diff --git a/conf/gnss-sdr.conf b/conf/gnss-sdr.conf index fdbf701d4..51c4bc498 100644 --- a/conf/gnss-sdr.conf +++ b/conf/gnss-sdr.conf @@ -29,7 +29,7 @@ GNSS-SDR.SUPL_CI=0x31b0 SignalSource.implementation=File_Signal_Source ;#filename: path to file with the captured GNSS signal samples to be processed -SignalSource.filename=../../../Documents/workspace/code2/trunk/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat +SignalSource.filename=/Volumes/BOOTCAMP/signals/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN_run2.dat ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=short @@ -176,22 +176,20 @@ Resampler.sample_freq_out=4000000 ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available satellite channels. -Channels.count=6 -;#in_acquisition: Number of channels simultaneously acquiring +;#count: Number of available GPS satellite channels. +Channels_GPS.count=6 +;#count: Number of available Galileo satellite channels. +Channels_Galileo.count=0 +;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 -;#system: GPS, GLONASS, Galileo, SBAS or Compass +;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS ;#if the option is disabled by default is assigned GPS Channel.system=GPS -;#signal: -;# "1C" GPS L1 C/A -;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) -;# "1C" GALILEO E1 C (no data) - ;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel.signal=1C + ;######### SPECIFIC CHANNELS CONFIG ###### ;#The following options are specific to each channel and overwrite the generic options @@ -209,92 +207,67 @@ Channel.signal=1C ;Channel1.signal=1C ;Channel1.satellite=18 - ;######### ACQUISITION GLOBAL CONFIG ############ -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] -Acquisition.dump=false +;#dump: Enable or disable the acquisition internal data file logging [true] or [false] +Acquisition_GPS.dump=false ;#filename: Log path and filename -Acquisition.dump_filename=./acq_dump.dat +Acquisition_GPS.dump_filename=./acq_dump.dat ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. -Acquisition.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition.if=0 +Acquisition_GPS.item_type=gr_complex +;#if: Signal intermediate frequency in [Hz] +Acquisition_GPS.if=0 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition.coherent_integration_time_ms=1 +Acquisition_GPS.sampled_ms=1 ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -Acquisition.implementation=GPS_L1_CA_PCPS_Acquisition -;#threshold: Acquisition threshold. It will be ignored if pfa is defined. -Acquisition.threshold=0.005 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -Acquisition.pfa=0.0001 +Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler +;#threshold: Acquisition threshold +Acquisition_GPS.threshold=0.005 +;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +;Acquisition_GPS.pfa=0.0001 ;#doppler_max: Maximum expected Doppler shift [Hz] -Acquisition.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] -Acquisition.doppler_step=500 -;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take -maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] (should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) -Acquisition.bit_transition_flag=false -;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true -Acquisition.max_dwells=1 - -;######### ACQUISITION CHANNELS CONFIG ###### -;#The following options are specific to each channel and overwrite the generic options - -;######### ACQUISITION CH 0 CONFIG ############ -;Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition -;Acquisition0.threshold=0.005 -;Acquisition0.pfa=0.001 -;Acquisition0.doppler_max=10000 -;Acquisition0.doppler_step=250 - -;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false -;Acquisition0.repeat_satellite = false - -;######### ACQUISITION CH 1 CONFIG ############ -;Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition -;Acquisition1.threshold=0.005 -;Acquisition1.pfa=0.001 -;Acquisition1.doppler_max=10000 -;Acquisition1.doppler_step=250 -;Acquisition1.repeat_satellite = false +Acquisition_GPS.doppler_max=10000 +;#doppler_max: Maximum expected Doppler shift [Hz] +Acquisition_GPS.doppler_min=-10000 +;#doppler_step Doppler step in the grid search [Hz] +Acquisition_GPS.doppler_step=500 +;#maximum dwells +Acquisition_GPS.max_dwells=5 ;######### TRACKING GLOBAL CONFIG ############ -;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] -;Tracking.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking -Tracking.implementation=GPS_L1_CA_DLL_PLL_Tracking +;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking] +Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. -Tracking.item_type=gr_complex +Tracking_GPS.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking.if=0 +;#sampling_frequency: Signal Intermediate Frequency in [Hz] +Tracking_GPS.if=0 -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking.dump=false +;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] +Tracking_GPS.dump=false ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. -Tracking.dump_filename=./tracking_ch_ +Tracking_GPS.dump_filename=../data/epl_tracking_ch_ ;#pll_bw_hz: PLL loop filter bandwidth [Hz] -Tracking.pll_bw_hz=50.0; +Tracking_GPS.pll_bw_hz=45.0; ;#dll_bw_hz: DLL loop filter bandwidth [Hz] -Tracking.dll_bw_hz=4.0; +Tracking_GPS.dll_bw_hz=3.0; ;#fll_bw_hz: FLL loop filter bandwidth [Hz] -Tracking.fll_bw_hz=10.0; +Tracking_GPS.fll_bw_hz=10.0; ;#order: PLL/DLL loop filter order [2] or [3] -Tracking.order=3; +Tracking_GPS.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] -Tracking.early_late_space_chips=0.5; - -;######### TELEMETRY DECODER CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A. -TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder -TelemetryDecoder.dump=false +;######### TELEMETRY DECODER GPS CONFIG ############ +;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A +TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder +TelemetryDecoder_GPS.dump=false +;#decimation factor +TelemetryDecoder_GPS.decimation_factor=1; ;######### OBSERVABLES CONFIG ############ ;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A. @@ -312,13 +285,13 @@ Observables.dump_filename=./observables.dat PVT.implementation=GPS_L1_CA_PVT ;#averaging_depth: Number of PVT observations in the moving average algorithm -PVT.averaging_depth=10 +PVT.averaging_depth=100 ;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false] PVT.flag_averaging=true ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] -PVT.output_rate_ms=100 +PVT.output_rate_ms=10 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 diff --git a/conf/gnss-sdr_gn3s_realtime.conf b/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf similarity index 82% rename from conf/gnss-sdr_gn3s_realtime.conf rename to conf/gnss-sdr_GPS_L1_GN3S_realtime.conf index 07cfa8fe6..d0d536325 100644 --- a/conf/gnss-sdr_gn3s_realtime.conf +++ b/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf @@ -172,15 +172,15 @@ Resampler.sample_freq_out=2727933.33 ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available satellite channels. -Channels.count=1 -;#in_acquisition: Number of channels simultaneously acquiring +;#count: Number of available GPS satellite channels. +Channels_GPS.count=4 +;#count: Number of available Galileo satellite channels. +Channels_Galileo.count=0 +;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 - -;######### CHANNEL 0 CONFIG ############ ;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS ;#if the option is disabled by default is assigned GPS -Channel0.system=GPS +Channel.system=GPS ;#signal: ;# "1C" GPS L1 C/A @@ -283,123 +283,66 @@ Channel5.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ + ;#dump: Enable or disable the acquisition internal data file logging [true] or [false] -Acquisition.dump=false +Acquisition_GPS.dump=false ;#filename: Log path and filename -Acquisition.dump_filename=./acq_dump.dat +Acquisition_GPS.dump_filename=./acq_dump.dat ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. -Acquisition.item_type=gr_complex +Acquisition_GPS.item_type=gr_complex ;#if: Signal intermediate frequency in [Hz] -Acquisition.if=0 +Acquisition_GPS.if=0 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition.sampled_ms=1 - -;######### ACQUISITION CHANNELS CONFIG ###### - -;######### ACQUISITION CH 0 CONFIG ############ -;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] -Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition +Acquisition_GPS.sampled_ms=1 +;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition ;#threshold: Acquisition threshold -Acquisition0.threshold=50 +Acquisition_GPS.threshold=0.008 +;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +;Acquisition_GPS.pfa=0.01 ;#doppler_max: Maximum expected Doppler shift [Hz] -Acquisition0.doppler_max=10000 +Acquisition_GPS.doppler_max=10000 ;#doppler_max: Doppler step in the grid search [Hz] -Acquisition0.doppler_step=250 -;#repeat_satellite: Use only jointly with the satellte PRN ID option. - - -;######### ACQUISITION CH 1 CONFIG ############ -Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition1.threshold=30 -Acquisition1.doppler_max=10000 -Acquisition1.doppler_step=250 - - -;######### ACQUISITION CH 2 CONFIG ############ -Acquisition2.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition2.threshold=30 -Acquisition2.doppler_max=10000 -Acquisition2.doppler_step=250 - - -;######### ACQUISITION CH 3 CONFIG ############ -Acquisition3.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition3.threshold=30 -Acquisition3.doppler_max=10000 -Acquisition3.doppler_step=250 - - -;######### ACQUISITION CH 4 CONFIG ############ -Acquisition4.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition4.threshold=70 -Acquisition4.doppler_max=10000 -Acquisition4.doppler_step=250 - - -;######### ACQUISITION CH 5 CONFIG ############ -Acquisition5.