mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-03-14 07:28:17 +00:00
Front-end calibration utility is now fully operative for the following front-ends:
- RTLS-SDR + Elonics E4000 Some bug correction in PCPS acquisition git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@398 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
parent
8b10549fee
commit
9bfd2bb32a
@ -6,27 +6,29 @@
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[GNSS-SDR]
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;######### INITIAL RECEIVER POSITIION ######
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; san francisco scenario
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GNSS-SDR.init_latitude_deg=40.74846557442795
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GNSS-SDR.init_longitude_deg=-73.98593961814200
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GNSS-SDR.init_altitude_m=329.11968943169342
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; Barcelona
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;GNSS-SDR.init_latitude_deg=41.27481478485936
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;GNSS-SDR.init_longitude_deg=1.98753271588628
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;GNSS-SDR.init_altitude_m=25
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;######### GLOBAL OPTIONS ##################
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;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
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GNSS-SDR.internal_fs_hz=2000020
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GNSS-SDR.internal_fs_hz=2000000
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;######### CONTROL_THREAD CONFIG ############
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ControlThread.wait_for_flowgraph=false
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;######### SUPL RRLP GPS assistance configuration #####
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GNSS-SDR.SUPL_gps_enabled=true
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GNSS-SDR.SUPL_read_gps_assistance_xml=true
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GNSS-SDR.SUPL_read_gps_assistance_xml=false
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GNSS-SDR.SUPL_gps_ephemeris_server=supl.nokia.com
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GNSS-SDR.SUPL_gps_ephemeris_port=7275
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GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
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GNSS-SDR.SUPL_gps_acquisition_server=supl.nokia.com
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GNSS-SDR.SUPL_gps_acquisition_port=7275
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GNSS-SDR.SUPL_MCC=217
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GNSS-SDR.SUPL_MNS=7
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@ -40,13 +42,15 @@ SignalSource.implementation=File_Signal_Source
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SignalSource.AGC_enabled=false
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;#filename: path to file with the captured GNSS signal samples to be processed
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SignalSource.filename=/media/DATALOGGER_/signals/RTL-SDR/cap_-90dBm_IF15_RF40_usb_peq.dat
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;SignalSource.filename=/media/DATALOGGER_/signals/RTL-SDR/cap_-90dBm_IF15_RF40_EzCap.dat
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;SignalSource.filename=/media/DATALOGGER_/signals/Agilent GPS Generator/New York/2msps.dat
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SignalSource.filename=/media/DATALOGGER_/signals/RTL-SDR/cap_ventana_CTTC_amplif_IF15_RF40usb_peq.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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SignalSource.item_type=gr_complex
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;#sampling_frequency: Original Signal sampling frequency in [Hz]
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SignalSource.sampling_frequency=2000020
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SignalSource.sampling_frequency=2000000
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;#freq: RF front-end center frequency in [Hz]
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SignalSource.freq=1575420000
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@ -54,7 +58,7 @@ SignalSource.freq=1575420000
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;#gain: Front-end Gain in [dB]
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SignalSource.gain=40
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SignalSource.rf_gain=40
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SignalSource.if_gain=5
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SignalSource.if_gain=30
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;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
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SignalSource.subdevice=B:0
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@ -76,7 +80,7 @@ SignalSource.dump_filename=../data/signal_source.dat
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;#implementation: Use [Pass_Through] or [Signal_Conditioner]
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;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
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;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
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SignalConditioner.implementation=Signal_Conditioner
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SignalConditioner.implementation=Pass_Through
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;######### DATA_TYPE_ADAPTER CONFIG ############
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;## Changes the type of input data. Please disable it in this version.
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@ -155,8 +159,8 @@ InputFilter.grid_density=16
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;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
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;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
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InputFilter.sampling_frequency=2000020
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InputFilter.IF=-16242
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InputFilter.sampling_frequency=2000000
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InputFilter.IF=0
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InputFilter.decimation_factor=1
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@ -178,16 +182,14 @@ Acquisition.item_type=gr_complex
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Acquisition.if=0
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;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
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Acquisition.sampled_ms=1
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;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
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Acquisition.implementation=GPS_L1_CA_PCPS_Acquisition
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;#threshold: Acquisition threshold
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Acquisition.threshold=60
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Acquisition.threshold=0.009
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;#doppler_max: Maximum expected Doppler shift [Hz]
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Acquisition.doppler_max=100000
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;#doppler_max: Maximum expected Doppler shift [Hz]
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Acquisition.doppler_min=-100000
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;#doppler_step Doppler step in the grid search [Hz]
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Acquisition.doppler_step=250
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Acquisition.doppler_step=500
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;#maximum dwells
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Acquisition.max_dwells=2
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Acquisition.max_dwells=20
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@ -80,7 +80,7 @@ pcps_acquisition_cc::pcps_acquisition_cc(
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//todo: do something if posix_memalign fails
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if (posix_memalign((void**)&d_fft_codes, 16, d_fft_size * sizeof(gr_complex)) == 0){};
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if (posix_memalign((void**)&d_magnitude, 16, d_fft_size * sizeof(gr_complex)) == 0){};
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if (posix_memalign((void**)&d_magnitude, 16, d_fft_size * sizeof(float)) == 0){};
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// Direct FFT
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d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
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@ -1,5 +1,5 @@
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/*!
