Rename GPS_L1_CA_KF_Tracking implementation to GPS_L1_CA_Gaussian_Tracking

conf/gnss-sdr-kalman-bayes.conf

@@ -42,7 +42,7 @@ Acquisition_1C.dump=false
 Acquisition_1C.dump_filename=../data/kalman/acq_dump
 
 ;######### TRACKING GLOBAL CONFIG ############
-Tracking_1C.implementation=GPS_L1_CA_KF_Tracking
+Tracking_1C.implementation=GPS_L1_CA_Gaussian_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.pll_bw_hz=40.0;
 Tracking_1C.dll_bw_hz=4.0;

conf/gnss-sdr_GPS_L1_nsr_gauss.conf

@@ -165,7 +165,7 @@ Acquisition_1C.doppler_step=100
 
 
 ;######### TRACKING GPS CONFIG ############
-Tracking_1C.implementation=GPS_L1_CA_KF_Tracking
+Tracking_1C.implementation=GPS_L1_CA_Gaussian_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.if=0
 Tracking_1C.dump=true

src/algorithms/tracking/adapters/CMakeLists.txt

@@ -45,7 +45,7 @@ set(TRACKING_ADAPTER_SOURCES
     gps_l2_m_dll_pll_tracking.cc
     glonass_l1_ca_dll_pll_tracking.cc
     glonass_l1_ca_dll_pll_c_aid_tracking.cc
-    gps_l1_ca_kf_tracking.cc
+    gps_l1_ca_gaussian_tracking.cc
     gps_l5_dll_pll_tracking.cc
     glonass_l2_ca_dll_pll_tracking.cc
     glonass_l2_ca_dll_pll_c_aid_tracking.cc
@@ -66,7 +66,7 @@ set(TRACKING_ADAPTER_HEADERS
     gps_l2_m_dll_pll_tracking.h
     glonass_l1_ca_dll_pll_tracking.h
     glonass_l1_ca_dll_pll_c_aid_tracking.h
-    gps_l1_ca_kf_tracking.h
+    gps_l1_ca_gaussian_tracking.h
     gps_l5_dll_pll_tracking.h
     glonass_l2_ca_dll_pll_tracking.h
     glonass_l2_ca_dll_pll_c_aid_tracking.h

src/algorithms/tracking/adapters/gps_l1_ca_gaussian_tracking.cc

@@ -1,5 +1,5 @@
 /*!
- * \file gps_l1_ca_kf_tracking.cc
+ * \file gps_l1_ca_gaussian_tracking.cc
  * \brief Implementation of an adapter of a DLL + Kalman carrier
  * tracking loop block for GPS L1 C/A signals
  * \author Javier Arribas, 2018. jarribas(at)cttc.es
@@ -24,14 +24,14 @@
  */
 
 
-#include "gps_l1_ca_kf_tracking.h"
+#include "gps_l1_ca_gaussian_tracking.h"
 #include "GPS_L1_CA.h"
 #include "configuration_interface.h"
 #include "gnss_sdr_flags.h"
 #include <glog/logging.h>
 
 
-GpsL1CaKfTracking::GpsL1CaKfTracking(
+GpsL1CaGaussianTracking::GpsL1CaGaussianTracking(
     const ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
 {
@@ -63,7 +63,7 @@ GpsL1CaKfTracking::GpsL1CaKfTracking(
     if (item_type == "gr_complex")
         {
             item_size_ = sizeof(gr_complex);
-            tracking_ = gps_l1_ca_kf_make_tracking_cc(
+            tracking_ = gps_l1_ca_gaussian_make_tracking_cc(
                 order,
                 fs_in,
                 vector_length,
@@ -97,12 +97,12 @@ GpsL1CaKfTracking::GpsL1CaKfTracking(
 }
 
 
-void GpsL1CaKfTracking::stop_tracking()
+void GpsL1CaGaussianTracking::stop_tracking()
 {
 }
 
