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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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Carles Fernandez 2018-08-09 13:03:23 +02:00
commit 8e9b9fc0eb
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4 changed files with 58 additions and 11 deletions
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61
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
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@ -133,7 +133,9 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
d_data_buffer_sc = nullptr; d_data_buffer_sc = nullptr;
} }
grid_ = arma::fmat(); grid_ = arma::fmat();
narrow_grid_ = arma::fmat();
d_step_two = false; d_step_two = false;
d_num_doppler_bins_step2 = acq_parameters.num_doppler_bins_step2;
d_dump_number = 0; d_dump_number = 0;
d_dump_channel = acq_parameters.dump_channel; d_dump_channel = acq_parameters.dump_channel;
d_samplesPerChip = acq_parameters.samples_per_chip; d_samplesPerChip = acq_parameters.samples_per_chip;
@ -164,7 +166,7 @@ pcps_acquisition::~pcps_acquisition()
} }
if (acq_parameters.make_2_steps) if (acq_parameters.make_2_steps)
{ {
for (unsigned int i = 0; i < acq_parameters.num_doppler_bins_step2; i++) for (unsigned int i = 0; i < d_num_doppler_bins_step2; i++)
{ {
volk_gnsssdr_free(d_grid_doppler_wipeoffs_step_two[i]); volk_gnsssdr_free(d_grid_doppler_wipeoffs_step_two[i]);
} }
@ -272,8 +274,8 @@ void pcps_acquisition::init()
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
if (acq_parameters.make_2_steps) if (acq_parameters.make_2_steps)
{ {
d_grid_doppler_wipeoffs_step_two = new gr_complex*[acq_parameters.num_doppler_bins_step2]; d_grid_doppler_wipeoffs_step_two = new gr_complex*[d_num_doppler_bins_step2];
for (unsigned int doppler_index = 0; doppler_index < acq_parameters.num_doppler_bins_step2; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{ {
d_grid_doppler_wipeoffs_step_two[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment())); d_grid_doppler_wipeoffs_step_two[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
} }
@ -298,6 +300,7 @@ void pcps_acquisition::init()
{ {
unsigned int effective_fft_size = (acq_parameters.bit_transition_flag ? (d_fft_size / 2) : d_fft_size); unsigned int effective_fft_size = (acq_parameters.bit_transition_flag ? (d_fft_size / 2) : d_fft_size);
grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins, arma::fill::zeros); grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins, arma::fill::zeros);
narrow_grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins_step2, arma::fill::zeros);
} }
} }
@ -314,9 +317,9 @@ void pcps_acquisition::update_grid_doppler_wipeoffs()
void pcps_acquisition::update_grid_doppler_wipeoffs_step2() void pcps_acquisition::update_grid_doppler_wipeoffs_step2()
{ {
for (unsigned int doppler_index = 0; doppler_index < acq_parameters.num_doppler_bins_step2; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{ {
float doppler = (static_cast<float>(doppler_index) - static_cast<float>(acq_parameters.num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2; float doppler = (static_cast<float>(doppler_index) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2;
update_local_carrier(d_grid_doppler_wipeoffs_step_two[doppler_index], d_fft_size, d_doppler_center_step_two + doppler); update_local_carrier(d_grid_doppler_wipeoffs_step_two[doppler_index], d_fft_size, d_doppler_center_step_two + doppler);
} }
} }
@ -456,6 +459,30 @@ void pcps_acquisition::dump_results(int effective_fft_size)
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar); Mat_VarFree(matvar);
matvar = Mat_VarCreate("num_dwells", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_num_noncoherent_integrations_counter, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
if (acq_parameters.make_2_steps)
{
dims[0] = static_cast<size_t>(effective_fft_size);
dims[1] = static_cast<size_t>(d_num_doppler_bins_step2);
matvar = Mat_VarCreate("acq_grid_narrow", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, narrow_grid_.memptr(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
dims[0] = static_cast<size_t>(1);
dims[1] = static_cast<size_t>(1);
matvar = Mat_VarCreate("doppler_step_narrow", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &acq_parameters.doppler_step2, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
aux = d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * acq_parameters.doppler_step2;
matvar = Mat_VarCreate("doppler_grid_narrow_min", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp); Mat_Close(matfp);
} }
} }
@ -487,7 +514,7 @@ float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int& dopp
} }
else else
{ {
doppler = static_cast<int>(d_doppler_center_step_two + (index_doppler - (acq_parameters.num_doppler_bins_step2 / 2.0) * acq_parameters.doppler_step2)); doppler = static_cast<int>(d_doppler_center_step_two + (static_cast<float>(index_doppler) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2);
} }
float magt = grid_maximum / (fft_normalization_factor * fft_normalization_factor); float magt = grid_maximum / (fft_normalization_factor * fft_normalization_factor);
@ -525,7 +552,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int& do
} }
else else
{ {
doppler = static_cast<int>(d_doppler_center_step_two + (index_doppler - (acq_parameters.num_doppler_bins_step2 / 2.0) * acq_parameters.doppler_step2)); doppler = static_cast<int>(d_doppler_center_step_two + (static_cast<float>(index_doppler) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2);
} }
// Find 1 chip wide code phase exclude range around the peak // Find 1 chip wide code phase exclude range around the peak
@ -655,7 +682,7 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
} }
else else
{ {
for (unsigned int doppler_index = 0; doppler_index < acq_parameters.num_doppler_bins_step2; doppler_index++) for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{ {
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs_step_two[doppler_index], d_fft_size); volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs_step_two[doppler_index], d_fft_size);
@ -680,15 +707,20 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
volk_32fc_magnitude_squared_32f(d_tmp_buffer, d_ifft->get_outbuf() + offset, effective_fft_size); volk_32fc_magnitude_squared_32f(d_tmp_buffer, d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size); volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size);
} }
// Record results to file if required
if (acq_parameters.dump and d_channel == d_dump_channel)
{
memcpy(narrow_grid_.colptr(doppler_index), d_magnitude_grid[doppler_index], sizeof(float) * effective_fft_size);
}
} }
// Compute the test statistic // Compute the test statistic
if (d_use_CFAR_algorithm_flag) if (d_use_CFAR_algorithm_flag)
{ {
d_test_statistics = max_to_input_power_statistic(indext, doppler, d_input_power, acq_parameters.num_doppler_bins_step2, static_cast<int>(d_doppler_center_step_two - (static_cast<float>(acq_parameters.num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2); d_test_statistics = max_to_input_power_statistic(indext, doppler, d_input_power, d_num_doppler_bins_step2, static_cast<int>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
} }
else else
{ {
d_test_statistics = first_vs_second_peak_statistic(indext, doppler, acq_parameters.num_doppler_bins_step2, static_cast<int>(d_doppler_center_step_two - (static_cast<float>(acq_parameters.num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2); d_test_statistics = first_vs_second_peak_statistic(indext, doppler, d_num_doppler_bins_step2, static_cast<int>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
} }
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code)); d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler); d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
@ -712,6 +744,8 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
else else
{ {
d_step_two = true; // Clear input buffer and make small grid acquisition d_step_two = true; // Clear input buffer and make small grid acquisition
d_num_noncoherent_integrations_counter = 0;
d_positive_acq = 0;
d_state = 0; d_state = 0;
} }
} }
@ -721,6 +755,11 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
d_state = 0; // Positive acquisition d_state = 0; // Positive acquisition
} }
} }
else
{
d_buffer_count = 0;
d_state = 1;
}
if (d_num_noncoherent_integrations_counter == acq_parameters.max_dwells) if (d_num_noncoherent_integrations_counter == acq_parameters.max_dwells)
{ {
@ -746,6 +785,7 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
else else
{ {
d_step_two = true; // Clear input buffer and make small grid acquisition d_step_two = true; // Clear input buffer and make small grid acquisition
d_num_noncoherent_integrations_counter = 0;
d_state = 0; d_state = 0;
} }
} }
@ -877,7 +917,6 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
consume_each(buff_increment); consume_each(buff_increment);
break; break;
} }
case 2: case 2:
{ {
// Copy the data to the core and let it know that new data is available // Copy the data to the core and let it know that new data is available

