mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-09-30 07:50:51 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into acq_performance
This commit is contained in:
Carles Fernandez
commit
9ab8e09c41
@ -18,7 +18,4 @@
|
||||
|
||||
add_subdirectory(adapters)
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add_subdirectory(gnuradio_blocks)
|
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if(ENABLE_FPGA)
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add_subdirectory(libs)
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endif(ENABLE_FPGA)
|
||||
|
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add_subdirectory(libs)
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|
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@ -65,4 +65,4 @@ file(GLOB ACQ_ADAPTER_HEADERS "*.h")
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list(SORT ACQ_ADAPTER_HEADERS)
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add_library(acq_adapters ${ACQ_ADAPTER_SOURCES} ${ACQ_ADAPTER_HEADERS})
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source_group(Headers FILES ${ACQ_ADAPTER_HEADERS})
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target_link_libraries(acq_adapters gnss_sp_libs gnss_sdr_flags acq_gr_blocks ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES})
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target_link_libraries(acq_adapters acquisition_lib gnss_sp_libs gnss_sdr_flags acq_gr_blocks ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES})
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@ -34,6 +34,7 @@
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#include "galileo_e1_signal_processing.h"
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#include "Galileo_E1.h"
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#include "gnss_sdr_flags.h"
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#include "acq_conf.h"
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#include <boost/lexical_cast.hpp>
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#include <boost/math/distributions/exponential.hpp>
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#include <glog/logging.h>
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@ -45,7 +46,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
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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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pcpsconf_t acq_parameters;
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Acq_Conf acq_parameters;
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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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@ -33,6 +33,7 @@
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#include "galileo_e5_signal_processing.h"
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#include "Galileo_E5a.h"
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#include "gnss_sdr_flags.h"
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#include "acq_conf.h"
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#include <boost/lexical_cast.hpp>
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#include <boost/math/distributions/exponential.hpp>
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#include <glog/logging.h>
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@ -44,7 +45,7 @@ using google::LogMessage;
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GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
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std::string role, 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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pcpsconf_t acq_parameters;
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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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@ -35,6 +35,7 @@
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#include "configuration_interface.h"
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#include "glonass_l1_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 "GLONASS_L1_L2_CA.h"
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#include <boost/math/distributions/exponential.hpp>
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#include <glog/logging.h>
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@ -46,7 +47,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
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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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pcpsconf_t acq_parameters;
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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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@ -35,6 +35,7 @@
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#include "glonass_l2_signal_processing.h"
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#include "GLONASS_L1_L2_CA.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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@ -45,7 +46,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
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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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pcpsconf_t acq_parameters;
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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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@ -38,6 +38,7 @@
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#include "gps_sdr_signal_processing.h"
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#include "GPS_L1_CA.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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@ -48,7 +49,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
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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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pcpsconf_t acq_parameters;
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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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@ -36,6 +36,7 @@
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#include "gps_l2c_signal.h"
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#include "GPS_L2C.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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@ -46,7 +47,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
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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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pcpsconf_t acq_parameters;
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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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@ -36,6 +36,7 @@
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#include "gps_l5_signal.h"
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#include "GPS_L5.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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@ -46,7 +47,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
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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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pcpsconf_t acq_parameters;
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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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@ -26,12 +26,12 @@ set(ACQ_GR_BLOCKS_SOURCES
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pcps_quicksync_acquisition_cc.cc
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galileo_pcps_8ms_acquisition_cc.cc
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galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
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)
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)
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if(ENABLE_FPGA)
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set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_acquisition_fpga.cc)
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endif(ENABLE_FPGA)
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if(OPENCL_FOUND)
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set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_opencl_acquisition_cc.cc)
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endif(OPENCL_FOUND)
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@ -64,7 +64,7 @@ endif(OPENCL_FOUND)
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file(GLOB ACQ_GR_BLOCKS_HEADERS "*.h")
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list(SORT ACQ_GR_BLOCKS_HEADERS)
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add_library(acq_gr_blocks ${ACQ_GR_BLOCKS_SOURCES} ${ACQ_GR_BLOCKS_HEADERS})
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source_group(Headers FILES ${ACQ_GR_BLOCKS_HEADERS})
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source_group(Headers FILES ${ACQ_GR_BLOCKS_HEADERS})
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if(ENABLE_FPGA)
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target_link_libraries(acq_gr_blocks acquisition_lib gnss_sp_libs gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_FFT_LIBRARIES} ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${OPT_LIBRARIES} ${OPT_ACQUISITION_LIBRARIES})
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@ -45,15 +45,15 @@
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using google::LogMessage;
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pcps_acquisition_sptr pcps_make_acquisition(pcpsconf_t conf_)
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pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_)
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{
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return pcps_acquisition_sptr(new pcps_acquisition(conf_));
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}
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|
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pcps_acquisition::pcps_acquisition(pcpsconf_t conf_) : gr::block("pcps_acquisition",
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gr::io_signature::make(1, 1, conf_.it_size * conf_.sampled_ms * conf_.samples_per_ms * (conf_.bit_transition_flag ? 2 : 1)),
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gr::io_signature::make(0, 0, conf_.it_size * conf_.sampled_ms * conf_.samples_per_ms * (conf_.bit_transition_flag ? 2 : 1)))
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pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acquisition",
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gr::io_signature::make(1, 1, conf_.it_size * conf_.sampled_ms * conf_.samples_per_ms * (conf_.bit_transition_flag ? 2 : 1)),
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gr::io_signature::make(0, 0, conf_.it_size * conf_.sampled_ms * conf_.samples_per_ms * (conf_.bit_transition_flag ? 2 : 1)))
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{
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this->message_port_register_out(pmt::mp("events"));
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@ -53,38 +53,20 @@
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#define GNSS_SDR_PCPS_ACQUISITION_H_
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#include "gnss_synchro.h"
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#include "acq_conf.h"
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#include <armadillo>
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#include <gnuradio/block.h>
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#include <gnuradio/fft/fft.h>
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#include <volk/volk.h>
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#include <string>
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|
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typedef struct
|
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{
|
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/* pcps acquisition configuration */
|
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unsigned int sampled_ms;
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unsigned int max_dwells;
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unsigned int doppler_max;
|
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unsigned int num_doppler_bins_step2;
|
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float doppler_step2;
|
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long fs_in;
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int samples_per_ms;
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int samples_per_code;
|
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bool bit_transition_flag;
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bool use_CFAR_algorithm_flag;
|
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bool dump;
|
||||
bool blocking;
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bool make_2_steps;
|
||||
std::string dump_filename;
|
||||
size_t it_size;
|
||||
} pcpsconf_t;
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|
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class pcps_acquisition;
|
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typedef boost::shared_ptr<pcps_acquisition> pcps_acquisition_sptr;
|
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|
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pcps_acquisition_sptr
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pcps_make_acquisition(pcpsconf_t conf_);
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pcps_make_acquisition(const Acq_Conf& conf_);
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|
||||
/*!
|
||||
* \brief This class implements a Parallel Code Phase Search Acquisition.
