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Improving unified tracking. Added Doppler frequency correction for false PLL lock

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This commit is contained in:
Javier Arribas 2019-06-14 12:52:46 +02:00
parent afc2a98089
commit 88f78a107c
13 changed files with 43 additions and 25 deletions
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2
src/algorithms/libs/gnss_sdr_flags.cc
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@ -67,7 +67,7 @@ DEFINE_int32(cn0_samples, 20, "Number of correlator outputs used for CN0 estimat
DEFINE_int32(cn0_min, 25, "Minimum valid CN0 (in dB-Hz).");
DEFINE_int32(max_carrier_lock_fail, 5000, "Maximum number of carrier lock failures before dropping a satellite.");
DEFINE_int32(max_carrier_lock_fail, 10000, "Maximum number of carrier lock failures before dropping a satellite.");
DEFINE_int32(max_lock_fail, 50, "Maximum number of code lock failures before dropping a satellite.");

9
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
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@ -97,7 +97,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm;
d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_PART_SYMBOLS * 30; //rise alarm 30 seconds without valid tlm
d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_SYMBOLS * 30; //rise alarm 60 seconds without valid tlm
break;
}
@ -127,7 +127,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_secondary_code_samples[i] = -1;
}
}
d_max_symbols_without_valid_frame = GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_FNAV_SYMBOLS_PER_PAGE * 30; //rise alarm 30 seconds without valid tlm
d_max_symbols_without_valid_frame = GALILEO_FNAV_CODES_PER_PAGE * 10; //rise alarm 100 seconds without valid tlm
break;
}
default:
@ -452,8 +452,10 @@ void galileo_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite
void galileo_telemetry_decoder_gs::reset()
{
gr::thread::scoped_lock lock(d_setlock);
d_last_valid_preamble = d_sample_counter;
d_sent_tlm_failed_msg = false;
d_stat = 0;
DLOG(INFO) << "Telemetry decoder reset for satellite " << d_satellite;
}
@ -501,11 +503,12 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_flag_preamble = false;
// check if there is a problem with the telemetry of the current satellite
if (d_stat < 1 and d_sent_tlm_failed_msg == false)
if (d_sent_tlm_failed_msg == false)
{
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
{
int message = 1; //bad telemetry
DLOG(INFO) << "sent msg sat " << this->d_satellite;
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
d_sent_tlm_failed_msg = true;
}

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_gs.cc
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@ -64,7 +64,7 @@ gps_l5_telemetry_decoder_gs::gps_l5_telemetry_decoder_gs(
this->message_port_register_out(pmt::mp("telemetry_to_trk"));
d_last_valid_preamble = 0;
d_sent_tlm_failed_msg = false;
d_max_symbols_without_valid_frame = GPS_L5_CNAV_DATA_PAGE_BITS * GPS_L5_SAMPLES_PER_SYMBOL * GPS_L5_SYMBOLS_PER_BIT * 10; //rise alarm if 10 consecutive subframes have no valid CRC
d_max_symbols_without_valid_frame = GPS_L5_CNAV_DATA_PAGE_BITS * GPS_L5_SAMPLES_PER_SYMBOL * GPS_L5_SYMBOLS_PER_BIT * 20; //rise alarm if 20 consecutive subframes have no valid CRC
// initialize internal vars
d_dump = dump;

3
src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc
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@ -113,8 +113,7 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;

3
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc
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@ -108,8 +108,7 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;

3
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
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@ -128,8 +128,7 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);

5
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
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@ -123,8 +123,7 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
@ -135,7 +134,7 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
int vector_length = std::round(fs_in / (GALILEO_E5A_CODE_CHIP_RATE_HZ / GALILEO_E5A_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)

3
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
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@ -129,8 +129,7 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;

3
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc
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@ -117,8 +117,7 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_HZ) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
trk_param.vector_length = vector_length;

5
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
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@ -130,13 +130,12 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_HZ) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)));
trk_param.vector_length = vector_length;
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)

