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Fix Acquisition fine Doppler implementation

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This commit is contained in:
Javier Arribas 2018-07-07 15:39:09 +02:00
parent fe6a6ce5b7
commit 89c00560f2
4 changed files with 72 additions and 33 deletions
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41
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
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@ -63,10 +63,8 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Con
d_active = false;
d_fs_in = conf_.fs_in;
d_samples_per_ms = conf_.samples_per_ms;
d_sampled_ms = conf_.sampled_ms;
d_config_doppler_max = conf_.doppler_max;
d_config_doppler_min = -conf_.doppler_max;
d_fft_size = d_sampled_ms * d_samples_per_ms;
d_fft_size = d_samples_per_ms;
// HS Acquisition
d_max_dwells = conf_.max_dwells;
d_gnuradio_forecast_samples = d_fft_size;
@ -75,7 +73,7 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Con
d_fft_codes = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_10_ms_buffer = static_cast<gr_complex *>(volk_gnsssdr_malloc(10 * d_samples_per_ms * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_10_ms_buffer = static_cast<gr_complex *>(volk_gnsssdr_malloc(50 * d_samples_per_ms * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
@ -126,7 +124,7 @@ void pcps_acquisition_fine_doppler_cc::set_doppler_step(unsigned int doppler_ste
d_doppler_step = doppler_step;
// Create the search grid array
d_num_doppler_points = floor(std::abs(d_config_doppler_max - d_config_doppler_min) / d_doppler_step);
d_num_doppler_points = floor(std::abs(2 * d_config_doppler_max) / d_doppler_step);
d_grid_data = new float *[d_num_doppler_points];
for (int i = 0; i < d_num_doppler_points; i++)
@ -222,7 +220,7 @@ void pcps_acquisition_fine_doppler_cc::update_carrier_wipeoff()
d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_points];
for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{
doppler_hz = d_config_doppler_min + d_doppler_step * doppler_index;
doppler_hz = d_doppler_step * doppler_index - d_config_doppler_max;
// doppler search steps
// compute the carrier doppler wipe-off signal and store it
phase_step_rad = static_cast<float>(GPS_TWO_PI) * doppler_hz / static_cast<float>(d_fs_in);
@ -295,7 +293,7 @@ double pcps_acquisition_fine_doppler_cc::compute_CAF()
// 4- record the maximum peak and the associated synchronization parameters
d_gnss_synchro->Acq_delay_samples = static_cast<double>(index_time);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(index_doppler * d_doppler_step + d_config_doppler_min);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(index_doppler * d_doppler_step - d_config_doppler_max);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
return d_test_statistics;
@ -333,6 +331,7 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
// doppler search steps
// Perform the carrier wipe-off
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
d_fft_if->execute();
@ -352,6 +351,14 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
volk_gnsssdr_free(p_tmp_vector);
return d_fft_size;
//debug
// std::cout << "iff=[";
// for (int n = 0; n < d_fft_size; n++)
// {
// std::cout << std::real(d_ifft->get_outbuf()[n]) << "+" << std::imag(d_ifft->get_outbuf()[n]) << "i,";
// }
// std::cout << "]\n";
// getchar();
}
@ -495,6 +502,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
if (d_active == true)
{
reset_grid();
d_n_samples_in_buffer = 0;
d_state = 1;
}
if (!acq_parameters.blocking_on_standby)
@ -505,6 +513,8 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
break;
case 1: // S1. ComputeGrid
compute_and_accumulate_grid(input_items);
memcpy(&d_10_ms_buffer[d_n_samples_in_buffer], reinterpret_cast<const gr_complex *>(input_items[0]), d_fft_size * sizeof(gr_complex));
d_n_samples_in_buffer += d_fft_size;
d_well_count++;
if (d_well_count >= d_max_dwells)
{
@ -522,10 +532,9 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
else
{
d_state = 5; //negative acquisition
d_n_samples_in_buffer = 0;
}
d_n_samples_in_buffer = 0;
d_sample_counter += d_fft_size; // sample counter
consume_each(d_fft_size);
break;
case 3: // Fine doppler estimation
samples_remaining = 10 * d_samples_per_ms - d_n_samples_in_buffer;
@ -539,10 +548,14 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
}
else
{
memcpy(&d_10_ms_buffer[d_n_samples_in_buffer], reinterpret_cast<const gr_complex *>(input_items[0]), samples_remaining * sizeof(gr_complex));
estimate_Doppler(); //disabled in repo
d_sample_counter += samples_remaining; // sample counter
consume_each(samples_remaining);
if (samples_remaining > 0)
{
memcpy(&d_10_ms_buffer[d_n_samples_in_buffer], reinterpret_cast<const gr_complex *>(input_items[0]), samples_remaining * sizeof(gr_complex));
d_sample_counter += samples_remaining; // sample counter
consume_each(samples_remaining);
}
estimate_Doppler(); //disabled in repo
d_n_samples_in_buffer = 0;
d_state = 4;
}
break;

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
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@ -94,11 +94,9 @@ private:
float d_threshold;
std::string d_satellite_str;
int d_config_doppler_max;
int d_config_doppler_min;
int d_num_doppler_points;
int d_doppler_step;
unsigned int d_sampled_ms;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
gr_complex* d_carrier;

1
src/tests/common-files/tracking_tests_flags.h
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@ -61,6 +61,7 @@ DEFINE_double(acq_Delay_error_chips_start, 2.0, "Acquisition Code Delay error st
DEFINE_double(acq_Delay_error_chips_stop, -2.0, "Acquisition Code Delay error stop sweep value [Chips]");
DEFINE_double(acq_Delay_error_chips_step, -0.1, "Acquisition Code Delay error sweep step value [Chips]");
DEFINE_int64(skip_samples, 0, "Skip an initial transitory in the processed signal file capture [samples]");
DEFINE_int32(plot_detail_level, 0, "Specify the desired plot detail (0,1,2): 0 - Minimum plots (default) 2 - Plot all tracking parameters");