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@ -96,9 +78,9 @@ class pcps_acquisition : public gr::block
|
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{
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private:
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||||
friend pcps_acquisition_sptr
|
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pcps_make_acquisition(pcpsconf_t conf_);
|
||||
pcps_make_acquisition(const Acq_Conf& conf_);
|
||||
|
||||
pcps_acquisition(pcpsconf_t conf_);
|
||||
pcps_acquisition(const Acq_Conf& conf_);
|
||||
|
||||
void update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq);
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||||
void update_grid_doppler_wipeoffs();
|
||||
@ -111,7 +93,7 @@ private:
|
||||
|
||||
void send_positive_acquisition();
|
||||
|
||||
pcpsconf_t acq_parameters;
|
||||
Acq_Conf acq_parameters;
|
||||
bool d_active;
|
||||
bool d_worker_active;
|
||||
bool d_cshort;
|
||||
|
||||
@ -16,12 +16,9 @@
|
||||
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
#
|
||||
|
||||
|
||||
set(ACQUISITION_LIB_SOURCES
|
||||
fpga_acquisition.cc
|
||||
)
|
||||
|
||||
include_directories(
|
||||
if(ENABLE_FPGA)
|
||||
set(ACQUISITION_LIB_SOURCES fpga_acquisition.cc )
|
||||
include_directories(
|
||||
${CMAKE_CURRENT_SOURCE_DIR}
|
||||
${CMAKE_SOURCE_DIR}/src/core/system_parameters
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
@ -31,10 +28,16 @@ include_directories(
|
||||
${GLOG_INCLUDE_DIRS}
|
||||
${GFlags_INCLUDE_DIRS}
|
||||
${VOLK_GNSSSDR_INCLUDE_DIRS}
|
||||
)
|
||||
)
|
||||
|
||||
file(GLOB ACQUISITION_LIB_HEADERS "*.h")
|
||||
file(GLOB ACQUISITION_LIB_HEADERS "*.h")
|
||||
endif(ENABLE_FPGA)
|
||||
|
||||
set(ACQUISITION_LIB_HEADERS ${ACQUISITION_LIB_HEADERS} acq_conf.h)
|
||||
list(SORT ACQUISITION_LIB_HEADERS)
|
||||
|
||||
set(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} acq_conf.cc)
|
||||
|
||||
add_library(acquisition_lib ${ACQUISITION_LIB_SOURCES} ${ACQUISITION_LIB_HEADERS})
|
||||
source_group(Headers FILES ${ACQUISITION_LIB_HEADERS})
|
||||
target_link_libraries(acquisition_lib ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})
|
||||
@ -43,4 +46,3 @@ if(VOLK_GNSSSDR_FOUND)
|
||||
else(VOLK_GNSSSDR_FOUND)
|
||||
add_dependencies(acquisition_lib glog-${glog_RELEASE} volk_gnsssdr_module)
|
||||
endif()
|
||||
|
||||
|
||||
52
src/algorithms/acquisition/libs/acq_conf.cc
Normal file
52
src/algorithms/acquisition/libs/acq_conf.cc
Normal file
@ -0,0 +1,52 @@
|
||||
/*!
|
||||
* \file acq_conf.cc
|
||||
* \brief Class that contains all the configuration parameters for generic
|
||||
* acquisition block based on the PCPS algoritm.
|
||||
* \author Carles Fernandez, 2018. cfernandez(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "acq_conf.h"
|
||||
|
||||
Acq_Conf::Acq_Conf()
|
||||
{
|
||||
/* PCPS acquisition configuration */
|
||||
sampled_ms = 0;
|
||||
max_dwells = 0;
|
||||
doppler_max = 0;
|
||||
num_doppler_bins_step2 = 0;
|
||||
doppler_step2 = 0.0;
|
||||
fs_in = 0;
|
||||
samples_per_ms = 0;
|
||||
samples_per_code = 0;
|
||||
bit_transition_flag = false;
|
||||
use_CFAR_algorithm_flag = false;
|
||||
dump = false;
|
||||
blocking = false;
|
||||
make_2_steps = false;
|
||||
dump_filename = "";
|
||||
it_size = sizeof(char);
|
||||
}
|
||||
61
src/algorithms/acquisition/libs/acq_conf.h
Normal file
61
src/algorithms/acquisition/libs/acq_conf.h
Normal file
@ -0,0 +1,61 @@
|
||||
/*!
|
||||
* \file acq_conf.cc
|
||||
* \brief Class that contains all the configuration parameters for generic
|
||||
* acquisition block based on the PCPS algoritm.
|
||||
* \author Carles Fernandez, 2018. cfernandez(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_ACQ_CONF_H_
|
||||
#define GNSS_SDR_ACQ_CONF_H_
|
||||
|
||||
#include <cstddef>
|
||||
#include <string>
|
||||
|
||||
class Acq_Conf
|
||||
{
|
||||
public:
|
||||
/* PCPS Acquisition configuration */
|
||||
unsigned int sampled_ms;
|
||||
unsigned int max_dwells;
|
||||
unsigned int doppler_max;
|
||||
unsigned int num_doppler_bins_step2;
|
||||
float doppler_step2;
|
||||
long fs_in;
|
||||
int samples_per_ms;
|
||||
int samples_per_code;
|
||||
bool bit_transition_flag;
|
||||
bool use_CFAR_algorithm_flag;
|
||||
bool dump;
|
||||
bool blocking;
|
||||
bool make_2_steps;
|
||||
std::string dump_filename;
|
||||
size_t it_size;
|
||||
|
||||
Acq_Conf();
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -34,6 +34,7 @@
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "dll_pll_conf.h"
|
||||
#include "galileo_e1_dll_pll_veml_tracking.h"
|
||||
#include "configuration_interface.h"
|
||||
#include "Galileo_E1.h"
|
||||
@ -48,7 +49,7 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
|
||||
ConfigurationInterface* configuration, std::string role,
|
||||
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
|
||||
{
|
||||
dllpllconf_t trk_param;
|
||||
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
|
||||
DLOG(INFO) << "role " << role;
|
||||
//################# CONFIGURATION PARAMETERS ########################
|
||||
std::string default_item_type = "gr_complex";
|
||||
|
||||
@ -35,7 +35,7 @@
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "dll_pll_conf.h"
|
||||
#include "galileo_e5a_dll_pll_tracking.h"
|
||||
#include "configuration_interface.h"
|
||||
#include "Galileo_E5a.h"
|
||||
@ -49,7 +49,7 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
|
||||
ConfigurationInterface* configuration, std::string role,
|
||||
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
|
||||
{
|
||||
dllpllconf_t trk_param;
|
||||
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
|
||||
DLOG(INFO) << "role " << role;
|
||||
//################# CONFIGURATION PARAMETERS ########################
|
||||
std::string default_item_type = "gr_complex";
|
||||
|
||||
@ -35,7 +35,7 @@
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "dll_pll_conf.h"
|
||||
#include "gps_l1_ca_dll_pll_tracking.h"
|
||||
#include "configuration_interface.h"
|
||||
#include "GPS_L1_CA.h"
|
||||
@ -49,7 +49,7 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
|
||||
ConfigurationInterface* configuration, std::string role,
|
||||
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
|
||||
{
|
||||
dllpllconf_t trk_param;
|
||||
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
|
||||
DLOG(INFO) << "role " << role;
|
||||