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* \file pcps_assisted_acquisition_cc.cc
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* \file pcps_acquisition_fine_doppler_acquisition_cc.cc
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* \brief This class implements a Parallel Code Phase Search Acquisition with multi-dwells and fine Doppler estimation
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* \authors <ul>
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* <li> Javier Arribas, 2013. jarribas(at)cttc.es
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@ -34,7 +34,6 @@
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#include "gnss_signal_processing.h"
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#include "gps_sdr_signal_processing.h"
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#include "control_message_factory.h"
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#include "gps_acq_assist.h"
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#include <gnuradio/io_signature.h>
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#include <sstream>
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#include <glog/log_severity.h>
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@ -44,7 +43,6 @@
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#include "concurrent_map.h"
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#include <algorithm> // std::rotate
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extern concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
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using google::LogMessage;
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@ -84,10 +82,10 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(
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d_gnuradio_forecast_samples=d_fft_size;
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d_input_power = 0.0;
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d_state=0;
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d_disable_assist=false;
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//todo: do something if posix_memalign fails
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if (posix_memalign((void**)&d_carrier, 16, d_fft_size * sizeof(gr_complex)) == 0){};
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if (posix_memalign((void**)&d_fft_codes, 16, d_fft_size * sizeof(gr_complex)) == 0){};
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if (posix_memalign((void**)&d_magnitude, 16, d_fft_size * sizeof(float)) == 0){};
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// Direct FFT
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d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
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@ -103,6 +101,19 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(
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void pcps_acquisition_fine_doppler_cc::set_doppler_step(unsigned int doppler_step)
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{
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d_doppler_step = doppler_step;
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// Create the search grid array
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d_num_doppler_points=floor(std::abs(d_config_doppler_max-d_config_doppler_min)/d_doppler_step);
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d_grid_data=new float*[d_num_doppler_points];
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for (int i=0;i<d_num_doppler_points;i++)
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{
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if (posix_memalign((void**)&d_grid_data[i], 16, d_fft_size * sizeof(float)) == 0){};
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}
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update_carrier_wipeoff();
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}
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void pcps_acquisition_fine_doppler_cc::free_grid_memory()
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@ -113,6 +124,7 @@ void pcps_acquisition_fine_doppler_cc::free_grid_memory()
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delete[] d_grid_doppler_wipeoffs[i];
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}
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delete d_grid_data;
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delete d_grid_doppler_wipeoffs;
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}
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pcps_acquisition_fine_doppler_cc::~pcps_acquisition_fine_doppler_cc()
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{
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@ -124,34 +136,31 @@ pcps_acquisition_fine_doppler_cc::~pcps_acquisition_fine_doppler_cc()
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{
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d_dump_file.close();
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}
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free_grid_memory();
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}
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void pcps_acquisition_fine_doppler_cc::set_local_code(std::complex<float> * code)
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{
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memcpy(d_fft_if->get_inbuf(),code,sizeof(gr_complex)*d_fft_size);
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d_fft_if->execute(); // We need the FFT of local code
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//Conjugate the local code
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volk_32fc_conjugate_32fc_a(d_fft_codes,d_fft_if->get_outbuf(),d_fft_size);
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}
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void pcps_acquisition_fine_doppler_cc::init()
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{
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d_gnss_synchro->Acq_delay_samples = 0.0;
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d_gnss_synchro->Acq_doppler_hz = 0.0;
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d_gnss_synchro->Acq_samplestamp_samples = 0;
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d_input_power = 0.0;
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d_state=0;
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d_fft_if->execute(); // We need the FFT of local code
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//Conjugate the local code
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volk_32fc_conjugate_32fc_a(d_fft_codes,d_fft_if->get_outbuf(),d_fft_size);
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}
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void pcps_acquisition_fine_doppler_cc::forecast (int noutput_items,
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gr_vector_int &ninput_items_required)
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{
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@ -159,28 +168,6 @@ void pcps_acquisition_fine_doppler_cc::forecast (int noutput_items,
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}
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void pcps_acquisition_fine_doppler_cc::get_assistance()
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{
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Gps_Acq_Assist gps_acq_assisistance;
