mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 12:10:34 +00:00
Merge branch 'iono' into next
This commit is contained in:
Carles Fernandez
commit
9350a7a15b
@ -798,25 +798,104 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
{
|
||||
int result = 0;
|
||||
int sat = 0;
|
||||
nav_t nav_data;
|
||||
nav_t nav_data{};
|
||||
nav_data.eph = eph_data.data();
|
||||
nav_data.geph = geph_data.data();
|
||||
nav_data.n = valid_obs;
|
||||
nav_data.ng = glo_valid_obs;
|
||||
|
||||
for (auto &i : nav_data.lam)
|
||||
if (gps_iono.valid)
|
||||
{
|
||||
i[0] = SPEED_OF_LIGHT / FREQ1; // L1/E1
|
||||
i[1] = SPEED_OF_LIGHT / FREQ2; // L2
|
||||
i[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
|
||||
nav_data.ion_gps[0] = gps_iono.d_alpha0;
|
||||
nav_data.ion_gps[1] = gps_iono.d_alpha1;
|
||||
nav_data.ion_gps[2] = gps_iono.d_alpha2;
|
||||
nav_data.ion_gps[3] = gps_iono.d_alpha3;
|
||||
nav_data.ion_gps[4] = gps_iono.d_beta0;
|
||||
nav_data.ion_gps[5] = gps_iono.d_beta1;
|
||||
nav_data.ion_gps[6] = gps_iono.d_beta2;
|
||||
nav_data.ion_gps[7] = gps_iono.d_beta3;
|
||||
}
|
||||
if (!(gps_iono.valid) and gps_cnav_iono.valid)
|
||||
{
|
||||
nav_data.ion_gps[0] = gps_cnav_iono.d_alpha0;
|
||||
nav_data.ion_gps[1] = gps_cnav_iono.d_alpha1;
|
||||
nav_data.ion_gps[2] = gps_cnav_iono.d_alpha2;
|
||||
nav_data.ion_gps[3] = gps_cnav_iono.d_alpha3;
|
||||
nav_data.ion_gps[4] = gps_cnav_iono.d_beta0;
|
||||
nav_data.ion_gps[5] = gps_cnav_iono.d_beta1;
|
||||
nav_data.ion_gps[6] = gps_cnav_iono.d_beta2;
|
||||
nav_data.ion_gps[7] = gps_cnav_iono.d_beta3;
|
||||
}
|
||||
if (galileo_iono.ai0_5 != 0.0)
|
||||
{
|
||||
nav_data.ion_gal[0] = galileo_iono.ai0_5;
|
||||
nav_data.ion_gal[1] = galileo_iono.ai1_5;
|
||||
nav_data.ion_gal[2] = galileo_iono.ai2_5;
|
||||
nav_data.ion_gal[3] = 0.0;
|
||||
}
|
||||
if (beidou_dnav_iono.valid)
|
||||
{
|
||||
nav_data.ion_cmp[0] = beidou_dnav_iono.d_alpha0;
|
||||
nav_data.ion_cmp[1] = beidou_dnav_iono.d_alpha1;
|
||||
nav_data.ion_cmp[2] = beidou_dnav_iono.d_alpha2;
|
||||
nav_data.ion_cmp[3] = beidou_dnav_iono.d_alpha3;
|
||||
nav_data.ion_cmp[4] = beidou_dnav_iono.d_beta0;
|
||||
nav_data.ion_cmp[5] = beidou_dnav_iono.d_beta0;
|
||||
nav_data.ion_cmp[6] = beidou_dnav_iono.d_beta0;
|
||||
nav_data.ion_cmp[7] = beidou_dnav_iono.d_beta3;
|
||||
}
|
||||
if (gps_utc_model.valid)
|
||||
{
|
||||
nav_data.utc_gps[0] = gps_utc_model.d_A0;
|
||||
nav_data.utc_gps[1] = gps_utc_model.d_A1;
|
||||
nav_data.utc_gps[2] = gps_utc_model.d_t_OT;
|
||||
nav_data.utc_gps[3] = gps_utc_model.i_WN_T;
|
||||
nav_data.leaps = gps_utc_model.d_DeltaT_LS;
|
||||
}
|
||||
if (!(gps_utc_model.valid) and gps_cnav_utc_model.valid)
|
||||
{
|
||||
nav_data.utc_gps[0] = gps_cnav_utc_model.d_A0;
|
||||
nav_data.utc_gps[1] = gps_cnav_utc_model.d_A1;
|
||||
nav_data.utc_gps[2] = gps_cnav_utc_model.d_t_OT;
|
||||
nav_data.utc_gps[3] = gps_cnav_utc_model.i_WN_T;
|
||||
nav_data.leaps = gps_cnav_utc_model.d_DeltaT_LS;
|
||||
}
|
||||
if (glonass_gnav_utc_model.valid)
|
||||
{
|
||||
nav_data.utc_glo[0] = glonass_gnav_utc_model.d_tau_c; // ??