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition5.threshold=70 -Acquisition5.doppler_max=10000 -Acquisition5.doppler_step=250 - - -;######### ACQUISITION CH 6 CONFIG ############ -Acquisition6.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition6.threshold=70 -Acquisition6.doppler_max=10000 -Acquisition6.doppler_step=250 - - -;######### ACQUISITION CH 7 CONFIG ############ -Acquisition7.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition7.threshold=70 -Acquisition7.doppler_max=10000 -Acquisition7.doppler_step=250 - - -;######### ACQUISITION CH 8 CONFIG ############ -Acquisition8.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition8.threshold=70 -Acquisition8.doppler_max=10000 -Acquisition8.doppler_step=250 - +Acquisition_GPS.doppler_step=500 ;######### TRACKING GLOBAL CONFIG ############ -;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] -Tracking.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking +;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] [GPS_L1_CA_DLL_PLL_Optim_Tracking] +Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. -Tracking.item_type=gr_complex +Tracking_GPS.item_type=gr_complex ;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking.if=0 +Tracking_GPS.if=0 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking.dump=false +Tracking_GPS.dump=false ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. -Tracking.dump_filename=./tracking_ch_ +Tracking_GPS.dump_filename=./tracking_ch_ ;#pll_bw_hz: PLL loop filter bandwidth [Hz] -Tracking.pll_bw_hz=50.0; +Tracking_GPS.pll_bw_hz=40.0; ;#dll_bw_hz: DLL loop filter bandwidth [Hz] -Tracking.dll_bw_hz=4.0; +Tracking_GPS.dll_bw_hz=2.0; ;#fll_bw_hz: FLL loop filter bandwidth [Hz] -Tracking.fll_bw_hz=10.0; +Tracking_GPS.fll_bw_hz=10.0; ;#order: PLL/DLL loop filter order [2] or [3] -Tracking.order=3; +Tracking_GPS.order=3; ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] -Tracking.early_late_space_chips=0.5; +Tracking_GPS.early_late_space_chips=0.5; -;######### TELEMETRY DECODER CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A. -TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder -TelemetryDecoder.dump=false +;######### TELEMETRY DECODER GPS CONFIG ############ +;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A +TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder +TelemetryDecoder_GPS.dump=false +;#decimation factor +TelemetryDecoder_GPS.decimation_factor=1; ;######### OBSERVABLES CONFIG ############ ;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A. diff --git a/conf/gnss-sdr_GPS_USRP_realtime.conf b/conf/gnss-sdr_GPS_L1_USRP_realtime.conf similarity index 91% rename from conf/gnss-sdr_GPS_USRP_realtime.conf rename to conf/gnss-sdr_GPS_L1_USRP_realtime.conf index 78b50899a..fd2032f35 100644 --- a/conf/gnss-sdr_GPS_USRP_realtime.conf +++ b/conf/gnss-sdr_GPS_L1_USRP_realtime.conf @@ -176,11 +176,13 @@ Resampler.sample_freq_out=2000000 ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available satellite channels. -Channels.count=6 -;#in_acquisition: Number of channels simultaneously acquiring +;#count: Number of available GPS satellite channels. +Channels_GPS.count=6 +;#count: Number of available Galileo satellite channels. +Channels_Galileo.count=0 +;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 -;#system: GPS, GLONASS, Galileo, SBAS or Compass +;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS ;#if the option is disabled by default is assigned GPS Channel.system=GPS @@ -264,30 +266,31 @@ Channel1.satellite=18 ;######### ACQUISITION GLOBAL CONFIG ############ ;#dump: Enable or disable the acquisition internal data file logging [true] or [false] -Acquisition.dump=false +Acquisition_GPS.dump=false ;#filename: Log path and filename -Acquisition.dump_filename=./acq_dump.dat +Acquisition_GPS.dump_filename=./acq_dump.dat ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. -Acquisition.item_type=gr_complex +Acquisition_GPS.item_type=gr_complex ;#if: Signal intermediate frequency in [Hz] -Acquisition.if=0 +Acquisition_GPS.if=0 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition.coherent_integration_time_ms=1 +Acquisition_GPS.coherent_integration_time_ms=1 ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -Acquisition.implementation=GPS_L1_CA_PCPS_Acquisition +Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition ;#threshold: Acquisition threshold. It will be ignored if pfa is defined. -Acquisition.threshold=0.01 +Acquisition_GPS.threshold=0.01 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -;Acquisition.pfa=0.0001 +;Acquisition_GPS.pfa=0.0001 ;#doppler_max: Maximum expected Doppler shift [Hz] -Acquisition.doppler_max=10000 +Acquisition_GPS.doppler_max=10000 ;#doppler_max: Doppler step in the grid search [Hz] -Acquisition.doppler_step=500 +Acquisition_GPS.doppler_step=500 ;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] (should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) -Acquisition.bit_transition_flag=false +Acquisition_GPS.bit_transition_flag=false ;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true -Acquisition.max_dwells=1 +Acquisition_GPS.max_dwells=1 + ;######### ACQUISITION CHANNELS CONFIG ###### ;#The following options are specific to each channel and overwrite the generic options @@ -296,38 +299,40 @@ Acquisition.max_dwells=1 ;######### TRACKING GLOBAL CONFIG ############ ;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] -Tracking.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking +Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. -Tracking.item_type=gr_complex +Tracking_GPS.item_type=gr_complex ;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking.if=0 +Tracking_GPS.if=0 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking.dump=false +Tracking_GPS.dump=false ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. -Tracking.dump_filename=./tracking_ch_ +Tracking_GPS.dump_filename=./tracking_ch_ ;#pll_bw_hz: PLL loop filter bandwidth [Hz] -Tracking.pll_bw_hz=50.0; +Tracking_GPS.pll_bw_hz=50.0; ;#dll_bw_hz: DLL loop filter bandwidth [Hz] -Tracking.dll_bw_hz=2.0; +Tracking_GPS.dll_bw_hz=2.0; ;#fll_bw_hz: FLL loop filter bandwidth [Hz] -Tracking.fll_bw_hz=10.0; +Tracking_GPS.fll_bw_hz=10.0; ;#order: PLL/DLL loop filter order [2] or [3] -Tracking.order=3; +Tracking_GPS.order=3; ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] -Tracking.early_late_space_chips=0.5; +Tracking_GPS.early_late_space_chips=0.5; -;######### TELEMETRY DECODER CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A. -TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder -TelemetryDecoder.dump=false +;######### TELEMETRY DECODER GPS CONFIG ############ +;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A +TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder +TelemetryDecoder_GPS.dump=false +;#decimation factor +TelemetryDecoder_GPS.decimation_factor=1; ;######### OBSERVABLES CONFIG ############ ;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A. diff --git a/conf/gnss-sdr_GPS_L1_gr_complex.conf b/conf/gnss-sdr_GPS_L1_gr_complex.conf new file mode 100644 index 000000000..0b357f6be --- /dev/null +++ b/conf/gnss-sdr_GPS_L1_gr_complex.conf @@ -0,0 +1,305 @@ +; Default configuration file +; You can define your own receiver and invoke it by doing +; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf +; + +[GNSS-SDR] + +;######### GLOBAL OPTIONS ################## +;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz]. +GNSS-SDR.internal_fs_hz=4000000 + +;######### CONTROL_THREAD CONFIG ############ +ControlThread.wait_for_flowgraph=false + +;######### SIGNAL_SOURCE CONFIG ############ +;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) +SignalSource.implementation=File_Signal_Source + +;#filename: path to file with the captured GNSS signal samples to be processed +SignalSource.filename=/Volumes/BOOTCAMP/signals/cap2/agilent_cap2.dat + +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +SignalSource.item_type=gr_complex + +;#sampling_frequency: Original Signal sampling frequency in [Hz] +SignalSource.sampling_frequency=4000000 + +;#freq: RF front-end center frequency in [Hz] +SignalSource.freq=1575420000 + +;#gain: Front-end Gain in [dB] +SignalSource.gain=60 + +;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0) +SignalSource.subdevice=B:0 + +;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. +SignalSource.samples=250000000 + +;#repeat: Repeat the processing file. Disable this option in this version +SignalSource.repeat=false + +;#dump: Dump the Signal source data to a file. Disable this option in this version +SignalSource.dump=false + +SignalSource.dump_filename=../data/signal_source.dat + + +;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. +; it helps to not overload the CPU, but the processing time will be longer. +SignalSource.enable_throttle_control=false + + +;######### SIGNAL_CONDITIONER CONFIG ############ +;## It holds blocks to change data type, filter and resample input data. + +;#implementation: Use [Pass_Through] or [Signal_Conditioner] +;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks +;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks +;SignalConditioner.implementation=Signal_Conditioner +SignalConditioner.implementation=Pass_Through + +;######### DATA_TYPE_ADAPTER CONFIG ############ +;## Changes the type of input data. Please disable it in this version. +;#implementation: [Pass_Through] disables this block +DataTypeAdapter.implementation=Pass_Through + +;######### INPUT_FILTER CONFIG ############ +;## Filter the input data. Can be combined with frequency translation for IF signals + +;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] +;#[Pass_Through] disables this block +;#[Fir_Filter] enables a FIR Filter +;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. + +;InputFilter.implementation=Fir_Filter +;InputFilter.implementation=Freq_Xlating_Fir_Filter +InputFilter.implementation=Pass_Through + +;#dump: Dump the filtered data to a file. +InputFilter.dump=false + +;#dump_filename: Log path and filename. +InputFilter.dump_filename=../data/input_filter.dat + +;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. +;#These options are based on parameters of gnuradio's function: gr_remez. +;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. + +;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. +InputFilter.input_item_type=gr_complex + +;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. +InputFilter.output_item_type=gr_complex + +;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. +InputFilter.taps_item_type=float + +;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time +InputFilter.number_of_taps=5 + +;#number_of _bands: Number of frequency bands in the filter. +InputFilter.number_of_bands=2 + +;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. +;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) +;#The number of band_begin and band_end elements must match the number of bands + +InputFilter.band1_begin=0.0 +InputFilter.band1_end=0.45 +InputFilter.band2_begin=0.55 +InputFilter.band2_end=1.0 + +;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. +;#The number of ampl_begin and ampl_end elements must match the number of bands + +InputFilter.ampl1_begin=1.0 +InputFilter.ampl1_end=1.0 +InputFilter.ampl2_begin=0.0 +InputFilter.ampl2_end=0.0 + +;#band_error: weighting applied to each band (usually 1). +;#The number of band_error elements must match the number of bands +InputFilter.band1_error=1.0 +InputFilter.band2_error=1.0 + +;#filter_type: one of "bandpass", "hilbert" or "differentiator" +InputFilter.filter_type=bandpass + +;#grid_density: determines how accurately the filter will be constructed. +;The minimum value is 16; higher values are slower to compute the filter. +InputFilter.grid_density=16 + +;#The following options are used only in Freq_Xlating_Fir_Filter implementation. +;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz + +InputFilter.sampling_frequency=4000000 +InputFilter.IF=0 + + + +;######### RESAMPLER CONFIG ############ +;## Resamples the input data. + +;#implementation: Use [Pass_Through] or [Direct_Resampler] +;#[Pass_Through] disables this block +;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation +;Resampler.implementation=Direct_Resampler +Resampler.implementation=Pass_Through + +;#dump: Dump the resamplered data to a file. +Resampler.dump=false +;#dump_filename: Log path and filename. +Resampler.dump_filename=../data/resampler.dat + +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +Resampler.item_type=gr_complex + +;#sample_freq_in: the sample frequency of the input signal +Resampler.sample_freq_in=8000000 + +;#sample_freq_out: the desired sample frequency of the output signal +Resampler.sample_freq_out=4000000 + + +;######### CHANNELS GLOBAL CONFIG ############ +;#count: Number of available GPS satellite channels. +Channels_GPS.count=8 +;#count: Number of available Galileo satellite channels. +Channels_Galileo.count=0 +;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver +Channels.in_acquisition=1 +;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS +;#if the option is disabled by default is assigned GPS +Channel.system=GPS + +;#if the option is disabled by default is assigned "1C" GPS L1 C/A +Channel.signal=1C + + +;######### SPECIFIC CHANNELS CONFIG ###### +;#The following options are specific to each channel and overwrite the generic options + +;######### CHANNEL 0 CONFIG ############ + +;Channel0.system=GPS +;Channel0.signal=1C + +;#satellite: Satellite PRN ID for this channel. Disable this option to random search +;Channel0.satellite=11 + +;######### CHANNEL 1 CONFIG ############ + +;Channel1.system=GPS +;Channel1.signal=1C +;Channel1.satellite=18 + +;######### ACQUISITION GLOBAL CONFIG ############ + +;#dump: Enable or disable the acquisition internal data file logging [true] or [false] +Acquisition_GPS.dump=false +;#filename: Log path and filename +Acquisition_GPS.dump_filename=./acq_dump.dat +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +Acquisition_GPS.item_type=gr_complex +;#if: Signal intermediate frequency in [Hz] +Acquisition_GPS.if=0 +;#sampled_ms: Signal block duration for the acquisition signal detection [ms] +Acquisition_GPS.sampled_ms=1 +;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition +;#threshold: Acquisition threshold +Acquisition_GPS.threshold=0.008 +;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +;Acquisition_GPS.pfa=0.01 +;#doppler_max: Maximum expected Doppler shift [Hz] +Acquisition_GPS.doppler_max=10000 +;#doppler_max: Doppler step in the grid search [Hz] +Acquisition_GPS.doppler_step=500 + +;######### TRACKING GLOBAL CONFIG ############ + +;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking] +Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking +;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. +Tracking_GPS.item_type=gr_complex + +;#sampling_frequency: Signal Intermediate Frequency in [Hz] +Tracking_GPS.if=0 + +;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] +Tracking_GPS.dump=false + +;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. +Tracking_GPS.dump_filename=../data/epl_tracking_ch_ + +;#pll_bw_hz: PLL loop filter bandwidth [Hz] +Tracking_GPS.pll_bw_hz=45.0; + +;#dll_bw_hz: DLL loop filter bandwidth [Hz] +Tracking_GPS.dll_bw_hz=2.0; + +;#fll_bw_hz: FLL loop filter bandwidth [Hz] +Tracking_GPS.fll_bw_hz=10.0; + +;#order: PLL/DLL loop filter order [2] or [3] +Tracking_GPS.order=3; + +;######### TELEMETRY DECODER GPS CONFIG ############ +;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A +TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder +TelemetryDecoder_GPS.dump=false +;#decimation factor +TelemetryDecoder_GPS.decimation_factor=1; + +;######### OBSERVABLES CONFIG ############ +;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A. +Observables.implementation=GPS_L1_CA_Observables + +;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] +Observables.dump=false + +;#dump_filename: Log path and filename. +Observables.dump_filename=./observables.dat + + +;######### PVT CONFIG ############ +;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version. +PVT.implementation=GPS_L1_CA_PVT + +;#averaging_depth: Number of PVT observations in the moving average algorithm +PVT.averaging_depth=100 + +;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false] +PVT.flag_averaging=false + +;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] +PVT.output_rate_ms=10 + +;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. +PVT.display_rate_ms=500 + +;# RINEX, KML, and NMEA output configuration + +;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. +PVT.dump_filename=./PVT + +;#nmea_dump_filename: NMEA log path and filename +PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; + +;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) +PVT.flag_nmea_tty_port=true; + +;#nmea_dump_devname: serial device descriptor for NMEA logging +PVT.nmea_dump_devname=/dev/pts/4 + + +;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] +PVT.dump=false + +;######### OUTPUT_FILTER CONFIG ############ +;# Receiver output filter: Leave this block disabled in this version +OutputFilter.implementation=Null_Sink_Output_Filter +OutputFilter.filename=data/gnss-sdr.dat +OutputFilter.item_type=gr_complex \ No newline at end of file diff --git a/conf/gnss-sdr_optim_tracking.conf b/conf/gnss-sdr_GPS_L1_gr_complex_optim_trk.conf similarity index 71% rename from conf/gnss-sdr_optim_tracking.conf rename to conf/gnss-sdr_GPS_L1_gr_complex_optim_trk.conf index 77e3d19ee..9af4b86f7 100644 --- a/conf/gnss-sdr_optim_tracking.conf +++ b/conf/gnss-sdr_GPS_L1_gr_complex_optim_trk.conf @@ -17,7 +17,7 @@ ControlThread.wait_for_flowgraph=false SignalSource.implementation=File_Signal_Source ;#filename: path to file with the captured GNSS signal samples to be processed -SignalSource.filename=/media/DATALOGGER/spirent scenario 1/data/sc1_d16.dat +SignalSource.filename=/Volumes/BOOTCAMP/signals/cap2/agilent_cap2.dat ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=gr_complex @@ -164,73 +164,19 @@ Resampler.sample_freq_out=4000000 ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available satellite channels. -Channels.count=5 -;#in_acquisition: Number of channels simultaneously acquiring +;#count: Number of available GPS satellite channels. +Channels_GPS.count=8 +;#count: Number of available Galileo satellite channels. +Channels_Galileo.count=0 +;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 - -;######### CHANNEL 0 CONFIG ############ ;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS ;#if the option is disabled by default is assigned GPS -Channel0.system=GPS +Channel.system=GPS ;#signal: -;# "1C" GPS L1 C/A -;# "1P" GPS L1 P -;# "1W" GPS L1 Z-tracking and similar (AS on) -;# "1Y" GPS L1 Y -;# "1M" GPS L1 M -;# "1N" GPS L1 codeless -;# "2C" GPS L2 C/A -;# "2D" GPS L2 L1(C/A)+(P2-P1) semi-codeless -;# "2S" GPS L2 L2C (M) -;# "2L" GPS L2 L2C (L) -;# "2X" GPS L2 L2C (M+L) -;# "2P" GPS L2 P -;# "2W" GPS L2 Z-tracking and similar (AS on) -;# "2Y" GPS L2 Y -;# "2M" GPS GPS L2 M -;# "2N" GPS L2 codeless -;# "5I" GPS L5 I -;# "5Q" GPS L5 Q -;# "5X" GPS L5 I+Q -;# "1C" GLONASS G1 C/A -;# "1P" GLONASS G1 P -;# "2C" GLONASS G2 C/A (Glonass M) -;# "2P" GLONASS G2 P -;# "1A" GALILEO E1 A (PRS) -;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) -;# "1C" GALILEO E1 C (no data) -;# "1X" GALILEO E1 B+C -;# "1Z" GALILEO E1 A+B+C -;# "5I" GALILEO E5a I (F/NAV OS) -;# "5Q" GALILEO E5a Q (no data) -;# "5X" GALILEO E5a I+Q -;# "7I" GALILEO E5b I -;# "7Q" GALILEO E5b Q -;# "7X" GALILEO E5b I+Q -;# "8I" GALILEO E5 I -;# "8Q" GALILEO E5 Q -;# "8X" GALILEO E5 I+Q -;# "6A" GALILEO E6 A -;# "6B" GALILEO E6 B -;# "6C" GALILEO E6 C -;# "6X" GALILEO E6 B+C -;# "6Z" GALILEO E6 A+B+C -;# "1C" SBAS L1 C/A -;# "5I" SBAS L5 I -;# "5Q" SBAS L5 Q -;# "5X" SBAS L5 I+Q -;# "2I" COMPASS E2 I -;# "2Q" COMPASS E2 Q -;# "2X" COMPASS E2 IQ -;# "7I" COMPASS E5b I -;# "7Q" COMPASS E5b Q -;# "7X" COMPASS E5b IQ -;# "6I" COMPASS E6 I -;# "6Q" COMPASS E6 Q -;# "6X" COMPASS E6 IQ ;#if the option is disabled by default is assigned "1C" GPS L1 C/A +Channel.signal=1C Channel0.signal=1C ;#satellite: Satellite PRN ID for this channel. Disable this option to random search @@ -275,123 +221,67 @@ Channel5.