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if (global_gps_acq_assist_map.read(this->d_gnss_synchro->PRN,gps_acq_assisistance)==true)
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{
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//TODO: use the LO tolerance here
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if (gps_acq_assisistance.dopplerUncertainty>=1000)
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{
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d_doppler_max=gps_acq_assisistance.d_Doppler0+gps_acq_assisistance.dopplerUncertainty*2;
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d_doppler_min=gps_acq_assisistance.d_Doppler0-gps_acq_assisistance.dopplerUncertainty*2;
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}else{
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d_doppler_max=gps_acq_assisistance.d_Doppler0+1000;
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d_doppler_min=gps_acq_assisistance.d_Doppler0-1000;
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}
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this->d_disable_assist=false;
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std::cout<<"Acq assist ENABLED for GPS SV "<<this->d_gnss_synchro->PRN<<" (Doppler max,Doppler min)=("
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<<d_doppler_max<<","<<d_doppler_min<<")"<<std::endl;
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}else{
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this->d_disable_assist=true;
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//std::cout<<"Acq assist DISABLED for GPS SV "<<this->d_gnss_synchro->PRN<<std::endl;
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}
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}
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void pcps_acquisition_fine_doppler_cc::reset_grid()
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{
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d_well_count=0;
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@ -192,23 +179,8 @@ void pcps_acquisition_fine_doppler_cc::reset_grid()
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}
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}
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}
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void pcps_acquisition_fine_doppler_cc::redefine_grid()
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void pcps_acquisition_fine_doppler_cc::update_carrier_wipeoff()
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{
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if (this->d_disable_assist==true)
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{
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d_doppler_max=d_config_doppler_max;
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d_doppler_min=d_config_doppler_min;
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}
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// Create the search grid array
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d_num_doppler_points=floor(std::abs(d_doppler_max-d_doppler_min)/d_doppler_step);
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d_grid_data=new float*[d_num_doppler_points];
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for (int i=0;i<d_num_doppler_points;i++)
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{
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if (posix_memalign((void**)&d_grid_data[i], 16, d_fft_size * sizeof(float)) == 0){};
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}
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// create the carrier Doppler wipeoff signals
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int doppler_hz;
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float phase_step_rad;
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@ -216,7 +188,7 @@ void pcps_acquisition_fine_doppler_cc::redefine_grid()
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for (int doppler_index=0;doppler_index<d_num_doppler_points;doppler_index++)
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{
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doppler_hz=d_doppler_min+d_doppler_step*doppler_index;
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doppler_hz=d_config_doppler_min+d_doppler_step*doppler_index;
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// doppler search steps
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// compute the carrier doppler wipe-off signal and store it
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phase_step_rad = (float)GPS_TWO_PI*doppler_hz / (float)d_fs_in;
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@ -239,22 +211,23 @@ double pcps_acquisition_fine_doppler_cc::search_maximum()
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volk_32f_index_max_16u_a(&tmp_intex_t,d_grid_data[i],d_fft_size);
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if (d_grid_data[i][tmp_intex_t] > magt)
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{
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magt = d_grid_data[i][index_time];
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magt = d_grid_data[i][tmp_intex_t];
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//std::cout<<magt<<std::endl;
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index_doppler = i;
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index_time = tmp_intex_t;
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}
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}
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// Normalize the maximum value to correct the scale factor introduced by FFTW
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fft_normalization_factor = (float)d_fft_size * (float)d_fft_size;
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fft_normalization_factor = (float)d_fft_size * (float)d_fft_size;;
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magt = magt / (fft_normalization_factor * fft_normalization_factor);
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// 5- Compute the test statistics and compare to the threshold
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d_test_statistics = 2 * d_fft_size * magt /(d_input_power*d_well_count);
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d_test_statistics = magt/(d_input_power*std::sqrt(d_well_count));
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// 4- record the maximum peak and the associated synchronization parameters
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d_gnss_synchro->Acq_delay_samples = (double)index_time;
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d_gnss_synchro->Acq_doppler_hz = (double)(index_doppler*d_doppler_step+d_doppler_min);
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d_gnss_synchro->Acq_doppler_hz = (double)(index_doppler*d_doppler_step+d_config_doppler_min);
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d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
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// Record results to file if required
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@ -278,16 +251,22 @@ double pcps_acquisition_fine_doppler_cc::search_maximum()
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float pcps_acquisition_fine_doppler_cc::estimate_input_power(gr_vector_const_void_star &input_items)
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{
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const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
