mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-11-05 01:33:03 +00:00
beidou b1i: Merging new changes and adding bug fixes to code
This commit is contained in:
Damian Miralles
@@ -34,6 +34,7 @@ set(ACQ_ADAPTER_SOURCES
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galileo_e5a_pcps_acquisition.cc
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glonass_l1_ca_pcps_acquisition.cc
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glonass_l2_ca_pcps_acquisition.cc
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beidou_b1i_pcps_acquisition.cc
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)
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set(ACQ_ADAPTER_HEADERS
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@@ -0,0 +1,329 @@
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/*!
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* \file beidou_b1i_pcps_acquisition.cc
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* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
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* BeiDou B1I signals
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* \authors <ul>
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* <li> Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
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* </ul>
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "beidou_b1i_pcps_acquisition.h"
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#include "configuration_interface.h"
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#include "beidou_b1I_signal_processing.h"
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#include "gnss_sdr_flags.h"
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#include "acq_conf.h"
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#include <boost/math/distributions/exponential.hpp>
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#include <glog/logging.h>
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#include "Beidou_B1I.h"
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using google::LogMessage;
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BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
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ConfigurationInterface* configuration, std::string role,
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unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
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{
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Acq_Conf acq_parameters = Acq_Conf();
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configuration_ = configuration;
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std::string default_item_type = "gr_complex";
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std::string default_dump_filename = "./data/acquisition.dat";
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DLOG(INFO) << "role " << role;
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item_type_ = configuration_->property(role + ".item_type", default_item_type);
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long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
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fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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acq_parameters.fs_in = fs_in_;
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dump_ = configuration_->property(role + ".dump", false);
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acq_parameters.dump = dump_;
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blocking_ = configuration_->property(role + ".blocking", true);
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acq_parameters.blocking = blocking_;
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doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
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if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
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acq_parameters.doppler_max = doppler_max_;
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sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
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acq_parameters.sampled_ms = sampled_ms_;
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bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
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acq_parameters.bit_transition_flag = bit_transition_flag_;
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use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
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acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
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max_dwells_ = configuration_->property(role + ".max_dwells", 1);
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acq_parameters.max_dwells = max_dwells_;
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dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
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acq_parameters.dump_filename = dump_filename_;
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//--- Find number of samples per spreading code -------------------------
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code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / ( BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
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vector_length_ = code_length_ * sampled_ms_;
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if (bit_transition_flag_)
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{
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vector_length_ *= 2;
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}
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code_ = new gr_complex[vector_length_];
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if (item_type_.compare("cshort") == 0)
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{
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item_size_ = sizeof(lv_16sc_t);
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}
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else
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{
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item_size_ = sizeof(gr_complex);
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}
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acq_parameters.it_size = item_size_;
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acq_parameters.sampled_ms = sampled_ms_;
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acq_parameters.samples_per_ms = code_length_;
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acq_parameters.samples_per_code = code_length_;
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acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
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acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
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acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
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acquisition_ = pcps_make_acquisition(acq_parameters);
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DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
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stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
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DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
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if (item_type_.compare("cbyte") == 0)
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{
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cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
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float_to_complex_ = gr::blocks::float_to_complex::make();
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}
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channel_ = 0;
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threshold_ = 0.0;
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doppler_step_ = 0;
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gnss_synchro_ = 0;
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if (in_streams_ > 1)
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{
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LOG(ERROR) << "This implementation only supports one input stream";
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}
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if (out_streams_ > 0)
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{
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LOG(ERROR) << "This implementation does not provide an output stream";
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}
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}
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BeidouB1iPcpsAcquisition::~BeidouB1iPcpsAcquisition()
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{
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delete[] code_;
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}
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void BeidouB1iPcpsAcquisition::set_channel(unsigned int channel)
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{
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channel_ = channel;
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acquisition_->set_channel(channel_);
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}
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void BeidouB1iPcpsAcquisition::set_threshold(float threshold)
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{
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float pfa = configuration_->property(role_ + ".pfa", 0.0);
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if (pfa == 0.0)
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{
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threshold_ = threshold;
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}
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else
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{
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threshold_ = calculate_threshold(pfa);
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}
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DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