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ + ;#dump: Enable or disable the acquisition internal data file logging [true] or [false] -Acquisition.dump=false +Acquisition_GPS.dump=false ;#filename: Log path and filename -Acquisition.dump_filename=./acq_dump.dat +Acquisition_GPS.dump_filename=./acq_dump.dat ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. -Acquisition.item_type=gr_complex +Acquisition_GPS.item_type=gr_complex ;#if: Signal intermediate frequency in [Hz] -Acquisition.if=0 +Acquisition_GPS.if=0 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition.sampled_ms=1 - -;######### ACQUISITION CHANNELS CONFIG ###### - -;######### ACQUISITION CH 0 CONFIG ############ -;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] -Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition +Acquisition_GPS.sampled_ms=1 +;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition ;#threshold: Acquisition threshold -Acquisition0.threshold=70 +Acquisition_GPS.threshold=0.008 +;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +;Acquisition_GPS.pfa=0.01 ;#doppler_max: Maximum expected Doppler shift [Hz] -Acquisition0.doppler_max=10000 +Acquisition_GPS.doppler_max=10000 ;#doppler_max: Doppler step in the grid search [Hz] -Acquisition0.doppler_step=250 -;#repeat_satellite: Use only jointly with the satellte PRN ID option. - - -;######### ACQUISITION CH 1 CONFIG ############ -Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition1.threshold=70 -Acquisition1.doppler_max=10000 -Acquisition1.doppler_step=250 - - -;######### ACQUISITION CH 2 CONFIG ############ -Acquisition2.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition2.threshold=70 -Acquisition2.doppler_max=10000 -Acquisition2.doppler_step=250 - - -;######### ACQUISITION CH 3 CONFIG ############ -Acquisition3.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition3.threshold=70 -Acquisition3.doppler_max=10000 -Acquisition3.doppler_step=250 - - -;######### ACQUISITION CH 4 CONFIG ############ -Acquisition4.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition4.threshold=70 -Acquisition4.doppler_max=10000 -Acquisition4.doppler_step=250 - - -;######### ACQUISITION CH 5 CONFIG ############ -Acquisition5.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition5.threshold=50 -Acquisition5.doppler_max=10000 -Acquisition5.doppler_step=250 - - -;######### ACQUISITION CH 6 CONFIG ############ -Acquisition6.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition6.threshold=70 -Acquisition6.doppler_max=10000 -Acquisition6.doppler_step=250 - - -;######### ACQUISITION CH 7 CONFIG ############ -Acquisition7.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition7.threshold=70 -Acquisition7.doppler_max=10000 -Acquisition7.doppler_step=250 - - -;######### ACQUISITION CH 8 CONFIG ############ -Acquisition8.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition8.threshold=70 -Acquisition8.doppler_max=10000 -Acquisition8.doppler_step=250 +Acquisition_GPS.doppler_step=500 ;######### TRACKING GLOBAL CONFIG ############ ;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] -Tracking.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking +Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. -Tracking.item_type=gr_complex +Tracking_GPS.item_type=gr_complex ;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking.if=0 +Tracking_GPS.if=0 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking.dump=false +Tracking_GPS.dump=false ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. -Tracking.dump_filename=./tracking_ch_ +Tracking_GPS.dump_filename=./tracking_ch_ ;#pll_bw_hz: PLL loop filter bandwidth [Hz] -Tracking.pll_bw_hz=50.0; +Tracking_GPS.pll_bw_hz=50.0; ;#dll_bw_hz: DLL loop filter bandwidth [Hz] -Tracking.dll_bw_hz=2.0; +Tracking_GPS.dll_bw_hz=2.0; ;#fll_bw_hz: FLL loop filter bandwidth [Hz] -Tracking.fll_bw_hz=10.0; +Tracking_GPS.fll_bw_hz=10.0; ;#order: PLL/DLL loop filter order [2] or [3] -Tracking.order=3; +Tracking_GPS.order=3; ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] -Tracking.early_late_space_chips=0.5; +Tracking_GPS.early_late_space_chips=0.5; -;######### TELEMETRY DECODER CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A. -TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder -TelemetryDecoder.dump=false +;######### TELEMETRY DECODER GPS CONFIG ############ +;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A +TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder +TelemetryDecoder_GPS.dump=false +;#decimation factor +TelemetryDecoder_GPS.decimation_factor=1; ;######### OBSERVABLES CONFIG ############ ;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A. @@ -409,23 +299,35 @@ Observables.dump_filename=./observables.dat PVT.implementation=GPS_L1_CA_PVT ;#averaging_depth: Number of PVT observations in the moving average algorithm -PVT.averaging_depth=10 +PVT.averaging_depth=100 ;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false] -PVT.flag_averaging=true +PVT.flag_averaging=false ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] -PVT.output_rate_ms=100; +PVT.output_rate_ms=10 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. -PVT.display_rate_ms=500; +PVT.display_rate_ms=500 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] -PVT.dump=false +;# RINEX, KML, and NMEA output configuration ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT +;#nmea_dump_filename: NMEA log path and filename +PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; + +;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) +PVT.flag_nmea_tty_port=false; + +;#nmea_dump_devname: serial device descriptor for NMEA logging +PVT.nmea_dump_devname=/dev/pts/4 + + +;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] +PVT.dump=true + ;######### OUTPUT_FILTER CONFIG ############ ;# Receiver output filter: Leave this block disabled in this version OutputFilter.implementation=Null_Sink_Output_Filter diff --git a/conf/gnss-sdr_nsr_file.conf b/conf/gnss-sdr_GPS_L1_nsr.conf similarity index 99% rename from conf/gnss-sdr_nsr_file.conf rename to conf/gnss-sdr_GPS_L1_nsr.conf index ef78ffe80..a1b857261 100644 --- a/conf/gnss-sdr_nsr_file.conf +++ b/conf/gnss-sdr_GPS_L1_nsr.conf @@ -231,7 +231,7 @@ Tracking_GPS.item_type=gr_complex Tracking_GPS.if=0 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking_GPS.dump=true +Tracking_GPS.dump=false ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_GPS.dump_filename=../data/epl_tracking_ch_ diff --git a/conf/gnss-sdr_rtlsdr_realtime.conf b/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf similarity index 89% rename from conf/gnss-sdr_rtlsdr_realtime.conf rename to conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf index 0da385cfd..c01f498c3 100644 --- a/conf/gnss-sdr_rtlsdr_realtime.conf +++ b/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf @@ -166,56 +166,48 @@ InputFilter.IF=80558 Resampler.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available satellite channels. -Channels.count=4 -;#in_acquisition: Number of channels simultaneously acquiring +;#count: Number of available GPS satellite channels. +Channels_GPS.count=4 +;#count: Number of available Galileo satellite channels. +Channels_Galileo.count=0 +;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 -;#system: GPS, GLONASS, Galileo, SBAS or Compass +;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS ;#if the option is disabled by default is assigned GPS Channel.system=GPS ;#signal: -;# "1C" GPS L1 C/A ;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel.signal=1C - -;######### SPECIFIC CHANNELS CONFIG ###### -;#The following options are specific to each channel and overwrite the generic options - -;######### CHANNEL 0 CONFIG ############ - -Channel0.system=GPS Channel0.signal=1C -;#satellite: Satellite PRN ID for this channel. Disable this option to random search -Channel0.satellite=11 ;######### ACQUISITION GLOBAL CONFIG ############ ;#dump: Enable or disable the acquisition internal data file logging [true] or [false] -Acquisition.dump=false +Acquisition_GPS.dump=false ;#filename: Log path and filename -Acquisition.dump_filename=./acq_dump.dat +Acquisition_GPS.dump_filename=./acq_dump.dat ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. -Acquisition.item_type=gr_complex +Acquisition_GPS.item_type=gr_complex ;#if: Signal intermediate frequency in [Hz] -Acquisition.if=0 +Acquisition_GPS.if=0 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition.sampled_ms=1 +Acquisition_GPS.sampled_ms=1 ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -Acquisition.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler +Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler ;#threshold: Acquisition threshold -Acquisition.threshold=0.015 +Acquisition_GPS.threshold=0.015 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -;Acquisition.pfa=0.0001 +;Acquisition_GPS.pfa=0.0001 ;#doppler_max: Maximum expected Doppler shift [Hz] -Acquisition.doppler_max=10000 +Acquisition_GPS.doppler_max=10000 ;#doppler_max: Maximum expected Doppler shift [Hz] -Acquisition.doppler_min=-10000 +Acquisition_GPS.doppler_min=-10000 ;#doppler_step Doppler step in the grid search [Hz] -Acquisition.doppler_step=500 +Acquisition_GPS.doppler_step=500 ;#maximum dwells -Acquisition.max_dwells=15 +Acquisition_GPS.max_dwells=15 ;######### ACQUISITION CHANNELS CONFIG ###### ;#The following options are specific to each channel and overwrite the generic options @@ -226,38 +218,40 @@ Acquisition.max_dwells=15 ;######### TRACKING GLOBAL CONFIG ############ ;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] [GPS_L1_CA_DLL_PLL_Optim_Tracking] -Tracking.