 
-void GpsL1CaKfTracking::start_tracking()
+void GpsL1CaGaussianTracking::start_tracking()
 {
     tracking_->start_tracking();
 }
@@ -111,20 +111,20 @@ void GpsL1CaKfTracking::start_tracking()
 /*
  * Set tracking channel unique ID
  */
-void GpsL1CaKfTracking::set_channel(unsigned int channel)
+void GpsL1CaGaussianTracking::set_channel(unsigned int channel)
 {
     channel_ = channel;
     tracking_->set_channel(channel);
 }
 
 
-void GpsL1CaKfTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+void GpsL1CaGaussianTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
 {
     tracking_->set_gnss_synchro(p_gnss_synchro);
 }
 
 
-void GpsL1CaKfTracking::connect(gr::top_block_sptr top_block)
+void GpsL1CaGaussianTracking::connect(gr::top_block_sptr top_block)
 {
     if (top_block)
         { /* top_block is not null */
@@ -133,7 +133,7 @@ void GpsL1CaKfTracking::connect(gr::top_block_sptr top_block)
 }
 
 
-void GpsL1CaKfTracking::disconnect(gr::top_block_sptr top_block)
+void GpsL1CaGaussianTracking::disconnect(gr::top_block_sptr top_block)
 {
     if (top_block)
         { /* top_block is not null */
@@ -142,13 +142,13 @@ void GpsL1CaKfTracking::disconnect(gr::top_block_sptr top_block)
 }
 
 
-gr::basic_block_sptr GpsL1CaKfTracking::get_left_block()
+gr::basic_block_sptr GpsL1CaGaussianTracking::get_left_block()
 {
     return tracking_;
 }
 
 
-gr::basic_block_sptr GpsL1CaKfTracking::get_right_block()
+gr::basic_block_sptr GpsL1CaGaussianTracking::get_right_block()
 {
     return tracking_;
 }

src/algorithms/tracking/adapters/gps_l1_ca_gaussian_tracking.h

@@ -1,5 +1,5 @@
 /*!
- * \file gps_l1_ca_kf_tracking.h
+ * \file gps_l1_ca_gaussian_tracking.h
  * \brief Interface of an adapter of a DLL + Kalman carrier
  * tracking loop block for GPS L1 C/A signals
  * \author Javier Arribas, 2018. jarribas(at)cttc.es
@@ -23,10 +23,10 @@
  * -----------------------------------------------------------------------------
  */
 
-#ifndef GNSS_SDR_GPS_L1_CA_KF_TRACKING_H
+#ifndef GNSS_SDR_GPS_L1_CA_GAUSSIAN_TRACKING_H
-#define GNSS_SDR_GPS_L1_CA_KF_TRACKING_H
+#define GNSS_SDR_GPS_L1_CA_GAUSSIAN_TRACKING_H
 
-#include "gps_l1_ca_kf_tracking_cc.h"
+#include "gps_l1_ca_gaussian_tracking_cc.h"
 #include "tracking_interface.h"
 #include <string>
 
@@ -41,26 +41,26 @@ class ConfigurationInterface;
 /*!
  * \brief This class implements a code DLL + carrier PLL tracking loop
  */
-class GpsL1CaKfTracking : public TrackingInterface
+class GpsL1CaGaussianTracking : public TrackingInterface
 {
 public:
-    GpsL1CaKfTracking(
+    GpsL1CaGaussianTracking(
         const ConfigurationInterface* configuration,
         const std::string& role,
         unsigned int in_streams,
         unsigned int out_streams);
 
