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Merge branch 'odrisci-fix_pcps_threshold' into next. Fixes: #331

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This commit is contained in:
Carles Fernandez
2019-11-24 21:24:16 +01:00
parent 64a1fcafb2 6ea7ae582c
commit 82508e9aba
36 changed files with 1158 additions and 1099 deletions
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12
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@@ -28,6 +28,7 @@
* -------------------------------------------------------------------------
*/
#include "rtklib_pvt_gs.h"
#include "MATH_CONSTANTS.h"
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
@@ -60,7 +61,6 @@
#include "pvt_conf.h"
#include "rinex_printer.h"
#include "rtcm_printer.h"
#include "rtklib_pvt_gs.h"
#include "rtklib_solver.h"
#include <boost/any.hpp> // for any_cast, any
#include <boost/archive/xml_iarchive.hpp> // for xml_iarchive
@@ -1921,11 +1921,11 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (in[i][epoch].Flag_valid_pseudorange)
{
std::map<int, Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_internal_pvt_solver->gps_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_internal_pvt_solver->galileo_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_internal_pvt_solver->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Beidou_Dnav_Ephemeris>::const_iterator tmp_eph_iter_bds_dnav = d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(in[i][epoch].PRN);
auto tmp_eph_iter_gps = d_internal_pvt_solver->gps_ephemeris_map.find(in[i][epoch].PRN);
auto tmp_eph_iter_gal = d_internal_pvt_solver->galileo_ephemeris_map.find(in[i][epoch].PRN);
auto tmp_eph_iter_cnav = d_internal_pvt_solver->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
auto tmp_eph_iter_glo_gnav = d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
auto tmp_eph_iter_bds_dnav = d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(in[i][epoch].PRN);
bool store_valid_observable = false;

1
src/algorithms/PVT/libs/pvt_solution.cc
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@@ -53,6 +53,7 @@ Pvt_Solution::Pvt_Solution()
d_valid_observations = 0;
d_rx_pos = arma::zeros(3, 1);
d_rx_dt_s = 0.0;
d_rx_clock_drift_ppm = 0.0;
d_pre_2009_file = false; // disabled by default
}

89
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
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@@ -37,7 +37,6 @@
#include "beidou_b1i_signal_processing.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
#include <memory>
@@ -52,65 +51,26 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
acq_parameters_.ms_per_code = 1;
acq_parameters_.SetFromConfiguration(configuration_, role, BEIDOU_B1I_CODE_RATE_CPS, 10e6);
LOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters_.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters_.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
acq_parameters_.doppler_max = FLAGS_doppler_max;
}
acq_parameters_.doppler_max = doppler_max_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); // will be false in future versions
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = acq_parameters_.doppler_step;
fs_in_ = acq_parameters_.fs_in;
item_type_ = acq_parameters_.item_type;
item_size_ = acq_parameters_.it_size;
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
else
{
item_size_ = sizeof(gr_complex);
}
acq_parameters_.ms_per_code = 1;
acq_parameters_.it_size = item_size_;
num_codes_ = acq_parameters_.sampled_ms;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
acq_parameters_.resampled_fs = fs_in_;
// --- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (BEIDOU_B1I_CODE_RATE_CPS / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / BEIDOU_B1I_CODE_RATE_CPS) * static_cast<float>(acq_parameters_.fs_in)));
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(BEIDOU_B1I_CODE_PERIOD_S * 1000.0);
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = std::vector<std::complex<float>>(vector_length_);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
@@ -122,7 +82,6 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
@@ -143,18 +102,7 @@ void BeidouB1iPcpsAcquisition::stop_acquisition()
void BeidouB1iPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
if (pfa == 0.0)
{
threshold_ = threshold;
}
else
{
threshold_ = calculate_threshold(pfa);
}
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
threshold_ = threshold;
acquisition_->set_threshold(threshold_);
}
@@ -225,23 +173,6 @@ void BeidouB1iPcpsAcquisition::set_state(int state)
}
float BeidouB1iPcpsAcquisition::calculate_threshold(float pfa)
{
// Calculate the threshold
uint32_t frequency_bins = 0;
frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
uint32_t ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
auto lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
void BeidouB1iPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_ == "gr_complex")

6
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
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@@ -170,17 +170,12 @@ private:
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int max_dwells_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
@@ -188,7 +183,6 @@ private:
unsigned int num_codes_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_BEIDOU_B1I_PCPS_ACQUISITION_H_ */

93
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
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@@ -35,7 +35,6 @@
#include "beidou_b3i_signal_processing.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
@@ -50,65 +49,26 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
acq_parameters_.ms_per_code = 1;
acq_parameters_.SetFromConfiguration(configuration_, role, BEIDOU_B3I_CODE_RATE_CPS, 100e6);
LOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters_.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters_.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
acq_parameters_.doppler_max = FLAGS_doppler_max;
}
acq_parameters_.doppler_max = doppler_max_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); // will be false in future versions
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = acq_parameters_.doppler_step;
item_type_ = acq_parameters_.item_type;
item_size_ = acq_parameters_.it_size;
fs_in_ = acq_parameters_.fs_in;
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
else
{
item_size_ = sizeof(gr_complex);
}
acq_parameters_.ms_per_code = 1;
acq_parameters_.it_size = item_size_;
num_codes_ = acq_parameters_.sampled_ms;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
acq_parameters_.resampled_fs = fs_in_;
// --- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (BEIDOU_B3I_CODE_RATE_CPS / BEIDOU_B3I_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / BEIDOU_B3I_CODE_RATE_CPS) * static_cast<float>(acq_parameters_.fs_in)));
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(BEIDOU_B3I_CODE_PERIOD_S * 1000.0);
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = std::vector<std::complex<float>>(vector_length_);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
@@ -120,7 +80,6 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
@@ -141,22 +100,7 @@ void BeidouB3iPcpsAcquisition::stop_acquisition()
void BeidouB3iPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_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_;
threshold_ = threshold;
acquisition_->set_threshold(threshold_);
}
@@ -226,23 +170,6 @@ void BeidouB3iPcpsAcquisition::set_state(int state)
}
float BeidouB3iPcpsAcquisition::calculate_threshold(float pfa)
{
// Calculate the threshold
unsigned int frequency_bins = 0;
frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
auto lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
void BeidouB3iPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_ == "gr_complex")

6
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h
View File

@@ -169,17 +169,12 @@ private:
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int max_dwells_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
@@ -187,7 +182,6 @@ private:
unsigned int num_codes_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_BEIDOU_B3I_PCPS_ACQUISITION_H_ */

137
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@@ -49,99 +49,28 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
acq_parameters_.ms_per_code = 4;
acq_parameters_.SetFromConfiguration(configuration_, role, GALILEO_E1_CODE_CHIP_RATE_CPS, GALILEO_E1_OPT_ACQ_FS_SPS);
DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters_.fs_in = fs_in_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters_.doppler_max = doppler_max_;
acq_parameters_.ms_per_code = 4;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters_.ms_per_code);
acq_parameters_.sampled_ms = sampled_ms_;
if ((acq_parameters_.sampled_ms % acq_parameters_.ms_per_code) != 0)
{
LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of 4. Setting it to 4";
acq_parameters_.sampled_ms = acq_parameters_.ms_per_code;
}
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); // will be false in future versions
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acquire_pilot_ = configuration_->property(role + ".acquire_pilot", false); // will be true in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters_.max_dwells = max_dwells_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters_.blocking = blocking_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "Galileo E1 acqisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > GALILEO_E1_OPT_ACQ_FS_SPS)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GALILEO_E1_OPT_ACQ_FS_SPS);
uint32_t decimation = acq_parameters_.fs_in / GALILEO_E1_OPT_ACQ_FS_SPS;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
// -- Find number of samples per spreading code (4 ms) -----------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GALILEO_E1_CODE_CHIP_RATE_CPS) * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
// -- Find number of samples per spreading code (4 ms) -----------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GALILEO_E1_CODE_CHIP_RATE_CPS) * static_cast<float>(acq_parameters_.fs_in)));
}
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GALILEO_E1_CODE_PERIOD_MS);
vector_length_ = sampled_ms_ * acq_parameters_.samples_per_ms;
if (bit_transition_flag_)
{
vector_length_ *= 2;
acq_parameters_.doppler_max = FLAGS_doppler_max;
}
doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = acq_parameters_.doppler_step;
item_type_ = acq_parameters_.item_type;
item_size_ = acq_parameters_.it_size;
fs_in_ = acq_parameters_.fs_in;
acquire_pilot_ = configuration->property(role + ".acquire_pilot", false);
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
else
{
item_size_ = sizeof(gr_complex);
}
acq_parameters_.it_size = item_size_;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
sampled_ms_ = acq_parameters_.sampled_ms;
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
@@ -153,7 +82,6 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
@@ -175,23 +103,7 @@ void GalileoE1PcpsAmbiguousAcquisition::stop_acquisition()
void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_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_;
threshold_ = threshold;
acquisition_->set_threshold(threshold_);
}
@@ -303,27 +215,6 @@ void GalileoE1PcpsAmbiguousAcquisition::set_state(int state)
}
float GalileoE1PcpsAmbiguousAcquisition::calculate_threshold(float pfa)
{
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{
frequency_bins++;
}
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
auto lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
void GalileoE1PcpsAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_ == "gr_complex")