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking +Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. -Tracking.item_type=gr_complex +Tracking_GPS.item_type=gr_complex ;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking.if=0 +Tracking_GPS.if=0 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking.dump=false +Tracking_GPS.dump=false ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. -Tracking.dump_filename=./tracking_ch_ +Tracking_GPS.dump_filename=./tracking_ch_ ;#pll_bw_hz: PLL loop filter bandwidth [Hz] -Tracking.pll_bw_hz=40.0; +Tracking_GPS.pll_bw_hz=40.0; ;#dll_bw_hz: DLL loop filter bandwidth [Hz] -Tracking.dll_bw_hz=2.0; +Tracking_GPS.dll_bw_hz=2.0; ;#fll_bw_hz: FLL loop filter bandwidth [Hz] -Tracking.fll_bw_hz=10.0; +Tracking_GPS.fll_bw_hz=10.0; ;#order: PLL/DLL loop filter order [2] or [3] -Tracking.order=3; +Tracking_GPS.order=3; ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] -Tracking.early_late_space_chips=0.5; +Tracking_GPS.early_late_space_chips=0.5; -;######### TELEMETRY DECODER CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A. -TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder -TelemetryDecoder.dump=false +;######### TELEMETRY DECODER GPS CONFIG ############ +;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A +TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder +TelemetryDecoder_GPS.dump=false +;#decimation factor +TelemetryDecoder_GPS.decimation_factor=1; ;######### OBSERVABLES CONFIG ############ ;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A. diff --git a/conf/gnss-sdr_Galileo_E1_IFEN.conf b/conf/gnss-sdr_Galileo_E1_nsr.conf similarity index 99% rename from conf/gnss-sdr_Galileo_E1_IFEN.conf rename to conf/gnss-sdr_Galileo_E1_nsr.conf index 2c8006e43..e87367b09 100644 --- a/conf/gnss-sdr_Galileo_E1_IFEN.conf +++ b/conf/gnss-sdr_Galileo_E1_nsr.conf @@ -344,7 +344,7 @@ Observables.dump_filename=./observables.dat PVT.implementation=GALILEO_E1_PVT ;#averaging_depth: Number of PVT observations in the moving average algorithm -PVT.averaging_depth=100 +PVT.averaging_depth=10 ;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false] PVT.flag_averaging=false diff --git a/conf/gnss-sdr_Galileo_E1.conf b/conf/gnss-sdr_Galileo_E1_short.conf similarity index 83% rename from conf/gnss-sdr_Galileo_E1.conf rename to conf/gnss-sdr_Galileo_E1_short.conf index c901eeb08..f3cf9c714 100644 --- a/conf/gnss-sdr_Galileo_E1.conf +++ b/conf/gnss-sdr_Galileo_E1_short.conf @@ -17,8 +17,7 @@ ControlThread.wait_for_flowgraph=false SignalSource.implementation=File_Signal_Source ;#filename: path to file with the captured GNSS signal samples to be processed -SignalSource.filename=/Users/javier/signals/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN_run2.dat -;SignalSource.filename=/Users/javier/signals/cttc_4M_60dB.dat +SignalSource.filename=/Volumes/BOOTCAMP/signals/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN_run2.dat ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=short @@ -174,99 +173,13 @@ Channels.in_acquisition=1 ;#if the option is disabled by default is assigned GPS Channel.system=Galileo -;#signal: -;# "1C" GPS L1 C/A -;# "1P" GPS L1 P -;# "1W" GPS L1 Z-tracking and similar (AS on) -;# "1Y" GPS L1 Y -;# "1M" GPS L1 M -;# "1N" GPS L1 codeless -;# "2C" GPS L2 C/A -;# "2D" GPS L2 L1(C/A)+(P2-P1) semi-codeless -;# "2S" GPS L2 L2C (M) -;# "2L" GPS L2 L2C (L) -;# "2X" GPS L2 L2C (M+L) -;# "2P" GPS L2 P -;# "2W" GPS L2 Z-tracking and similar (AS on) -;# "2Y" GPS L2 Y -;# "2M" GPS GPS L2 M -;# "2N" GPS L2 codeless -;# "5I" GPS L5 I -;# "5Q" GPS L5 Q -;# "5X" GPS L5 I+Q -;# "1C" GLONASS G1 C/A -;# "1P" GLONASS G1 P -;# "2C" GLONASS G2 C/A (Glonass M) -;# "2P" GLONASS G2 P -;# "1A" GALILEO E1 A (PRS) -;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) -;# "1C" GALILEO E1 C (no data) -;# "1X" GALILEO E1 B+C -;# "1Z" GALILEO E1 A+B+C -;# "5I" GALILEO E5a I (F/NAV OS) -;# "5Q" GALILEO E5a Q (no data) -;# "5X" GALILEO E5a I+Q -;# "7I" GALILEO E5b I -;# "7Q" GALILEO E5b Q -;# "7X" GALILEO E5b I+Q -;# "8I" GALILEO E5 I -;# "8Q" GALILEO E5 Q -;# "8X" GALILEO E5 I+Q -;# "6A" GALILEO E6 A -;# "6B" GALILEO E6 B -;# "6C" GALILEO E6 C -;# "6X" GALILEO E6 B+C -;# "6Z" GALILEO E6 A+B+C -;# "1C" SBAS L1 C/A -;# "5I" SBAS L5 I -;# "5Q" SBAS L5 Q -;# "5X" SBAS L5 I+Q -;# "2I" COMPASS E2 I -;# "2Q" COMPASS E2 Q -;# "2X" COMPASS E2 IQ -;# "7I" COMPASS E5b I -;# "7Q" COMPASS E5b Q -;# "7X" COMPASS E5b IQ -;# "6I" COMPASS E6 I -;# "6Q" COMPASS E6 Q -;# "6X" COMPASS E6 IQ ;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel.signal=1B - - -;Galileo FM3 -> PRN 19 -;Galileo FM4 -> PRN 20 -;######### CHANNEL 0 CONFIG ############ - -;Channel0.system=Galileo -;Channel0.signal=1B -;#satellite: Satellite PRN ID for this channel. Disable this option to random search -;Channel0.satellite=20 - -;######### CHANNEL 1 CONFIG ############ - -;Channel1.system=Galileo -;Channel1.signal=1B -;Channel1.satellite=12 - -;######### CHANNEL 2 CONFIG ############ - -;Channel2.system=Galileo -;Channel2.signal=1B -;#satellite: Satellite PRN ID for this channel. Disable this option to random search -;Channel2.satellite=11 - -;######### CHANNEL 3 CONFIG ############ - -;Channel3.system=Galileo -;Channel3.signal=1B -;Channel3.satellite=19 - ;######### ACQUISITION GLOBAL CONFIG ############ ;#dump: Enable or disable the acquisition internal data file logging [true] or [false] -Acquisition.dump=false +Acquisition_Galileo.dump=false ;#filename: Log path and filename Acquisition_Galileo.dump_filename=./acq_dump.dat ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. @@ -278,9 +191,9 @@ Acquisition_Galileo.sampled_ms=4 ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] Acquisition_Galileo.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition ;#threshold: Acquisition threshold -;Acquisition.threshold=0 +;Acquisition_Galileo.threshold=0 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -Acquisition_Galileo.pfa=0.0000008 +Acquisition_Galileo.pfa=0.0000002 ;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_Galileo.doppler_max=15000 ;#doppler_max: Doppler step in the grid search [Hz] @@ -315,13 +228,13 @@ Tracking_Galileo.item_type=gr_complex Tracking_Galileo.if=0 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking_Galileo.dump=true +Tracking_Galileo.dump=false ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_Galileo.dump_filename=../data/veml_tracking_ch_ ;#pll_bw_hz: PLL loop filter bandwidth [Hz] -Tracking_Galileo.pll_bw_hz=20.0; +Tracking_Galileo.pll_bw_hz=15.0; ;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_Galileo.dll_bw_hz=2.0; @@ -338,6 +251,7 @@ Tracking_Galileo.early_late_space_chips=0.15; ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_Galileo.very_early_late_space_chips=0.6; + ;######### TELEMETRY DECODER CONFIG ############ ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A or [Galileo_E1B_Telemetry_Decoder] for Galileo E1B TelemetryDecoder_Galileo.implementation=Galileo_E1B_Telemetry_Decoder @@ -362,7 +276,7 @@ PVT.implementation=GALILEO_E1_PVT PVT.averaging_depth=100 ;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false] -PVT.flag_averaging=true +PVT.flag_averaging=false ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100; diff --git a/conf/gnss-sdr_Hybrid_IFEN.conf b/conf/gnss-sdr_Hybrid_nsr.conf similarity index 99% rename from conf/gnss-sdr_Hybrid_IFEN.conf rename to conf/gnss-sdr_Hybrid_nsr.conf index 3deefc489..48cc899a9 100644 --- a/conf/gnss-sdr_Hybrid_IFEN.conf +++ b/conf/gnss-sdr_Hybrid_nsr.conf @@ -153,7 +153,7 @@ Resampler.implementation=Pass_Through ;#count: Number of available GPS satellite channels. Channels_GPS.count=8 ;#count: Number of available Galileo satellite channels. -Channels_Galileo.count=0 +Channels_Galileo.count=8 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 ;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS @@ -206,7 +206,7 @@ Acquisition_Galileo.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition ;#threshold: Acquisition threshold ;Acquisition_Galileo.threshold=0 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -Acquisition_Galileo.pfa=0.0000008 +Acquisition_Galileo.pfa=0.0000002 ;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_Galileo.doppler_max=15000 ;#doppler_max: Doppler step in the grid search [Hz] diff --git a/conf/gnss-sdr_GPS_hybrid_short.conf b/conf/gnss-sdr_Hybrid_short.conf similarity index 98% rename from conf/gnss-sdr_GPS_hybrid_short.conf rename to conf/gnss-sdr_Hybrid_short.conf index 053c04a28..e1889d05c 100644 --- a/conf/gnss-sdr_GPS_hybrid_short.conf +++ b/conf/gnss-sdr_Hybrid_short.conf @@ -17,8 +17,7 @@ ControlThread.wait_for_flowgraph=false SignalSource.implementation=File_Signal_Source ;#filename: path to file with the captured GNSS signal samples to be processed -SignalSource.filename=/Users/javier/signals/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN_run2.dat -;SignalSource.filename=/Users/javier/signals/cttc_4M_50dB.dat +SignalSource.filename=/Volumes/BOOTCAMP/signals/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN_run2.dat ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=short @@ -318,10 +317,10 @@ Observables.dump_filename=./observables.dat PVT.implementation=Hybrid_PVT ;#averaging_depth: Number of PVT observations in the moving average algorithm -PVT.averaging_depth=100 +PVT.averaging_depth=10 ;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false] -PVT.flag_averaging=true +PVT.flag_averaging=false ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100; diff --git