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
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@ -133,6 +133,8 @@ private:
gr::fft::fft_complex* d_ifft; gr::fft::fft_complex* d_ifft;
Gnss_Synchro* d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;
arma::fmat grid_; arma::fmat grid_;
arma::fmat narrow_grid_;
unsigned int d_num_doppler_bins_step2;
long int d_dump_number; long int d_dump_number;
unsigned int d_dump_channel; unsigned int d_dump_channel;
unsigned int d_buffer_count; unsigned int d_buffer_count;

5
src/tests/unit-tests/signal-processing-blocks/libs/acquisition_dump_reader.cc
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@ -109,6 +109,10 @@ bool acquisition_dump_reader::read_binary_acq()
positive_acq = *static_cast<int*>(var2_->data); positive_acq = *static_cast<int*>(var2_->data);
Mat_VarFree(var2_); Mat_VarFree(var2_);
var2_ = Mat_VarRead(matfile, "num_dwells");
num_dwells = *static_cast<int*>(var2_->data);
Mat_VarFree(var2_);
var2_ = Mat_VarRead(matfile, "PRN"); var2_ = Mat_VarRead(matfile, "PRN");
PRN = *static_cast<int*>(var2_->data); PRN = *static_cast<int*>(var2_->data);
Mat_VarFree(var2_); Mat_VarFree(var2_);
@ -211,6 +215,7 @@ acquisition_dump_reader::acquisition_dump_reader(const std::string& basename,
threshold = 0.0; threshold = 0.0;
positive_acq = 0; positive_acq = 0;
sample_counter = 0; sample_counter = 0;
num_dwells = 0;
PRN = 0; PRN = 0;
if (d_doppler_step == 0) d_doppler_step = 1; if (d_doppler_step == 0) d_doppler_step = 1;
d_num_doppler_bins = static_cast<unsigned int>(ceil(static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step))); d_num_doppler_bins = static_cast<unsigned int>(ceil(static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step)));

1
src/tests/unit-tests/signal-processing-blocks/libs/acquisition_dump_reader.h
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@ -64,6 +64,7 @@ public:
float threshold; float threshold;
int positive_acq; int positive_acq;
unsigned int PRN; unsigned int PRN;
unsigned int num_dwells;
long unsigned int sample_counter; long unsigned int sample_counter;
private: private: