Merge branch 'vladisslav2011-fake_multichannel' into next

conf/RealTime_input/gnss-sdr_multichannel_GPS_Galileo_Beidou_Glonass_L1_USRP_realtime.conf

@@ -0,0 +1,281 @@
+; This is a GNSS-SDR configuration file
+; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
+; SPDX-License-Identifier: GPL-3.0-or-later
+; SPDX-FileCopyrightText: (C) 2010-2020  (see AUTHORS file for a list of contributors)
+
+; You can define your own receiver and invoke it by doing
+; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
+;
+
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+GNSS-SDR.internal_fs_sps=8000000
+GNSS-SDR.Beidou_banned_prns=56,57,58
+
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource.implementation=Osmosdr_Signal_Source
+SignalSource.item_type=gr_complex
+SignalSource.sampling_frequency=56000000
+SignalSource.freq=1584000000
+SignalSource.osmosdr_args=uhd,type=b200,num_recv_frames=256
+SignalSource.gain=50
+SignalSource.antenna=TX/RX
+SignalSource.if_bw=56000000
+SignalSource.AGC_enabled=false
+SignalSource.samples=0
+SignalSource.repeat=false
+SignalSource.RF_channels=3
+SignalSource.enable_throttle_control=false
+SignalSource.dump=false
+
+
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner0.implementation=Signal_Conditioner
+SignalConditioner1.implementation=Signal_Conditioner
+SignalConditioner2.implementation=Signal_Conditioner
+
+;######### DATA_TYPE_ADAPTER CONFIG ############
+DataTypeAdapter0.implementation=Pass_Through
+DataTypeAdapter1.implementation=Pass_Through
+DataTypeAdapter2.implementation=Pass_Through
+
+;######### INPUT_FILTER CONFIG ############
+InputFilter0.implementation=Freq_Xlating_Fir_Filter
+InputFilter0.decimation_factor=7
+InputFilter0.input_item_type=gr_complex
+InputFilter0.output_item_type=gr_complex
+InputFilter0.taps_item_type=float
+InputFilter0.filter_type=lowpass
+InputFilter0.bw=7000000
+InputFilter0.tw=500000
+InputFilter0.IF=-22902000
+InputFilter0.sampling_frequency=56000000
+InputFilter0.dump=false
+InputFilter0.dump_filename=../data/input_filter.dat
+
+;######### INPUT_FILTER CONFIG ############
+InputFilter1.implementation=Freq_Xlating_Fir_Filter
+InputFilter1.decimation_factor=7
+InputFilter1.input_item_type=gr_complex
+InputFilter1.output_item_type=gr_complex
+InputFilter1.taps_item_type=float
+InputFilter1.filter_type=lowpass
+InputFilter1.bw=7000000
+InputFilter1.tw=500000
+InputFilter1.IF=-8580000
+InputFilter1.sampling_frequency=56000000
+InputFilter1.dump=false
+InputFilter1.dump_filename=../data/input_filter.dat
+
+;######### INPUT_FILTER CONFIG ############
+InputFilter2.implementation=Freq_Xlating_Fir_Filter
+InputFilter2.decimation_factor=7
+InputFilter2.input_item_type=gr_complex
+InputFilter2.output_item_type=gr_complex
+InputFilter2.taps_item_type=float
+InputFilter2.filter_type=lowpass
+InputFilter2.bw=7000000
+InputFilter2.tw=500000
+InputFilter2.IF=18000000
+InputFilter2.sampling_frequency=56000000
+InputFilter2.dump=false
+InputFilter2.dump_filename=../data/input_filter.dat
+
+;######### RESAMPLER CONFIG ############
+Resampler0.implementation=Pass_Through
+Resampler1.implementation=Pass_Through
+Resampler2.implementation=Pass_Through
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channels_1B.count=10
+Channels_1C.count=10
+Channels_B1.count=14
+Channels_1G.count=8
+
+Channels_1B.RF_channel_ID=1
+Channels_1C.RF_channel_ID=1
+Channels_B1.RF_channel_ID=0
+Channels_1G.RF_channel_ID=2
+
+
+Channels.in_acquisition=2
+
+;######### ACQUISITION BEIDOU CONFIG ############
+Acquisition_B1.implementation=BEIDOU_B1I_PCPS_Acquisition
+Acquisition_B1.item_type=gr_complex
+Acquisition_B1.coherent_integration_time_ms=2
+;Acquisition_B1.max_dwells=2
+;Acquisition_B1.pfa=0.02
+Acquisition_B1.pfa=0.000002
+Acquisition_B1.doppler_max=6000
+Acquisition_B1.doppler_step=100
+Acquisition_B1.dump=false
+Acquisition_B1.dump_filename=./bds_acq
+;Acquisition_B1.blocking=true
+Acquisition_B1.bit_transition_flag = false;
+
+;######### ACQUISITION GPS CONFIG ############
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.item_type=gr_complex
+Acquisition_1C.coherent_integration_time_ms=1
+Acquisition_1C.pfa=0.015
+Acquisition_1C.doppler_max=6000
+Acquisition_1C.doppler_step=200
+Acquisition_1C.max_dwells=4
+;Acquisition_1C.blocking=true
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
+
+;######### ACQUISITION GALILEO CONFIG ############
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+Acquisition_1B.coherent_integration_time_ms=2
+;Acquisition_1B.pfa=0.000008
+Acquisition_1B.pfa=0.025
+Acquisition_1B.doppler_max=6000
+Acquisition_1B.doppler_step=200
+Acquisition_1B.max_dwells=4
+;Acquisition_1B.repeat_satellite=true
+Acquisition_1B.cboc=true
+;Acquisition_1B.blocking=true
+Acquisition_1B.dump=false
+Acquisition_1B.dump_filename=./acq_dump.dat
+
+;######### ACQUISITION GLONASS CONFIG ############
+Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition
+Acquisition_1G.item_type=gr_complex
+Acquisition_1G.coherent_integration_time_ms=1
+Acquisition_1G.max_dwells=4
+Acquisition_1G.pfa=0.02
+Acquisition_1G.doppler_max=6000
+Acquisition_1G.doppler_step=100
+Acquisition_1G.dump=false
+Acquisition_1G.dump_filename=./G1_acq
+
+
+
+;######### TRACKING BEIDOU CONFIG ############
+Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
+Tracking_B1.item_type=gr_complex
+Tracking_B1.extend_correlation_symbols=10
+Tracking_B1.pll_bw_hz=50.0
+Tracking_B1.dll_bw_hz=2.00
+Tracking_B1.pll_bw_narrow_hz=15.0
+Tracking_B1.dll_bw_narrow_hz=1.50
+;Tracking_B1.cn0_min=20
+;Tracking_B1.fll_bw_hz=20
+;Tracking_B1.enable_fll_pull_in=true
+;Tracking_B1.enable_fll_steady_state=false
+Tracking_B1.dump=false
+Tracking_B1.dump_filename=./epl_tracking_ch_
+
+;######### TRACKING GPS CONFIG ############
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
+Tracking_1C.item_type=gr_complex
+Tracking_1C.extend_correlation_symbols=10
+Tracking_1C.early_late_space_chips=0.5
+Tracking_1C.early_late_space_narrow_chips=0.15
+Tracking_1C.pll_bw_hz=30.0
+Tracking_1C.dll_bw_hz=2.0
+Tracking_1C.pll_bw_narrow_hz=10.0
+Tracking_1C.dll_bw_narrow_hz=1.50
+Tracking_1C.fll_bw_hz=10
+Tracking_1C.enable_fll_pull_in=true
+Tracking_1C.enable_fll_steady_state=false
+Tracking_1C.dump=false
+Tracking_1C.dump_filename=tracking_ch_
+
+;######### TRACKING GALILEO CONFIG ############
+Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
+Tracking_1B.extend_correlation_symbols=4
+Tracking_1B.item_type=gr_complex
+Tracking_1B.pll_bw_hz=30.0
+Tracking_1B.dll_bw_hz=2.0
+Tracking_1B.pll_bw_narrow_hz=20.0
+Tracking_1B.dll_bw_narrow_hz=1.50
+Tracking_1B.track_pilot=true
+Tracking_1B.enable_fll_pull_in=true;
+Tracking_1B.enable_fll_steady_state=false
+Tracking_1B.fll_bw_hz=20
+
+;######### TRACKING GLONASS CONFIG ############
+Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
+Tracking_1G.item_type=gr_complex
+Tracking_1G.pll_bw_hz=40
+Tracking_1G.dll_bw_hz=2.5
+Tracking_1G.extend_correlation_ms=1
+Tracking_1G.pll_bw_narrow_hz=20
+Tracking_1G.dll_bw_narrow_hz=1.5
+Tracking_1G.dump=false
+Tracking_1G.dump_filename=./epl_tracking_ch_
+
+
+
+;######### TELEMETRY DECODER BEIDOU CONFIG ############
+TelemetryDecoder_B1.implementation=BEIDOU_B1I_Telemetry_Decoder
+TelemetryDecoder_B1.dump=false
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1C.dump=false
+
+;######### TELEMETRY DECODER GALILEO E1B CONFIG ############
+TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
+TelemetryDecoder_1B.dump=false
+
+;######### TELEMETRY DECODER GLONASS CONFIG ############
+TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1G.dump=false
+
+
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
+Observables.dump=false
+Observables.dump_filename=./observables.dat
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.threshold_reject_GDOP=100
+PVT.elevation_mask=3
+PVT.raim_fde=1
+PVT.positioning_mode=Single  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
+PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
+PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
+PVT.output_rate_ms=100
+PVT.display_rate_ms=500
+PVT.enable_rx_clock_correction=true
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+PVT.rtcm_tcp_port=2101
+PVT.rtcm_MT1019_rate_ms=5000
+PVT.rtcm_MT1077_rate_ms=1000
+PVT.rinex_version=2
+PVT.flag_nmea_tty_port=true
+PVT.nmea_dump_devname=/dev/pts/3
+
+; To use gpsd with GNSS-SDR
+; 1. run socat -d -d pty,raw,echo=0 pty,raw,echo=0
+; 2. Set PVT.nmea_dump_devname to first PTY from socat output
+; 3. run gpsd -b -n -N /dev/pts/4
+; where /dev/pts/4 is the second PTY from socat output
+; 4. run some gpsd client (xgps or other)
+
+
+
+PVT.enable_monitor=true
+PVT.monitor_client_addresses=127.0.0.1
+PVT.monitor_udp_port=1111
+
+Monitor.enable_monitor=true
+Monitor.decimation_factor=4
+Monitor.client_addresses=127.0.0.1
+Monitor.udp_port=1112
+
+;AcquisitionMonitor.enable_monitor=true
+AcquisitionMonitor.client_addresses=127.0.0.1
+AcquisitionMonitor.udp_port=1112
+
+

conf/RealTime_input/gnss-sdr_multichannel_GPS_Galileo_Beidou_L1_hackrf_realtime.conf

@@ -0,0 +1,237 @@
+; This is a GNSS-SDR configuration file
+; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
+; SPDX-License-Identifier: GPL-3.0-or-later
+; SPDX-FileCopyrightText: (C) 2010-2020  (see AUTHORS file for a list of contributors)
+
+; You can define your own receiver and invoke it by doing
+; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
+;
+
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+GNSS-SDR.internal_fs_sps=4000000
+GNSS-SDR.Beidou_banned_prns=56,57,58
+
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource.implementation=Osmosdr_Signal_Source
+SignalSource.item_type=gr_complex
+SignalSource.sampling_frequency=20000000
+SignalSource.freq=1567420000
+SignalSource.if_bw=18000000
+;# Next line enables the internal HackRF One bias (3.3 VDC)
+SignalSource.osmosdr_args=hackrf=0,bias=1,buffers=256
+SignalSource.gain=0
+SignalSource.rf_gain=40
+SignalSource.if_gain=40
+SignalSource.AGC_enabled=false
+SignalSource.samples=0
+SignalSource.repeat=false
+SignalSource.RF_channels=2
+SignalSource.enable_throttle_control=false
+SignalSource.dump=false
+
+
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner0.implementation=Signal_Conditioner
+SignalConditioner1.implementation=Signal_Conditioner
+
+;######### DATA_TYPE_ADAPTER CONFIG ############
+DataTypeAdapter0.implementation=Pass_Through
+DataTypeAdapter1.implementation=Pass_Through
+
+;######### INPUT_FILTER CONFIG ############
+InputFilter0.implementation=Freq_Xlating_Fir_Filter
+;InputFilter0.implementation=Pass_Through
+InputFilter0.decimation_factor=5
+InputFilter0.input_item_type=gr_complex
+InputFilter0.output_item_type=gr_complex
+InputFilter0.taps_item_type=float
+InputFilter0.filter_type=lowpass
+InputFilter0.bw=3000000
+InputFilter0.tw=1000000
+InputFilter0.IF=-6322000
+InputFilter0.sampling_frequency=20000000
+InputFilter0.dump=false
+InputFilter0.dump_filename=../data/input_filter.dat
+
+;######### INPUT_FILTER CONFIG ############
+InputFilter1.implementation=Freq_Xlating_Fir_Filter
+;InputFilter1.implementation=Pass_Through
+InputFilter1.decimation_factor=5
+InputFilter1.input_item_type=gr_complex
+InputFilter1.output_item_type=gr_complex
+InputFilter1.taps_item_type=float
+InputFilter1.filter_type=lowpass
+InputFilter1.bw=3000000
+InputFilter1.tw=1000000
+InputFilter1.IF=8000000
+InputFilter1.sampling_frequency=20000000
+InputFilter1.dump=false
+InputFilter1.dump_filename=../data/input_filter.dat
+
+
+
+
+
+;######### RESAMPLER CONFIG ############
+Resampler0.implementation=Pass_Through
+Resampler1.implementation=Pass_Through
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channels_1B.count=10
+Channels_1C.count=10
+Channels_B1.count=14
+
+Channels_1B.RF_channel_ID=1
+Channels_1C.RF_channel_ID=1
+Channels_B1.RF_channel_ID=0
+
+
+
+Channels.in_acquisition=10
+
+;######### ACQUISITION BEIDOU CONFIG ############
+Acquisition_B1.implementation=BEIDOU_B1I_PCPS_Acquisition
+Acquisition_B1.item_type=gr_complex
+Acquisition_B1.coherent_integration_time_ms=2
+;Acquisition_B1.max_dwells=2
+;Acquisition_B1.pfa=0.02
+Acquisition_B1.pfa=0.000002
+Acquisition_B1.doppler_max=3800
+Acquisition_B1.doppler_step=100
+Acquisition_B1.dump=false
+Acquisition_B1.dump_filename=./bds_acq
+;Acquisition_B1.blocking=true
+Acquisition_B1.bit_transition_flag = false;
+
+;######### ACQUISITION GPS CONFIG ############
+Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
+Acquisition_1C.item_type=gr_complex
+Acquisition_1C.coherent_integration_time_ms=1
+Acquisition_1C.pfa=0.015
+Acquisition_1C.doppler_max=5000
+Acquisition_1C.doppler_step=200