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

@@ -173,8 +173,6 @@ private:
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
bool acquire_pilot_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
@@ -183,17 +181,13 @@ private:
unsigned int doppler_step_;
int doppler_center_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_H_ */

142
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
View File

@@ -34,7 +34,6 @@
#include "configuration_interface.h"
#include "galileo_e5_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr_complex.h>
#include <algorithm>
@@ -48,109 +47,40 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
acq_parameters_.ms_per_code = 1;
acq_parameters_.SetFromConfiguration(configuration_, role, GALILEO_E5A_CODE_CHIP_RATE_CPS, GALILEO_E5A_OPT_ACQ_FS_SPS);
DLOG(INFO) << "Role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
if (FLAGS_doppler_max != 0)
{
acq_parameters_.doppler_max = FLAGS_doppler_max;
}
doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = acq_parameters_.doppler_step;
item_type_ = acq_parameters_.item_type;
item_size_ = acq_parameters_.it_size;
fs_in_ = acq_parameters_.fs_in;
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters_.fs_in = fs_in_;
acq_pilot_ = configuration_->property(role + ".acquire_pilot", false);
acq_iq_ = configuration_->property(role + ".acquire_iq", false);
if (acq_iq_)
{
acq_pilot_ = false;
}
dump_ = configuration_->property(role + ".dump", false);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters_.doppler_max = doppler_max_;
sampled_ms_ = 1;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters_.dump_filename = dump_filename_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_ = configuration_->property(role + ".use_CFAR_algorithm", false);
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_;
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters_.blocking = blocking_;
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "Galileo E5a acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > GALILEO_E5A_OPT_ACQ_FS_SPS)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GALILEO_E5A_OPT_ACQ_FS_SPS);
uint32_t decimation = acq_parameters_.fs_in / GALILEO_E5A_OPT_ACQ_FS_SPS;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
// -- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GALILEO_E5A_CODE_CHIP_RATE_CPS) * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
acq_parameters_.resampled_fs = fs_in_;
// -- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GALILEO_E5A_CODE_CHIP_RATE_CPS) * static_cast<float>(acq_parameters_.fs_in)));
}
// -- Find number of samples per spreading code (1ms)-------------------------
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / GALILEO_E5A_CODE_CHIP_RATE_CPS * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_ * sampled_ms_;
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS)));
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
}
else if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type_ << " unknown acquisition item type";
}
acq_parameters_.it_size = item_size_;
acq_parameters_.sampled_ms = sampled_ms_;
acq_parameters_.ms_per_code = 1;
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GALILEO_E5A_CODE_PERIOD_MS);
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
sampled_ms_ = acq_parameters_.sampled_ms;
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
@@ -172,24 +102,7 @@ void GalileoE5aPcpsAcquisition::stop_acquisition()
void GalileoE5aPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_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_;
threshold_ = threshold;
acquisition_->set_threshold(threshold_);
}
@@ -280,25 +193,6 @@ void GalileoE5aPcpsAcquisition::reset()
}
float GalileoE5aPcpsAcquisition::calculate_threshold(float pfa)
{
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{
frequency_bins++;
}
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
auto lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
void GalileoE5aPcpsAcquisition::set_state(int state)
{
acquisition_->set_state(state);

6
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h
View File

@@ -154,7 +154,6 @@ public:
void set_resampler_latency(uint32_t latency_samples) override;
private:
float calculate_threshold(float pfa);
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
Acq_Conf acq_parameters_;
@@ -162,11 +161,7 @@ private:
std::string item_type_;
std::string dump_filename_;
std::string role_;
bool bit_transition_flag_;
bool dump_;
bool acq_pilot_;
bool use_CFAR_;
bool blocking_;
bool acq_iq_;
unsigned int vector_length_;
unsigned int code_length_;
@@ -176,7 +171,6 @@ private:
unsigned int doppler_step_;
int doppler_center_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
unsigned int in_streams_;
unsigned int out_streams_;
int64_t fs_in_;

106
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
View File

@@ -37,7 +37,6 @@
#include "configuration_interface.h"
#include "glonass_l1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
@@ -50,70 +49,29 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat";
acq_parameters_.ms_per_code = 1;
acq_parameters_.SetFromConfiguration(configuration_, role, GLONASS_L1_CA_CODE_RATE_CPS, 100e6);
DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil(GLONASS_L1_CA_CHIP_PERIOD_S * static_cast<float>(acq_parameters.fs_in)));
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); // will be false in future versions
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
// --- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (GLONASS_L1_CA_CODE_RATE_CPS / GLONASS_L1_CA_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_ * sampled_ms_;
if (bit_transition_flag_)
{
vector_length_ *= 2;
acq_parameters_.doppler_max = FLAGS_doppler_max;
}
doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = acq_parameters_.doppler_step;
item_type_ = acq_parameters_.item_type;
item_size_ = acq_parameters_.it_size;
fs_in_ = acq_parameters_.fs_in;
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GLONASS_L1_CA_CODE_RATE_CPS / GLONASS_L1_CA_CODE_LENGTH_CHIPS)));
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
else
{
item_size_ = sizeof(gr_complex);
}
acq_parameters.it_size = item_size_;
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.ms_per_code = 1;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GLONASS_L1_CA_CODE_PERIOD_S * 1000.0);
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
sampled_ms_ = acq_parameters_.sampled_ms;
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_ == "cbyte")
@@ -145,18 +103,7 @@ void GlonassL1CaPcpsAcquisition::stop_acquisition()
void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
if (pfa == 0.0)
{
threshold_ = threshold;
}
else
{
threshold_ = calculate_threshold(pfa);
}
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
threshold_ = threshold;
acquisition_->set_threshold(threshold_);
}
@@ -228,31 +175,6 @@ void GlonassL1CaPcpsAcquisition::set_state(int state)
}
float GlonassL1CaPcpsAcquisition::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++;
}
*/
frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
auto lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
void GlonassL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_ == "gr_complex")

8
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
View File

@@ -34,6 +34,7 @@
#ifndef GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
#define GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
#include "acq_conf.h"
#include "channel_fsm.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
@@ -156,6 +157,7 @@ public:
private:
ConfigurationInterface* configuration_;
Acq_Conf acq_parameters_;
pcps_acquisition_sptr acquisition_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
@@ -163,25 +165,19 @@ private:
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_ */

106
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc
View File

@@ -36,7 +36,6 @@
#include "configuration_interface.h"
#include "glonass_l2_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
@@ -49,70 +48,29 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat";
acq_parameters_.ms_per_code = 1;
acq_parameters_.SetFromConfiguration(configuration_, role, GLONASS_L2_CA_CODE_RATE_CPS, 100e6);
DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil(GLONASS_L2_CA_CHIP_PERIOD_S * static_cast<float>(acq_parameters.fs_in)));
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); // will be false in future versions
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
// --- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (GLONASS_L2_CA_CODE_RATE_CPS / GLONASS_L2_CA_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_ * sampled_ms_;
if (bit_transition_flag_)
{
vector_length_ *= 2;
acq_parameters_.doppler_max = FLAGS_doppler_max;
}
doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = acq_parameters_.doppler_step;
item_type_ = acq_parameters_.item_type;
item_size_ = acq_parameters_.it_size;
fs_in_ = acq_parameters_.fs_in;
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GLONASS_L2_CA_CODE_RATE_CPS / GLONASS_L2_CA_CODE_LENGTH_CHIPS)));
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
else
{
item_size_ = sizeof(gr_complex);
}
acq_parameters.it_size = item_size_;
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.ms_per_code = 1;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GLONASS_L2_CA_CODE_PERIOD_S * 1000.0);
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
sampled_ms_ = acq_parameters_.sampled_ms;
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_ == "cbyte")
@@ -144,18 +102,7 @@ void GlonassL2CaPcpsAcquisition::stop_acquisition()
void GlonassL2CaPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
if (pfa == 0.0)
{
threshold_ = threshold;
}
else
{
threshold_ = calculate_threshold(pfa);
}
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
threshold_ = threshold;
acquisition_->set_threshold(threshold_);
}
@@ -227,31 +174,6 @@ void GlonassL2CaPcpsAcquisition::set_state(int state)
}
float GlonassL2CaPcpsAcquisition::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++;
}
*/
frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
auto lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
void GlonassL2CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_ == "gr_complex")

8
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h
View File

@@ -33,6 +33,7 @@
#ifndef GNSS_SDR_GLONASS_L2_CA_PCPS_ACQUISITION_H_
#define GNSS_SDR_GLONASS_L2_CA_PCPS_ACQUISITION_H_
#include "acq_conf.h"
#include "channel_fsm.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
@@ -155,6 +156,7 @@ public:
private:
ConfigurationInterface* configuration_;
Acq_Conf acq_parameters_;
pcps_acquisition_sptr acquisition_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
@@ -162,25 +164,19 @@ private:
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GLONASS_L2_CA_PCPS_ACQUISITION_H_ */