61
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_pull-in_test.cc
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@ -40,10 +40,12 @@
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gnuradio/blocks/head.h>
#include <gtest/gtest.h>
#include "GPS_L1_CA.h"
#include "gnss_block_factory.h"
#include "tracking_interface.h"
#include "gps_l1_ca_pcps_acquisition.h"
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
#include "in_memory_configuration.h"
#include "tracking_true_obs_reader.h"
@ -71,6 +73,7 @@ private:
public:
int rx_message;
gr::top_block_sptr top_block;
~Acquisition_msg_rx(); //!< Default destructor
};
@ -87,6 +90,7 @@ void Acquisition_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
long int message = pmt::to_long(msg);
rx_message = message;
top_block->stop(); //stop the flowgraph
}
catch (boost::bad_any_cast& e)
{
@ -335,16 +339,36 @@ bool GpsL1CADllPllTrackingPullInTest::acquire_GPS_L1CA_signal(int SV_ID)
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
config->set_property("Acquisition.max_dwells", "10");
config->set_property("Acquisition.blocking_on_standby", "true");
config->set_property("Acquisition.dump", "true");
GNSSBlockFactory block_factory;
config->set_property("Acquisition.dump_filename", "./data/acquisition.dat");
config->set_property("Acquisition.use_CFAR_algorithm", "false");
GpsL1CaPcpsAcquisitionFineDoppler* acquisition;
acquisition = new GpsL1CaPcpsAcquisitionFineDoppler(config.get(), "Acquisition", 1, 1);
acquisition = new GpsL1CaPcpsAcquisitionFineDoppler(config.get(), "Acquisition", 1, 0);
//GpsL1CaPcpsAcquisition* acquisition;
//acquisition = new GpsL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 0);
acquisition->set_channel(1);
acquisition->set_gnss_synchro(&tmp_gnss_synchro);
acquisition->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 25000));
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
acquisition->connect(top_block);
gr::blocks::file_source::sptr file_source;
std::string file = FLAGS_signal_file;
const char* file_name = file.c_str();
file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
gr::blocks::head::sptr head_samples = gr::blocks::head::make(sizeof(gr_complex), baseband_sampling_freq * FLAGS_duration);
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, head_samples, 0);
top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
boost::shared_ptr<Acquisition_msg_rx> msg_rx;
try
@ -357,15 +381,8 @@ bool GpsL1CADllPllTrackingPullInTest::acquire_GPS_L1CA_signal(int SV_ID)
exit(0);
}
gr::blocks::file_source::sptr file_source;
std::string file = FLAGS_signal_file;
const char* file_name = file.c_str();
file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
top_block->msg_connect(acquisition->get_left_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
msg_rx->top_block = top_block;
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
// 5. Run the flowgraph
// Get visible GPS satellites (positive acquisitions with Doppler measurements)
@ -380,6 +397,7 @@ bool GpsL1CADllPllTrackingPullInTest::acquire_GPS_L1CA_signal(int SV_ID)
code_delay_measurements_map.clear();
acq_samplestamp_map.clear();
for (unsigned int PRN = 1; PRN < 33; PRN++)
{
tmp_gnss_synchro.PRN = PRN;
@ -387,6 +405,7 @@ bool GpsL1CADllPllTrackingPullInTest::acquire_GPS_L1CA_signal(int SV_ID)
acquisition->init();
acquisition->set_local_code();
acquisition->reset();
acquisition->set_state(1);
msg_rx->rx_message = 0;
top_block->run();
if (start_msg == true)
@ -412,10 +431,17 @@ bool GpsL1CADllPllTrackingPullInTest::acquire_GPS_L1CA_signal(int SV_ID)
std::cout << " . ";
}
top_block->stop();
file_source->seek(0, 0);
file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
head_samples.reset();
std::cout.flush();
}
std::cout << "]" << std::endl;
std::cout << "-------------------------------------------\n";
for (auto& x : doppler_measurements_map)
{
std::cout << "DETECTED PRN: " << x.first << " with Doppler: " << x.second << " [Hz], code phase: " << code_delay_measurements_map.at(x.first) << " [samples] at signal SampleStamp " << acq_samplestamp_map.at(x.first) << "\n";
}
// report the elapsed time
end = std::chrono::system_clock::now();
@ -587,19 +613,20 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
gr::blocks::head::sptr head_samples = gr::blocks::head::make(sizeof(gr_complex), baseband_sampling_freq * FLAGS_duration);
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0);
top_block->connect(gr_interleaved_char_to_complex, 0, head_samples, 0);
top_block->connect(head_samples, 0, tracking->get_left_block(), 0);
top_block->connect(tracking->get_right_block(), 0, sink, 0);
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
file_source->seek(acq_samplestamp_samples, 0);
file_source->seek(2 * FLAGS_skip_samples + acq_samplestamp_samples, 0); //skip head. ibyte, two bytes per complex sample
}) << "Failure connecting the blocks of tracking test.";
//********************************************************************
//***** STEP 5: Perform the signal tracking and read the results *****
//********************************************************************
std::cout << "------------ START TRACKING -------------" << std::endl;
std::cout << "--- START TRACKING WITH PULL-IN ERROR: " << acq_doppler_error_hz_values.at(current_acq_doppler_error_idx) << " [Hz] and " << acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx) << " [Chips] ---" << std::endl;
tracking->start_tracking();
std::chrono::time_point<std::chrono::system_clock> start, end;
EXPECT_NO_THROW({