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ADD: vtl code phase correction

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This commit is contained in:
miguel 2023-01-02 15:38:10 +01:00
parent 47106948af
commit 86859d1392
2 changed files with 13 additions and 13 deletions
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2
src/algorithms/PVT/libs/vtl_engine.cc
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@ -259,7 +259,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
trk_cmd.carrier_phase_rads = 0; // difficult of calculation trk_cmd.carrier_phase_rads = 0; // difficult of calculation
trk_cmd.carrier_freq_hz = doppler_hz_filt(channel); //+ kf_x(7)/Lambda_GPS_L1; // this is el doppler WITHOUTH sintony correction trk_cmd.carrier_freq_hz = doppler_hz_filt(channel); //+ kf_x(7)/Lambda_GPS_L1; // this is el doppler WITHOUTH sintony correction
trk_cmd.carrier_freq_rate_hz_s = 0; trk_cmd.carrier_freq_rate_hz_s = 0;
trk_cmd.code_phase_chips = 0; trk_cmd.code_phase_chips = kf_yerr(channel)/SPEED_OF_LIGHT_M_S*1023e3;
trk_cmd.enable_carrier_nco_cmd = true; trk_cmd.enable_carrier_nco_cmd = true;
trk_cmd.enable_code_nco_cmd = true; trk_cmd.enable_code_nco_cmd = true;
trk_cmd.sample_counter = new_data.sample_counter; trk_cmd.sample_counter = new_data.sample_counter;

24
src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc
View File

@ -655,9 +655,9 @@ void kf_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
arma::vec tmp_x = F_tmp * x_tmp; arma::vec tmp_x = F_tmp * x_tmp;
double old_doppler = d_x_old_old(2); double old_doppler = d_x_old_old(2);
double old_doppler_shift = d_x_old_old(3); double old_doppler_shift = d_x_old_old(3);
double old_code_phase_chips = d_x_old_old(0)*SPEED_OF_LIGHT_M_S; double old_code_phase_chips = d_x_old_old(0);
d_x_old_old(2) = tmp_x(2); //replace the Carrier Frequency state d_x_old_old(2) = tmp_x(2); //replace the Carrier Frequency state
//d_x_old_old(0) = tmp_x(0); //replace the Code Phase state d_x_old_old(0) = tmp_x(0); //replace the Code Phase state
// set vtl corrections flag to inform VTL from gnss_synchro object // set vtl corrections flag to inform VTL from gnss_synchro object
d_vtl_cmd_applied_now = true; d_vtl_cmd_applied_now = true;
@ -667,15 +667,15 @@ void kf_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
// << " SampleCounter origin: " << cmd->sample_counter // << " SampleCounter origin: " << cmd->sample_counter
// << " Doppler new state: " << x_tmp(2) << " vs. trk state: " << old_doppler << " [Hz]" // << " Doppler new state: " << x_tmp(2) << " vs. trk state: " << old_doppler << " [Hz]"
// << " [s]\n"; // << " [s]\n";
// if(cmd->channel_id ==0) if(cmd->channel_id ==0)
// { {
// std::cout << "CH " << cmd->channel_id << " RX pvt-to-trk cmd with delay: " std::cout << "CH " << cmd->channel_id << " RX pvt-to-trk cmd with delay: "
// << delta_t_s << "[s]" << delta_t_s << "[s]"
// << " SampleCounter origin: " << cmd->sample_counter << " SampleCounter origin: " << cmd->sample_counter
// << " code phase new state: " << x_tmp(0) << " vs. trk state: " << old_code_phase_chips << " [chips]" << " code phase new state: " << x_tmp(0) << " vs. trk state: " << old_code_phase_chips << " [chips]"
// << "\n"; << "\n";
// std::cout << "use count " <<cmd.use_count()<<"\r"; std::cout << "use count " <<cmd.use_count()<<"\r";
// } }
std::fstream dump_tracking_file; std::fstream dump_tracking_file;
dump_tracking_file.open("dump_trk_file.csv", std::ios::out | std::ios::app); dump_tracking_file.open("dump_trk_file.csv", std::ios::out | std::ios::app);
@ -1216,6 +1216,7 @@ void kf_tracking::run_Kf()
// Kalman loop // Kalman loop
// Prediction // Prediction
d_x_old_old(0)=0; // reset error estimation because the NCO corrects the code phase
d_x_new_old = d_F * d_x_old_old; d_x_new_old = d_F * d_x_old_old;
d_P_new_old = d_F * d_P_old_old * d_F.t() + d_Q; d_P_new_old = d_F * d_P_old_old * d_F.t() + d_Q;
@ -1230,7 +1231,6 @@ void kf_tracking::run_Kf()
// new code phase estimation // new code phase estimation
d_code_error_kf_chips = d_x_new_new(0); d_code_error_kf_chips = d_x_new_new(0);
d_x_new_new(0) = 0; // reset error estimation because the NCO corrects the code phase
// new carrier phase estimation // new carrier phase estimation
d_carrier_phase_kf_rad = d_x_new_new(1); d_carrier_phase_kf_rad = d_x_new_new(1);