124
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@@ -39,7 +39,6 @@
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <gsl/gsl>
#include <algorithm>
@@ -54,88 +53,27 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
acq_parameters_.ms_per_code = 1;
acq_parameters_.SetFromConfiguration(configuration_, role, GPS_L1_CA_CODE_RATE_CPS, GPS_L1_CA_OPT_ACQ_FS_SPS);
DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters_.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters_.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters_.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters_.sampled_ms = sampled_ms_;
acq_parameters_.ms_per_code = 1;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); // will be false in future versions
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "GPS L1 CA acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > GPS_L1_CA_OPT_ACQ_FS_SPS)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GPS_L1_CA_OPT_ACQ_FS_SPS);
uint32_t decimation = acq_parameters_.fs_in / GPS_L1_CA_OPT_ACQ_FS_SPS;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
// -- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD_S * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
acq_parameters_.resampled_fs = fs_in_;
// -- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD_S * static_cast<float>(acq_parameters_.fs_in)));
acq_parameters_.doppler_max = FLAGS_doppler_max;
}
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L1_CA_CODE_PERIOD_S * 1000.0);
doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = acq_parameters_.doppler_step;
item_type_ = acq_parameters_.item_type;
item_size_ = acq_parameters_.it_size;
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS)));
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
else
{
item_size_ = sizeof(gr_complex);
}
sampled_ms_ = acq_parameters_.sampled_ms;
acq_parameters_.it_size = item_size_;
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
@@ -147,7 +85,6 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
@@ -169,18 +106,7 @@ void GpsL1CaPcpsAcquisition::stop_acquisition()
void GpsL1CaPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
if (pfa == 0.0)
{
threshold_ = threshold;
}
else
{
threshold_ = calculate_threshold(pfa);
}
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
threshold_ = threshold;
acquisition_->set_threshold(threshold_);
}
@@ -240,7 +166,7 @@ void GpsL1CaPcpsAcquisition::set_local_code()
}
else
{
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.fs_in, 0);
}
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
@@ -264,26 +190,6 @@ void GpsL1CaPcpsAcquisition::set_state(int state)
}
float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa)
{
// Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{
frequency_bins++;
}
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
auto lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
void GpsL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_ == "gr_complex")
@@ -304,7 +210,7 @@ void GpsL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
LOG(WARNING) << item_type_ << " unknown acquisition item type: " << item_type_;
}
}
@@ -327,7 +233,7 @@ void GpsL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
LOG(WARNING) << item_type_ << " unknown acquisition item type" << item_type_;
}
}
@@ -347,7 +253,7 @@ gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_left_block()
return cbyte_to_float_x2_;
}
LOG(WARNING) << item_type_ << " unknown acquisition item type";
LOG(WARNING) << item_type_ << " unknown acquisition item type" << item_type_;
return nullptr;
}

7
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@@ -177,8 +177,6 @@ private:
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
float threshold_;
@@ -186,17 +184,12 @@ private:
unsigned int doppler_step_;
int doppler_center_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_ */

130
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
View File

@@ -37,7 +37,6 @@
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gps_l2c_signal.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
@@ -51,94 +50,25 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
acq_parameters_.ms_per_code = 20;
acq_parameters_.SetFromConfiguration(configuration_, role, GPS_L2_M_CODE_RATE_CPS, GPS_L2C_OPT_ACQ_FS_SPS);
LOG(INFO) << "role " << role;
DLOG(INFO) << "Role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters_.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters_.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters_.doppler_max = doppler_max_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); // will be false in future versions
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.ms_per_code = 20;
acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters_.ms_per_code);
if ((acq_parameters_.sampled_ms % acq_parameters_.ms_per_code) != 0)
{
LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of 20. Setting it to 20";
acq_parameters_.sampled_ms = acq_parameters_.ms_per_code;
acq_parameters_.doppler_max = FLAGS_doppler_max;
}
doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = acq_parameters_.doppler_step;
item_type_ = acq_parameters_.item_type;
item_size_ = acq_parameters_.it_size;
fs_in_ = acq_parameters_.fs_in;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "GPS L2CM acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > GPS_L2C_OPT_ACQ_FS_SPS)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GPS_L2C_OPT_ACQ_FS_SPS);
uint32_t decimation = acq_parameters_.fs_in / GPS_L2C_OPT_ACQ_FS_SPS;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
// -- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L2_M_CODE_RATE_CPS / GPS_L2_M_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L2_M_CODE_RATE_CPS) * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
acq_parameters_.resampled_fs = fs_in_;
// -- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_CPS / GPS_L2_M_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L2_M_CODE_RATE_CPS) * static_cast<float>(acq_parameters_.fs_in)));
}
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L2_M_PERIOD_S * 1000.0);
vector_length_ = acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L2_M_CODE_RATE_CPS / GPS_L2_M_CODE_LENGTH_CHIPS)));
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
else
{
item_size_ = sizeof(gr_complex);
}
acq_parameters_.it_size = item_size_;
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
@@ -150,7 +80,6 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
@@ -173,22 +102,7 @@ void GpsL2MPcpsAcquisition::stop_acquisition()
void GpsL2MPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_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_;
threshold_ = threshold;
acquisition_->set_threshold(threshold_);
}
@@ -275,26 +189,6 @@ void GpsL2MPcpsAcquisition::set_state(int state)
}
float GpsL2MPcpsAcquisition::calculate_threshold(float pfa)
{
// Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{
frequency_bins++;
}
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
auto lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
void GpsL2MPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_ == "gr_complex")

6
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h
View File

@@ -174,18 +174,13 @@ private:
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
int doppler_center_;
unsigned int max_dwells_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
@@ -193,7 +188,6 @@ private:
unsigned int in_streams_;
unsigned int out_streams_;
unsigned int num_codes_;
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_H_ */

133
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
View File

@@ -37,7 +37,6 @@
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gps_l5_signal.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
@@ -51,90 +50,28 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
acq_parameters_.ms_per_code = 1;
acq_parameters_.SetFromConfiguration(configuration_, role, GPS_L5I_CODE_RATE_CPS, GPS_L5_OPT_ACQ_FS_SPS);
LOG(INFO) << "role " << role;
DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters_.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters_.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters_.doppler_max = doppler_max_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); // will be false in future versions
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
else
{
item_size_ = sizeof(gr_complex);
acq_parameters_.doppler_max = FLAGS_doppler_max;
}
acq_parameters_.ms_per_code = 1;
acq_parameters_.it_size = item_size_;
num_codes_ = acq_parameters_.sampled_ms;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "GPS L5 acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > GPS_L5_OPT_ACQ_FS_SPS)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GPS_L5_OPT_ACQ_FS_SPS);
uint32_t decimation = acq_parameters_.fs_in / GPS_L5_OPT_ACQ_FS_SPS;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = acq_parameters_.doppler_step;
item_type_ = acq_parameters_.item_type;
item_size_ = acq_parameters_.it_size;
// -- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L5I_CODE_RATE_CPS / GPS_L5I_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5I_CODE_RATE_CPS) * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
acq_parameters_.resampled_fs = fs_in_;
// -- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L5I_CODE_RATE_CPS / GPS_L5I_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5I_CODE_RATE_CPS) * static_cast<float>(acq_parameters_.fs_in)));
}
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L5I_PERIOD_S * 1000.0);
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L5I_CODE_RATE_CPS / GPS_L5I_CODE_LENGTH_CHIPS)));
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = std::vector<std::complex<float>>(vector_length_);
fs_in_ = acq_parameters_.fs_in;
num_codes_ = acq_parameters_.sampled_ms;
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
@@ -146,7 +83,6 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
@@ -168,22 +104,7 @@ void GpsL5iPcpsAcquisition::stop_acquisition()
void GpsL5iPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_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_;
threshold_ = threshold;
acquisition_->set_threshold(threshold_);
}
@@ -270,26 +191,6 @@ void GpsL5iPcpsAcquisition::set_state(int state)
}
float GpsL5iPcpsAcquisition::calculate_threshold(float pfa)
{
// Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
{
frequency_bins++;
}
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
auto lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
void GpsL5iPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_ == "gr_complex")
@@ -310,7 +211,7 @@ void GpsL5iPcpsAcquisition::connect(gr::top_block_sptr top_block)
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
LOG(WARNING) << item_type_ << " unknown acquisition item type: " << item_type_;
}
}
@@ -333,7 +234,7 @@ void GpsL5iPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
LOG(WARNING) << item_type_ << " unknown acquisition item type" << item_type_;
}
}
@@ -353,7 +254,7 @@ gr::basic_block_sptr GpsL5iPcpsAcquisition::get_left_block()
return cbyte_to_float_x2_;
}
LOG(WARNING) << item_type_ << " unknown acquisition item type";
LOG(WARNING) << item_type_ << " unknown acquisition item type" << item_type_;
return nullptr;
}

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

@@ -174,18 +174,13 @@ private:
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
int doppler_center_;
unsigned int max_dwells_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
@@ -193,7 +188,6 @@ private:
unsigned int num_codes_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_H_ */