a/conf/gnss-sdr_sbas.conf b/conf/gnss-sdr_SBAS_short.conf similarity index 70% rename from conf/gnss-sdr_sbas.conf rename to conf/gnss-sdr_SBAS_short.conf index 58967d73a..93b31cf1b 100644 --- a/conf/gnss-sdr_sbas.conf +++ b/conf/gnss-sdr_SBAS_short.conf @@ -17,7 +17,7 @@ ControlThread.wait_for_flowgraph=false SignalSource.implementation=File_Signal_Source ;#filename: path to file with the captured GNSS signal samples to be processed -SignalSource.filename=/Users/fehrdan/GNSS/dev/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat +SignalSource.filename=/Volumes/BOOTCAMP/signals/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN_run2.dat ;#item_type: Type and resolution for each of the signal samples. ;#Use gr_complex for 32 bits float I/Q or short for I/Q interleaved short integer. @@ -175,70 +175,16 @@ Resampler.sample_freq_out=4000000 ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available satellite channels. -Channels.count=3 -;#in_acquisition: Number of channels simultaneously acquiring -Channels.in_acquisition=3 -;#system: GPS, GLONASS, Galileo, SBAS or Compass +;#count: Number of available GPS satellite channels. +Channels_GPS.count=6 +;#count: Number of available Galileo satellite channels. +Channels_Galileo.count=0 +;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver +Channels.in_acquisition=1 +;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS ;#if the option is disabled by default is assigned GPS -Channel.system=GPS +Channel.system=GPS, SBAS -;#signal: -;# "1C" GPS L1 C/A -;# "1P" GPS L1 P -;# "1W" GPS L1 Z-tracking and similar (AS on) -;# "1Y" GPS L1 Y -;# "1M" GPS L1 M -;# "1N" GPS L1 codeless -;# "2C" GPS L2 C/A -;# "2D" GPS L2 L1(C/A)+(P2-P1) semi-codeless -;# "2S" GPS L2 L2C (M) -;# "2L" GPS L2 L2C (L) -;# "2X" GPS L2 L2C (M+L) -;# "2P" GPS L2 P -;# "2W" GPS L2 Z-tracking and similar (AS on) -;# "2Y" GPS L2 Y -;# "2M" GPS GPS L2 M -;# "2N" GPS L2 codeless -;# "5I" GPS L5 I -;# "5Q" GPS L5 Q -;# "5X" GPS L5 I+Q -;# "1C" GLONASS G1 C/A -;# "1P" GLONASS G1 P -;# "2C" GLONASS G2 C/A (Glonass M) -;# "2P" GLONASS G2 P -;# "1A" GALILEO E1 A (PRS) -;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) -;# "1C" GALILEO E1 C (no data) -;# "1X" GALILEO E1 B+C -;# "1Z" GALILEO E1 A+B+C -;# "5I" GALILEO E5a I (F/NAV OS) -;# "5Q" GALILEO E5a Q (no data) -;# "5X" GALILEO E5a I+Q -;# "7I" GALILEO E5b I -;# "7Q" GALILEO E5b Q -;# "7X" GALILEO E5b I+Q -;# "8I" GALILEO E5 I -;# "8Q" GALILEO E5 Q -;# "8X" GALILEO E5 I+Q -;# "6A" GALILEO E6 A -;# "6B" GALILEO E6 B -;# "6C" GALILEO E6 C -;# "6X" GALILEO E6 B+C -;# "6Z" GALILEO E6 A+B+C -;# "1C" SBAS L1 C/A -;# "5I" SBAS L5 I -;# "5Q" SBAS L5 Q -;# "5X" SBAS L5 I+Q -;# "2I" COMPASS E2 I -;# "2Q" COMPASS E2 Q -;# "2X" COMPASS E2 IQ -;# "7I" COMPASS E5b I -;# "7Q" COMPASS E5b Q -;# "7X" COMPASS E5b IQ -;# "6I" COMPASS E6 I -;# "6Q" COMPASS E6 Q -;# "6X" COMPASS E6 IQ ;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel.signal=1C @@ -291,140 +237,66 @@ Channel5.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ ;#dump: Enable or disable the acquisition internal data file logging [true] or [false] -Acquisition.dump=false +Acquisition_GPS.dump=false ;#filename: Log path and filename -Acquisition.dump_filename=../data/acq_dump.dat +Acquisition_GPS.dump_filename=../data/acq_dump.dat ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. -Acquisition.item_type=gr_complex +Acquisition_GPS.item_type=gr_complex ;#if: Signal intermediate frequency in [Hz] -Acquisition.if=0 +Acquisition_GPS.if=0 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition.sampled_ms=1 +Acquisition_GPS.sampled_ms=1 ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -Acquisition.implementation=GPS_L1_CA_PCPS_Acquisition +Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition ;#threshold: Acquisition threshold -Acquisition.threshold=0.005 +Acquisition_GPS.threshold=0.005 ;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -Acquisition.pfa=0.0001 +Acquisition_GPS.pfa=0.0001 ;#doppler_max: Maximum expected Doppler shift [Hz] -Acquisition.doppler_max=10000 +Acquisition_GPS.doppler_max=10000 ;#doppler_max: Doppler step in the grid search [Hz] -Acquisition.doppler_step=500 +Acquisition_GPS.doppler_step=500 ;######### ACQUISITION CHANNELS CONFIG ###### ;#The following options are specific to each channel and overwrite the generic options -;######### ACQUISITION CH 0 CONFIG ############ -;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] -Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition0.threshold=0.005 -Acquisition0.pfa=0.00001 -Acquisition0.doppler_max=10000 -Acquisition0.doppler_step=250 -;#repeat_satellite: Use only jointly with the satellte PRN ID option. -Acquisition0.repeat_satellite=false - -;######### ACQUISITION CH 1 CONFIG ############ -Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition1.threshold=0.005 -Acquisition1.pfa=0.00001 -Acquisition1.doppler_max=10000 -Acquisition1.doppler_step=250 -Acquisition1.repeat_satellite=true - -;######### ACQUISITION CH 2 CONFIG ############ -Acquisition2.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition2.threshold=0.005 -Acquisition2.pfa=0.00001 -Acquisition2.doppler_max=10000 -Acquisition2.doppler_step=250 -Acquisition2.repeat_satellite=true - -;######### ACQUISITION CH 3 CONFIG ############ -Acquisition3.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition3.threshold=0.005 -Acquisition3.pfa=0.001 -Acquisition3.doppler_max=10000 -Acquisition3.doppler_step=250 - - -;######### ACQUISITION CH 4 CONFIG ############ -Acquisition4.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition4.threshold=0.005 -Acquisition4.pfa=0.001 -Acquisition4.doppler_max=10000 -Acquisition4.doppler_step=250 - - -;######### ACQUISITION CH 5 CONFIG ############ -Acquisition5.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition5.threshold=60 -Acquisition5.doppler_max=10000 -Acquisition5.doppler_step=250 - - -;######### ACQUISITION CH 6 CONFIG ############ -Acquisition6.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition6.threshold=0.005 -Acquisition6.pfa=0.001 -Acquisition6.doppler_max=10000 -Acquisition6.doppler_step=250 - - -;######### ACQUISITION CH 7 CONFIG ############ -Acquisition7.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition7.threshold=0.005 -Acquisition7.pfa=0.001 -Acquisition7.doppler_max=10000 -Acquisition7.doppler_step=250 - - -;######### ACQUISITION CH 8 CONFIG ############ -Acquisition8.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition8.threshold=0.005 -Acquisition8.pfa=0.001 -Acquisition8.doppler_max=10000 -Acquisition8.doppler_step=250 - - ;######### TRACKING GLOBAL CONFIG ############ -;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] -Tracking.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking +;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking] +Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. -Tracking.item_type=gr_complex +Tracking_GPS.item_type=gr_complex ;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking.if=0 +Tracking_GPS.if=0 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking.dump=true +Tracking_GPS.dump=false ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. -Tracking.dump_filename=../data/tracking/tracking_ch_ +Tracking_GPS.dump_filename=../data/epl_tracking_ch_ ;#pll_bw_hz: PLL loop filter bandwidth [Hz] -Tracking.pll_bw_hz=25.0; +Tracking_GPS.pll_bw_hz=45.0; ;#dll_bw_hz: DLL loop filter bandwidth [Hz] -Tracking.dll_bw_hz=2.0; +Tracking_GPS.dll_bw_hz=3.0; ;#fll_bw_hz: FLL loop filter bandwidth [Hz] -Tracking.fll_bw_hz=5.0; +Tracking_GPS.fll_bw_hz=10.0; ;#order: PLL/DLL loop filter order [2] or [3] -Tracking.order=3; +Tracking_GPS.order=2; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] -Tracking.early_late_space_chips=0.5; - -;######### TELEMETRY DECODER CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A. -TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder -TelemetryDecoder.dump=false +;######### TELEMETRY DECODER GPS CONFIG ############ +;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A +TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder +TelemetryDecoder_GPS.dump=false +;#decimation factor +TelemetryDecoder_GPS.decimation_factor=1; ;######### OBSERVABLES CONFIG ############ ;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A. diff --git a/conf/gnss-sdr_acq_CCCWSR.conf b/conf/old/gnss-sdr_acq_CCCWSR.conf similarity index 100% rename from conf/gnss-sdr_acq_CCCWSR.conf rename to conf/old/gnss-sdr_acq_CCCWSR.conf diff --git a/conf/gnss-sdr_acq_QuickSync.conf b/conf/old/gnss-sdr_acq_QuickSync.conf similarity index 100% rename from conf/gnss-sdr_acq_QuickSync.conf rename to conf/old/gnss-sdr_acq_QuickSync.conf diff --git a/conf/gnss-sdr_acq_QuickSync_Galileo.conf b/conf/old/gnss-sdr_acq_QuickSync_Galileo.conf similarity index 100% rename from conf/gnss-sdr_acq_QuickSync_Galileo.conf rename to conf/old/gnss-sdr_acq_QuickSync_Galileo.conf diff --git a/conf/gnss-sdr_acq_Tong.conf b/conf/old/gnss-sdr_acq_Tong.conf similarity index 100% rename from conf/gnss-sdr_acq_Tong.conf rename to conf/old/gnss-sdr_acq_Tong.conf diff --git a/conf/gnss-sdr_acq_assistance_test.conf b/conf/old/gnss-sdr_acq_assistance_test.conf similarity index 100% rename from conf/gnss-sdr_acq_assistance_test.conf rename to conf/old/gnss-sdr_acq_assistance_test.conf diff --git a/conf/gnss-sdr_array.conf b/conf/old/gnss-sdr_array.conf similarity index 100% rename from conf/gnss-sdr_array.conf rename to conf/old/gnss-sdr_array.conf diff --git a/conf/gnss-sdr_galileo_e1_tcp_connector_tracking.conf b/conf/old/gnss-sdr_galileo_e1_tcp_connector_tracking.conf similarity index 100% rename from conf/gnss-sdr_galileo_e1_tcp_connector_tracking.conf rename to conf/old/gnss-sdr_galileo_e1_tcp_connector_tracking.conf diff --git a/conf/gnss-sdr_ishort_file_read.conf b/conf/old/gnss-sdr_ishort_file_read.conf similarity index 100% rename