-    ~GpsL1CaKfTracking() = default;
+    ~GpsL1CaGaussianTracking() = default;
 
     inline std::string role() override
     {
         return role_;
     }
 
-    //! Returns "GPS_L1_CA_KF_Tracking"
+    //! Returns "GPS_L1_CA_Gaussian_Tracking"
     inline std::string implementation() override
     {
-        return "GPS_L1_CA_KF_Tracking";
+        return "GPS_L1_CA_Gaussian_Tracking";
     }
 
     inline size_t item_size() override
@@ -92,7 +92,7 @@ public:
     void stop_tracking() override;
 
 private:
-    gps_l1_ca_kf_tracking_cc_sptr tracking_;
+    gps_l1_ca_gaussian_tracking_cc_sptr tracking_;
     size_t item_size_;
     unsigned int channel_;
     std::string role_;
@@ -103,4 +103,4 @@ private:
 
 /** \} */
 /** \} */
-#endif  // GNSS_SDR_GPS_L1_CA_KF_TRACKING_H
+#endif  // GNSS_SDR_GPS_L1_CA_GAUSSIAN_TRACKING_H

src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt

@@ -34,7 +34,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
     glonass_l1_ca_dll_pll_tracking_cc.cc
     glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
     glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
-    gps_l1_ca_kf_tracking_cc.cc
+    gps_l1_ca_gaussian_tracking_cc.cc
     glonass_l2_ca_dll_pll_tracking_cc.cc
     glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
     glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
@@ -49,7 +49,7 @@ set(TRACKING_GR_BLOCKS_HEADERS
     glonass_l1_ca_dll_pll_tracking_cc.h
     glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
     glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
-    gps_l1_ca_kf_tracking_cc.h
+    gps_l1_ca_gaussian_tracking_cc.h
     glonass_l2_ca_dll_pll_tracking_cc.h
     glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
     glonass_l2_ca_dll_pll_c_aid_tracking_sc.h

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_gaussian_tracking_cc.cc

@@ -1,5 +1,5 @@
 /*!
- * \file gps_l1_ca_kf_tracking_cc.cc
+ * \file gps_l1_ca_gaussian_tracking_cc.cc
  * \brief Implementation of a processing block of a DLL + Kalman carrier
  * tracking loop for GPS L1 C/A signals
  * \author Javier Arribas, 2018. jarribas(at)cttc.es
@@ -23,7 +23,7 @@
  * -----------------------------------------------------------------------------
  */
 
-#include "gps_l1_ca_kf_tracking_cc.h"
+#include "gps_l1_ca_gaussian_tracking_cc.h"
 #include "GPS_L1_CA.h"
 #include "gnss_satellite.h"
 #include "gnss_sdr_flags.h"
@@ -45,7 +45,7 @@
 #include <vector>
 
 
-gps_l1_ca_kf_tracking_cc_sptr gps_l1_ca_kf_make_tracking_cc(
+gps_l1_ca_gaussian_tracking_cc_sptr gps_l1_ca_gaussian_make_tracking_cc(
     uint32_t order,
     int64_t fs_in,
     uint32_t vector_length,
@@ -59,13 +59,13 @@ gps_l1_ca_kf_tracking_cc_sptr gps_l1_ca_kf_make_tracking_cc(
     int32_t bce_nu,
     int32_t bce_kappa)
 {
-    return gps_l1_ca_kf_tracking_cc_sptr(new Gps_L1_Ca_Kf_Tracking_cc(order,
+    return gps_l1_ca_gaussian_tracking_cc_sptr(new Gps_L1_Ca_Gaussian_Tracking_cc(order,
         fs_in, vector_length, dump, dump_filename, dll_bw_hz, early_late_space_chips,
         bce_run, bce_ptrans, bce_strans, bce_nu, bce_kappa));
 }
 
 
-void Gps_L1_Ca_Kf_Tracking_cc::forecast(int noutput_items,
+void Gps_L1_Ca_Gaussian_Tracking_cc::forecast(int noutput_items,
     gr_vector_int &ninput_items_required)
 {
     if (noutput_items != 0)
@@ -75,7 +75,7 @@ void Gps_L1_Ca_Kf_Tracking_cc::forecast(int noutput_items,
 }
 