125
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@@ -48,6 +48,7 @@
#else
#include <boost/filesystem/path.hpp>
#endif
#include <boost/math/special_functions/gamma.hpp>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h> // for from_long
@@ -105,7 +106,7 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
d_input_power = 0.0;
d_num_doppler_bins = 0U;
d_threshold = 0.0;
d_doppler_step = 0U;
d_doppler_step = acq_parameters.doppler_step;
d_doppler_center = 0U;
d_doppler_center_step_two = 0.0;
d_test_statistics = 0.0;
@@ -129,11 +130,11 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
//
// We can avoid this by doing linear correlation, effectively doubling the
// size of the input buffer and padding the code with zeros.
if (acq_parameters.bit_transition_flag)
{
d_fft_size = d_consumed_samples * 2;
acq_parameters.max_dwells = 1; // Activation of acq_parameters.bit_transition_flag invalidates the value of acq_parameters.max_dwells
}
//if (acq_parameters.bit_transition_flag)
//{
//d_fft_size = d_consumed_samples * 2;
//acq_parameters.max_dwells = 1; // Activation of acq_parameters.bit_transition_flag invalidates the value of acq_parameters.max_dwells
//}
d_tmp_buffer = volk_gnsssdr::vector<float>(d_fft_size);
d_fft_codes = volk_gnsssdr::vector<std::complex<float>>(d_fft_size);
@@ -160,14 +161,14 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
d_samplesPerChip = acq_parameters.samples_per_chip;
d_buffer_count = 0U;
// todo: CFAR statistic not available for non-coherent integration
if (acq_parameters.max_dwells == 1)
{
d_use_CFAR_algorithm_flag = acq_parameters.use_CFAR_algorithm_flag;
}
else
{
d_use_CFAR_algorithm_flag = false;
}
//if (acq_parameters.max_dwells == 1)
//{
d_use_CFAR_algorithm_flag = acq_parameters.use_CFAR_algorithm_flag;
//}
//else
//{
//d_use_CFAR_algorithm_flag = false;
//}
d_dump_number = 0LL;
d_dump_channel = acq_parameters.dump_channel;
d_dump = acq_parameters.dump;
@@ -364,7 +365,6 @@ void pcps_acquisition::set_state(int32_t state)
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_mag = 0.0;
d_input_power = 0.0;
d_test_statistics = 0.0;
d_active = true;
}
@@ -382,16 +382,16 @@ void pcps_acquisition::send_positive_acquisition()
{
// Declare positive acquisition using a message port
// 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
DLOG(INFO) << "positive acquisition"
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
<< ", test statistics value " << d_test_statistics
<< ", test statistics threshold " << d_threshold
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power
<< ", Assist doppler_center " << d_doppler_center;
LOG(INFO) << "positive acquisition"
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
<< ", test statistics value " << d_test_statistics
<< ", test statistics threshold " << d_threshold
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power
<< ", Assist doppler_center " << d_doppler_center;
d_positive_acq = 1;
if (!d_channel_fsm.expired())
@@ -410,15 +410,15 @@ void pcps_acquisition::send_negative_acquisition()
{
// Declare negative acquisition using a message port
// 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
DLOG(INFO) << "negative acquisition"
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
<< ", test statistics value " << d_test_statistics
<< ", test statistics threshold " << d_threshold
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power;
LOG(INFO) << "negative acquisition"
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
<< ", test statistics value " << d_test_statistics
<< ", test statistics threshold " << d_threshold
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power;
d_positive_acq = 0;
this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
}
@@ -527,18 +527,18 @@ void pcps_acquisition::dump_results(int32_t effective_fft_size)
}
float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, float input_power, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step)
float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step)
{
float grid_maximum = 0.0;
uint32_t index_doppler = 0U;
uint32_t tmp_intex_t = 0U;
uint32_t index_time = 0U;
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
int32_t effective_fft_size = (acq_parameters.bit_transition_flag ? d_fft_size / 2 : d_fft_size);
// Find the correlation peak and the carrier frequency
for (uint32_t i = 0; i < num_doppler_bins; i++)
{
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i].data(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i].data(), effective_fft_size);
if (d_magnitude_grid[i][tmp_intex_t] > grid_maximum)
{
grid_maximum = d_magnitude_grid[i][tmp_intex_t];
@@ -549,6 +549,8 @@ float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t&
indext = index_time;
if (!d_step_two)
{
int index_opp = (index_doppler + d_num_doppler_bins / 2) % d_num_doppler_bins;
d_input_power = std::accumulate(d_magnitude_grid[index_opp].data(), d_magnitude_grid[index_opp].data() + effective_fft_size, 0.0) / effective_fft_size / 2.0 / d_num_noncoherent_integrations_counter;
doppler = -static_cast<int32_t>(doppler_max) + d_doppler_center + doppler_step * static_cast<int32_t>(index_doppler);
}
else
@@ -556,8 +558,7 @@ float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t&
doppler = static_cast<int32_t>(d_doppler_center_step_two + (static_cast<float>(index_doppler) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2);
}
float magt = grid_maximum / (fft_normalization_factor * fft_normalization_factor);
return magt / input_power;
return grid_maximum / d_input_power;
}
@@ -652,7 +653,6 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
}
const gr_complex* in = d_input_signal.data(); // Get the input samples pointer
d_input_power = 0.0;
d_mag = 0.0;
d_num_noncoherent_integrations_counter++;
@@ -665,14 +665,6 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
lk.unlock();
if (d_use_CFAR_algorithm_flag or acq_parameters.bit_transition_flag)
{
// Compute the input signal power estimation
volk_32fc_magnitude_squared_32f(d_tmp_buffer.data(), in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_tmp_buffer.data(), d_fft_size);
d_input_power /= static_cast<float>(d_fft_size);
}
// Doppler frequency grid loop
if (!d_step_two)
{
@@ -712,7 +704,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
// Compute the test statistic
if (d_use_CFAR_algorithm_flag)
{
d_test_statistics = max_to_input_power_statistic(indext, doppler, d_input_power, d_num_doppler_bins, acq_parameters.doppler_max, d_doppler_step);
d_test_statistics = max_to_input_power_statistic(indext, doppler, d_num_doppler_bins, acq_parameters.doppler_max, d_doppler_step);
}
else
{
@@ -769,7 +761,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
// Compute the test statistic
if (d_use_CFAR_algorithm_flag)
{
d_test_statistics = max_to_input_power_statistic(indext, doppler, d_input_power, d_num_doppler_bins_step2, static_cast<int32_t>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
d_test_statistics = max_to_input_power_statistic(indext, doppler, d_num_doppler_bins_step2, static_cast<int32_t>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
}
else
{
@@ -815,6 +807,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
d_positive_acq = 0;
d_state = 0;
}
calculate_threshold();
}
else
{
@@ -836,7 +829,12 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
}
d_state = 0;
d_active = false;
bool was_step_two = d_step_two;
d_step_two = false;
if (was_step_two)
{
calculate_threshold();
}
}
}
else
@@ -858,6 +856,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
d_num_noncoherent_integrations_counter = 0U;
d_state = 0;
}
calculate_threshold();
}
else
{
@@ -868,7 +867,12 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
else
{
d_state = 0; // Negative acquisition
bool was_step_two = d_step_two;
d_step_two = false;
if (was_step_two)
{
calculate_threshold();
}
send_negative_acquisition();
}
}
@@ -899,10 +903,29 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
bool pcps_acquisition::start()
{
d_sample_counter = 0ULL;
calculate_threshold();
return true;
}
void pcps_acquisition::calculate_threshold()
{
float pfa = (d_step_two ? acq_parameters.pfa2 : acq_parameters.pfa);
if (pfa <= 0.0)
{
return;
}
int effective_fft_size = (acq_parameters.bit_transition_flag ? (d_fft_size / 2) : d_fft_size);
int num_doppler_bins = (d_step_two ? d_num_doppler_bins_step2 : d_num_doppler_bins);
int num_bins = effective_fft_size * num_doppler_bins;
d_threshold = 2.0 * boost::math::gamma_p_inv(2.0 * acq_parameters.max_dwells, std::pow(1.0 - pfa, 1.0 / static_cast<float>(num_bins)));
}
int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
@@ -946,8 +969,6 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_mag = 0.0;
d_input_power = 0.0;
d_test_statistics = 0.0;
d_state = 1;
d_buffer_count = 0U;
if (!acq_parameters.blocking_on_standby)

3
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@@ -267,8 +267,9 @@ private:
void dump_results(int32_t effective_fft_size);
bool is_fdma();
bool start();
void calculate_threshold(void);
float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
float max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, float input_power, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
float max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
};
#endif /* GNSS_SDR_PCPS_ACQUISITION_H_*/