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acquisition_->set_threshold(threshold_);
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}
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void BeidouB1iPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
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{
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doppler_max_ = doppler_max;
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acquisition_->set_doppler_max(doppler_max_);
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}
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void BeidouB1iPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
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{
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doppler_step_ = doppler_step;
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acquisition_->set_doppler_step(doppler_step_);
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}
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void BeidouB1iPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
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{
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gnss_synchro_ = gnss_synchro;
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acquisition_->set_gnss_synchro(gnss_synchro_);
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}
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signed int BeidouB1iPcpsAcquisition::mag()
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{
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return acquisition_->mag();
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}
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void BeidouB1iPcpsAcquisition::init()
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{
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acquisition_->init();
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set_local_code();
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}
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void BeidouB1iPcpsAcquisition::set_local_code()
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{
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std::complex<float>* code = new std::complex<float>[code_length_];
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beidou_b1i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
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for (unsigned int i = 0; i < sampled_ms_; i++)
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{
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memcpy(&(code_[i * code_length_]), code,
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sizeof(gr_complex) * code_length_);
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}
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acquisition_->set_local_code(code_);
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delete[] code;
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}
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void BeidouB1iPcpsAcquisition::reset()
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{
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acquisition_->set_active(true);
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}
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void BeidouB1iPcpsAcquisition::set_state(int state)
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{
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acquisition_->set_state(state);
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}
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float BeidouB1iPcpsAcquisition::calculate_threshold(float pfa)
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{
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//Calculate the threshold
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unsigned int frequency_bins = 0;
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/*
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for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
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{
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frequency_bins++;
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}
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*/
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frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
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DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
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unsigned int ncells = vector_length_ * frequency_bins;
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double exponent = 1 / static_cast<double>(ncells);
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double val = pow(1.0 - pfa, exponent);
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double lambda = static_cast<double>(vector_length_);
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boost::math::exponential_distribution<double> mydist(lambda);
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float threshold = static_cast<float>(quantile(mydist, val));
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return threshold;
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}
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void BeidouB1iPcpsAcquisition::connect(gr::top_block_sptr top_block)
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{
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if (item_type_.compare("gr_complex") == 0)
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{
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// nothing to connect
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}
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else if (item_type_.compare("cshort") == 0)
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{
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// nothing to connect
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}
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else if (item_type_.compare("cbyte") == 0)
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{
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top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
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top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
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top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
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}
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else
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{
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LOG(WARNING) << item_type_ << " unknown acquisition item type";
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}
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}
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void BeidouB1iPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
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{
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if (item_type_.compare("gr_complex") == 0)
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{
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// nothing to disconnect
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}
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else if (item_type_.compare("cshort") == 0)
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{
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// nothing to disconnect
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}
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else if (item_type_.compare("cbyte") == 0)
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{
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// Since a byte-based acq implementation is not available,
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// we just convert cshorts to gr_complex
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top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
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top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
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top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
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}
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else
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{
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LOG(WARNING) << item_type_ << " unknown acquisition item type";
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}
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}
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gr::basic_block_sptr BeidouB1iPcpsAcquisition::get_left_block()
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{
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if (item_type_.compare("gr_complex") == 0)
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{
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return acquisition_;
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}
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else if (item_type_.compare("cshort") == 0)
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{
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return acquisition_;
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}
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else if (item_type_.compare("cbyte") == 0)
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{
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return cbyte_to_float_x2_;
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}
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else
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{
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LOG(WARNING) << item_type_ << " unknown acquisition item type";
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return nullptr;
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}
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}
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gr::basic_block_sptr BeidouB1iPcpsAcquisition::get_right_block()
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{
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return acquisition_;
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}
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@@ -0,0 +1,168 @@
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/*!
