps
|
||||
//REAL
|
||||
// gnss_synchro.Acq_delay_samples = 15579; // 32 Msps
|
||||
// gnss_synchro.Acq_doppler_hz = 3500; // 32 Msps
|
||||
//// gnss_synchro.Acq_samplestamp_samples = 98000;
|
||||
// gnss_synchro.Acq_samplestamp_samples = 0;
|
||||
//SIM
|
||||
gnss_synchro.Acq_delay_samples = 14001; // 32 Msps
|
||||
gnss_synchro.Acq_doppler_hz = 2750; // 32 Msps (real 2800)
|
||||
// gnss_synchro.Acq_samplestamp_samples = 98000;
|
||||
gnss_synchro.Acq_samplestamp_samples = 0;
|
||||
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
tracking->set_channel(gnss_synchro.Channel_ID);
|
||||
}) << "Failure setting channel." << std::endl;
|
||||
@@ -174,7 +207,10 @@ TEST_F(GalileoE5aTrackingTest, ValidationOfResults)
|
||||
}) << "Failure connecting tracking to the top_block." << std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
std::string file = "/home/marc/E5a_acquisitions/Tiered_sink_4sat.dat";
|
||||
//std::string file = "/home/marc/E5a_acquisitions/Tiered_sink_4sat.dat";
|
||||
//std::string file = "/home/marc/E5a_acquisitions/32MS_complex.dat";
|
||||
std::string file = "/home/marc/E5a_acquisitions/sim_32M_sec94_PRN11.dat";
|
||||
|
||||
const char * file_name = file.c_str();
|
||||
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex),file_name,false);
|
||||
gr::blocks::skiphead::sptr skip_head = gr::blocks::skiphead::make(sizeof(gr_complex), skiphead_sps);
|
||||
|
||||
Reference in New Issue
Block a user