from conf/gnss-sdr_ishort_file_read.conf rename to conf/old/gnss-sdr_ishort_file_read.conf diff --git a/conf/gnss-sdr_nmea_tty_output.conf b/conf/old/gnss-sdr_nmea_tty_output.conf similarity index 100% rename from conf/gnss-sdr_nmea_tty_output.conf rename to conf/old/gnss-sdr_nmea_tty_output.conf diff --git a/conf/gnss-sdr_tcp_connector_tracking.conf b/conf/old/gnss-sdr_tcp_connector_tracking.conf similarity index 100% rename from conf/gnss-sdr_tcp_connector_tracking.conf rename to conf/old/gnss-sdr_tcp_connector_tracking.conf diff --git a/conf/master.conf b/conf/old/master.conf similarity index 81% rename from conf/master.conf rename to conf/old/master.conf index 89d979db7..8489756cf 100644 --- a/conf/master.conf +++ b/conf/old/master.conf @@ -176,10 +176,19 @@ Resampler.sample_freq_out=4000000 ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available satellite channels. -Channels.count=5 -;#in_acquisition: Number of channels simultaneously acquiring +;#count: Number of available GPS satellite channels. +Channels_GPS.count=8 +;#count: Number of available Galileo satellite channels. +Channels_Galileo.count=0 +;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 +;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS +;#if the option is disabled by default is assigned GPS +Channel.system=GPS + +;#signal: +;#if the option is disabled by default is assigned "1C" GPS L1 C/A +Channel.signal=1C ;######### CHANNEL 0 CONFIG ############ ;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS @@ -286,124 +295,66 @@ Channel5.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ +;######### GPS ACQUISITION CONFIG ############ ;#dump: Enable or disable the acquisition internal data file logging [true] or [false] -Acquisition.dump=false +Acquisition_GPS.dump=false ;#filename: Log path and filename -Acquisition.dump_filename=./acq_dump.dat +Acquisition_GPS.dump_filename=./acq_dump.dat ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. -Acquisition.item_type=gr_complex +Acquisition_GPS.item_type=gr_complex ;#if: Signal intermediate frequency in [Hz] -Acquisition.if=0 +Acquisition_GPS.if=0 ;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition.sampled_ms=1 - -;######### ACQUISITION CHANNELS CONFIG ###### - -;######### ACQUISITION CH 0 CONFIG ############ -;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] -Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition +Acquisition_GPS.sampled_ms=1 +;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition ;#threshold: Acquisition threshold -Acquisition0.threshold=50 +Acquisition_GPS.threshold=0.0075 +;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +;Acquisition_GPS.pfa=0.01 ;#doppler_max: Maximum expected Doppler shift [Hz] -Acquisition0.doppler_max=10000 +Acquisition_GPS.doppler_max=10000 ;#doppler_max: Doppler step in the grid search [Hz] -Acquisition0.doppler_step=250 -;#repeat_satellite: Use only jointly with the satellte PRN ID option. +Acquisition_GPS.doppler_step=500 +;######### ACQUISITION CHANNELS CONFIG ###### +;#The following options are specific to each channel and overwrite the generic options -;######### ACQUISITION CH 1 CONFIG ############ -Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition1.threshold=50 -Acquisition1.doppler_max=10000 -Acquisition1.doppler_step=250 +;######### TRACKING GPS CONFIG ############ - -;######### ACQUISITION CH 2 CONFIG ############ -Acquisition2.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition2.threshold=50 -Acquisition2.doppler_max=10000 -Acquisition2.doppler_step=250 - - -;######### ACQUISITION CH 3 CONFIG ############ -Acquisition3.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition3.threshold=50 -Acquisition3.doppler_max=10000 -Acquisition3.doppler_step=250 - - -;######### ACQUISITION CH 4 CONFIG ############ -Acquisition4.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition4.threshold=50 -Acquisition4.doppler_max=10000 -Acquisition4.doppler_step=250 - - -;######### ACQUISITION CH 5 CONFIG ############ -Acquisition5.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition5.threshold=50 -Acquisition5.doppler_max=10000 -Acquisition5.doppler_step=250 - - -;######### ACQUISITION CH 6 CONFIG ############ -Acquisition6.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition6.threshold=70 -Acquisition6.doppler_max=10000 -Acquisition6.doppler_step=250 - - -;######### ACQUISITION CH 7 CONFIG ############ -Acquisition7.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition7.threshold=70 -Acquisition7.doppler_max=10000 -Acquisition7.doppler_step=250 - - -;######### ACQUISITION CH 8 CONFIG ############ -Acquisition8.implementation=GPS_L1_CA_PCPS_Acquisition -Acquisition8.threshold=70 -Acquisition8.doppler_max=10000 -Acquisition8.doppler_step=250 - - - -;######### TRACKING GLOBAL CONFIG ############ - -;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] -Tracking.implementation=GPS_L1_CA_DLL_FLL_PLL_Tracking +;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking] +Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. -Tracking.item_type=gr_complex +Tracking_GPS.item_type=gr_complex ;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking.if=0 +Tracking_GPS.if=0 ;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking.dump=false +Tracking_GPS.dump=false ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. -Tracking.dump_filename=./tracking_ch_ +Tracking_GPS.dump_filename=../data/epl_tracking_ch_ ;#pll_bw_hz: PLL loop filter bandwidth [Hz] -Tracking.pll_bw_hz=50.0; +Tracking_GPS.pll_bw_hz=45.0; ;#dll_bw_hz: DLL loop filter bandwidth [Hz] -Tracking.dll_bw_hz=2.0; +Tracking_GPS.dll_bw_hz=2.0; ;#fll_bw_hz: FLL loop filter bandwidth [Hz] -Tracking.fll_bw_hz=10.0; +Tracking_GPS.fll_bw_hz=10.0; ;#order: PLL/DLL loop filter order [2] or [3] -Tracking.order=3; +Tracking_GPS.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] -Tracking.early_late_space_chips=0.5; - -;######### TELEMETRY DECODER CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A. -TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder -TelemetryDecoder.dump=false +;######### TELEMETRY DECODER GPS CONFIG ############ +;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A +TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder +TelemetryDecoder_GPS.dump=false +;#decimation factor +TelemetryDecoder_GPS.decimation_factor=1; ;######### OBSERVABLES CONFIG ############ ;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A. @@ -421,13 +372,13 @@ Observables.dump_filename=./observables.dat PVT.implementation=GPS_L1_CA_PVT ;#averaging_depth: Number of PVT observations in the moving average algorithm -PVT.averaging_depth=10 +PVT.averaging_depth=100 ;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false] -PVT.flag_averaging=true +PVT.flag_averaging=false ;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] -PVT.output_rate_ms=100 +PVT.output_rate_ms=10 ;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 @@ -441,7 +392,7 @@ PVT.dump_filename=./PVT PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; ;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) -PVT.flag_nmea_tty_port=true; +PVT.flag_nmea_tty_port=false; ;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc index f656f7036..9914fe05d 100644 --- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc +++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc @@ -120,100 +120,112 @@ arma::vec hybrid_ls_pvt::rotateSatellite(double traveltime, arma::vec X_sat) arma::vec hybrid_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma::mat w) { - /* Computes the Least Squares Solution. - * Inputs: - * satpos - Satellites positions in ECEF system: [X; Y; Z;] - * obs - Observations - the pseudorange measurements to each satellite - * w - weigths vector - * - * Returns: - * pos - receiver position and receiver clock error - * (in ECEF system: [X, Y, Z, dt]) - */ + /* Computes the Least Squares Solution. + * Inputs: + * satpos - Satellites positions in ECEF system: [X; Y; Z;] + * obs - Observations - the pseudorange measurements to each satellite + * w - weigths vector + * + * Returns: + * pos - receiver position and receiver clock error + * (in ECEF system: [X, Y, Z, dt]) + */ - //=== Initialization ======================================================= - int nmbOfIterations = 10; // TODO: include in config - int nmbOfSatellites; - nmbOfSatellites = satpos.n_cols; //Armadillo - arma::vec pos = "0.0 0.0 0.0 0.0"; - arma::mat A; - arma::mat omc; - arma::mat az; - arma::mat el; - A = arma::zeros(nmbOfSatellites, 4); - omc = arma::zeros(nmbOfSatellites, 1); - az = arma::zeros(1, nmbOfSatellites); - el = arma::zeros(1, nmbOfSatellites); - arma::mat X = satpos; - arma::vec Rot_X; - double rho2; - double traveltime; - double trop; - arma::mat mat_tmp; - arma::vec x; + //=== Initialization ======================================================= + int nmbOfIterations = 10; // TODO: include in config + int nmbOfSatellites; + nmbOfSatellites = satpos.n_cols; //Armadillo + arma::vec pos = "0.0 0.0 0.0 0.0"; + arma::mat A; + arma::mat omc; + arma::mat az; + arma::mat el; + A = arma::zeros(nmbOfSatellites, 4); + omc = arma::zeros(nmbOfSatellites, 1); + az = arma::zeros(1, nmbOfSatellites); + el = arma::zeros(1, nmbOfSatellites); + arma::mat X = satpos; + arma::vec Rot_X; + double rho2; + double traveltime; + double trop; + double dlambda; + double dphi; + double h; + arma::mat mat_tmp; + arma::vec x; - //=== Iteratively find receiver position =================================== - for (int iter = 0; iter < nmbOfIterations; iter++) - { - for (int i = 0; i < nmbOfSatellites; i++) - { - if (iter == 0) - { - //--- Initialize variables at the first iteration -------------- - Rot_X = X.col(i); //Armadillo - trop = 0.0; - } - else - { - //--- Update equations ----------------------------------------- - rho2 = (X(0, i) - pos(0)) * - (X(0, i) - pos(0)) + (X(1, i) - pos(1)) * - (X(1, i) - pos(1)) + (X(2, i) - pos(2)) * - (X(2, i) - pos(2)); - traveltime = sqrt(rho2) / GALILEO_C_m_s; + //=== Iteratively find receiver position =================================== + for (int iter = 0; iter < nmbOfIterations; iter++) + { + for (int i = 0; i < nmbOfSatellites; i++) + { + if (iter == 0) + { + //--- Initialize variables at the first iteration -------------- + Rot_X = X.col(i); //Armadillo + trop = 0.0; + } + else + { + //--- Update equations ----------------------------------------- + rho2 = (X(0, i) - pos(0)) * + (X(0, i) - pos(0)) + (X(1, i) - pos(1)) * + (X(1, i) - pos(1)) + (X(2, i) - pos(2)) * + (X(2, i) - pos(2)); + traveltime = sqrt(rho2) / GALILEO_C_m_s; - //--- Correct satellite position (do to earth rotation) -------- - Rot_X = rotateSatellite(traveltime, X.col(i)); //armadillo + //--- Correct satellite position (do to earth rotation) -------- + Rot_X = rotateSatellite(traveltime, X.col(i)); //armadillo - //--- Find DOA and range of satellites - topocent(&d_visible_satellites_Az[i], - &d_visible_satellites_El[i], - &d_visible_satellites_Distance[i], - pos.subvec(0,2), - Rot_X - pos.subvec(0, 2)); - } - //--- Apply the corrections ---------------------------------------- - omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0, 2), 2) - pos(3) - trop); // Armadillo + //--- Find DOA and range of satellites + topocent(&d_visible_satellites_Az[i], + &d_visible_satellites_El[i], + &d_visible_satellites_Distance[i], + pos.subvec(0,2), + Rot_X - pos.subvec(0, 2)); + if(traveltime < 0.1 && nmbOfSatellites > 3) + { + //--- Find receiver's height + togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2)); - //--- Construct the A matrix --------------------------------------- - //Armadillo - A(i,0) = (-(Rot_X(0) - pos(0))) / obs(i); - A(i,1) = (-(Rot_X(1) - pos(1))) / obs(i); - A(i,2) = (-(Rot_X(2) - pos(2))) / obs(i); - A(i,3) = 1.0; - } - - //--- Find position update --------------------------------------------- - x = arma::solve(w*A, w*omc); // Armadillo + //--- Find delay due to troposphere (in meters) + tropo(&trop, sin(d_visible_satellites_El[i] * GALILEO_PI/180.0), h/1000, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0); + if(trop > 50.0 ) trop = 0.0; + } + } + //--- Apply the corrections ---------------------------------------- + omc(i) = (obs(i) - norm(Rot_X - pos.subvec(0, 2), 2) - pos(3) - trop); // Armadillo - //--- Apply position update -------------------------------------------- - pos = pos + x; - if (arma::norm(x,2) < 1e-4) - { - break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm) - } - } + //--- Construct the A matrix --------------------------------------- + //Armadillo + A(i,0) = (-(Rot_X(0) - pos(0))) / obs(i); + A(i,1) = (-(Rot_X(1) - pos(1))) / obs(i); + A(i,2) = (-(Rot_X(2) - pos(2))) / obs(i); + A(i,3) = 1.0; + } - try - { - //-- compute the Dilution Of Precision values - d_Q = arma::inv(arma::htrans(A)*A); - } - catch(std::exception& e) - { - d_Q = arma::zeros(4,4); - } - return pos; + //--- Find position update --------------------------------------------- + x = arma::solve(w*A, w*omc); // Armadillo + + //--- Apply position update -------------------------------------------- + pos = pos + x; + if (arma::norm(x,2) < 1e-4) + { + break; // exit the loop because we assume that the LS algorithm has converged (err < 0.1 cm) + } + } + + try + { + //-- compute the Dilution Of Precision values + d_Q = arma::inv(arma::htrans(A)*A); + } + catch(std::exception& e) + { + d_Q = arma::zeros(4,4); + } + return pos; } @@ -232,8 +244,8 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, do int GPS_week; double utc = 0; double utc_tx_corrected = 0; //utc computed at tx_time_corrected, added for Galileo constellation (in GPS utc is directly computed at TX_time_corrected_s) - double SV_clock_drift_s = 0; - double SV_relativistic_clock_corr_s = 0; + //double SV_clock_drift_s = 0; + // double SV_relativistic_clock_corr_s = 0; double TX_time_corrected_s; double SV_clock_bias_s = 0; @@ -279,13 +291,14 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, do double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m/GALILEO_C_m_s; //std::cout<<"Gal_Tx_time = "<< Tx_time << std::endl; // 2- compute the clock drift using the clock model (broadcast) for this SV - SV_clock_drift_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time); + // SV_clock_drift_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time); + SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time); // 3- compute the relativistic clock drift using the clock model (broadcast) for this SV - SV_relativistic_clock_corr_s = galileo_ephemeris_iter->second.sv_clock_relativistic_term(Tx_time); + //SV_relativistic_clock_corr_s = galileo_ephemeris_iter->second.sv_clock_relativistic_term(Tx_time); // 4- compute the current ECEF position for this SV using corrected TX time - SV_clock_bias_s = SV_clock_drift_s + SV_relativistic_clock_corr_s; + //SV_clock_bias_s = SV_clock_drift_s + SV_relativistic_clock_corr_s; TX_time_corrected_s = Tx_time - SV_clock_bias_s; //std::cout<<"Gal_TX_time_corrected_s = "<< TX_time_corrected_s << std::endl; @@ -358,13 +371,13 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_pseudoranges_map, do double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m/GPS_C_m_s; //std::cout<<"Gps_Tx_time = "<< Tx_time << std::endl; // 2- compute the clock drift using the clock model (broadcast) for this SV - SV_clock_drift_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time); + SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time); // 3- compute the relativistic clock drift using the clock model (broadcast) for this SV - SV_relativistic_clock_corr_s = gps_ephemeris_iter->second.sv_clock_relativistic_term(Tx_time); + //SV_relativistic_clock_corr_s = gps_ephemeris_iter->second.sv_clock_relativistic_term(Tx_time); // 4- compute the current ECEF position for this SV using corrected TX time - SV_clock_bias_s = SV_clock_drift_s + SV_relativistic_clock_corr_s - gps_ephemeris_iter->second.d_TGD; + //SV_clock_bias_s = SV_clock_drift_s + SV_relativistic_clock_corr_s - gps_ephemeris_iter->second.d_TGD; TX_time_corrected_s = Tx_time - SV_clock_bias_s; gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s); @@ -853,3 +866,102 @@ void hybrid_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x, arm *D = sqrt(dx(0)*dx(0) + dx(1)*dx(1) + dx(2)*dx(2)); } +void hybrid_ls_pvt::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km) +{ + /* Inputs: + sinel - sin of elevation angle of satellite + hsta_km - height of station in km + p_mb - atmospheric pressure in mb at height hp_km + t_kel - surface temperature in degrees Kelvin at height htkel_km + hum - humidity in % at height hhum_km + hp_km - height of pressure measurement in km + htkel_km - height of temperature measurement in km + hhum_km - height of humidity measurement in km + + Outputs: + ddr_m - range correction (meters) + + Reference + Goad, C.C. & Goodman, L. (1974) A Modified Hopfield Tropospheric + Refraction Correction Model. Paper presented at the + American Geophysical Union Annual Fall Meeting, San + Francisco, December 12-17 + + Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre + */ + + const double a_e = 6378.137; // semi-major axis of earth ellipsoid + const double b0 = 7.839257e-5; + const double tlapse = -6.5; + const double em = -978.77 / (2.8704e6 * tlapse * 1.0e-5); + + double tkhum = t_kel + tlapse * (hhum_km - htkel_km); + double atkel = 7.5*(tkhum - 273.15) / (237.3 + tkhum - 273.15); + double e0 = 0.0611 * hum * pow(10, atkel); + double tksea = t_kel - tlapse * htkel_km; + double tkelh = tksea + tlapse * hhum_km; + double e0sea = e0 * pow((tksea / tkelh), (4 * em)); + double tkelp = tksea + tlapse * hp_km; + double psea = p_mb * pow((tksea / tkelp), em); + + if(sinel < 0) { sinel = 0.0; } + + double tropo_delay = 0.0; + bool done = false; + double refsea = 77.624e-6 / tksea; + double htop = 1.1385e-5 / refsea; + refsea = refsea * psea; + double ref = refsea * pow(((htop - hsta_km) / htop), 4); + + double a; + double b; + double rtop; + + while(1) + { + rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2)); + + // check to see if geometry is crazy + if(rtop < 0) { rtop = 0; } + + rtop = sqrt(rtop) - (a_e + hsta_km) * sinel; + + a = -sinel / (htop - hsta_km); + b = -b0 * (1 - pow(sinel,2)) / (htop - hsta_km); + + arma::vec rn = arma::vec(8); + rn.zeros(); + + for(int i = 0; i<8; i++) + { + rn(i) = pow(rtop, (i+1+1)); + + } + + arma::rowvec alpha = {2 * a, 2 * pow(a, 2) + 4 * b /3, a * (pow(a, 2) + 3 * b), + pow(a, 4)/5 + 2.4 * pow(a, 2) * b + 1.2 * pow(b, 2), 2 * a * b * (pow(a, 2) + 3 * b)/3, + pow(b, 2) * (6 * pow(a, 2) + 4 * b) * 1.428571e-1, 0, 0}; + + if(pow(b, 2) > 1.0e-35) + { + alpha(6) = a * pow(b, 3) /2; + alpha(7) = pow(b, 4) / 9; + } + + double dr = rtop; + arma::mat aux_ = alpha * rn; + dr = dr + aux_(0, 0); + tropo_delay = tropo_delay + dr * ref * 1000; + + if(done == true) + { + *ddr_m = tropo_delay; + break; + } + + done = true; + refsea = (371900.0e-6 / tksea - 12.92e-6) / tksea; + htop = 1.1385e-5 * (1255 / tksea + 0.05) / refsea; + ref = refsea * e0sea * pow(((htop - hsta_km) / htop), 4); + } +} diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.h b/src/algorithms/PVT/libs/hybrid_ls_pvt.h index b49d930ba..983ee9d68 100644 --- a/src/algorithms/PVT/libs/hybrid_ls_pvt.h +++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.h @@ -65,6 +65,7 @@ private: arma::vec rotateSatellite(double traveltime, arma::vec X_sat); void topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx); void togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z); + void tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km); public: int d_nchannels; //!< Number of available channels for positioning int d_valid_observations; //!< Number of valid pseudorange observations (valid satellites)