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// 1- Compute the input signal power estimation
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float* p_tmp_vector;
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if (posix_memalign((void**)&p_tmp_vector, 16, d_fft_size * sizeof(float)) == 0){};
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volk_32fc_magnitude_squared_32f_u(p_tmp_vector, in, d_fft_size);
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const float* p_const_tmp_vector=p_tmp_vector;
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// 1- Compute the input signal power estimation
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float power;
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volk_32f_accumulator_s32f_a(&power, p_const_tmp_vector, d_fft_size);
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free(p_tmp_vector);
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return ( power / (float)d_fft_size);
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power=0;
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if (is_unaligned())
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{
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volk_32fc_magnitude_squared_32f_u(d_magnitude, in, d_fft_size);
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volk_32f_accumulator_s32f_a(&power, d_magnitude, d_fft_size);
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}
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else
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{
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volk_32fc_magnitude_squared_32f_a(d_magnitude, in, d_fft_size);
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volk_32f_accumulator_s32f_a(&power, d_magnitude, d_fft_size);
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}
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power /= (float)d_fft_size;
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return power;
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}
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int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_const_void_star &input_items)
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@ -298,9 +277,11 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
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DLOG(INFO) << "Channel: " << d_channel
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<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN
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<< " ,sample stamp: " << d_sample_counter << ", threshold: "
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<< d_threshold << ", doppler_max: " << d_doppler_max
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<< d_threshold << ", doppler_max: " << d_config_doppler_max
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<< ", doppler_step: " << d_doppler_step;
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// 2- Doppler frequency search loop
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float* p_tmp_vector;
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if (posix_memalign((void**)&p_tmp_vector, 16, d_fft_size * sizeof(float)) == 0){};
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@ -309,7 +290,7 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
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{
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// doppler search steps
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// Perform the carrier wipe-off
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volk_32fc_x2_multiply_32fc_u(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
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volk_32fc_x2_multiply_32fc_u(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
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// 3- Perform the FFT-based convolution (parallel time search)
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// Compute the FFT of the carrier wiped--off incoming signal
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d_fft_if->execute();
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@ -322,35 +303,23 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
|
||||
d_ifft->execute();
|
||||
|
||||
// save the grid matrix delay file
|
||||
|
||||
volk_32fc_magnitude_squared_32f_a(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size);
|
||||
const float* old_vector=d_grid_data[doppler_index];
|
||||
volk_32f_x2_add_32f_u(d_grid_data[doppler_index],old_vector,p_tmp_vector,d_fft_size);
|
||||
|
||||
}
|
||||
|
||||
free(p_tmp_vector);
|
||||
return d_fft_size;
|
||||
}
|
||||
|
||||
inline int pow2roundup (int x)
|
||||
{
|
||||
if (x < 0)
|
||||
return 0;
|
||||
--x;
|
||||
x |= x >> 1;
|
||||
x |= x >> 2;
|
||||
x |= x >> 4;
|
||||
x |= x >> 8;
|
||||
x |= x >> 16;
|
||||
return x+1;
|
||||
}
|
||||
|
||||
int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star &input_items, int available_samples)
|
||||
{
|
||||
|
||||
// Direct FFT
|
||||
int zero_padding_factor=8;
|
||||
int fft_size_extended=d_fft_size*zero_padding_factor;
|
||||
|
||||
gr::fft::fft_complex *fft_operator=new gr::fft::fft_complex(fft_size_extended,true);
|
||||
//zero padding the entire vector
|
||||
memset(fft_operator->get_inbuf(),0,fft_size_extended*sizeof(gr_complex));
|
||||
@ -361,9 +330,13 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
|
||||
gps_l1_ca_code_gen_complex_sampled(code_replica, d_gnss_synchro->PRN, d_fs_in, 0);
|
||||
|
||||
int shift_index=(int)d_gnss_synchro->Acq_delay_samples;
|
||||
|
||||
//std::cout<<"shift_index="<<shift_index<<std::endl;
|
||||
// Rotate to align the local code replica using acquisition time delay estimation
|
||||
std::rotate(code_replica,code_replica+(d_fft_size-shift_index),code_replica+d_fft_size-1);
|
||||
if (shift_index!=0)
|
||||
{
|
||||
std::rotate(code_replica,code_replica+(d_fft_size-shift_index),code_replica+d_fft_size-1);
|
||||
}
|
||||
|
||||
//2. Perform code wipe-off
|
||||
const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
|
||||
@ -376,9 +349,10 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
|
||||
// 4. Compute the magnitude and find the maximum
|
||||
float* p_tmp_vector;
|
||||
if (posix_memalign((void**)&p_tmp_vector, 16, fft_size_extended * sizeof(float)) == 0){};
|
||||
|
||||
volk_32fc_magnitude_squared_32f_a(p_tmp_vector, fft_operator->get_outbuf(), fft_size_extended);
|
||||
|
||||
unsigned int tmp_index_freq;
|
||||
unsigned int tmp_index_freq=0;
|
||||
volk_32f_index_max_16u_a(&tmp_index_freq,p_tmp_vector,fft_size_extended);
|
||||
|
||||
//std::cout<<"FFT maximum index present at "<<tmp_index_freq<<std::endl;
|
||||
@ -438,6 +412,10 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
|
||||
}
|
||||
|
||||
|
||||
// free memory!!
|
||||
delete fft_operator;
|
||||
free(code_replica);
|
||||
free(p_tmp_vector);
|
||||
return d_fft_size;
|
||||
}
|
||||
int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
|
||||
@ -449,15 +427,12 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
|
||||
* TODO: High sensitivity acquisition algorithm:
|
||||
* State Mechine:
|
||||
* 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.
|
||||
* S1. ComputeGrid. Perform the FFT acqusition doppler and delay grid.
|
||||
* Accumulate the search grid matrix (#doppler_bins x #fft_size)
|
||||
* Compare maximum to threshold and decide positive or negative
|
||||
* If T>=gamma -> S4 else
|
||||
* If d_well_count<max_dwells -> S2
|
||||
* else if !disable_assist -> S3
|
||||
* else -> S5.