|
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* \file beidou_bi1_pcps_acquisition.h
|
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* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
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* Beidou B1I signals
|
||||
* \authors <ul>
|
||||
* <li> Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
|
||||
* </ul>
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_BEIDOU_B1I_PCPS_ACQUISITION_H_
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#define GNSS_SDR_BEIDOU_B1I_PCPS_ACQUISITION_H_
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|
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#include "acquisition_interface.h"
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#include "gnss_synchro.h"
|
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#include "pcps_acquisition.h"
|
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#include "complex_byte_to_float_x2.h"
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#include <gnuradio/blocks/stream_to_vector.h>
|
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#include <gnuradio/blocks/float_to_complex.h>
|
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#include <volk_gnsssdr/volk_gnsssdr.h>
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#include <string>
|
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|
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|
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class ConfigurationInterface;
|
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|
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/*!
|
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* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
|
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* for GPS L1 C/A signals
|
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*/
|
||||
class BeidouB1iPcpsAcquisition : public AcquisitionInterface
|
||||
{
|
||||
public:
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BeidouB1iPcpsAcquisition(ConfigurationInterface* configuration,
|
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std::string role, unsigned int in_streams,
|
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unsigned int out_streams);
|
||||
|
||||
virtual ~BeidouB1iPcpsAcquisition();
|
||||
|
||||
inline std::string role() override
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
/*!
|
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* \brief Returns "BEIDOU_B1I_PCPS_Acquisition"
|
||||
*/
|
||||
inline std::string implementation() override
|
||||
{
|
||||
return "BEIDOU_B1I_PCPS_Acquisition";
|
||||
}
|
||||
|
||||
inline size_t item_size() override
|
||||
{
|
||||
return item_size_;
|
||||
}
|
||||
|
||||
void connect(gr::top_block_sptr top_block) override;
|
||||
void disconnect(gr::top_block_sptr top_block) override;
|
||||
gr::basic_block_sptr get_left_block() override;
|
||||
gr::basic_block_sptr get_right_block() override;
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
|
||||
* to efficiently exchange synchronization data between acquisition and
|
||||
* tracking blocks
|
||||
*/
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition channel unique ID
|
||||
*/
|
||||
void set_channel(unsigned int channel) override;
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm
|
||||
*/
|
||||
void set_threshold(float threshold) override;
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler off grid search
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max) override;
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step) override;
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init() override;
|
||||
|
||||
/*!
|
||||
* \brief Sets local code for GPS L1/CA PCPS acquisition algorithm.
|
||||
*/
|
||||
void set_local_code() override;
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search
|
||||
*/
|
||||
signed int mag() override;
|
||||
|
||||
/*!
|
||||
* \brief Restart acquisition algorithm
|
||||
*/
|
||||
void reset() override;
|
||||
|
||||
/*!
|
||||
* \brief If state = 1, it forces the block to start acquiring from the first sample
|
||||
*/
|
||||
void set_state(int state);
|
||||
|
||||
private:
|
||||
ConfigurationInterface* configuration_;
|
||||
pcps_acquisition_sptr acquisition_;
|
||||
gr::blocks::stream_to_vector::sptr stream_to_vector_;
|
||||
gr::blocks::float_to_complex::sptr float_to_complex_;
|
||||
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
|
||||
size_t item_size_;
|
||||
std::string item_type_;
|
||||
unsigned int vector_length_;
|
||||
unsigned int code_length_;
|
||||
bool bit_transition_flag_;
|
||||
bool use_CFAR_algorithm_flag_;
|
||||
unsigned int channel_;
|
||||
float threshold_;
|
||||
unsigned int doppler_max_;
|
||||
unsigned int doppler_step_;
|
||||
unsigned int sampled_ms_;
|
||||
unsigned int max_dwells_;
|
||||
long fs_in_;
|
||||
bool dump_;
|
||||
bool blocking_;
|
||||
std::string dump_filename_;
|
||||
std::complex<float>* code_;
|
||||
Gnss_Synchro* gnss_synchro_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
|
||||
float calculate_threshold(float pfa);
|
||||
};
|
||||
|
||||
#endif /* GNSS_SDR_BEIDOU_B1I_PCPS_ACQUISITION_H_ */
|
||||
Reference in New Issue
Block a user