|
||||
nav_data.utc_glo[1] = 0.0; // ??
|
||||
nav_data.utc_glo[2] = 0.0; // ??
|
||||
nav_data.utc_glo[3] = 0.0; // ??
|
||||
}
|
||||
if (galileo_utc_model.A0_6 != 0.0)
|
||||
{
|
||||
nav_data.utc_gal[0] = galileo_utc_model.A0_6;
|
||||
nav_data.utc_gal[1] = galileo_utc_model.A1_6;
|
||||
nav_data.utc_gal[2] = galileo_utc_model.t0t_6;
|
||||
nav_data.utc_gal[3] = galileo_utc_model.WNot_6;
|
||||
nav_data.leaps = galileo_utc_model.Delta_tLS_6;
|
||||
}
|
||||
if (beidou_dnav_utc_model.valid)
|
||||
{
|
||||
nav_data.utc_cmp[0] = beidou_dnav_utc_model.d_A0_UTC;
|
||||
nav_data.utc_cmp[1] = beidou_dnav_utc_model.d_A1_UTC;
|
||||
nav_data.utc_cmp[2] = 0.0; // ??
|
||||
nav_data.utc_cmp[3] = 0.0; // ??
|
||||
nav_data.leaps = beidou_dnav_utc_model.d_DeltaT_LS;
|
||||
}
|
||||
|
||||
for (auto &lambda_ : nav_data.lam)
|
||||
{
|
||||
lambda_[0] = SPEED_OF_LIGHT / FREQ1; // L1/E1
|
||||
lambda_[1] = SPEED_OF_LIGHT / FREQ2; // L2
|
||||
lambda_[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
|
||||
|
||||
// Keep update on sat number
|
||||
sat++;
|
||||
if (sat > NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS and sat < NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS + NSYSBDS)
|
||||
{
|
||||
i[0] = SPEED_OF_LIGHT / FREQ1_BDS; // B1I
|
||||
i[1] = SPEED_OF_LIGHT / FREQ3_BDS; // B3I
|
||||
i[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
|
||||
lambda_[0] = SPEED_OF_LIGHT / FREQ1_BDS; // B1I
|
||||
lambda_[1] = SPEED_OF_LIGHT / FREQ3_BDS; // B3I
|
||||
lambda_[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -76,7 +76,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
|
||||
This may be a bug, but acquisition also work by variying the folding factor at va-
|
||||
lues different that the expressed in the paper. In adition, it is important to point
|
||||
out that by making the folding factor smaller we were able to get QuickSync work with
|
||||
Galileo. Future work should be directed to test this asumption statistically.*/
|
||||
Galileo. Future work should be directed to test this assumption statistically.*/
|
||||
|
||||
//folding_factor_ = static_cast<unsigned int>(ceil(sqrt(log2(code_length_))));
|
||||
folding_factor_ = configuration_->property(role + ".folding_factor", 2);
|
||||
|
||||
@ -512,7 +512,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
|
||||
{
|
||||
/*!
|
||||
* TODO: High sensitivity acquisition algorithm:
|
||||
* State Mechine:
|
||||
* State Machine:
|
||||
* S0. StandBy. If d_active==1 -> S1
|
||||
* S1. ComputeGrid. Perform the FFT acqusition doppler and delay grid.
|
||||
* Accumulate the search grid matrix (#doppler_bins x #fft_size)
|
||||
|
||||
@ -182,7 +182,7 @@ public:
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief This funciton triggers a HW reset of the FPGA PL.
|
||||
* \brief This function triggers a HW reset of the FPGA PL.
|
||||
*/
|
||||
void reset_acquisition(void);
|
||||
|
||||
|
||||
@ -353,7 +353,7 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
|
||||
{
|
||||
/*!
|
||||
* TODO: High sensitivity acquisition algorithm:
|
||||
* State Mechine:
|
||||
* State Machine:
|
||||
* S0. StandBy. If d_active==1 -> S1
|
||||
* S1. GetAssist. Define search grid with assistance information. Reset grid matrix -> S2
|
||||
* S2. ComputeGrid. Perform the FFT acqusition doppler and delay grid.
|
||||
|
||||
@ -463,7 +463,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
|
||||
complex_acumulator[i] += (corr_output[j]);
|
||||
}
|
||||
}
|
||||
/*Obtain maximun value of correlation given the possible delay selected */
|
||||
/*Obtain maximum value of correlation given the possible delay selected */
|
||||
volk_32fc_magnitude_squared_32f(d_corr_output_f, complex_acumulator, d_folding_factor);
|
||||
volk_gnsssdr_32f_index_max_32u(&indext, d_corr_output_f, d_folding_factor);
|
||||
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
/*!
|
||||
* \file acq_conf.cc
|
||||
* \brief Class that contains all the configuration parameters for generic
|
||||
* acquisition block based on the PCPS algoritm.
|
||||
* acquisition block based on the PCPS algorithm.
|
||||
* \author Carles Fernandez, 2018. cfernandez(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
/*!
|
||||
* \file acq_conf.h
|
||||
* \brief Class that contains all the configuration parameters for generic
|
||||
* acquisition block based on the PCPS algoritm.
|
||||
* acquisition block based on the PCPS algorithm.
|
||||
* \author Carles Fernandez, 2018. cfernandez(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
|
||||
@ -121,7 +121,7 @@ private:
|
||||
int32_t d_fd; // driver descriptor
|
||||
volatile uint32_t *d_map_base; // driver memory map
|
||||
uint32_t *d_all_fft_codes; // memory that contains all the code ffts
|
||||
uint32_t d_vector_length; // number of samples incluing padding and number of ms
|
||||
uint32_t d_vector_length; // number of samples including padding and number of ms
|
||||
uint32_t d_excludelimit;
|
||||
uint32_t d_nsamples_total; // number of samples including padding
|
||||
uint32_t d_nsamples; // number of samples not including padding
|
||||
|
||||
@ -50,7 +50,7 @@ list(APPEND AVAIL_BUILDTYPES
|
||||
# known build types in AVAIL_BUILDTYPES. If the build type is found,
|
||||
# the function exits immediately. If nothing is found by the end of
|
||||
# checking all available build types, we exit with an error and list
|
||||
# the avialable build types.
|
||||
# the available build types.
|
||||
########################################################################
|
||||
function(VOLK_CHECK_BUILD_TYPE settype)
|
||||
string(TOUPPER ${settype} _settype)
|
||||
|
||||
@ -183,7 +183,7 @@ if(CPU_IS_x86)
|
||||
# eliminate AVX if cvtpi32_ps intrinsic fails like some versions of clang
|
||||
#########################################################################
|
||||
|
||||
# check to see if the compiler/linker works with cvtpi32_ps instrinsic when using AVX
|
||||
# check to see if the compiler/linker works with cvtpi32_ps intrinsic when using AVX
|
||||
if(CMAKE_SIZEOF_VOID_P EQUAL 4)
|
||||
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps.c "#include <immintrin.h>\nint main (void) {__m128 __a; __m64 __b; __m128 foo = _mm_cvtpi32_ps(__a, __b); return (0); }")
|
||||
execute_process(COMMAND ${CMAKE_C_COMPILER} -mavx -o
|
||||
@ -192,7 +192,7 @@ if(CPU_IS_x86)
|
||||
OUTPUT_QUIET ERROR_QUIET
|
||||
RESULT_VARIABLE avx_compile_result)
|
||||
if(NOT ${avx_compile_result} EQUAL 0)
|
||||
overrule_arch(avx "Compiler missing cvtpi32_ps instrinsic")
|
||||
overrule_arch(avx "Compiler missing cvtpi32_ps intrinsic")
|
||||
elseif(NOT CROSSCOMPILE_MULTILIB)
|
||||
execute_process(COMMAND ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps
|
||||
OUTPUT_QUIET ERROR_QUIET
|
||||
@ -216,7 +216,7 @@ if(CPU_IS_x86)
|
||||
if("${CMAKE_C_COMPILER_ID}" MATCHES "Clang")
|
||||
# Figure out the version of Clang
|
||||
if(CMAKE_VERSION VERSION_LESS "2.8.10")
|
||||
# Exctract the Clang version from the --version string.
|
||||
# Extract the Clang version from the --version string.
|
||||
# In cmake 2.8.10, we can just use CMAKE_C_COMPILER_VERSION
|
||||
# without having to go through these string manipulations
|
||||
execute_process(COMMAND ${CMAKE_C_COMPILER} --version
|
||||
|
||||
@ -102,7 +102,7 @@ private:
|
||||
static void static_pcap_callback(u_char *args, const struct pcap_pkthdr *pkthdr, const u_char *packet);
|
||||
/*
|
||||
* Opens the ethernet device using libpcap raw capture mode
|
||||
* If any of these fail, the fuction retuns the error and exits.
|
||||
* If any of these fail, the function returns the error and exits.