|
||||
* S3. RedefineGrid. Open the grid search to unasisted acquisition. Reset counters and grid. -> S2
|
||||
* S4. Positive_Acq: Send message and stop acq -> S0
|
||||
* S5. Negative_Acq: Send message and stop acq -> S0
|
||||
*/
|
||||
@ -465,66 +440,44 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
|
||||
switch (d_state)
|
||||
{
|
||||
case 0: // S0. StandBy
|
||||
if (d_active==true) d_state=1;
|
||||
d_sample_counter += ninput_items[0]; // sample counter
|
||||
consume_each(ninput_items[0]);
|
||||
//DLOG(INFO) <<"S0"<<std::endl;
|
||||
if (d_active==true)
|
||||
{
|
||||
reset_grid();
|
||||
d_state=1;
|
||||
}
|
||||
break;
|
||||
case 1: // S1. GetAssist
|
||||
get_assistance();
|
||||
redefine_grid();
|
||||
reset_grid();
|
||||
d_sample_counter += ninput_items[0]; // sample counter
|
||||
consume_each(ninput_items[0]);
|
||||
d_state=2;
|
||||
break;
|
||||
case 2: // S2. ComputeGrid
|
||||
int consumed_samples;
|
||||
consumed_samples=compute_and_accumulate_grid(input_items);
|
||||
case 1: // S1. ComputeGrid
|
||||
//DLOG(INFO) <<"S1"<<std::endl;
|
||||
compute_and_accumulate_grid(input_items);
|
||||
d_well_count++;
|
||||
if (d_well_count>=d_max_dwells)
|
||||
{
|
||||
d_state=3;
|
||||
d_state=2;
|
||||
}
|
||||
d_sample_counter+=consumed_samples;
|
||||
//consume_each(consumed_samples);
|
||||
consume_each(0);
|
||||
break;
|
||||
case 3: // Compute test statistics and decide
|
||||
case 2: // Compute test statistics and decide
|
||||
//DLOG(INFO) <<"S2"<<std::endl;
|
||||
d_input_power=estimate_input_power(input_items);
|
||||
d_test_statistics=search_maximum();
|
||||
if (d_test_statistics > d_threshold)
|
||||
{
|
||||
d_state=5; //perform fine doppler estimation
|
||||
d_state=3; //perform fine doppler estimation
|
||||
}else{
|
||||
if (d_disable_assist==false)
|
||||
{
|
||||
d_disable_assist=true;
|
||||
//std::cout<<"Acq assist DISABLED for GPS SV "<<this->d_gnss_synchro->PRN<<std::endl;
|
||||
d_state=4;
|
||||
}else{
|
||||
d_state=7; //negative acquisition
|
||||
}
|
||||
d_state=5; //negative acquisition
|
||||
}
|
||||
//d_sample_counter += ninput_items[0]; // sample counter
|
||||
//consume_each(ninput_items[0]);
|
||||
consume_each(0);
|
||||
break;
|
||||
case 4: // RedefineGrid
|
||||
free_grid_memory();
|
||||
redefine_grid();
|
||||
reset_grid();
|
||||
d_sample_counter += ninput_items[0]; // sample counter
|
||||
consume_each(ninput_items[0]);
|
||||
d_state=2;
|
||||
break;
|
||||
case 5: // Fine doppler estimation
|
||||
|
||||
|
||||
|
||||
case 3: // Fine doppler estimation
|
||||
//DLOG(INFO) <<"S3"<<std::endl;
|
||||
DLOG(INFO) << "Performing fine Doppler estimation";
|
||||
estimate_Doppler(input_items, ninput_items[0]); //disabled in repo
|
||||
d_sample_counter += ninput_items[0]; // sample counter
|
||||
consume_each(ninput_items[0]);
|
||||
d_state=6;
|
||||
d_state=4;
|
||||
break;
|
||||
case 6: // Positive_Acq
|
||||
case 4: // Positive_Acq
|
||||
//DLOG(INFO) <<"S4"<<std::endl;
|
||||
DLOG(INFO) << "positive acquisition";
|
||||
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
|
||||
DLOG(INFO) << "sample_stamp " << d_sample_counter;
|
||||
@ -537,13 +490,10 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
|
||||
d_active = false;
|
||||
// Send message to channel queue //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
|
||||
d_channel_internal_queue->push(1); // 1-> positive acquisition
|
||||
free_grid_memory();
|
||||
// consume samples to not block the GNU Radio flowgraph
|
||||
d_sample_counter += ninput_items[0]; // sample counter
|
||||
consume_each(ninput_items[0]);
|
||||
d_state=0;
|
||||
break;
|
||||
case 7: // Negative_Acq
|
||||
case 5: // Negative_Acq
|
||||
//DLOG(INFO) <<"S5"<<std::endl;
|
||||
DLOG(INFO) << "negative acquisition";
|
||||
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
|
||||
DLOG(INFO) << "sample_stamp " << d_sample_counter;
|
||||
@ -556,15 +506,15 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
|
||||
d_active = false;
|
||||
// Send message to channel queue //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
|
||||
d_channel_internal_queue->push(2); // 2-> negative acquisition
|
||||
free_grid_memory();
|
||||
// consume samples to not block the GNU Radio flowgraph
|
||||
d_sample_counter += ninput_items[0]; // sample counter
|
||||
consume_each(ninput_items[0]);
|
||||
d_state=0;
|
||||
break;
|
||||
default:
|
||||
d_state=0;
|
||||
break;
|
||||
}
|
||||
|
||||
//DLOG(INFO)<<"d_sample_counter="<<d_sample_counter<<std::endl;
|
||||
d_sample_counter += d_fft_size; // sample counter
|
||||
consume_each(d_fft_size);
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -1,5 +1,5 @@
|
||||
/*!
|
||||
* \file pcps_assisted_acquisition_cc.h
|
||||
* \file pcps_acquisition_fine_doppler_acquisition_cc.h
|
||||
* \brief This class implements a Parallel Code Phase Search Acquisition with multi-dwells and fine Doppler estimation
|
||||
*
|
||||
* Acquisition strategy (Kay Borre book + CFAR threshold).