 
-Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
+Gps_L1_Ca_Gaussian_Tracking_cc::Gps_L1_Ca_Gaussian_Tracking_cc(
     uint32_t order,
     int64_t fs_in,
     uint32_t vector_length,
@@ -88,7 +88,7 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
     uint32_t bce_strans,
     int32_t bce_nu,
     int32_t bce_kappa)
-    : gr::block("Gps_L1_Ca_Kf_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
+    : gr::block("Gps_L1_Ca_Gaussian_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
           gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))),
       d_order(order),
       d_vector_length(vector_length),
@@ -222,14 +222,14 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
             kf_x(2, 0) = 0.0;
         }
 
-    // Bayesian covariance estimator initialization
+    // Gaussian covariance estimator initialization
     kf_R_est = kf_R;
 
     bayes_estimator.init(arma::zeros(1, 1), bayes_kappa, bayes_nu, (kf_H * kf_P_x_ini * kf_H.t() + kf_R) * (bayes_nu + 2));
 }
 
 
-void Gps_L1_Ca_Kf_Tracking_cc::start_tracking()
+void Gps_L1_Ca_Gaussian_Tracking_cc::start_tracking()
 {
     /*
      *  correct the code phase according to the delay between acq and trk
@@ -318,7 +318,7 @@ void Gps_L1_Ca_Kf_Tracking_cc::start_tracking()
 }
 
 
-Gps_L1_Ca_Kf_Tracking_cc::~Gps_L1_Ca_Kf_Tracking_cc()
+Gps_L1_Ca_Gaussian_Tracking_cc::~Gps_L1_Ca_Gaussian_Tracking_cc()
 {
     if (d_dump_file.is_open())
         {
@@ -339,7 +339,7 @@ Gps_L1_Ca_Kf_Tracking_cc::~Gps_L1_Ca_Kf_Tracking_cc()
                 }
             try
                 {
-                    Gps_L1_Ca_Kf_Tracking_cc::save_matfile();
+                    Gps_L1_Ca_Gaussian_Tracking_cc::save_matfile();
                 }
             catch (const std::exception &ex)
                 {
@@ -362,7 +362,7 @@ Gps_L1_Ca_Kf_Tracking_cc::~Gps_L1_Ca_Kf_Tracking_cc()
 }
 
 
-int32_t Gps_L1_Ca_Kf_Tracking_cc::save_matfile()
+int32_t Gps_L1_Ca_Gaussian_Tracking_cc::save_matfile()
 {
     // READ DUMP FILE
     std::ifstream::pos_type size;
@@ -557,7 +557,7 @@ int32_t Gps_L1_Ca_Kf_Tracking_cc::save_matfile()
 }
 
 
-void Gps_L1_Ca_Kf_Tracking_cc::set_channel(uint32_t channel)
+void Gps_L1_Ca_Gaussian_Tracking_cc::set_channel(uint32_t channel)
 {
     gr::thread::scoped_lock l(d_setlock);
     d_channel = channel;
@@ -584,13 +584,13 @@ void Gps_L1_Ca_Kf_Tracking_cc::set_channel(uint32_t channel)
 }
 
 
-void Gps_L1_Ca_Kf_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
+void Gps_L1_Ca_Gaussian_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
 {
     d_acquisition_gnss_synchro = p_gnss_synchro;
 }
 
 
-int Gps_L1_Ca_Kf_Tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
+int Gps_L1_Ca_Gaussian_Tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
     gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
 {
     // process vars

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_gaussian_tracking_cc.h

@@ -1,5 +1,5 @@
 /*!
- * \file gps_l1_ca_kf_tracking_cc.h
+ * \file gps_l1_ca_gaussian_tracking_cc.h
  * \brief Interface of a processing block of a DLL + Kalman carrier
  * tracking loop for GPS L1 C/A signals
  * \author Javier Arribas, 2018. jarribas(at)cttc.es
@@ -23,8 +23,8 @@
  * -----------------------------------------------------------------------------
  */
 
-#ifndef GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H
+#ifndef GNSS_SDR_GPS_L1_CA_GAUSSIAN_TRACKING_CC_H
-#define GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H
+#define GNSS_SDR_GPS_L1_CA_GAUSSIAN_TRACKING_CC_H
 
 #if ARMA_NO_BOUND_CHECKING
 #define ARMA_NO_DEBUG 1
@@ -49,12 +49,12 @@
  * \{ */
 
 
-class Gps_L1_Ca_Kf_Tracking_cc;
+class Gps_L1_Ca_Gaussian_Tracking_cc;
 
-using gps_l1_ca_kf_tracking_cc_sptr = gnss_shared_ptr<Gps_L1_Ca_Kf_Tracking_cc>;
+using gps_l1_ca_gaussian_tracking_cc_sptr = gnss_shared_ptr<Gps_L1_Ca_Gaussian_Tracking_cc>;
 
-gps_l1_ca_kf_tracking_cc_sptr
+gps_l1_ca_gaussian_tracking_cc_sptr
-gps_l1_ca_kf_make_tracking_cc(uint32_t order,
+gps_l1_ca_gaussian_make_tracking_cc(uint32_t order,
     int64_t fs_in,
     uint32_t vector_length,
     bool dump,
@@ -71,10 +71,10 @@ gps_l1_ca_kf_make_tracking_cc(uint32_t order,
 /*!
  * \brief This class implements a DLL + PLL tracking loop block
  */
-class Gps_L1_Ca_Kf_Tracking_cc : public gr::block
+class Gps_L1_Ca_Gaussian_Tracking_cc : public gr::block
 {
 public:
-    ~Gps_L1_Ca_Kf_Tracking_cc();
+    ~Gps_L1_Ca_Gaussian_Tracking_cc();
 
     void set_channel(uint32_t channel);
     void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
@@ -86,8 +86,8 @@ public:
     void forecast(int noutput_items, gr_vector_int& ninput_items_required);
 
 private:
-    friend gps_l1_ca_kf_tracking_cc_sptr
+    friend gps_l1_ca_gaussian_tracking_cc_sptr
-    gps_l1_ca_kf_make_tracking_cc(uint32_t order,
+    gps_l1_ca_gaussian_make_tracking_cc(uint32_t order,
         int64_t fs_in,
         uint32_t vector_length,
         bool dump,
@@ -100,7 +100,7 @@ private:
         int32_t bce_nu,
         int32_t bce_kappa);
 
-    Gps_L1_Ca_Kf_Tracking_cc(uint32_t order,
+    Gps_L1_Ca_Gaussian_Tracking_cc(uint32_t order,
         int64_t fs_in,
         uint32_t vector_length,
         bool dump,
@@ -148,7 +148,7 @@ private:
     arma::colvec kf_y;      // measurement vector
     arma::mat kf_K;         // Kalman gain matrix
 
-    // Bayesian estimator
+    // Gaussian estimator
     Bayesian_estimator bayes_estimator;
     arma::mat kf_R_est;  // measurement error covariance
     uint32_t bayes_ptrans;
@@ -218,4 +218,4 @@ private:
 
 /** \} */
 /** \} */
-#endif  // GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H
+#endif  // GNSS_SDR_GPS_L1_CA_GAUSSIAN_TRACKING_CC_H

src/core/receiver/gnss_block_factory.cc

@@ -72,7 +72,7 @@
 #include "gnss_sdr_make_unique.h"
 #include "gnss_sdr_string_literals.h"
 #include "gps_l1_ca_dll_pll_tracking.h"
-#include "gps_l1_ca_kf_tracking.h"
+#include "gps_l1_ca_gaussian_tracking.h"
 #include "gps_l1_ca_kf_vtl_tracking.h"
 #include "gps_l1_ca_pcps_acquisition.h"
 #include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
@@ -1079,9 +1079,9 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                         out_streams);
                     block = std::move(block_);
                 }
-            else if (implementation == "GPS_L1_CA_KF_Tracking")
+            else if (implementation == "GPS_L1_CA_Gaussian_Tracking")
                 {
-                    std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<GpsL1CaKfTracking>(configuration, role, in_streams,
+                    std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<GpsL1CaGaussianTracking>(configuration, role, in_streams,
                         out_streams);
                     block = std::move(block_);
                 }
@@ -1535,9 +1535,9 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
                 out_streams);
             block = std::move(block_);
         }
-    else if (implementation == "GPS_L1_CA_KF_Tracking")
+    else if (implementation == "GPS_L1_CA_Gaussian_Tracking")
         {
-            std::unique_ptr<TrackingInterface> block_ = std::make_unique<GpsL1CaKfTracking>(configuration, role, in_streams,
+            std::unique_ptr<TrackingInterface> block_ = std::make_unique<GpsL1CaGaussianTracking>(configuration, role, in_streams,
                 out_streams);
             block = std::move(block_);
         }

src/tests/test_main.cc

@@ -141,7 +141,7 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
 // #include "unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
-#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_kf_tracking_test.cc"
+#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_gaussian_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc"
 #if FPGA_BLOCKS_TEST

src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_gaussian_tracking_test.cc

@@ -1,6 +1,6 @@
 /*!
- * \file gps_l1_ca_kf_tracking_test.cc
+ * \file gps_l1_ca_gaussian_tracking_test.cc
- * \brief  This class implements a tracking test for GPS_L1_CA_KF_Tracking
+ * \brief  This class implements a tracking test for GPS_L1_CA_Gaussian_Tracking
  *  implementation based on some input parameters.
  * \author Carles Fernandez, 2018
  *
@@ -60,37 +60,37 @@ namespace wht = boost;
 namespace wht = std;
 #endif
 
-DEFINE_bool(plot_gps_l1_kf_tracking_test, false, "Plots results of GpsL1CAKfTrackingTest with gnuplot");
+DEFINE_bool(plot_gps_l1_gaussian_tracking_test, false, "Plots results of GpsL1CAGaussianTrackingTest with gnuplot");
 
 
 // ######## GNURADIO BLOCK MESSAGE RECEVER #########
-class GpsL1CAKfTrackingTest_msg_rx;
+class GpsL1CAGaussianTrackingTest_msg_rx;
 
 
-using GpsL1CAKfTrackingTest_msg_rx_sptr = gnss_shared_ptr<GpsL1CAKfTrackingTest_msg_rx>;
+using GpsL1CAGaussianTrackingTest_msg_rx_sptr = gnss_shared_ptr<GpsL1CAGaussianTrackingTest_msg_rx>;
 
-GpsL1CAKfTrackingTest_msg_rx_sptr GpsL1CAKfTrackingTest_msg_rx_make();
+GpsL1CAGaussianTrackingTest_msg_rx_sptr GpsL1CAGaussianTrackingTest_msg_rx_make();
 
-class GpsL1CAKfTrackingTest_msg_rx : public gr::block
+class GpsL1CAGaussianTrackingTest_msg_rx : public gr::block
 {
 private:
-    friend GpsL1CAKfTrackingTest_msg_rx_sptr GpsL1CAKfTrackingTest_msg_rx_make();
+    friend GpsL1CAGaussianTrackingTest_msg_rx_sptr GpsL1CAGaussianTrackingTest_msg_rx_make();
     void msg_handler_channel_events(const pmt::pmt_t msg);
-    GpsL1CAKfTrackingTest_msg_rx();
+    GpsL1CAGaussianTrackingTest_msg_rx();
 
 public:
     int rx_message;
-    ~GpsL1CAKfTrackingTest_msg_rx();  //!< Default destructor
+    ~GpsL1CAGaussianTrackingTest_msg_rx();  //!< Default destructor
 };
 