//################# CONFIGURATION PARAMETERS ########################
|
||||
std::string default_item_type = "gr_complex";
|
||||
@ -108,13 +108,13 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
|
||||
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
|
||||
if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples;
|
||||
trk_param.cn0_samples = cn0_samples;
|
||||
int cn0_min = configuration->property(role + ".cn0_min", 25);
|
||||
int cn0_min = configuration->property(role + ".cn0_min", 30);
|
||||
if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min;
|
||||
trk_param.cn0_min = cn0_min;
|
||||
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
|
||||
if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail;
|
||||
trk_param.max_lock_fail = max_lock_fail;
|
||||
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
|
||||
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.80);
|
||||
if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th;
|
||||
trk_param.carrier_lock_th = carrier_lock_th;
|
||||
|
||||
|
||||
@ -34,7 +34,7 @@
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "dll_pll_conf.h"
|
||||
#include "gps_l2_m_dll_pll_tracking.h"
|
||||
#include "configuration_interface.h"
|
||||
#include "GPS_L2C.h"
|
||||
@ -49,7 +49,7 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
|
||||
ConfigurationInterface* configuration, std::string role,
|
||||
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
|
||||
{
|
||||
dllpllconf_t trk_param;
|
||||
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
|
||||
DLOG(INFO) << "role " << role;
|
||||
//################# CONFIGURATION PARAMETERS ########################
|
||||
std::string default_item_type = "gr_complex";
|
||||
|
||||
@ -34,7 +34,7 @@
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "dll_pll_conf.h"
|
||||
#include "gps_l5_dll_pll_tracking.h"
|
||||
#include "configuration_interface.h"
|
||||
#include "GPS_L5.h"
|
||||
@ -49,7 +49,7 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
|
||||
ConfigurationInterface* configuration, std::string role,
|
||||
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
|
||||
{
|
||||
dllpllconf_t trk_param;
|
||||
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
|
||||
DLOG(INFO) << "role " << role;
|
||||
//################# CONFIGURATION PARAMETERS ########################
|
||||
std::string default_item_type = "gr_complex";
|
||||
|
||||
@ -60,7 +60,7 @@
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(dllpllconf_t conf_)
|
||||
dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(const Dll_Pll_Conf &conf_)
|
||||
{
|
||||
return dll_pll_veml_tracking_sptr(new dll_pll_veml_tracking(conf_));
|
||||
}
|
||||
@ -76,8 +76,8 @@ void dll_pll_veml_tracking::forecast(int noutput_items,
|
||||
}
|
||||
|
||||
|
||||
dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dll_pll_veml_tracking", gr::io_signature::make(1, 1, sizeof(gr_complex)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::block("dll_pll_veml_tracking", gr::io_signature::make(1, 1, sizeof(gr_complex)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
{
|
||||
trk_parameters = conf_;
|
||||
// Telemetry bit synchronization message port input
|
||||
|
||||
@ -31,6 +31,7 @@
|
||||
#ifndef GNSS_SDR_DLL_PLL_VEML_TRACKING_H
|
||||
#define GNSS_SDR_DLL_PLL_VEML_TRACKING_H
|
||||
|
||||
#include "dll_pll_conf.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "tracking_2nd_DLL_filter.h"
|
||||
#include "tracking_2nd_PLL_filter.h"
|
||||
@ -39,37 +40,13 @@
|
||||
#include <fstream>
|
||||
#include <string>
|
||||
#include <map>
|
||||
|
||||
typedef struct
|
||||
{
|
||||
/* DLL/PLL tracking configuration */
|
||||
double fs_in;
|
||||
unsigned int vector_length;
|
||||
bool dump;
|
||||
std::string dump_filename;
|
||||
float pll_bw_hz;
|
||||
float dll_bw_hz;
|
||||
float pll_bw_narrow_hz;
|
||||
float dll_bw_narrow_hz;
|
||||
float early_late_space_chips;
|
||||
float very_early_late_space_chips;
|
||||
float early_late_space_narrow_chips;
|
||||
float very_early_late_space_narrow_chips;
|
||||
int extend_correlation_symbols;
|
||||
int cn0_samples;
|
||||
int cn0_min;
|
||||
int max_lock_fail;
|
||||
double carrier_lock_th;
|
||||
bool track_pilot;
|
||||
char system;
|
||||
char signal[3];
|
||||
} dllpllconf_t;
|
||||
#include <queue>
|
||||
|
||||
class dll_pll_veml_tracking;
|
||||
|
||||
typedef boost::shared_ptr<dll_pll_veml_tracking> dll_pll_veml_tracking_sptr;
|
||||
|
||||
dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(dllpllconf_t conf_);
|
||||
dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(const Dll_Pll_Conf &conf_);
|
||||
|
||||
/*!
|
||||
* \brief This class implements a code DLL + carrier PLL tracking block.
|
||||
@ -89,9 +66,9 @@ public:
|
||||
void forecast(int noutput_items, gr_vector_int &ninput_items_required);
|
||||
|
||||
private:
|
||||
friend dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(dllpllconf_t conf_);
|
||||
friend dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(const Dll_Pll_Conf &conf_);
|
||||
|
||||
dll_pll_veml_tracking(dllpllconf_t conf_);
|
||||
dll_pll_veml_tracking(const Dll_Pll_Conf &conf_);
|
||||
|
||||
bool cn0_and_tracking_lock_status(double coh_integration_time_s);
|
||||
bool acquire_secondary();
|
||||
@ -104,7 +81,7 @@ private:
|
||||
int save_matfile();
|
||||
|
||||
// tracking configuration vars
|
||||
dllpllconf_t trk_parameters;
|
||||
Dll_Pll_Conf trk_parameters;
|
||||
bool d_veml;
|
||||
bool d_cloop;
|
||||
unsigned int d_channel;
|
||||
@ -201,6 +178,7 @@ private:
|
||||
// CN0 estimation and lock detector
|
||||
int d_cn0_estimation_counter;
|
||||
int d_carrier_lock_fail_counter;
|
||||
std::deque<float> d_carrier_lock_detector_queue;
|
||||
double d_carrier_lock_test;
|
||||
double d_CN0_SNV_dB_Hz;
|
||||
double d_carrier_lock_threshold;
|
||||
|
||||
@ -43,6 +43,7 @@ set(TRACKING_LIB_SOURCES
|
||||
tracking_discriminators.cc
|
||||
tracking_FLL_PLL_filter.cc
|
||||
tracking_loop_filter.cc
|
||||
dll_pll_conf.cc
|
||||
)
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
|
||||
61
src/algorithms/tracking/libs/dll_pll_conf.cc
Normal file
61
src/algorithms/tracking/libs/dll_pll_conf.cc
Normal file
@ -0,0 +1,61 @@
|
||||
/*!
|
||||
* \file dll_pll_conf.cc
|
||||
* \brief Class that contains all the configuration parameters for generic
|
||||
* tracking block based on a DLL and a PLL.
|
||||
* \author Javier Arribas, 2018. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "dll_pll_conf.h"
|
||||
#include <cstring>
|
||||
|
||||
Dll_Pll_Conf::Dll_Pll_Conf()
|
||||
{
|
||||
/* DLL/PLL tracking configuration */
|
||||
fs_in = 0.0;
|
||||
vector_length = 0;
|
||||
dump = false;
|
||||
dump_filename = "./dll_pll_dump.dat";
|
||||
pll_bw_hz = 40.0;
|
||||
dll_bw_hz = 2.0;
|
||||
pll_bw_narrow_hz = 5.0;
|
||||
dll_bw_narrow_hz = 0.75;
|
||||
early_late_space_chips = 0.5;
|
||||
very_early_late_space_chips = 0.5;
|
||||
early_late_space_narrow_chips = 0.1;
|
||||
very_early_late_space_narrow_chips = 0.1;
|
||||
extend_correlation_symbols = 5;
|
||||
cn0_samples = 20;
|
||||
carrier_lock_det_mav_samples = 20;
|
||||
cn0_min = 25;
|
||||
max_lock_fail = 50;
|
||||
carrier_lock_th = 0.85;
|
||||
track_pilot = false;
|
||||
system = 'G';
|
||||
char sig_[3] = "1C";
|
||||
std::memcpy(signal, sig_, 3);
|
||||
}
|
||||
68
src/algorithms/tracking/libs/dll_pll_conf.h
Normal file
68
src/algorithms/tracking/libs/dll_pll_conf.h
Normal file
@ -0,0 +1,68 @@
|
||||
/*!
|
||||
* \file dll_pll_conf.h
|
||||
* \brief Class that contains all the configuration parameters for generic tracking block based on a DLL and a PLL.
|
||||
* \author Javier Arribas, 2018. jarribas(at)cttc.es
|
||||
*
|
||||
* Class that contains all the configuration parameters for generic tracking block based on a DLL and a PLL.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_DLL_PLL_CONF_H_
|
||||
#define GNSS_SDR_DLL_PLL_CONF_H_
|
||||
|
||||
#include <string>
|
||||
|
||||
class Dll_Pll_Conf
|
||||
{
|
||||
private:
|
||||
public:
|
||||
/* DLL/PLL tracking configuration */
|
||||
double fs_in;
|
||||
unsigned int vector_length;
|
||||
bool dump;
|
||||
std::string dump_filename;
|
||||
float pll_bw_hz;
|
||||
float dll_bw_hz;
|
||||
float pll_bw_narrow_hz;
|
||||
float dll_bw_narrow_hz;
|
||||
float early_late_space_chips;
|
||||
float very_early_late_space_chips;
|
||||
float early_late_space_narrow_chips;
|
||||
float very_early_late_space_narrow_chips;
|
||||
int extend_correlation_symbols;
|
||||
int cn0_samples;
|
||||
int carrier_lock_det_mav_samples;
|
||||
int cn0_min;
|
||||
int max_lock_fail;
|
||||
double carrier_lock_th;
|
||||
bool track_pilot;
|
||||
char system;
|
||||
char signal[3];
|
||||
|
||||
Dll_Pll_Conf();
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -112,6 +112,13 @@ bool observables_dump_reader::open_obs_file(std::string out_file)
|
||||
}
|
||||
}
|
||||
|
||||
void observables_dump_reader::close_obs_file()
|
||||
{
|
||||
if (d_dump_file.is_open() == false)
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
}
|
||||
|
||||
observables_dump_reader::observables_dump_reader(int n_channels_)
|
||||
{
|
||||
|
||||
@ -44,6 +44,7 @@ public:
|
||||
bool restart();
|
||||
long int num_epochs();
|
||||
bool open_obs_file(std::string out_file);
|
||||
void close_obs_file();
|
||||
|
||||
|
||||
//dump variables
|
||||
|
||||
@ -89,15 +89,16 @@ bool tracking_true_obs_reader::open_obs_file(std::string out_file)
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_file.clear();
|
||||
d_dump_filename = out_file;
|
||||
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
||||
d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
|
||||
std::cout << "Observables dump enabled, Log file: " << d_dump_filename.c_str() << std::endl;
|
||||
std::cout << "Tracking Log file: " << d_dump_filename.c_str() << " open ok " << std::endl;
|
||||
return true;
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
std::cout << "Problem opening Observables dump Log file: " << d_dump_filename.c_str() << std::endl;
|
||||
std::cout << "Problem opening Tracking dump Log file: " << d_dump_filename.c_str() << " Error: " << e.what() << std::endl;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
@ -107,6 +108,13 @@ bool tracking_true_obs_reader::open_obs_file(std::string out_file)
|
||||
}
|
||||
}
|
||||
|
||||
void tracking_true_obs_reader::close_obs_file()
|
||||
{
|
||||
if (d_dump_file.is_open() == true)
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
}
|
||||
|
||||
tracking_true_obs_reader::~tracking_true_obs_reader()
|
||||
{
|
||||
|
||||
@ -43,6 +43,7 @@ public:
|
||||
bool restart();
|
||||
long int num_epochs();
|
||||
bool open_obs_file(std::string out_file);
|
||||
void close_obs_file();
|
||||
bool d_dump;
|
||||
|
||||
double signal_timestamp_s;
|
||||
|
||||
@ -53,9 +53,23 @@
|
||||
#include "gnuplot_i.h"
|
||||
#include "test_flags.h"
|
||||
|
||||
DEFINE_bool(plot_gps_l1_tracking_test, false, "Plots results of GpsL1CADllPllTrackingTest with gnuplot");
|
||||
|
||||
// Input signal configuration
|
||||
DEFINE_bool(enable_external_signal_file, false, "Use an external signal file capture instead of the software-defined signal generator");
|
||||
DEFINE_string(signal_file, std::string("gps_l1_capture.dat"), "Path of the external signal capture file");
|
||||
DEFINE_double(CN0_dBHz_start, std::numeric_limits<double>::infinity(), "Enable noise generator and set the CN0 start sweep value [dB-Hz]");
|
||||
DEFINE_double(CN0_dBHz_stop, std::numeric_limits<double>::infinity(), "Enable noise generator and set the CN0 stop sweep value [dB-Hz]");
|
||||
DEFINE_double(CN0_dB_step, 3.0, "Noise generator CN0 sweep step value [dB]");
|
||||
|
||||
|
||||
//Emulated acquisition configuration
|
||||
|
||||
//Tracking configuration
|
||||
DEFINE_int32(extend_correlation_symbols, 1, "Set the tracking coherent correlation to N symbols (up to 20 for GPS L1 C/A)");
|
||||
|
||||
//Test output configuration
|
||||
DEFINE_bool(plot_gps_l1_tracking_test, false, "Plots results of GpsL1CADllPllTrackingTest with gnuplot");
|
||||
|
||||
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
|
||||
class GpsL1CADllPllTrackingTest_msg_rx;
|
||||
|
||||
@ -129,17 +143,17 @@ public:
|
||||
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
|
||||
std::string filename_raw_data = FLAGS_filename_raw_data;
|
||||
|
||||
int configure_generator();
|
||||
int configure_generator(double CN0_dBHz, int file_idx);
|
||||
int generate_signal();
|
||||
void check_results_doppler(arma::vec& true_time_s,
|
||||
std::vector<double> check_results_doppler(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value);
|
||||
void check_results_acc_carrier_phase(arma::vec& true_time_s,
|
||||
std::vector<double> check_results_acc_carrier_phase(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value);
|
||||
void check_results_codephase(arma::vec& true_time_s,
|
||||
std::vector<double> check_results_codephase(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value);
|
||||
@ -166,7 +180,7 @@ public:
|
||||
};
|
||||
|
||||
|
||||
int GpsL1CADllPllTrackingTest::configure_generator()
|
||||
int GpsL1CADllPllTrackingTest::configure_generator(double CN0_dBHz, int file_idx)
|
||||
{
|
||||
// Configure signal generator
|
||||
generator_binary = FLAGS_generator_binary;
|
||||
@ -180,10 +194,10 @@ int GpsL1CADllPllTrackingTest::configure_generator()
|
||||
{
|
||||
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
|
||||
}
|
||||
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
|
||||
p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
|
||||
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
|
||||
p6 = std::string("-CN0_dBHz=") + std::to_string(FLAGS_CN0_dBHz); // Signal generator CN0
|
||||
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
|
||||
p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data + std::to_string(file_idx); // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
|
||||
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
|
||||
p6 = std::string("-CN0_dBHz=") + std::to_string(CN0_dBHz); // Signal generator CN0
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -235,7 +249,7 @@ void GpsL1CADllPllTrackingTest::configure_receiver()
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec& true_time_s,
|
||||
std::vector<double> GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value)
|
||||
@ -255,6 +269,10 @@ void GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec& true_time_s,
|
||||
arma::vec err;
|
||||
|
||||
err = meas_value - true_value_interp;
|
||||
|
||||
//conversion between arma::vec and std:vector
|
||||
std::vector<double> err_std_vector(err.colptr(0), err.colptr(0) + err.n_rows);
|
||||
|
||||
arma::vec err2 = arma::square(err);
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
@ -272,10 +290,11 @@ void GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec& true_time_s,
|
||||
<< ", mean=" << error_mean
|
||||
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
|
||||
std::cout.precision(ss);
|
||||
return err_std_vector;
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec& true_time_s,
|
||||
std::vector<double> GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value)
|
||||
@ -295,6 +314,9 @@ void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec& true_
|
||||
arma::vec err;
|
||||
err = meas_value - true_value_interp;
|
||||
arma::vec err2 = arma::square(err);
|
||||
//conversion between arma::vec and std:vector
|
||||
std::vector<double> err_std_vector(err.colptr(0), err.colptr(0) + err.n_rows);
|
||||
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
// 3. Mean err and variance
|
||||
@ -311,10 +333,11 @@ void GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(arma::vec& true_
|
||||
<< ", mean=" << error_mean
|
||||
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
|
||||
std::cout.precision(ss);
|
||||
return err_std_vector;
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec& true_time_s,
|
||||
std::vector<double> GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec& true_time_s,
|
||||
arma::vec& true_value,
|
||||
arma::vec& meas_time_s,
|
||||
arma::vec& meas_value)
|
||||
@ -334,6 +357,9 @@ void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec& true_time_s,
|
||||
arma::vec err;
|
||||
|
||||
err = meas_value - true_value_interp;
|
||||
//conversion between arma::vec and std:vector
|
||||
std::vector<double> err_std_vector(err.colptr(0), err.colptr(0) + err.n_rows);
|
||||
|
||||
arma::vec err2 = arma::square(err);
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
@ -351,164 +377,259 @@ void GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec& true_time_s,
|
||||
<< ", mean=" << error_mean
|
||||
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Chips]" << std::endl;
|
||||
std::cout.precision(ss);
|
||||
return err_std_vector;
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
|
||||
{
|
||||
// Configure the signal generator
|
||||
configure_generator();
|
||||
//*************************************************
|
||||
//***** STEP 2: Prepare the parameters sweep ******
|
||||
//*************************************************
|
||||
|
||||
// Generate signal raw signal samples and observations RINEX file
|
||||
if (FLAGS_disable_generator == false)
|
||||
std::vector<double> generator_CN0_values;
|
||||
|
||||
std::vector<std::vector<double>> prompt_sweep;
|
||||
std::vector<std::vector<double>> early_sweep;
|
||||
std::vector<std::vector<double>> late_sweep;
|
||||
std::vector<std::vector<double>> promptI_sweep;
|
||||
std::vector<std::vector<double>> promptQ_sweep;
|
||||
std::vector<std::vector<double>> CN0_dBHz_sweep;
|
||||
|
||||
//error vectors
|
||||
std::vector<std::vector<double>> doppler_error_sweep;
|
||||
std::vector<std::vector<double>> code_phase_error_sweep;
|
||||
std::vector<std::vector<double>> acc_carrier_phase_error_sweep;
|
||||
std::vector<std::vector<double>> trk_timestamp_s_sweep;
|
||||
|
||||
if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop)
|
||||
{
|
||||
generate_signal();
|
||||
generator_CN0_values.push_back(FLAGS_CN0_dBHz_start);
|
||||
}
|
||||
else
|
||||
{
|
||||
for (double cn0 = FLAGS_CN0_dBHz_start; cn0 > FLAGS_CN0_dBHz_stop; cn0 = cn0 - FLAGS_CN0_dB_step)
|
||||
{
|
||||
generator_CN0_values.push_back(cn0);
|
||||
}
|
||||
}
|
||||
|
||||
std::chrono::time_point<std::chrono::system_clock> start, end;
|
||||
|
||||
configure_receiver();
|
||||
|
||||
// open true observables log file written by the simulator
|
||||
int test_satellite_PRN = 0;
|
||||
double acq_delay_samples = 0.0;
|
||||
double acq_doppler_hz = 0.0;
|
||||
tracking_true_obs_reader true_obs_data;
|
||||
int test_satellite_PRN = FLAGS_test_satellite_PRN;
|
||||
std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
|
||||
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
|
||||
true_obs_file.append(std::to_string(test_satellite_PRN));
|
||||
true_obs_file.append(".dat");
|
||||
ASSERT_EQ(true_obs_data.open_obs_file(true_obs_file), true) << "Failure opening true observables file";
|
||||
|
||||
top_block = gr::make_top_block("Tracking test");
|
||||
|
||||
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking_1C", implementation, 1, 1);
|
||||
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_); //std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
|
||||
|
||||
boost::shared_ptr<GpsL1CADllPllTrackingTest_msg_rx> msg_rx = GpsL1CADllPllTrackingTest_msg_rx_make();
|
||||
|
||||
// load acquisition data based on the first epoch of the true observations
|
||||
ASSERT_EQ(true_obs_data.read_binary_obs(), true)
|
||||
<< "Failure reading true tracking dump file." << std::endl
|
||||
<< "Maybe sat PRN #" + std::to_string(FLAGS_test_satellite_PRN) +
|
||||
" is not available?";
|
||||
|
||||
// restart the epoch counter
|
||||
true_obs_data.restart();
|
||||
|
||||
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
|
||||
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * static_cast<double>(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD;
|
||||
gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
|
||||
gnss_synchro.Acq_samplestamp_samples = 0;
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
tracking->set_channel(gnss_synchro.Channel_ID);
|
||||
}) << "Failure setting channel.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
tracking->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
tracking->connect(top_block);
|
||||
}) << "Failure connecting tracking to the top_block.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
std::string file = "./" + filename_raw_data;
|
||||
const char* file_name = file.c_str();
|
||||
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));
|
||||
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(tracking->get_right_block(), 0, sink, 0);
|
||||
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
||||
}) << "Failure connecting the blocks of tracking test.";
|
||||
|
||||
tracking->start_tracking();
|
||||
|
||||
EXPECT_NO_THROW({
|
||||
start = std::chrono::system_clock::now();
|
||||
top_block->run(); // Start threads and wait
|
||||
end = std::chrono::system_clock::now();
|
||||
}) << "Failure running the top_block.";
|
||||
|
||||
// check results
|
||||
// load the true values
|
||||
long int nepoch = true_obs_data.num_epochs();
|
||||
std::cout << "True observation epochs=" << nepoch << std::endl;
|
||||
|
||||
arma::vec true_timestamp_s = arma::zeros(nepoch, 1);
|
||||
arma::vec true_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
|
||||
arma::vec true_Doppler_Hz = arma::zeros(nepoch, 1);
|
||||
arma::vec true_prn_delay_chips = arma::zeros(nepoch, 1);
|
||||
arma::vec true_tow_s = arma::zeros(nepoch, 1);
|
||||
|
||||
long int epoch_counter = 0;
|
||||
while (true_obs_data.read_binary_obs())
|
||||
//*********************************************
|
||||
//***** STEP 3: Generate the input signal *****
|
||||
//*********************************************
|
||||
// use generator or use an external capture file
|
||||
if (FLAGS_enable_external_signal_file)
|
||||
{
|
||||
true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s;
|
||||
true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles;
|
||||
true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz;
|
||||
true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips;
|
||||
true_tow_s(epoch_counter) = true_obs_data.tow;
|
||||
epoch_counter++;
|
||||
//todo: create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
|
||||
}
|
||||
else
|
||||
{
|
||||
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
|
||||
{
|
||||
// Configure the signal generator
|
||||
configure_generator(generator_CN0_values.at(current_cn0_idx), current_cn0_idx);
|
||||
// Generate signal raw signal samples and observations RINEX file
|
||||
if (FLAGS_disable_generator == false)
|
||||
{
|
||||
generate_signal();
|
||||
}
|
||||
// open true observables log file written by the simulator
|
||||
}
|
||||
}
|
||||
|
||||
//load the measured values
|
||||
tracking_dump_reader trk_dump;
|
||||
|
||||
ASSERT_EQ(trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")), true)
|
||||
<< "Failure opening tracking dump file";
|
||||
//CN0 LOOP
|
||||
|
||||
nepoch = trk_dump.num_epochs();
|
||||
std::cout << "Measured observation epochs=" << nepoch << std::endl;
|
||||
|
||||
arma::vec trk_timestamp_s = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_Doppler_Hz = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_prn_delay_chips = arma::zeros(nepoch, 1);
|
||||
|
||||
std::vector<double> prompt;
|
||||
std::vector<double> early;
|
||||
std::vector<double> late;
|
||||
std::vector<double> promptI;
|
||||
std::vector<double> promptQ;
|
||||
std::vector<double> CN0_dBHz;
|
||||
|
||||
epoch_counter = 0;
|
||||
while (trk_dump.read_binary_obs())
|
||||
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
|
||||
{
|
||||
trk_timestamp_s(epoch_counter) = static_cast<double>(trk_dump.PRN_start_sample_count) / static_cast<double>(baseband_sampling_freq);
|
||||
trk_acc_carrier_phase_cycles(epoch_counter) = trk_dump.acc_carrier_phase_rad / GPS_TWO_PI;
|
||||
trk_Doppler_Hz(epoch_counter) = trk_dump.carrier_doppler_hz;
|
||||
//******************************************************************************************
|
||||
//***** Obtain the initial signal sinchronization parameters (emulating an acquisition) ****
|
||||
//******************************************************************************************
|
||||
if (!FLAGS_enable_external_signal_file)
|
||||
{
|
||||
test_satellite_PRN = FLAGS_test_satellite_PRN;
|
||||
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
|
||||
true_obs_file.append(std::to_string(test_satellite_PRN));
|
||||
true_obs_file.append(".dat");
|
||||
true_obs_data.close_obs_file();
|
||||
ASSERT_EQ(true_obs_data.open_obs_file(true_obs_file), true) << "Failure opening true observables file";
|
||||
// load acquisition data based on the first epoch of the true observations
|
||||
ASSERT_EQ(true_obs_data.read_binary_obs(), true)
|
||||
<< "Failure reading true tracking dump file." << std::endl
|
||||
<< "Maybe sat PRN #" + std::to_string(FLAGS_test_satellite_PRN) +
|
||||
" is not available?";
|
||||
std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
|
||||
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
|
||||
acq_doppler_hz = true_obs_data.doppler_l1_hz;
|
||||
acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * static_cast<double>(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD;
|
||||
// restart the epoch counter
|
||||
true_obs_data.restart();
|
||||
}
|
||||
|
||||
double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS - GPS_L1_CA_CODE_LENGTH_CHIPS * (fmod((static_cast<double>(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast<double>(baseband_sampling_freq), 1.0e-3) / 1.0e-3);
|
||||
|
||||
trk_prn_delay_chips(epoch_counter) = delay_chips;
|
||||
epoch_counter++;
|
||||
prompt.push_back(trk_dump.abs_P);
|
||||
early.push_back(trk_dump.abs_E);
|
||||
late.push_back(trk_dump.abs_L);
|
||||
promptI.push_back(trk_dump.prompt_I);
|
||||
promptQ.push_back(trk_dump.prompt_Q);
|
||||
CN0_dBHz.push_back(trk_dump.CN0_SNV_dB_Hz);
|
||||
}
|
||||
//***** STEP 4: Configure the signal tracking parameters *****
|
||||
//************************************************************
|
||||
std::chrono::time_point<std::chrono::system_clock> start, end;
|
||||
configure_receiver();
|
||||
|
||||
// Align initial measurements and cut the tracking pull-in transitory
|
||||
double pull_in_offset_s = 1.0;
|
||||
arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");
|
||||
top_block = gr::make_top_block("Tracking test");
|
||||
|
||||
trk_timestamp_s = trk_timestamp_s.subvec(initial_meas_point(0), trk_timestamp_s.size() - 1);
|
||||
trk_acc_carrier_phase_cycles = trk_acc_carrier_phase_cycles.subvec(initial_meas_point(0), trk_acc_carrier_phase_cycles.size() - 1);
|
||||
trk_Doppler_Hz = trk_Doppler_Hz.subvec(initial_meas_point(0), trk_Doppler_Hz.size() - 1);
|
||||
trk_prn_delay_chips = trk_prn_delay_chips.subvec(initial_meas_point(0), trk_prn_delay_chips.size() - 1);
|
||||
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking_1C", implementation, 1, 1);
|
||||
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);
|
||||
|
||||
check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz);
|
||||
check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips);