|
||||
@ -95,9 +95,8 @@ private:
|
||||
int estimate_Doppler(gr_vector_const_void_star &input_items, int available_samples);
|
||||
float estimate_input_power(gr_vector_const_void_star &input_items);
|
||||
double search_maximum();
|
||||
void get_assistance();
|
||||
void reset_grid();
|
||||
void redefine_grid();
|
||||
void update_carrier_wipeoff();
|
||||
void free_grid_memory();
|
||||
|
||||
long d_fs_in;
|
||||
@ -108,8 +107,6 @@ private:
|
||||
int d_gnuradio_forecast_samples;
|
||||
float d_threshold;
|
||||
std::string d_satellite_str;
|
||||
int d_doppler_max;
|
||||
int d_doppler_min;
|
||||
int d_config_doppler_max;
|
||||
int d_config_doppler_min;
|
||||
|
||||
@ -120,6 +117,7 @@ private:
|
||||
unsigned long int d_sample_counter;
|
||||
gr_complex* d_carrier;
|
||||
gr_complex* d_fft_codes;
|
||||
float* d_magnitude;
|
||||
|
||||
float** d_grid_data;
|
||||
gr_complex** d_grid_doppler_wipeoffs;
|
||||
@ -136,7 +134,6 @@ private:
|
||||
std::ofstream d_dump_file;
|
||||
int d_state;
|
||||
bool d_active;
|
||||
bool d_disable_assist;
|
||||
int d_well_count;
|
||||
bool d_dump;
|
||||
unsigned int d_channel;
|
||||
@ -213,7 +210,7 @@ public:
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max)
|
||||
{
|
||||
d_doppler_max = doppler_max;
|
||||
d_config_doppler_max = doppler_max;
|
||||
}
|
||||
|
||||
/*!
|
||||
|
||||
@ -145,8 +145,7 @@ FileSignalSource::FileSignalSource(ConfigurationInterface* configuration,
|
||||
samples_ = floor((double)size / (double)item_size() - ceil(0.002 * (double)sampling_frequency_)); //process all the samples available in the file excluding the last 2 ms
|
||||
}
|
||||
}
|
||||
std::cout << samples_ << std::endl;
|
||||
//if(samples_ > 0) samples_ = 0;
|
||||
|
||||
CHECK(samples_ > 0) << "File does not contain enough samples to process.";
|
||||
double signal_duration_s;
|
||||
signal_duration_s = (double)samples_ * ( 1 /(double)sampling_frequency_);
|
||||
|
||||
@ -194,21 +194,33 @@ void FrontEndCal::set_configuration(ConfigurationInterface *configuration)
|
||||
configuration_= configuration;
|
||||
}
|
||||
|
||||
void FrontEndCal::get_ephemeris()
|
||||
bool FrontEndCal::get_ephemeris()
|
||||
{
|
||||
bool read_ephemeris_from_xml=configuration_->property("GNSS-SDR.read_eph_from_xml",false);
|
||||
|
||||
if (read_ephemeris_from_xml==true)
|
||||
{
|
||||
std::cout<< "Trying to read ephemeris from XML file"<<std::endl;
|
||||
std::cout<< "Trying to read ephemeris from XML file..."<<std::endl;
|
||||
if (read_assistance_from_XML()==false)
|
||||
{
|
||||
std::cout<< "ERROR: Could not read Ephemeris file: Trying to get ephemeris from SUPL client.."<<std::endl;
|
||||
Get_SUPL_Assist();
|
||||
std::cout<< "ERROR: Could not read Ephemeris file: Trying to get ephemeris from SUPL server.."<<std::endl;
|
||||
if (Get_SUPL_Assist()==1)
|
||||
{
|
||||
return true;
|
||||
}else{
|
||||
return false;
|
||||
}
|
||||
}else{
|
||||
return true;
|
||||
}
|
||||
}else{
|
||||
std::cout<< "Trying to read ephemeris from SUPL server"<<std::endl;
|
||||
Get_SUPL_Assist();
|
||||
std::cout<< "Trying to read ephemeris from SUPL server..."<<std::endl;
|
||||
if (Get_SUPL_Assist()==0)
|
||||
{
|
||||
return true;
|
||||
}else{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -12,7 +12,7 @@ public:
|
||||
bool read_assistance_from_XML();
|
||||
int Get_SUPL_Assist();
|
||||
void set_configuration(ConfigurationInterface *configuration);
|
||||
void get_ephemeris();
|
||||
bool get_ephemeris();
|
||||
double estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height);
|
||||
void GPS_L1_front_end_model_E4000(double f_bb_true_Hz,double f_bb_meas_Hz,double fs_nominal_hz, double *estimated_fs_Hz, double *estimated_f_if_Hz, double *f_osc_err_ppm );
|
||||
FrontEndCal();
|
||||
|
||||
@ -80,7 +80,7 @@ using google::LogMessage;
|
||||
|
||||
DECLARE_string(log_dir);
|
||||
|
||||
DEFINE_string(config_file, "../conf/gnss-sdr.conf",
|
||||
DEFINE_string(config_file, "../conf/front-end-cal.conf",
|
||||
"Path to the file containing the configuration parameters");
|
||||
|
||||
concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