 
-GpsL1CAKfTrackingTest_msg_rx_sptr GpsL1CAKfTrackingTest_msg_rx_make()
+GpsL1CAGaussianTrackingTest_msg_rx_sptr GpsL1CAGaussianTrackingTest_msg_rx_make()
 {
-    return GpsL1CAKfTrackingTest_msg_rx_sptr(new GpsL1CAKfTrackingTest_msg_rx());
+    return GpsL1CAGaussianTrackingTest_msg_rx_sptr(new GpsL1CAGaussianTrackingTest_msg_rx());
 }
 
 
-void GpsL1CAKfTrackingTest_msg_rx::msg_handler_channel_events(const pmt::pmt_t msg)
+void GpsL1CAGaussianTrackingTest_msg_rx::msg_handler_channel_events(const pmt::pmt_t msg)
 {
     try
         {
@@ -105,7 +105,7 @@ void GpsL1CAKfTrackingTest_msg_rx::msg_handler_channel_events(const pmt::pmt_t m
 }
 
 
-GpsL1CAKfTrackingTest_msg_rx::GpsL1CAKfTrackingTest_msg_rx() : gr::block("GpsL1CAKfTrackingTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+GpsL1CAGaussianTrackingTest_msg_rx::GpsL1CAGaussianTrackingTest_msg_rx() : gr::block("GpsL1CAGaussianTrackingTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
 {
     this->message_port_register_in(pmt::mp("events"));
     this->set_msg_handler(pmt::mp("events"),
@@ -113,21 +113,21 @@ GpsL1CAKfTrackingTest_msg_rx::GpsL1CAKfTrackingTest_msg_rx() : gr::block("GpsL1C
         [this](auto&& PH1) { msg_handler_channel_events(PH1); });
 #else
 #if USE_BOOST_BIND_PLACEHOLDERS
-        boost::bind(&GpsL1CAKfTrackingTest_msg_rx::msg_handler_channel_events, this, boost::placeholders::_1));
+        boost::bind(&GpsL1CAGaussianTrackingTest_msg_rx::msg_handler_channel_events, this, boost::placeholders::_1));
 #else
-        boost::bind(&GpsL1CAKfTrackingTest_msg_rx::msg_handler_channel_events, this, _1));
+        boost::bind(&GpsL1CAGaussianTrackingTest_msg_rx::msg_handler_channel_events, this, _1));
 #endif
 #endif
     rx_message = 0;
 }
 
 
-GpsL1CAKfTrackingTest_msg_rx::~GpsL1CAKfTrackingTest_msg_rx() = default;
+GpsL1CAGaussianTrackingTest_msg_rx::~GpsL1CAGaussianTrackingTest_msg_rx() = default;
 
 
 // ###########################################################
 
-class GpsL1CAKfTrackingTest : public ::testing::Test
+class GpsL1CAGaussianTrackingTest : public ::testing::Test
 {
 public:
     std::string generator_binary;
@@ -137,7 +137,7 @@ public:
     std::string p4;
     std::string p5;
 
-    std::string implementation = "GPS_L1_CA_KF_Tracking";
+    std::string implementation = "GPS_L1_CA_Gaussian_Tracking";
 
     const int baseband_sampling_freq = FLAGS_fs_gen_sps;
 
@@ -159,7 +159,7 @@ public:
         arma::vec& meas_time_s,
         arma::vec& meas_value);
 
-    GpsL1CAKfTrackingTest()
+    GpsL1CAGaussianTrackingTest()
     {
         factory = std::make_shared<GNSSBlockFactory>();
         config = std::make_shared<InMemoryConfiguration>();
@@ -167,7 +167,7 @@ public:
         gnss_synchro = Gnss_Synchro();
     }
 