|
||||
*/
|
||||
bool open();
|
||||
};
|
||||
|
||||
@ -1655,7 +1655,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
|
||||
d_P_accu = *d_Prompt;
|
||||
d_L_accu = *d_Late;
|
||||
|
||||
//fail-safe: check if the secondary code or bit synchronization has not succedded in a limited time period
|
||||
//fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period
|
||||
if (trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
|
||||
{
|
||||
d_carrier_lock_fail_counter = 300000; //force loss-of-lock condition
|
||||
|
||||
@ -1065,7 +1065,7 @@ bool GNSSFlowgraph::send_telemetry_msg(const pmt::pmt_t& msg)
|
||||
* \param[in] what What is the action:
|
||||
* --- actions from channels ---
|
||||
* -> 0 acquisition failed
|
||||
* -> 1 acquisition succesfull
|
||||
* -> 1 acquisition successful
|
||||
* -> 2 tracking lost
|
||||
* --- actions from TC receiver control ---
|
||||
* -> 10 TC request standby mode
|
||||
|
||||
@ -73,7 +73,7 @@ const int BEIDOU_WORD_LENGTH = 4;
|
||||
const int BEIDOU_SUBFRAME_LENGTH = 40; //**************!< BEIDOU_WORD_LENGTH x 10 = 40 bytes
|
||||
const int BEIDOU_DNAV_SUBFRAME_DATA_BITS = 300; //!< Number of bits per subframe in the NAV message [bits]
|
||||
const int BEIDOU_SUBFRAME_SECONDS = 6; //!< Subframe duration [seconds]
|
||||
const int BEIDOU_SUBFRAME_MS = 6000; //!< Subframe duration [miliseconds]
|
||||
const int BEIDOU_SUBFRAME_MS = 6000; //!< Subframe duration [milliseconds]
|
||||
const int BEIDOU_WORD_BITS = 30; //!< Number of bits per word in the NAV message [bits]
|
||||
|
||||
|
||||
|
||||
@ -59,7 +59,7 @@ const uint32_t GPS_L1_CA_BIT_PERIOD_MS = 20U; //!< GPS L1 C/A bit period [
|
||||
const double GPS_L1_CA_CHIP_PERIOD = 9.7752e-07; //!< GPS L1 C/A chip period [seconds]
|
||||
|
||||
//optimum parameters
|
||||
const uint32_t GPS_L1_CA_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
|
||||
const uint32_t GPS_L1_CA_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
|
||||
|
||||
/*!
|
||||
* \brief Maximum Time-Of-Arrival (TOA) difference between satellites for a receiver operated on Earth surface is 20 ms
|
||||
|
||||
@ -64,7 +64,7 @@ const double GPS_L2_L_PERIOD = 1.5; //!< GPS L2 L code period [s
|
||||
const int32_t GPS_L2C_HISTORY_DEEP = 5;
|
||||
|
||||
//optimum parameters
|
||||
const uint32_t GPS_L2C_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
|
||||
const uint32_t GPS_L2C_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
|
||||
|
||||
|
||||
const int32_t GPS_L2C_M_INIT_REG[115] =
|
||||
|
||||
@ -65,7 +65,7 @@ const double GPS_L5Q_PERIOD = 0.001; //!< GPS L5 code period [secon
|
||||
const int32_t GPS_L5_HISTORY_DEEP = 5;
|
||||
|
||||
//optimum parameters
|
||||
const uint32_t GPS_L5_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
|
||||
const uint32_t GPS_L5_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
|
||||
|
||||
const int32_t GPS_L5I_INIT_REG[210] =
|
||||
{266, 365, 804, 1138,
|
||||
|
||||
@ -65,7 +65,7 @@ const int32_t GALILEO_E1_NUMBER_OF_CODES = 50;
|
||||
|
||||
|
||||
//optimum parameters
|
||||
const uint32_t GALILEO_E1_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
|
||||
const uint32_t GALILEO_E1_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
|
||||
|
||||
|
||||
const double GALILEO_STARTOFFSET_MS = 68.802; //[ms] Initial sign. travel time (this cannot go here)
|
||||
|
||||
@ -58,7 +58,7 @@ const int32_t GALILEO_E5A_HISTORY_DEEP = 20;
|
||||
const int32_t GALILEO_E5A_CRC_ERROR_LIMIT = 6;
|
||||
|
||||
//optimum parameters
|
||||
const uint32_t GALILEO_E5A_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
|
||||
const uint32_t GALILEO_E5A_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
|
||||
|
||||
// F/NAV message structure
|
||||
|
||||
|
||||
@ -458,7 +458,7 @@ int32_t Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const& s
|
||||
|
||||
subframe_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_FRAID));
|
||||
|
||||
// Perform crc computtaion (tbd)
|
||||
// Perform crc computation (tbd)
|
||||
flag_crc_test = true;
|
||||
|
||||
// Decode all 5 sub-frames
|
||||
@ -753,7 +753,7 @@ int32_t Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const& s
|
||||
subframe_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, D2_FRAID));
|
||||
page_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, D2_PNUM));
|
||||
|
||||
// Perform crc computtaion (tbd)
|
||||
// Perform crc computation (tbd)
|
||||
flag_crc_test = true;
|
||||
|
||||
// Decode all 5 sub-frames
|
||||
|
||||
Loading…
Reference in New Issue
Block a user