|
||||
@ -123,10 +123,10 @@ void wait_message()
|
||||
{
|
||||
case 1: // Positive acq
|
||||
gnss_sync_vector.push_back(*gnss_synchro);
|
||||
acquisition->reset();
|
||||
//acquisition->reset();
|
||||
break;
|
||||
case 2: // negative acq
|
||||
acquisition->reset();
|
||||
//acquisition->reset();
|
||||
break;
|
||||
case 3:
|
||||
stop=true;
|
||||
@ -162,7 +162,7 @@ bool front_end_capture(ConfigurationInterface *configuration)
|
||||
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
|
||||
int nsamples=samples_per_code*50;
|
||||
|
||||
int skip_samples=fs_in_; // skip 5 seconds
|
||||
int skip_samples=fs_in_*5; // skip 5 seconds
|
||||
|
||||
gr::block_sptr head = gr::blocks::head::make(sizeof(gr_complex), nsamples);
|
||||
|
||||
@ -190,6 +190,19 @@ bool front_end_capture(ConfigurationInterface *configuration)
|
||||
|
||||
}
|
||||
|
||||
static time_t utc_time(int week, long tow) {
|
||||
time_t t;
|
||||
|
||||
/* Jan 5/6 midnight 1980 - beginning of GPS time as Unix time */
|
||||
t = 315964801;
|
||||
|
||||
/* soon week will wrap again, uh oh... */
|
||||
/* TS 44.031: GPSTOW, range 0-604799.92, resolution 0.08 sec, 23-bit presentation */
|
||||
t += (1024 + week) * 604800 + tow*0.08;
|
||||
|
||||
return t;
|
||||
}
|
||||
|
||||
int main(int argc, char** argv)
|
||||
{
|
||||
const std::string intro_help(
|
||||
@ -215,7 +228,7 @@ int main(int argc, char** argv)
|
||||
|
||||
<< "/tmp"
|
||||
<< std::endl
|
||||
<< "Use gnss-sdr --log_dir=/path/to/log to change that."
|
||||
<< "Use front-end-cal --log_dir=/path/to/log to change that."
|
||||
<< std::endl;
|
||||
}
|
||||
else
|
||||
@ -243,7 +256,17 @@ int main(int argc, char** argv)
|
||||
configuration= new FileConfiguration(FLAGS_config_file);
|
||||
front_end_cal.set_configuration(configuration);
|
||||
|
||||
// Capture file
|
||||
|
||||
// 2. Get SUPL information from server: Ephemeris record, assistance info and TOW
|
||||
if (front_end_cal.get_ephemeris()==true)
|
||||
{
|
||||
std::cout<<"SUPL data received OK!"<<std::endl;
|
||||
}else{
|
||||
std::cout<<"Failure connecting to SUPL server"<<std::endl;
|
||||
}
|
||||
|
||||
|
||||
// 3. Capture some front-end samples to hard disk
|
||||
|
||||
if (front_end_capture(configuration))
|
||||
{
|
||||
@ -252,7 +275,7 @@ int main(int argc, char** argv)
|
||||
std::cout<<"Failure capturing front-end samples"<<std::endl;
|
||||
}
|
||||
|
||||
// 3. Setup GNU Radio flowgraph (RTL-SDR -> Acquisition_10m)
|
||||
// 4. Setup GNU Radio flowgraph (file_source -> Acquisition_10m)
|
||||
|
||||
gr::top_block_sptr top_block;
|
||||
boost::shared_ptr<gr::msg_queue> queue;
|
||||
@ -297,7 +320,9 @@ int main(int argc, char** argv)
|
||||
std::cout<<"Failure connecting the GNU Radio blocks "<<std::endl;
|
||||
}
|
||||
|
||||
// 4. Run the flowgraph
|
||||
// 5. Run the flowgraph
|
||||
// Get visible GPS satellites (positive acquisitions with Doppler measurements)
|
||||
// Compute Doppler estimations
|
||||
|
||||
std::map<int,double> doppler_measurements_map;
|
||||
std::map<int,double> cn0_measurements_map;
|
||||
@ -321,7 +346,7 @@ int main(int argc, char** argv)
|
||||
top_block->run();
|
||||
if (start_msg==true)
|
||||
{
|
||||
std::cout<<"Searchig for GPS Satellites..."<<std::endl;
|
||||
std::cout<<"Searching for GPS Satellites in L1 band..."<<std::endl;
|
||||
std::cout<<"[";
|
||||
start_msg=false;
|
||||
}
|
||||
@ -354,46 +379,68 @@ int main(int argc, char** argv)
|
||||
<< ((double)(end - begin))/1000000.0
|
||||
<< " [seconds]" << std::endl;
|
||||
|
||||
// 5. Get visible GPS satellites (positive acquisitions with Doppler measurements)
|
||||
|
||||
// 2. Get SUPL information from server: Ephemeris record, assistance info and TOW
|
||||
front_end_cal.get_ephemeris();
|
||||
|
||||
// 6. Compute Doppler estimations
|
||||
|
||||
//find TOW from SUPL assistance
|
||||
//6. find TOW from SUPL assistance
|
||||
|
||||
double current_TOW=0;
|
||||
if (global_gps_ephemeris_map.size()>0)
|
||||
{
|
||||
std::map<int,Gps_Ephemeris> Eph_map;
|
||||
Eph_map=global_gps_ephemeris_map.get_map_copy();
|
||||
current_TOW=Eph_map.begin()->second.d_TOW;