-    ~GpsL1CAKfTrackingTest() = default;
+    ~GpsL1CAGaussianTrackingTest() = default;
 
     void configure_receiver();
 
@@ -179,7 +179,7 @@ public:
 };
 
 
-int GpsL1CAKfTrackingTest::configure_generator()
+int GpsL1CAGaussianTrackingTest::configure_generator()
 {
     // Configure signal generator
     generator_binary = FLAGS_generator_binary;
@@ -200,7 +200,7 @@ int GpsL1CAKfTrackingTest::configure_generator()
 }
 
 
-int GpsL1CAKfTrackingTest::generate_signal()
+int GpsL1CAGaussianTrackingTest::generate_signal()
 {
     int child_status;
 
@@ -225,7 +225,7 @@ int GpsL1CAKfTrackingTest::generate_signal()
 }
 
 
-void GpsL1CAKfTrackingTest::configure_receiver()
+void GpsL1CAGaussianTrackingTest::configure_receiver()
 {
     gnss_synchro.Channel_ID = 0;
     gnss_synchro.System = 'G';
@@ -252,7 +252,7 @@ void GpsL1CAKfTrackingTest::configure_receiver()
 }
 
 
-void GpsL1CAKfTrackingTest::check_results_doppler(arma::vec& true_time_s,
+void GpsL1CAGaussianTrackingTest::check_results_doppler(arma::vec& true_time_s,
     arma::vec& true_value,
     arma::vec& meas_time_s,
     arma::vec& meas_value)
@@ -291,7 +291,7 @@ void GpsL1CAKfTrackingTest::check_results_doppler(arma::vec& true_time_s,
 }
 
 
-void GpsL1CAKfTrackingTest::check_results_acc_carrier_phase(arma::vec& true_time_s,
+void GpsL1CAGaussianTrackingTest::check_results_acc_carrier_phase(arma::vec& true_time_s,
     arma::vec& true_value,
     arma::vec& meas_time_s,
     arma::vec& meas_value)
@@ -330,7 +330,7 @@ void GpsL1CAKfTrackingTest::check_results_acc_carrier_phase(arma::vec& true_time
 }
 
 
-void GpsL1CAKfTrackingTest::check_results_codephase(arma::vec& true_time_s,
+void GpsL1CAGaussianTrackingTest::check_results_codephase(arma::vec& true_time_s,
     arma::vec& true_value,
     arma::vec& meas_time_s,
     arma::vec& meas_value)
@@ -370,7 +370,7 @@ void GpsL1CAKfTrackingTest::check_results_codephase(arma::vec& true_time_s,
 }
 
 
-TEST_F(GpsL1CAKfTrackingTest, ValidationOfResults)
+TEST_F(GpsL1CAGaussianTrackingTest, ValidationOfResults)
 {
     // Configure the signal generator
     configure_generator();
@@ -399,7 +399,7 @@ TEST_F(GpsL1CAKfTrackingTest, ValidationOfResults)
     std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config.get(), "Tracking_1C", 1, 1);
     std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);  // std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
 
-    auto msg_rx = GpsL1CAKfTrackingTest_msg_rx_make();
+    auto msg_rx = GpsL1CAGaussianTrackingTest_msg_rx_make();
 
     // load acquisition data based on the first epoch of the true observations
     ASSERT_EQ(true_obs_data.read_binary_obs(), true)
@@ -523,7 +523,7 @@ TEST_F(GpsL1CAKfTrackingTest, ValidationOfResults)
     std::chrono::duration<double> elapsed_seconds = end - start;
     std::cout << "Signal tracking completed in " << elapsed_seconds.count() << " seconds.\n";
 
-    if (FLAGS_plot_gps_l1_kf_tracking_test == true)
+    if (FLAGS_plot_gps_l1_gaussian_tracking_test == true)
         {
             const std::string gnuplot_executable(FLAGS_gnuplot_executable);
             if (gnuplot_executable.empty())