126
src/algorithms/acquisition/libs/acq_conf.cc
View File

@@ -30,31 +30,135 @@
*/
#include "acq_conf.h"
#include "item_type_helpers.h"
#include <glog/logging.h>
#include <gnuradio/gr_complex.h>
Acq_Conf::Acq_Conf()
{
/* PCPS acquisition configuration */
sampled_ms = 0U;
ms_per_code = 0U;
max_dwells = 0U;
samples_per_chip = 0U;
doppler_max = 0U;
num_doppler_bins_step2 = 0U;
doppler_step2 = 0.0;
fs_in = 0LL;
sampled_ms = 1U;
ms_per_code = 1U;
max_dwells = 1U;
samples_per_chip = 2U;
chips_per_second = 1023000;
doppler_max = 5000;
doppler_min = -5000;
doppler_step = 250.0;
num_doppler_bins_step2 = 4U;
doppler_step2 = 125.0;
pfa = 0.0;
pfa2 = 0.0;
fs_in = 4000000;
samples_per_ms = 0.0;
samples_per_code = 0.0;
bit_transition_flag = false;
use_CFAR_algorithm_flag = false;
use_CFAR_algorithm_flag = true;
dump = false;
blocking = false;
blocking = true;
make_2_steps = false;
dump_filename = "";
dump_channel = 0U;
it_size = sizeof(char);
it_size = sizeof(gr_complex);
item_type = "gr_complex";
blocking_on_standby = false;
use_automatic_resampler = false;
resampler_ratio = 1.0;
resampled_fs = 0LL;
resampler_latency_samples = 0U;
}
void Acq_Conf::SetFromConfiguration(ConfigurationInterface *configuration,
const std::string &role, double chip_rate, double opt_freq)
{
item_type = configuration->property(role + ".item_type", item_type);
if (!item_type_valid(item_type))
{
throw std::invalid_argument("Unknown item type: " + item_type);
}
chips_per_second = chip_rate;
int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
doppler_max = configuration->property(role + ".doppler_max", doppler_max);
sampled_ms = configuration->property(role + ".coherent_integration_time_ms", sampled_ms);
bit_transition_flag = configuration->property(role + ".bit_transition_flag", bit_transition_flag);
max_dwells = configuration->property(role + ".max_dwells", max_dwells);
dump = configuration->property(role + ".dump", dump);
dump_channel = configuration->property(role + ".dump_channel", dump_channel);
blocking = configuration->property(role + ".blocking", blocking);
dump_filename = configuration->property(role + ".dump_filename", dump_filename);
use_automatic_resampler = configuration->property("GNSS-SDR.use_acquisition_resampler", use_automatic_resampler);
if ((sampled_ms % ms_per_code) != 0)
{
LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of "
<< ms_per_code << ". Setting it to " << ms_per_code;
sampled_ms = ms_per_code;
}
resampled_fs = fs_in;
if (use_automatic_resampler)
{
ConfigureAutomaticResampler(opt_freq);
}
it_size = item_type_size(item_type);
num_doppler_bins_step2 = configuration->property(role + ".second_nbins", num_doppler_bins_step2);
doppler_step2 = configuration->property(role + ".second_doppler_step", doppler_step2);
doppler_step = configuration->property(role + ".doppler_step", doppler_step);
pfa = configuration->property(role + ".pfa", pfa);
if ((pfa < 0.0) or (pfa > 1.0))
{
LOG(WARNING) << "Parameter pfa should between 0.0 and 1.0. Setting it to 0.0";
pfa = 0.0;
}
pfa2 = configuration->property(role + ".pfa_second_step", pfa2);
if ((pfa2 <= 0.0) or (pfa2 > 1.0))
{
pfa2 = pfa;
}
make_2_steps = configuration->property(role + ".make_two_steps", make_2_steps);
blocking_on_standby = configuration->property(role + ".blocking_on_standby", blocking_on_standby);
if (pfa <= 0.0)
{
// if pfa is not set, we use the first_vs_second_peak_statistic metric
use_CFAR_algorithm_flag = false;
}
SetDerivedParams();
}
void Acq_Conf::ConfigureAutomaticResampler(double opt_freq)
{
if (use_automatic_resampler)
{
if (fs_in > opt_freq)
{
resampler_ratio = floor(static_cast<float>(fs_in) / opt_freq);
uint32_t decimation = fs_in / opt_freq;
while (fs_in % decimation > 0)
{
decimation--;
};
resampler_ratio = decimation;
resampled_fs = fs_in / static_cast<int>(resampler_ratio);
}
// --- Find number of samples per spreading code -------------------
SetDerivedParams();
}
}
void Acq_Conf::SetDerivedParams()
{
samples_per_ms = static_cast<float>(resampled_fs) * 0.001;
samples_per_chip = static_cast<unsigned int>(ceil(static_cast<float>(resampled_fs) / chips_per_second));
samples_per_code = samples_per_ms * ms_per_code;
}

16
src/algorithms/acquisition/libs/acq_conf.h
View File

@@ -32,6 +32,7 @@
#ifndef GNSS_SDR_ACQ_CONF_H_
#define GNSS_SDR_ACQ_CONF_H_
#include "configuration_interface.h"
#include <cstddef>
#include <cstdint>
#include <string>
@@ -43,10 +44,15 @@ public:
uint32_t sampled_ms;
uint32_t ms_per_code;
uint32_t samples_per_chip;
uint32_t chips_per_second;
uint32_t max_dwells;
uint32_t doppler_max;
int32_t doppler_max;
int32_t doppler_min;
float doppler_step;
uint32_t num_doppler_bins_step2;
float doppler_step2;
float pfa;
float pfa2;
int64_t fs_in;
float samples_per_ms;
float samples_per_code;
@@ -63,8 +69,16 @@ public:
std::string dump_filename;
uint32_t dump_channel;
size_t it_size;
std::string item_type;
Acq_Conf();
void SetFromConfiguration(ConfigurationInterface *configuration, const std::string &role, double chip_rate, double opt_freq);
private:
void SetDerivedParams();
void ConfigureAutomaticResampler(double opt_freq);
};
#endif

26
src/algorithms/libs/CMakeLists.txt
View File

@@ -40,6 +40,7 @@ set(GNSS_SPLIBS_SOURCES
conjugate_ic.cc
gnss_sdr_create_directory.cc
geofunctions.cc
item_type_helpers.cc
)
set(GNSS_SPLIBS_HEADERS
@@ -65,6 +66,7 @@ set(GNSS_SPLIBS_HEADERS
gnss_sdr_create_directory.h
gnss_circular_deque.h
geofunctions.h
item_type_helpers.h
)
if(ENABLE_OPENCL)
@@ -133,6 +135,30 @@ target_compile_definitions(algorithms_libs
PUBLIC -DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}"
)
if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
target_compile_definitions(algorithms_libs
PRIVATE -DOLDCOMPILER=1
)
endif()
endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
if(CLANG_VERSION VERSION_LESS "600")
target_compile_definitions(algorithms_libs
PRIVATE -DOLDCOMPILER=1
)
endif()
else()
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
target_compile_definitions(algorithms_libs
PRIVATE -DOLDCOMPILER=1
)
endif()
endif()
endif()
set_property(TARGET algorithms_libs
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>

409
src/algorithms/libs/item_type_helpers.cc Normal file
View File

@@ -0,0 +1,409 @@
/*!
* \file item_type_helpers.cc
* \brief Utility functions for converting between item types
* \authors <ul>
* <li> Cillian O'Driscoll, 2019. cillian.odriscoll(at)gmail.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "item_type_helpers.h"
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cstring> // memcpy
bool item_type_valid(const std::string &item_type)
{
if (item_type != "byte" and item_type != "cbyte" and item_type != "ibyte" and
item_type != "short" and item_type != "cshort" and item_type != "ishort" and
item_type != "float" and item_type != "gr_complex")
{
return false;
}
return true;
}
size_t item_type_size(const std::string &item_type)
{
if (item_type == "byte" or item_type == "ibyte")
{
return sizeof(int8_t);
}
else if (item_type == "cbyte")
{
return 2 * sizeof(int8_t);
}
else if (item_type == "short" or item_type == "ishort")
{
return sizeof(int16_t);
}
else if (item_type == "cshort")
{
return 2 * sizeof(int16_t);
}
else if (item_type == "float")
{
return sizeof(float);
}
else if (item_type == "gr_complex")
{
return 2 * sizeof(float);
}
else
{
return 0;
}
}
bool item_type_is_complex(const std::string &item_type)
{
return (item_type == "ibyte") or (item_type == "cbyte") or (item_type == "ishort") or (item_type == "cshort") or (item_type == "gr_complex");
}
void copy_converter(void *dest, const void *src, unsigned int num_items, size_t item_size)
{
std::memcpy(dest, src, num_items * item_size);
}
void convert_8i_16i(void *dest, const void *src, unsigned int num_items)
{
volk_8i_convert_16i(reinterpret_cast<int16_t *>(dest),
reinterpret_cast<const int8_t *>(src), num_items);
}
void convert_8i_32f(void *dest, const void *src, unsigned int num_items)
{
volk_8i_s32f_convert_32f(reinterpret_cast<float *>(dest),
reinterpret_cast<const int8_t *>(src), 1.0F, num_items);
}
void convert_8ic_16ic(void *dest, const void *src, unsigned int num_items)
{
volk_8i_convert_16i(reinterpret_cast<int16_t *>(dest),
reinterpret_cast<const int8_t *>(src), 2 * num_items);
}
void convert_8ic_32fc(void *dest, const void *src, unsigned int num_items)
{
volk_8i_s32f_convert_32f(reinterpret_cast<float *>(dest),
reinterpret_cast<const int8_t *>(src), 1.0F, 2 * num_items);
}
void convert_16i_8i(void *dest, const void *src, unsigned int num_items)
{
volk_16i_convert_8i(reinterpret_cast<int8_t *>(dest),
reinterpret_cast<const int16_t *>(src), num_items);
}
void convert_16i_32f(void *dest, const void *src, unsigned int num_items)
{
volk_16i_s32f_convert_32f(reinterpret_cast<float *>(dest),
reinterpret_cast<const int16_t *>(src), 1.0F, num_items);
}
void convert_16ic_8ic(void *dest, const void *src, unsigned int num_items)
{
volk_16i_convert_8i(reinterpret_cast<int8_t *>(dest),
reinterpret_cast<const int16_t *>(src), 2 * num_items);
}
void convert_16ic_32fc(void *dest, const void *src, unsigned int num_items)
{
volk_16i_s32f_convert_32f(reinterpret_cast<float *>(dest),
reinterpret_cast<const int16_t *>(src), 1.0F, 2 * num_items);
}
void convert_32f_8i(void *dest, const void *src, unsigned int num_items)
{
volk_32f_s32f_convert_8i(reinterpret_cast<int8_t *>(dest),
reinterpret_cast<const float *>(src), 1.0F, num_items);
}
void convert_32f_16i(void *dest, const void *src, unsigned int num_items)
{
volk_32f_s32f_convert_16i(reinterpret_cast<int16_t *>(dest),
reinterpret_cast<const float *>(src), 1.0F, num_items);
}
void convert_32fc_8ic(void *dest, const void *src, unsigned int num_items)
{
volk_32f_s32f_convert_8i(reinterpret_cast<int8_t *>(dest),
reinterpret_cast<const float *>(src), 1.0F, 2 * num_items);
}
void convert_32fc_16ic(void *dest, const void *src, unsigned int num_items)
{
volk_32f_s32f_convert_16i(reinterpret_cast<int16_t *>(dest),
reinterpret_cast<const float *>(src), 1.0F, 2 * num_items);
}
item_type_converter_t make_vector_converter(const std::string &input_type,
const std::string &output_type)
{
if (not item_type_valid(input_type) or not item_type_valid(output_type))
{
throw std::runtime_error("make_vector_converter: invalid item types : " + input_type + " " + output_type);
}
if (input_type == output_type)
{
size_t input_size = item_type_size(input_type);
#ifdef OLDCOMPILER
return std::bind(copy_converter, std::placeholders::_1, std::placeholders::_2,
std::placeholders::_3, input_size);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return copy_converter(arg1, arg2, arg3, input_size); };
#endif
}
if (input_type == "byte")
{
if (output_type == "short")
{
#ifdef OLDCOMPILER
return std::bind(convert_8i_16i, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_8i_16i(arg1, arg2, arg3); };
#endif
}
else if (output_type == "float")
{
#ifdef OLDCOMPILER
return std::bind(convert_8i_32f, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_8i_32f(arg1, arg2, arg3); };
#endif
}
}
else if (input_type == "cbyte")
{
if (output_type == "ibyte")
{
size_t input_size = item_type_size(input_type);
#ifdef OLDCOMPILER
return std::bind(copy_converter, std::placeholders::_1, std::placeholders::_2,
std::placeholders::_3, input_size);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return copy_converter(arg1, arg2, arg3, input_size); };
#endif
}
if (output_type == "cshort" or output_type == "ishort")
{
#ifdef OLDCOMPILER
return std::bind(convert_8ic_16ic, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_8ic_16ic(arg1, arg2, arg3); };
#endif
}
else if (output_type == "gr_complex")
{
#ifdef OLDCOMPILER
return std::bind(convert_8ic_32fc, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_8ic_32fc(arg1, arg2, arg3); };
#endif
}
}
else if (input_type == "ibyte")
{
if (output_type == "cbyte")
{
size_t input_size = item_type_size(input_type);
#ifdef OLDCOMPILER
return std::bind(copy_converter, std::placeholders::_1, std::placeholders::_2,
std::placeholders::_3, input_size);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return copy_converter(arg1, arg2, arg3, input_size); };
#endif
}
else if (output_type == "cshort" or output_type == "ishort")
{
#ifdef OLDCOMPILER
return std::bind(convert_8i_16i, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_8i_16i(arg1, arg2, arg3); };
#endif
}
else if (output_type == "gr_complex")
{
#ifdef OLDCOMPILER
return std::bind(convert_8i_32f, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_8i_32f(arg1, arg2, arg3); };
#endif
}
}
else if (input_type == "short")
{
if (output_type == "byte")
{
#ifdef OLDCOMPILER
return std::bind(convert_16i_8i, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_16i_8i(arg1, arg2, arg3); };
#endif
}
else if (output_type == "float")
{
#ifdef OLDCOMPILER
return std::bind(convert_16i_32f, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_16i_32f(arg1, arg2, arg3); };
#endif
}
}
else if (input_type == "cshort")
{
if (output_type == "cbyte" or output_type == "ibyte")
{
#ifdef OLDCOMPILER
return std::bind(convert_16ic_8ic, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_16ic_8ic(arg1, arg2, arg3); };
#endif
}
if (output_type == "ishort")
{
size_t input_size = item_type_size(input_type);
#ifdef OLDCOMPILER
return std::bind(copy_converter, std::placeholders::_1, std::placeholders::_2,
std::placeholders::_3, input_size);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return copy_converter(arg1, arg2, arg3, input_size); };
#endif
}
else if (output_type == "gr_complex")
{
#ifdef OLDCOMPILER
return std::bind(convert_16ic_32fc, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_16ic_32fc(arg1, arg2, arg3); };
#endif
}
}
else if (input_type == "ishort")
{
if (output_type == "cbyte" or output_type == "ibyte")
{
#ifdef OLDCOMPILER
return std::bind(convert_16i_8i, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_16i_8i(arg1, arg2, arg3); };
#endif
}
if (output_type == "cshort")
{
size_t input_size = item_type_size(input_type);
#ifdef OLDCOMPILER
return std::bind(copy_converter, std::placeholders::_1, std::placeholders::_2,
std::placeholders::_3, input_size);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return copy_converter(arg1, arg2, arg3, input_size); };
#endif
}
else if (output_type == "gr_complex")
{
#ifdef OLDCOMPILER
return std::bind(convert_16i_32f, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_16i_32f(arg1, arg2, arg3); };
#endif
}
}
else if (input_type == "float")
{
if (output_type == "byte")
{
#ifdef OLDCOMPILER
return std::bind(convert_32f_8i, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_32f_8i(arg1, arg2, arg3); };
#endif
}
else if (output_type == "short")
{
#ifdef OLDCOMPILER
return std::bind(convert_32f_16i, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_32f_16i(arg1, arg2, arg3); };
#endif
}
}
else if (input_type == "gr_complex")
{
if (output_type == "cbyte" or output_type == "ibyte")
{
#ifdef OLDCOMPILER
return std::bind(convert_32fc_8ic, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_32fc_8ic(arg1, arg2, arg3); };
#endif
}
else if (output_type == "cshort" or output_type == "ishort")
{
#ifdef OLDCOMPILER
return std::bind(convert_32fc_16ic, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3);
#else
return [=](auto &&arg1, auto &&arg2, auto &&arg3) { return convert_32fc_16ic(arg1, arg2, arg3); };
#endif
}
}
throw std::runtime_error("make_vector_converter: invalid conversion : " + input_type + " to " + output_type);
}

88
src/algorithms/libs/item_type_helpers.h Normal file
View File

@@ -0,0 +1,88 @@
/*!
* \file item_type_helpers.h
* \brief Utility functions for converting between item types
* \authors <ul>
* <li> Cillian O'Driscoll, 2019. cillian.odriscoll(at)gmail.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_ITEM_TYPE_HELPERS_H_
#define GNSS_SDR_ITEM_TYPE_HELPERS_H_
#include <functional>
#include <string>
using item_type_converter_t = std::function<void(void *, const void *, unsigned)>;
/*!
* \brief Check if a string is a valid item type
*
* \description Valid item types include:
* "byte", "short", "float", "ibyte", "ishort", "cbyte", "cshort", "gr_complex"
*
*/
bool item_type_valid(const std::string &item_type);
/*!
* \brief Return the size of the given item type, or zero if unknown
*/
size_t item_type_size(const std::string &item_type);
/*!
* \brief Determine if an item_type is complex
*/
bool item_type_is_complex(const std::string &item_type);
/*!
* \brief Create a function to convert an array of input_type to an array of output_type
*
* \description Provides a generic interface to generate conversion functions for mapping
* arrays of items.
*
* \param input_type - String representation of the input item type
* \param output_type - String representation of the output item type
*
* The item types accepted are:
*
* 1. "byte" for 8 bit integers
* 2. "cbyte" for complex (interleaved) 8 bit integers
* 4. "ibyte" for complex (interleaved) 8 bit integers
* 4. "short" for 16 bit integers
* 5. "cshort" for complex (interleaved) 16 bit integers
* 6. "ishort" for complex (interleaved) 16 bit integers
* 7. "float" for 32 bit floating point values
* 8. "gr_complex" for complex (interleaved) 32 bit floating point values
*
* \returns A function object with the following prototype:
* void convert_fun( void *dest, void *src, int num_items );
*
*/
item_type_converter_t make_vector_converter(const std::string &input_type,
const std::string &output_type);
#endif

2
src/algorithms/libs/opencl/cl.hpp
View File

@@ -5722,7 +5722,7 @@ inline VECTOR_CLASS<char*> cl::Program::getInfo<CL_PROGRAM_BINARIES>(cl_int* err
{
VECTOR_CLASS< ::size_t> sizes = getInfo<CL_PROGRAM_BINARY_SIZES>();
VECTOR_CLASS<char*> binaries;
for (unsigned long & size : sizes)
for (unsigned long& size : sizes)
{
char* ptr = nullptr;
if (size != 0)