25
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@ -99,6 +99,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
this->set_msg_handler(pmt::mp("telemetry_to_trk"), boost::bind(&dll_pll_veml_tracking::msg_handler_telemetry_to_trk, this, _1));
// initialize internal vars
d_dll_filt_history.set_capacity(2000);
d_veml = false;
d_cloop = true;
d_pull_in_transitory = true;
@ -525,6 +526,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_dump = false;
}
}
d_corrected_doppler = false;
}
@ -553,7 +555,7 @@ void dll_pll_veml_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
{
DLOG(INFO) << "Telemetry fault received in ch " << this->d_channel;
gr::thread::scoped_lock lock(d_setlock);
d_carrier_lock_fail_counter = 10000; //force loss-of-lock condition
d_carrier_lock_fail_counter = 100000; //force loss-of-lock condition
break;
}
default:
@ -771,6 +773,7 @@ void dll_pll_veml_tracking::start_tracking()
d_cloop = true;
d_pull_in_transitory = true;
d_Prompt_circular_buffer.clear();
d_corrected_doppler = false;
}
@ -1016,9 +1019,25 @@ void dll_pll_veml_tracking::run_dll_pll()
}
// Code discriminator filter
d_code_error_filt_chips = d_code_loop_filter.apply(d_code_error_chips); // [chips/second]
// New code Doppler frequency estimation
d_code_freq_chips = (1.0 + (d_carrier_doppler_hz / d_signal_carrier_freq)) * d_code_chip_rate - d_code_error_filt_chips;
// Experimental: detect Carrier Doppler vs. Code Doppler incoherence and correct the Carrier Doppler
if (d_pull_in_transitory == false and d_corrected_doppler == false)
{
d_dll_filt_history.push_back(static_cast<float>(d_code_error_filt_chips));
if (d_dll_filt_history.full())
{
float avg_code_error_chips_s = std::accumulate(d_dll_filt_history.begin(), d_dll_filt_history.end(), 0) / static_cast<float>(d_dll_filt_history.capacity());
if (fabs(avg_code_error_chips_s) > 1.0)
{
float carrier_doppler_error_hz = static_cast<float>(d_signal_carrier_freq) * avg_code_error_chips_s / static_cast<float>(d_code_chip_rate);
LOG(INFO) << "Detected and corrected carrier doppler error: " << carrier_doppler_error_hz << " [Hz] on sat " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
d_carrier_loop_filter.initialize(d_carrier_doppler_hz - carrier_doppler_error_hz);
d_corrected_doppler = true;
}
}
}
}
@ -1641,7 +1660,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_cn0_smoother.reset();
d_carrier_lock_test_smoother.reset();
DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)";
LOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)";
DLOG(INFO) << "PULL-IN Doppler [Hz] = " << d_carrier_doppler_hz
<< ". PULL-IN Code Phase [samples] = " << d_acq_code_phase_samples;

3
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
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@ -113,6 +113,8 @@ private:
int32_t d_preamble_length_symbols;
boost::circular_buffer<float> d_symbol_history;
// dll filter buffer
boost::circular_buffer<float> d_dll_filt_history;
// tracking state machine
int32_t d_state;
@ -170,6 +172,7 @@ private:
// tracking vars
bool d_pull_in_transitory;
bool d_corrected_doppler;
double d_current_correlation_time_s;
double d_carr_phase_error_hz;
double d_carr_freq_error_hz;

2
src/algorithms/tracking/libs/dll_pll_conf.cc
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@ -46,7 +46,7 @@ Dll_Pll_Conf::Dll_Pll_Conf()
dump_filename = std::string("./dll_pll_dump.dat");
enable_fll_pull_in = false;
enable_fll_steady_state = false;
pull_in_time_s = 2;
pull_in_time_s = 10;
fll_filter_order = 1;
pll_filter_order = 3;
dll_filter_order = 2;