|
||||
std::cout<<"Current TOW obtained from SUPL assistance = "<<current_TOW<<std::endl;
|
||||
}else{
|
||||
std::cout<<"Unable to get Ephemeris SUPL assistance. TOW is unknown!"<<std::endl;
|
||||
}
|
||||
if (global_gps_ephemeris_map.size()>0)
|
||||
{
|
||||
std::map<int,Gps_Ephemeris> Eph_map;
|
||||
Eph_map=global_gps_ephemeris_map.get_map_copy();
|
||||
current_TOW=Eph_map.begin()->second.d_TOW;
|
||||
|
||||
time_t t = utc_time(Eph_map.begin()->second.i_GPS_week, (long int)current_TOW);
|
||||
|
||||
fprintf(stdout, "Reference Time:\n");
|
||||
fprintf(stdout, " GPS Week: %ld\n", Eph_map.begin()->second.i_GPS_week);
|
||||
fprintf(stdout, " GPS TOW: %ld %lf\n", (long int)current_TOW, (long int)current_TOW*0.08);
|
||||
fprintf(stdout, " ~ UTC: %s", ctime(&t));
|
||||
std::cout<<"Current TOW obtained from SUPL assistance = "<<current_TOW<<std::endl;
|
||||
}else{
|
||||
std::cout<<"Unable to get Ephemeris SUPL assistance. TOW is unknown!"<<std::endl;
|
||||
delete configuration;
|
||||
delete acquisition;
|
||||
delete gnss_synchro;
|
||||
google::ShutDownCommandLineFlags();
|
||||
std::cout << "GNSS-SDR Front-end calibration program ended." << std::endl;
|
||||
return 0;
|
||||
}
|
||||
|
||||
//Get user position from config file (or from SUPL using GSM Cell ID)
|
||||
double lat_deg = configuration->property("GNSS-SDR.init_latitude_deg", 41.0);
|
||||
double lon_deg = configuration->property("GNSS-SDR.init_longitude_deg", 2.0);
|
||||
double altitude_m = configuration->property("GNSS-SDR.init_altitude_m", 100);
|
||||
|
||||
std::cout<<"Reference location (defined in config file):"<<std::endl;
|
||||
|
||||
std::cout<<"Latitude="<<lat_deg<<" [º]"<<std::endl;
|
||||
std::cout<<"Longitude="<<lon_deg<<" [º]"<<std::endl;
|
||||
std::cout<<"Altitude="<<altitude_m<<" [m]"<<std::endl;
|
||||
|
||||
if (doppler_measurements_map.size()==0)
|
||||
{
|
||||
std::cout<<"Sorry, no GPS satellites detected in the front-end capture, please check the antenna setup..."<<std::endl;
|
||||
delete configuration;
|
||||
delete acquisition;
|
||||
delete gnss_synchro;
|
||||
google::ShutDownCommandLineFlags();
|
||||
std::cout << "GNSS-SDR Front-end calibration program ended." << std::endl;
|
||||
return 0;
|
||||
}
|
||||
|
||||
std::map<int,double> f_if_estimation_Hz_map;
|
||||
std::map<int,double> f_fs_estimation_Hz_map;
|
||||
std::map<int,double> f_ppm_estimation_Hz_map;
|
||||
|
||||
std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<
|
||||
std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<
|
||||
"Doppler analysis results:"<<std::endl;
|
||||
|
||||
std::cout << "SV ID Measured [Hz] Predicted [Hz]" <<std::endl;
|
||||
|
||||
for (std::map<int,double>::iterator it = doppler_measurements_map.begin() ; it != doppler_measurements_map.end(); ++it)
|
||||
{
|
||||
//std::cout << "Doppler measured for (SV=" << it->first<<")="<<it->second<<" [Hz]"<<std::endl;
|
||||
try{
|
||||
double doppler_estimated_hz;
|
||||
doppler_estimated_hz=front_end_cal.estimate_doppler_from_eph(it->first,current_TOW,lat_deg,lon_deg,altitude_m);
|
||||
//std::cout << "Doppler estimated for (SV=" << it->first<<")="<<doppler_estimated_hz<<" [Hz]"<<std::endl;
|
||||
std::cout << " "<<it->first<<" "<<it->second<<" "<<doppler_estimated_hz<<std::endl;
|
||||
// 7. Compute front-end IF and sampling frequency estimation
|
||||
// Compare with the measurements and compute clock drift using FE model
|
||||
@ -406,7 +453,6 @@ int main(int argc, char** argv)
|
||||
|
||||
}catch(int ex)
|
||||
{
|
||||
//std::cout<<"Eph not found for SV "<<it->first<<std::endl;
|
||||
std::cout << " "<<it->first<<" "<<it->second<<" (Eph not found)"<<std::endl;
|
||||
}
|
||||
}
|
||||
@ -428,9 +474,6 @@ int main(int argc, char** argv)
|
||||
mean_fs_Hz/=n_elements;
|
||||
mean_osc_err_ppm/=n_elements;
|
||||
|
||||
|
||||
|
||||
|
||||
std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<"FE parameters estimation for Elonics E4000 Front-End:"<<std::endl;
|
||||
|
||||
std::cout<<"Sampling frequency ="<<mean_fs_Hz<<" [Hz]"<<std::endl;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user