|
||||
check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles);
|
||||
boost::shared_ptr<GpsL1CADllPllTrackingTest_msg_rx> msg_rx = GpsL1CADllPllTrackingTest_msg_rx_make();
|
||||
|
||||
std::chrono::duration<double> elapsed_seconds = end - start;
|
||||
std::cout << "Signal tracking completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
|
||||
gnss_synchro.Acq_delay_samples = acq_delay_samples;
|
||||
gnss_synchro.Acq_doppler_hz = acq_doppler_hz;
|
||||
gnss_synchro.Acq_samplestamp_samples = 0;
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
tracking->set_channel(gnss_synchro.Channel_ID);
|
||||
}) << "Failure setting channel.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
tracking->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
tracking->connect(top_block);
|
||||
}) << "Failure connecting tracking to the top_block.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
std::string file = "./" + filename_raw_data + std::to_string(current_cn0_idx);
|
||||
const char* file_name = file.c_str();
|
||||
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));
|
||||
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(tracking->get_right_block(), 0, sink, 0);
|
||||
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
||||
}) << "Failure connecting the blocks of tracking test.";
|
||||
|
||||
|
||||
//********************************************************************
|
||||
//***** STEP 5: Perform the signal tracking and read the results *****
|
||||
//********************************************************************
|
||||
tracking->start_tracking();
|
||||
|
||||
EXPECT_NO_THROW({
|
||||
start = std::chrono::system_clock::now();
|
||||
top_block->run(); // Start threads and wait
|
||||
end = std::chrono::system_clock::now();
|
||||
}) << "Failure running the top_block.";
|
||||
|
||||
std::chrono::duration<double> elapsed_seconds = end - start;
|
||||
std::cout << "Signal tracking completed in " << elapsed_seconds.count() << " seconds" << std::endl;
|
||||
|
||||
//check results
|
||||
//load the measured values
|
||||
tracking_dump_reader trk_dump;
|
||||
ASSERT_EQ(trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")), true)
|
||||
<< "Failure opening tracking dump file";
|
||||
|
||||
long int n_measured_epochs = trk_dump.num_epochs();
|
||||
std::cout << "Measured observation epochs=" << n_measured_epochs << std::endl;
|
||||
|
||||
arma::vec trk_timestamp_s = arma::zeros(n_measured_epochs, 1);
|
||||
arma::vec trk_acc_carrier_phase_cycles = arma::zeros(n_measured_epochs, 1);
|
||||
arma::vec trk_Doppler_Hz = arma::zeros(n_measured_epochs, 1);
|
||||
arma::vec trk_prn_delay_chips = arma::zeros(n_measured_epochs, 1);
|
||||
|
||||
long int epoch_counter = 0;
|
||||
|
||||
std::vector<double> prompt;
|
||||
std::vector<double> early;
|
||||
std::vector<double> late;
|
||||
std::vector<double> promptI;
|
||||
std::vector<double> promptQ;
|
||||
std::vector<double> CN0_dBHz;
|
||||
while (trk_dump.read_binary_obs())
|
||||
{
|
||||
trk_timestamp_s(epoch_counter) = static_cast<double>(trk_dump.PRN_start_sample_count) / static_cast<double>(baseband_sampling_freq);
|
||||
trk_acc_carrier_phase_cycles(epoch_counter) = trk_dump.acc_carrier_phase_rad / GPS_TWO_PI;
|
||||
trk_Doppler_Hz(epoch_counter) = trk_dump.carrier_doppler_hz;
|
||||
double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS - GPS_L1_CA_CODE_LENGTH_CHIPS * (fmod((static_cast<double>(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast<double>(baseband_sampling_freq), 1.0e-3) / 1.0e-3);
|
||||
|
||||
trk_prn_delay_chips(epoch_counter) = delay_chips;
|
||||
epoch_counter++;
|
||||
|
||||
|
||||
prompt.push_back(trk_dump.abs_P);
|
||||
early.push_back(trk_dump.abs_E);
|
||||
late.push_back(trk_dump.abs_L);
|
||||
promptI.push_back(trk_dump.prompt_I);
|
||||
promptQ.push_back(trk_dump.prompt_Q);
|
||||
CN0_dBHz.push_back(trk_dump.CN0_SNV_dB_Hz);
|
||||
}
|
||||
|
||||
prompt_sweep.push_back(prompt);
|
||||
early_sweep.push_back(early);
|
||||
late_sweep.push_back(late);
|
||||
promptI_sweep.push_back(promptI);
|
||||
promptQ_sweep.push_back(promptQ);
|
||||
CN0_dBHz_sweep.push_back(CN0_dBHz);
|
||||
|
||||
//***********************************************************
|
||||
//***** STEP 6: Compare with true values (if available) *****
|
||||
//***********************************************************
|
||||
if (!FLAGS_enable_external_signal_file)
|
||||
{
|
||||
// load the true values
|
||||
long int n_true_epochs = true_obs_data.num_epochs();
|
||||
std::cout << "True observation epochs=" << n_true_epochs << std::endl;
|
||||
|
||||
arma::vec true_timestamp_s = arma::zeros(n_true_epochs, 1);
|
||||
arma::vec true_acc_carrier_phase_cycles = arma::zeros(n_true_epochs, 1);
|
||||
arma::vec true_Doppler_Hz = arma::zeros(n_true_epochs, 1);
|
||||
arma::vec true_prn_delay_chips = arma::zeros(n_true_epochs, 1);
|
||||
arma::vec true_tow_s = arma::zeros(n_true_epochs, 1);
|
||||
|
||||
long int epoch_counter = 0;
|
||||
while (true_obs_data.read_binary_obs())
|
||||
{
|
||||
true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s;
|
||||
true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles;
|
||||
true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz;
|
||||
true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips;
|
||||
true_tow_s(epoch_counter) = true_obs_data.tow;
|
||||
epoch_counter++;
|
||||
}
|
||||
// Align initial measurements and cut the tracking pull-in transitory
|
||||
double pull_in_offset_s = 1.0;
|
||||
arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");
|
||||
|
||||
trk_timestamp_s = trk_timestamp_s.subvec(initial_meas_point(0), trk_timestamp_s.size() - 1);
|
||||
trk_acc_carrier_phase_cycles = trk_acc_carrier_phase_cycles.subvec(initial_meas_point(0), trk_acc_carrier_phase_cycles.size() - 1);
|
||||
trk_Doppler_Hz = trk_Doppler_Hz.subvec(initial_meas_point(0), trk_Doppler_Hz.size() - 1);
|
||||
trk_prn_delay_chips = trk_prn_delay_chips.subvec(initial_meas_point(0), trk_prn_delay_chips.size() - 1);
|
||||
|
||||
std::vector<double> doppler_error_hz;
|
||||
std::vector<double> code_phase_error_chips;
|
||||
std::vector<double> acc_carrier_phase_hz;
|
||||
doppler_error_hz = check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz);
|
||||
code_phase_error_chips = check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips);
|
||||
acc_carrier_phase_hz = check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles);
|
||||
//save tracking measurement timestamps to std::vector
|
||||
std::vector<double> vector_trk_timestamp_s(trk_timestamp_s.colptr(0), trk_timestamp_s.colptr(0) + trk_timestamp_s.n_rows);
|
||||
trk_timestamp_s_sweep.push_back(vector_trk_timestamp_s);
|
||||
|
||||
doppler_error_sweep.push_back(doppler_error_hz);
|
||||
code_phase_error_sweep.push_back(code_phase_error_chips);
|
||||
acc_carrier_phase_error_sweep.push_back(acc_carrier_phase_hz);
|
||||
}
|
||||
|
||||
} //CN0 LOOP
|
||||
|
||||
//********************************
|
||||
//***** STEP 7: Plot results *****
|
||||
//********************************
|
||||
if (FLAGS_plot_gps_l1_tracking_test == true)
|
||||
{
|
||||
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
|
||||
@ -526,49 +647,106 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
|
||||
boost::filesystem::path dir = p.parent_path();
|
||||
std::string gnuplot_path = dir.native();
|
||||
Gnuplot::set_GNUPlotPath(gnuplot_path);
|
||||
|
||||
std::vector<double> timevec;
|
||||
double t = 0.0;
|
||||
for (auto it = prompt.begin(); it != prompt.end(); it++)
|
||||
{
|
||||
timevec.push_back(t);
|
||||
t = t + GPS_L1_CA_CODE_PERIOD;
|
||||
}
|
||||
Gnuplot g1("linespoints");
|
||||
g1.set_title("GPS L1 C/A signal tracking correlators' output (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
||||
g1.set_grid();
|
||||
g1.set_xlabel("Time [s]");
|
||||
g1.set_ylabel("Correlators' output");
|
||||
g1.cmd("set key box opaque");
|
||||
unsigned int decimate = static_cast<unsigned int>(FLAGS_plot_decimate);
|
||||
g1.plot_xy(timevec, prompt, "Prompt", decimate);
|
||||
g1.plot_xy(timevec, early, "Early", decimate);
|
||||
g1.plot_xy(timevec, late, "Late", decimate);
|
||||
g1.savetops("Correlators_outputs");
|
||||
g1.savetopdf("Correlators_outputs", 18);
|
||||
g1.showonscreen(); // window output
|
||||
|
||||
Gnuplot g2("points");
|
||||
g2.set_title("Constellation diagram (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
||||
g2.set_grid();
|
||||
g2.set_xlabel("Inphase");
|
||||
g2.set_ylabel("Quadrature");
|
||||
g2.cmd("set size ratio -1");
|
||||
g2.plot_xy(promptI, promptQ);
|
||||
g2.savetops("Constellation");
|
||||
g2.savetopdf("Constellation", 18);
|
||||
g2.showonscreen(); // window output
|
||||
|
||||
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
|
||||
{
|
||||
timevec.clear();
|
||||
//todo: timevector MUST BE READED from the trk output file
|
||||
double t = 0.0;
|
||||
for (auto it = prompt_sweep.at(current_cn0_idx).begin(); it != prompt_sweep.at(current_cn0_idx).end(); it++)
|
||||
{
|
||||
timevec.push_back(t);
|
||||
t = t + GPS_L1_CA_CODE_PERIOD;
|
||||
}
|
||||
Gnuplot g1("linespoints");
|
||||
g1.set_title("[" + std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz ] GPS L1 C/A signal tracking correlators' output (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
||||
g1.set_grid();
|
||||
g1.set_xlabel("Time [s]");
|
||||
g1.set_ylabel("Correlators' output");
|
||||
g1.cmd("set key box opaque");
|
||||
g1.plot_xy(timevec, prompt_sweep.at(current_cn0_idx), "Prompt", decimate);
|
||||
g1.plot_xy(timevec, early_sweep.at(current_cn0_idx), "Early", decimate);
|
||||
g1.plot_xy(timevec, late_sweep.at(current_cn0_idx), "Late", decimate);
|
||||
g1.savetops("Correlators_outputs");
|
||||
g1.savetopdf("Correlators_outputs", 18);
|
||||
g1.showonscreen(); // window output
|
||||
Gnuplot g2("points");
|
||||
g2.set_title("[" + std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz ] Constellation diagram (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
||||
g2.set_grid();
|
||||
g2.set_xlabel("Inphase");
|
||||
g2.set_ylabel("Quadrature");
|
||||
g2.cmd("set size ratio -1");
|
||||
g2.plot_xy(promptI_sweep.at(current_cn0_idx), promptQ_sweep.at(current_cn0_idx));
|
||||
g2.savetops("Constellation");
|
||||
g2.savetopdf("Constellation", 18);
|
||||
g2.showonscreen(); // window output
|
||||
}
|
||||
Gnuplot g3("linespoints");
|
||||
g3.set_title("GPS L1 C/A tracking CN0 output (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
||||
g3.set_grid();
|
||||
g3.set_xlabel("Time [s]");
|
||||
g3.set_ylabel("Reported CN0 [dB-Hz]");
|
||||
g3.cmd("set key box opaque");
|
||||
g3.plot_xy(timevec, CN0_dBHz, "Prompt", decimate);
|
||||
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
|
||||
{
|
||||
g3.plot_xy(timevec, CN0_dBHz_sweep.at(current_cn0_idx),
|
||||
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
|
||||
}
|
||||
g3.set_legend();
|
||||
g3.savetops("CN0_output");
|
||||
g3.savetopdf("CN0_output", 18);
|
||||
g3.showonscreen(); // window output
|
||||
|
||||
Gnuplot g4("points");
|
||||
g4.set_title("Doppler error (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
||||
g4.set_grid();
|
||||
g4.set_xlabel("Time [s]");
|
||||
g4.set_ylabel("Dopper error [Hz]");
|
||||
g4.cmd("set key box opaque");
|
||||
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
|
||||
{
|
||||
g4.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), doppler_error_sweep.at(current_cn0_idx),
|
||||
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
|
||||
}
|
||||
g4.set_legend();
|
||||
g4.savetops("Doppler_error_output");
|
||||
g4.savetopdf("Doppler_error_output", 18);
|
||||
g4.showonscreen(); // window output
|
||||
|
||||
Gnuplot g5("points");
|
||||
g5.set_title("Code delay error (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
||||
g5.set_grid();
|
||||
g5.set_xlabel("Time [s]");
|
||||
g5.set_ylabel("Code delay error [Chips]");
|
||||
g5.cmd("set key box opaque");
|
||||
|
||||
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
|
||||
{
|
||||
g5.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), code_phase_error_sweep.at(current_cn0_idx),
|
||||
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
|
||||
}
|
||||
g5.set_legend();
|
||||
g5.savetops("Code_error_output");
|
||||
g5.savetopdf("Code_error_output", 18);
|
||||
g5.showonscreen(); // window output
|
||||
|
||||
Gnuplot g6("points");
|
||||
g6.set_title("Accumulated carrier phase error (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
|
||||
g6.set_grid();
|
||||
g6.set_xlabel("Time [s]");
|
||||
g6.set_ylabel("Accumulated carrier phase error [Cycles]");
|
||||
g6.cmd("set key box opaque");
|
||||
|
||||
for (int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
|
||||
{
|
||||
g6.plot_xy(trk_timestamp_s_sweep.at(current_cn0_idx), acc_carrier_phase_error_sweep.at(current_cn0_idx),
|
||||
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
|
||||
}
|
||||
g6.set_legend();
|
||||
g6.savetops("Carrier_phase_error_output");
|
||||
g6.savetopdf("Carrier_phase_error_output", 18);
|
||||
g6.showonscreen(); // window output
|
||||
}
|
||||
catch (const GnuplotException& ge)
|
||||
{
|
||||
|
||||
18
src/utils/matlab/plot_tracking_quality_indicators.m
Normal file
18
src/utils/matlab/plot_tracking_quality_indicators.m
Normal file
@ -0,0 +1,18 @@
|
||||
%plot tracking quality indicators
|
||||
figure;
|
||||
hold on;
|
||||
title('Carrier lock test output for all the channels');
|
||||
for n=1:1:length(GNSS_tracking)
|
||||
plot(GNSS_tracking(n).carrier_lock_test)
|
||||
plotnames{n}=['SV ' num2str(round(mean(GNSS_tracking(n).PRN)))];
|
||||
end
|
||||
legend(plotnames);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
title('Carrier CN0 output for all the channels');
|
||||
for n=1:1:length(GNSS_tracking)
|
||||
plot(GNSS_tracking(n).CN0_SNV_dB_Hz)
|
||||
plotnames{n}=['SV ' num2str(round(mean(GNSS_tracking(n).PRN)))];
|
||||
end
|
||||
legend(plotnames);
|
||||
Loading…
Reference in New Issue
Block a user