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Refactoring code. Adding new experimental tests and new common TX time observables algorithm

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This commit is contained in:
Javier Arribas
2017-04-12 17:04:51 +02:00
parent cec063f360
commit 807ca24fc2
57 changed files with 2436 additions and 373 deletions
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26
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
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@@ -158,7 +158,6 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc(
d_stat = 0;
d_preamble_index = 0;
d_preamble_time_seconds = 0;
d_flag_frame_sync = false;
d_flag_parity = false;
@@ -370,11 +369,11 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
d_CRC_error_counter = 0;
d_flag_preamble = true; //valid preamble indicator (initialized to false every work())
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs; // - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
LOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]";
DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at "
<< in[0][0].Tracking_sample_counter << " [samples]";
}
}
else
@@ -456,29 +455,28 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
current_synchro_data.Flag_valid_word = false;
}
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
//todo: move to observables: current_synchro_data.d_TOW_hybrid_at_current_symbol = current_synchro_data.d_TOW_at_current_symbol - delta_t; //delta_t = t_gal - t_gps ----> t_gps = t_gal -delta_t
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_synchro_data.Prn_timestamp_ms;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write((char*)&tmp_double, sizeof(double));
double tmp_double;
unsigned long int tmp_ulong_int;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_ulong_int = current_synchro_data.Tracking_sample_counter;
d_dump_file.write((char*)&tmp_ulong_int, sizeof(unsigned long int));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (const std::ifstream::failure& e)
catch (const std::ifstream::failure & e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
//todo: implement averaging
d_average_count++;
if (d_average_count == d_decimation_output_factor)

2
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h
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@@ -117,8 +117,6 @@ private:
int d_average_count;
int d_decimation_output_factor;
double d_preamble_time_seconds;
double d_TOW_at_Preamble;
double d_TOW_at_current_symbol;

26
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
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@@ -241,7 +241,6 @@ galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc(
d_state = 0;
d_preamble_lock = false;
d_preamble_index = 0;
d_preamble_time_seconds = 0;
d_flag_frame_sync = false;
d_current_symbol = 0;
d_prompt_counter = 0;
@@ -444,12 +443,11 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
{
d_CRC_error_counter = 0;
d_flag_preamble = true; //valid preamble indicator (initialized to false every work())
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs - (static_cast<double>(GALILEO_FNAV_CODES_PER_PAGE+GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD); //record the PRN start sample index associated to the preamble start.
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
LOG(INFO) <<" Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]";
}
DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at "
<< in[0][0].Tracking_sample_counter << " [samples]"; }
d_symbol_counter = 0; // d_page_symbols start right after preamble and finish at the end of next preamble.
}
else
@@ -535,23 +533,23 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
current_synchro_data.Flag_valid_word = false;
}
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
current_synchro_data.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_synchro_data.Prn_timestamp_ms;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write((char*)&tmp_double, sizeof(double));
double tmp_double;
unsigned long int tmp_ulong_int;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_ulong_int = current_synchro_data.Tracking_sample_counter;
d_dump_file.write((char*)&tmp_ulong_int, sizeof(unsigned long int));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (const std::ifstream::failure& e)
catch (const std::ifstream::failure & e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}

2
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h
View File

@@ -116,8 +116,6 @@ private:
Gnss_Satellite d_satellite;
int d_channel;
double d_preamble_time_seconds;
double d_TOW_at_Preamble;
double d_TOW_at_current_symbol;

32
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
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@@ -95,7 +95,6 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
d_symbol_accumulator = 0;
d_symbol_accumulator_counter = 0;
d_frame_bit_index = 0;
d_preamble_time_seconds = 0;
d_flag_frame_sync = false;
d_GPS_frame_4bytes = 0;
d_prev_GPS_frame_4bytes = 0;
@@ -180,8 +179,8 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
{
d_GPS_FSM.Event_gps_word_preamble();
//record the preamble sample stamp
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs; // record the preamble sample stamp
DLOG(INFO) << "Preamble detection for SAT " << this->d_satellite << "in[0][0].Tracking_timestamp_secs=" << round(in[0][0].Tracking_timestamp_secs * 1000.0);
d_preamble_time_samples = in[0][0].Tracking_sample_counter; // record the preamble sample stamp
DLOG(INFO) << "Preamble detection for SAT " << this->d_satellite << "in[0][0].Tracking_sample_counter=" << in[0][0].Tracking_sample_counter;
//sync the symbol to bits integrator
d_symbol_accumulator = 0;
d_symbol_accumulator_counter = 0;
@@ -190,17 +189,17 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
}
else if (d_stat == 1) //check 6 seconds of preamble separation
{
preamble_diff_ms = round((in[0][0].Tracking_timestamp_secs - d_preamble_time_seconds) * 1000.0);
preamble_diff_ms = round((((double)in[0][0].Tracking_sample_counter - d_preamble_time_samples)/(double)in[0][0].fs) * 1000.0);
if (abs(preamble_diff_ms - GPS_SUBFRAME_MS) < 1)
{
DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite << "in[0][0].Tracking_timestamp_secs=" << round(in[0][0].Tracking_timestamp_secs * 1000.0);
DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite;
d_GPS_FSM.Event_gps_word_preamble();
d_flag_preamble = true;
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs; // record the PRN start sample index associated to the preamble
d_preamble_time_samples = in[0][0].Tracking_sample_counter; // record the PRN start sample index associated to the preamble
if (!d_flag_frame_sync)
{
// send asynchronous message to tracking to inform of frame sync and extend correlation time
pmt::pmt_t value = pmt::from_double(d_preamble_time_seconds - 0.001);
pmt::pmt_t value = pmt::from_double((double)d_preamble_time_samples/(double)in[0][0].fs - 0.001);
this->message_port_pub(pmt::mp("preamble_timestamp_s"), value);
d_flag_frame_sync = true;
if (corr_value < 0)
@@ -212,7 +211,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
{
flag_PLL_180_deg_phase_locked = false;
}
DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]";
DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at " << (double)d_preamble_time_samples/(double)in[0][0].fs << " [s]";
}
}
}
@@ -221,7 +220,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
{
if (d_stat == 1)
{
preamble_diff_ms = round((in[0][0].Tracking_timestamp_secs - d_preamble_time_seconds) * 1000.0);
preamble_diff_ms = round((((double)in[0][0].Tracking_sample_counter - (double)d_preamble_time_samples)/(double)in[0][0].fs) * 1000.0);
if (preamble_diff_ms > GPS_SUBFRAME_MS+1)
{
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff_ms;
@@ -274,7 +273,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
if (gps_l1_ca_telemetry_decoder_cc::gps_word_parityCheck(d_GPS_frame_4bytes))
{
memcpy(&d_GPS_FSM.d_GPS_frame_4bytes, &d_GPS_frame_4bytes, sizeof(char)*4);
d_GPS_FSM.d_preamble_time_ms = d_preamble_time_seconds * 1000.0;
//d_GPS_FSM.d_preamble_time_ms = d_preamble_time_seconds * 1000.0;
d_GPS_FSM.Event_gps_word_valid();
// send TLM data to PVT using asynchronous message queues
if (d_GPS_FSM.d_flag_new_subframe == true)
@@ -350,9 +349,9 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GPS_L1_CA_CODE_PERIOD;
}
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.Flag_valid_word = flag_TOW_set;//(d_flag_frame_sync == true and d_flag_parity == true and flag_TOW_set == true);
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
current_synchro_data.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
current_synchro_data.Flag_valid_word = flag_TOW_set;
if (flag_PLL_180_deg_phase_locked == true)
{
@@ -366,10 +365,11 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
try
{
double tmp_double;
unsigned long int tmp_ulong_int;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_synchro_data.Prn_timestamp_ms;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_ulong_int = current_synchro_data.Tracking_sample_counter;
d_dump_file.write((char*)&tmp_ulong_int, sizeof(unsigned long int));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
@@ -379,8 +379,6 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
}
}
//todo: implement averaging
d_average_count++;
if (d_average_count == d_decimation_output_factor)
{

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
View File

@@ -119,7 +119,7 @@ private:
Gnss_Satellite d_satellite;
int d_channel;
double d_preamble_time_seconds;
unsigned long int d_preamble_time_samples;
long double d_TOW_at_Preamble;
long double d_TOW_at_current_symbol;

20
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc
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@@ -154,7 +154,7 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
//* delay by the formulae:
//* \code
//* symbolTime_ms = msg->tow * 6000 + *pdelay * 20
d_TOW_at_current_symbol=((double)msg.tow) * 6.0 + ((double)delay) * GPS_L2_M_PERIOD +11.5*GPS_L2_M_PERIOD;
d_TOW_at_current_symbol=((double)msg.tow) * 6.0 + ((double)delay) * GPS_L2_M_PERIOD +12*GPS_L2_M_PERIOD;
d_flag_valid_word=true;
}
else
@@ -165,8 +165,7 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
d_flag_valid_word=false;
}
}
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.Prn_timestamp_ms = in[0].Tracking_timestamp_secs * 1000.0;
current_synchro_data.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
current_synchro_data.Flag_valid_word=d_flag_valid_word;
// if (flag_PLL_180_deg_phase_locked == true)
@@ -180,13 +179,14 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_synchro_data.Prn_timestamp_ms;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write((char*)&tmp_double, sizeof(double));
double tmp_double;
unsigned long int tmp_ulong_int;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_ulong_int = current_synchro_data.Tracking_sample_counter;
d_dump_file.write((char*)&tmp_ulong_int, sizeof(unsigned long int));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (const std::ifstream::failure & e)
{

2
src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc
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@@ -103,7 +103,7 @@ int sbas_l1_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
Gnss_Synchro *out = (Gnss_Synchro *) output_items[0]; // output
// store the time stamp of the first sample in the processed sample block
double sample_stamp = in[0].Tracking_timestamp_secs;
double sample_stamp = in[0].Tracking_sample_counter/in[0].fs;
// copy correlation samples into samples vector
for (int i = 0; i < noutput_items; i++)