13
src/tests/system-tests/position_test.cc
View File

@@ -196,10 +196,9 @@ int PositionSystemTest::configure_receiver()
const float threshold = 2.5;
const float doppler_max = 5000.0;
const float doppler_step = 250.0;
const float pfa = 0.0;
const float pfa_second_step = 0.0;
const int max_dwells = 10;
const int tong_init_val = 2;
const int tong_max_val = 10;
const int tong_max_dwells = 30;
const int coherent_integration_time_ms = 1;
const float pll_bw_hz = 35.0;
@@ -279,13 +278,15 @@ int PositionSystemTest::configure_receiver()
config->set_property("Acquisition_1C.item_type", "gr_complex");
config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
config->set_property("Acquisition_1C.threshold", std::to_string(threshold));
config->set_property("Acquisition_1C.pfa", std::to_string(pfa));
config->set_property("Acquisition_1C.pfa_second_step", std::to_string(pfa_second_step));
config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max));
config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step));
config->set_property("Acquisition_1C.bit_transition_flag", "false");
config->set_property("Acquisition_1C.max_dwells", std::to_string(max_dwells));
config->set_property("Acquisition_1C.tong_init_val", std::to_string(tong_init_val));
config->set_property("Acquisition_1C.tong_max_val", std::to_string(tong_max_val));
config->set_property("Acquisition_1C.tong_max_dwells", std::to_string(tong_max_dwells));
config->set_property("Acquisition_1C.make_two_steps", "false");
config->set_property("Acquisition_1C.second_nbins", "8");
config->set_property("Acquisition_1C.second_doppler_step", "125");
config->set_property("Acquisition_1C.dump", "false");
config->set_property("Acquisition_1C.dump_filename", "./acquisition");
config->set_property("Acquisition_1C.dump_channel", "1");

1
src/tests/test_main.cc
View File

@@ -92,6 +92,7 @@ DECLARE_string(log_dir);
#include "unit-tests/signal-processing-blocks/sources/gnss_sdr_valve_test.cc"
#include "unit-tests/signal-processing-blocks/sources/unpack_2bit_samples_test.cc"
// #include "unit-tests/signal-processing-blocks/acquisition/glonass_l2_ca_pcps_acquisition_test.cc"
#include "unit-tests/signal-processing-blocks/libs/item_type_helpers.cc"
#if OPENCL_BLOCKS_TEST
#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc"

15
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc2013_test.cc
View File

@@ -249,7 +249,8 @@ void GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test::config_1()
std::to_string(integration_time_ms));
config->set_property("Acquisition_1B.max_dwells", "1");
config->set_property("Acquisition_1B.bit_transition_flag", "false");
config->set_property("Acquisition_1B.threshold", "0.1");
//config->set_property("Acquisition_1B.threshold", "0.1");
config->set_property("Acquisition_1B.pfa", "0.0001");
config->set_property("Acquisition_1B.doppler_max", "10000");
config->set_property("Acquisition_1B.doppler_step", "250");
config->set_property("Acquisition_1B.dump", "false");
@@ -338,7 +339,7 @@ void GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test::config_2()
std::to_string(integration_time_ms));
config->set_property("Acquisition_1B.max_dwells", "1");
config->set_property("Acquisition_1B.bit_transition_flag", "false");
config->set_property("Acquisition_1B.pfa", "0.1");
config->set_property("Acquisition_1B.pfa", "0.0001");
config->set_property("Acquisition_1B.doppler_max", "10000");
config->set_property("Acquisition_1B.doppler_step", "250");
config->set_property("Acquisition_1B.dump", "false");
@@ -487,10 +488,6 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test, ValidationOfResults)
acquisition->set_doppler_step(config->property("Acquisition_1B.doppler_step", 500));
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->set_threshold(config->property("Acquisition_1B.threshold", 0.0));
}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->connect(top_block);
}) << "Failure connecting acquisition to the top_block.";
@@ -519,7 +516,7 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test, ValidationOfResults)
}
else if (i == 1)
{
gnss_synchro.PRN = 20; // This satellite is not visible
gnss_synchro.PRN = 36; // This satellite is not visible
}
acquisition->set_local_code();
@@ -572,10 +569,6 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test, ValidationOfResultsProbabi
acquisition->set_doppler_step(config->property("Acquisition_1B.doppler_step", 500));
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->set_threshold(config->property("Acquisition_1B.threshold", 0.0));
}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->connect(top_block);
}) << "Failure connecting acquisition to the top_block.";

5
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc
View File

@@ -166,7 +166,8 @@ void GalileoE1PcpsAmbiguousAcquisitionGSoCTest::init()
config->set_property("Acquisition_1B.item_type", "gr_complex");
config->set_property("Acquisition_1B.coherent_integration_time_ms", "4");
config->set_property("Acquisition_1B.dump", "false");
config->set_property("Acquisition_1B.threshold", "0.1");
//config->set_property("Acquisition_1B.threshold", "0.1");
config->set_property("Acquisition_1B.pfa", "0.001");
config->set_property("Acquisition_1B.doppler_max", "10000");
config->set_property("Acquisition_1B.doppler_step", "125");
config->set_property("Acquisition_1B.repeat_satellite", "false");
@@ -253,7 +254,7 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionGSoCTest, ValidationOfResults)
top_block = gr::make_top_block("Acquisition test");
init();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 0);
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 0);
std::shared_ptr<GalileoE1PcpsAmbiguousAcquisition> acquisition = std::dynamic_pointer_cast<GalileoE1PcpsAmbiguousAcquisition>(acq_);
boost::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionGSoCTest_msg_rx> msg_rx = GalileoE1PcpsAmbiguousAcquisitionGSoCTest_msg_rx_make(channel_internal_queue);

3
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_test.cc
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@@ -177,7 +177,8 @@ void GalileoE1PcpsAmbiguousAcquisitionTest::init()
config->set_property("Acquisition_1B.dump", "false");
}
config->set_property("Acquisition_1B.dump_filename", "./tmp-acq-gal1/acquisition");
config->set_property("Acquisition_1B.threshold", "0.0001");
//config->set_property("Acquisition_1B.threshold", "0.0001");
config->set_property("Acquisition_1B.pfa", "0.001");
config->set_property("Acquisition_1B.doppler_max", std::to_string(doppler_max));
config->set_property("Acquisition_1B.doppler_step", std::to_string(doppler_step));
config->set_property("Acquisition_1B.repeat_satellite", "false");

17
src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
View File

@@ -254,7 +254,8 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_1()
std::to_string(integration_time_ms));
config->set_property("Acquisition.max_dwells", "1");
config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
config->set_property("Acquisition.threshold", "0.8");
//config->set_property("Acquisition.threshold", "0.8");
config->set_property("Acquisition.pfa", "0.001");
config->set_property("Acquisition.doppler_max", "10000");
config->set_property("Acquisition.doppler_step", "250");
config->set_property("Acquisition.bit_transition_flag", "false");
@@ -343,7 +344,7 @@ void GlonassL1CaPcpsAcquisitionGSoC2017Test::config_2()
std::to_string(integration_time_ms));
config->set_property("Acquisition.max_dwells", "1");
config->set_property("Acquisition.implementation", "GLONASS_L1_CA_PCPS_Acquisition");
// config->set_property("Acquisition.pfa", "0.1");
config->set_property("Acquisition.pfa", "0.001");
config->set_property("Acquisition.doppler_max", "10000");
config->set_property("Acquisition.doppler_step", "250");
config->set_property("Acquisition.bit_transition_flag", "false");
@@ -497,9 +498,9 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
acquisition->set_doppler_step(500);
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->set_threshold(0.05);
}) << "Failure setting threshold.";
//ASSERT_NO_THROW({
//acquisition->set_threshold(0.05);
//}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->connect(top_block);
@@ -585,9 +586,9 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
}) << "Failure setting threshold.";
//ASSERT_NO_THROW({
//acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
//}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->connect(top_block);

17
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc
View File

@@ -252,7 +252,8 @@ void GpsL1CaPcpsAcquisitionGSoC2013Test::config_1()
config->set_property("Acquisition_1C.coherent_integration_time_ms",
std::to_string(integration_time_ms));
config->set_property("Acquisition_1C.max_dwells", "1");
config->set_property("Acquisition_1C.threshold", "0.8");
//config->set_property("Acquisition_1C.threshold", "0.8");
config->set_property("Acquisition_1C.pfa", "0.001");
config->set_property("Acquisition_1C.doppler_max", "10000");
config->set_property("Acquisition_1C.doppler_step", "250");
config->set_property("Acquisition_1C.bit_transition_flag", "false");
@@ -339,7 +340,7 @@ void GpsL1CaPcpsAcquisitionGSoC2013Test::config_2()
config->set_property("Acquisition_1C.coherent_integration_time_ms",
std::to_string(integration_time_ms));
config->set_property("Acquisition_1C.max_dwells", "1");
config->set_property("Acquisition_1C.pfa", "0.1");
config->set_property("Acquisition_1C.pfa", "0.001");
config->set_property("Acquisition_1C.doppler_max", "10000");
config->set_property("Acquisition_1C.doppler_step", "250");
config->set_property("Acquisition_1C.bit_transition_flag", "false");
@@ -490,9 +491,9 @@ TEST_F(GpsL1CaPcpsAcquisitionGSoC2013Test, ValidationOfResults)
acquisition->set_doppler_step(500);
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->set_threshold(0.5);
}) << "Failure setting threshold.";
//ASSERT_NO_THROW({
//acquisition->set_threshold(0.5);
//}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->connect(top_block);
@@ -579,9 +580,9 @@ TEST_F(GpsL1CaPcpsAcquisitionGSoC2013Test, ValidationOfResultsProbabilities)
acquisition->set_doppler_step(config->property("Acquisition_1C.doppler_step", 500));
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->set_threshold(config->property("Acquisition_1C.threshold", 0.0));
}) << "Failure setting threshold.";
//ASSERT_NO_THROW({
//acquisition->set_threshold(config->property("Acquisition_1C.threshold", 0.0));
//}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->connect(top_block);

259
src/tests/unit-tests/signal-processing-blocks/libs/item_type_helpers.cc Normal file
View File

@@ -0,0 +1,259 @@
/*!
* \file item_type_helpers_test.cc
* \brief This file implements unit tests for the item_type_helpers
* custom block
* \author Cillian O'Driscoll, 2019. cillian.odriscoll (at) gmail.com
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "item_type_helpers.h"
#include <gtest/gtest.h>
#include <random>
class ItemTypeHelpersTest : public ::testing::Test
{
protected:
static constexpr size_t N = 1000;
public:
ItemTypeHelpersTest()
{
std::random_device r;
std::default_random_engine e(r());
std::uniform_int_distribution<int8_t> udist_int8(-100, 100);
std::uniform_int_distribution<int16_t> udist_int16(-100, 100);
std::uniform_real_distribution<float> udist_float(-100, 100);
std::generate(byte_array_in.begin(), byte_array_in.end(), [&udist_int8, &e]() { return udist_int8(e); });
std::generate(short_array_in.begin(), short_array_in.end(), [&udist_int16, &e]() { return udist_int16(e); });
std::generate(float_array_in.begin(), float_array_in.end(), [&udist_float, &e]() { return udist_float(e); });
}
std::vector<std::string> valid_item_types = {"byte", "ibyte", "cbyte",
"short", "ishort", "cshort", "float", "gr_complex"};
std::vector<std::string> invalid_item_types = {"i8", "tfgs", "cbite",
"shirt", "qshort", "csort", "flat", "igr_complex"};
std::array<int8_t, 2 * N> byte_array_in;
std::array<int8_t, 2 * N> byte_array_out;
std::array<int16_t, 2 * N> short_array_in;
std::array<int16_t, 2 * N> short_array_out;
std::array<float, 2 * N> float_array_in;
std::array<float, 2 * N> float_array_out;
};
TEST_F(ItemTypeHelpersTest, CheckValidTypes)
{
for (auto &valid_type : valid_item_types)
{
EXPECT_TRUE(item_type_valid(valid_type));
}
for (auto &invalid_type : invalid_item_types)
{
EXPECT_FALSE(item_type_valid(invalid_type));
}
}
TEST_F(ItemTypeHelpersTest, CheckSizes)
{
EXPECT_EQ(item_type_size("byte"), 1);
EXPECT_EQ(item_type_size("ibyte"), 1);
EXPECT_EQ(item_type_size("cbyte"), 2);
EXPECT_EQ(item_type_size("short"), 2);
EXPECT_EQ(item_type_size("ishort"), 2);
EXPECT_EQ(item_type_size("cshort"), 4);
EXPECT_EQ(item_type_size("float"), 4);
EXPECT_EQ(item_type_size("gr_complex"), 8);
for (auto &invalid_type : invalid_item_types)
{
EXPECT_EQ(item_type_size(invalid_type), 0);
}
}
TEST_F(ItemTypeHelpersTest, CheckMakeConverters)
{
for (auto &input_type : valid_item_types)
{
for (auto &output_type : valid_item_types)
{
item_type_converter_t converter = nullptr;
if (item_type_is_complex(input_type) == item_type_is_complex(output_type))
{
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
}
else
{
EXPECT_THROW(converter = make_vector_converter(input_type, output_type), std::runtime_error);
}
}
}
}
TEST_F(ItemTypeHelpersTest, CheckConversionsReal)
{
std::string input_type = "byte";
std::string output_type = "byte";
item_type_converter_t converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(byte_array_out.data(), byte_array_in.data(), N);
EXPECT_TRUE(std::equal(byte_array_in.begin(), byte_array_in.begin() + N, byte_array_out.begin()));
input_type = "byte";
output_type = "short";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(short_array_out.data(), byte_array_in.data(), N);
converter = make_vector_converter(output_type, input_type);
EXPECT_NE(converter, nullptr);
converter(byte_array_out.data(), short_array_out.data(), N);
EXPECT_TRUE(std::equal(byte_array_out.begin(), byte_array_out.begin() + N, byte_array_in.begin()));
input_type = "byte";
output_type = "float";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(float_array_out.data(), byte_array_in.data(), N);
converter = make_vector_converter(output_type, input_type);
EXPECT_NE(converter, nullptr);
converter(byte_array_out.data(), float_array_out.data(), N);
EXPECT_TRUE(std::equal(byte_array_out.begin(), byte_array_out.begin() + N, byte_array_in.begin()));
input_type = "short";
output_type = "short";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(short_array_out.data(), short_array_in.data(), N);
EXPECT_TRUE(std::equal(short_array_in.begin(), short_array_in.begin() + N, short_array_out.begin()));
input_type = "short";
output_type = "float";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(float_array_out.data(), short_array_in.data(), N);
converter = make_vector_converter(output_type, input_type);
EXPECT_NE(converter, nullptr);
converter(short_array_out.data(), float_array_out.data(), N);
EXPECT_TRUE(std::equal(short_array_out.begin(), short_array_out.begin() + N, short_array_in.begin()));
input_type = "float";
output_type = "float";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(float_array_out.data(), float_array_in.data(), N);
EXPECT_TRUE(std::equal(float_array_in.begin(), float_array_in.begin() + N, float_array_out.begin()));
}
TEST_F(ItemTypeHelpersTest, CheckConversionsComplex)
{
std::string input_type = "cbyte";
std::string output_type = "cbyte";
item_type_converter_t converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(byte_array_out.data(), byte_array_in.data(), N);
EXPECT_TRUE(std::equal(byte_array_in.begin(), byte_array_in.begin() + N, byte_array_out.begin()));
input_type = "cbyte";
output_type = "ibyte";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(byte_array_out.data(), byte_array_in.data(), N);
EXPECT_TRUE(std::equal(byte_array_in.begin(), byte_array_in.begin() + N, byte_array_out.begin()));
input_type = "cbyte";
output_type = "cshort";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(short_array_out.data(), byte_array_in.data(), N);
converter = make_vector_converter(output_type, input_type);
EXPECT_NE(converter, nullptr);
converter(byte_array_out.data(), short_array_out.data(), N);
EXPECT_TRUE(std::equal(byte_array_out.begin(), byte_array_out.begin() + N, byte_array_in.begin()));
input_type = "cbyte";
output_type = "ishort";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(short_array_out.data(), byte_array_in.data(), N);
converter = make_vector_converter(output_type, input_type);
EXPECT_NE(converter, nullptr);
converter(byte_array_out.data(), short_array_out.data(), N);
EXPECT_TRUE(std::equal(byte_array_out.begin(), byte_array_out.begin() + N, byte_array_in.begin()));
input_type = "cbyte";
output_type = "gr_complex";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(float_array_out.data(), byte_array_in.data(), N);
converter = make_vector_converter(output_type, input_type);
EXPECT_NE(converter, nullptr);
converter(byte_array_out.data(), float_array_out.data(), N);
EXPECT_TRUE(std::equal(byte_array_out.begin(), byte_array_out.begin() + N, byte_array_in.begin()));
input_type = "cshort";
output_type = "cshort";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(short_array_out.data(), short_array_in.data(), N);
EXPECT_TRUE(std::equal(short_array_in.begin(), short_array_in.begin() + N, short_array_out.begin()));
input_type = "cshort";
output_type = "ishort";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(short_array_out.data(), short_array_in.data(), N);
EXPECT_TRUE(std::equal(short_array_in.begin(), short_array_in.begin() + N, short_array_out.begin()));
input_type = "cshort";
output_type = "gr_complex";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(float_array_out.data(), short_array_in.data(), N);
converter = make_vector_converter(output_type, input_type);
EXPECT_NE(converter, nullptr);
converter(short_array_out.data(), float_array_out.data(), N);
EXPECT_TRUE(std::equal(short_array_out.begin(), short_array_out.begin() + N, short_array_in.begin()));
input_type = "gr_complex";
output_type = "gr_complex";
converter = make_vector_converter(input_type, output_type);
EXPECT_NE(converter, nullptr);
converter(float_array_out.data(), float_array_in.data(), N);
EXPECT_TRUE(std::equal(float_array_in.begin(), float_array_in.begin() + N, float_array_out.begin()));
}