+Acquisition_1C.max_dwells=4
+;Acquisition_1C.blocking=true
+Acquisition_1C.dump=false
+Acquisition_1C.dump_filename=./acq_dump.dat
+
+;######### ACQUISITION GALILEO CONFIG ############
+Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
+Acquisition_1B.coherent_integration_time_ms=2
+;Acquisition_1B.pfa=0.000008
+Acquisition_1B.pfa=0.025
+Acquisition_1B.doppler_max=5000
+Acquisition_1B.doppler_step=200
+Acquisition_1B.max_dwells=4
+;Acquisition_1B.repeat_satellite=true
+Acquisition_1B.cboc=true
+;Acquisition_1B.blocking=true
+Acquisition_1B.dump=false
+Acquisition_1B.dump_filename=./acq_dump.dat
+
+
+
+
+;######### TRACKING BEIDOU CONFIG ############
+Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
+Tracking_B1.item_type=gr_complex
+Tracking_B1.extend_correlation_symbols=10
+Tracking_B1.pll_bw_hz=30.0
+Tracking_B1.dll_bw_hz=2.00
+Tracking_B1.pll_bw_narrow_hz=15.0
+Tracking_B1.dll_bw_narrow_hz=0.50
+;Tracking_B1.cn0_min=20
+Tracking_B1.fll_bw_hz=20
+Tracking_B1.enable_fll_pull_in=true
+Tracking_B1.enable_fll_steady_state=false
+Tracking_B1.dump=false
+Tracking_B1.dump_filename=./epl_tracking_ch_
+
+;######### TRACKING GPS CONFIG ############
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
+Tracking_1C.item_type=gr_complex
+Tracking_1C.extend_correlation_symbols=10
+Tracking_1C.early_late_space_chips=0.5
+Tracking_1C.early_late_space_narrow_chips=0.15
+Tracking_1C.pll_bw_hz=30.0
+Tracking_1C.dll_bw_hz=2.0
+Tracking_1C.pll_bw_narrow_hz=10.0
+Tracking_1C.dll_bw_narrow_hz=0.50
+Tracking_1C.fll_bw_hz=10
+Tracking_1C.enable_fll_pull_in=true
+Tracking_1C.enable_fll_steady_state=false
+Tracking_1C.dump=false
+Tracking_1C.dump_filename=tracking_ch_
+
+;######### TRACKING GALILEO CONFIG ############
+Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
+Tracking_1B.extend_correlation_symbols=4
+Tracking_1B.item_type=gr_complex
+Tracking_1B.pll_bw_hz=30.0
+Tracking_1B.dll_bw_hz=2.0
+Tracking_1B.pll_bw_narrow_hz=20.0
+Tracking_1B.dll_bw_narrow_hz=0.50
+Tracking_1B.track_pilot=true
+Tracking_1B.enable_fll_pull_in=true;
+Tracking_1B.enable_fll_steady_state=false
+Tracking_1B.fll_bw_hz=20
+
+
+;######### TELEMETRY DECODER BEIDOU CONFIG ############
+TelemetryDecoder_B1.implementation=BEIDOU_B1I_Telemetry_Decoder
+TelemetryDecoder_B1.dump=false
+
+;######### TELEMETRY DECODER GPS CONFIG ############
+TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
+TelemetryDecoder_1C.dump=false
+
+;######### TELEMETRY DECODER GALILEO E1B CONFIG ############
+TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
+TelemetryDecoder_1B.dump=false
+
+
+
+;######### OBSERVABLES CONFIG ############
+Observables.implementation=Hybrid_Observables
+Observables.dump=false
+Observables.dump_filename=./observables.dat
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.threshold_reject_GDOP=100
+PVT.elevation_mask=4
+PVT.positioning_mode=Single  ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
+PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
+PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
+PVT.output_rate_ms=100
+PVT.display_rate_ms=500
+PVT.enable_rx_clock_correction=true
+PVT.flag_rtcm_server=true
+PVT.flag_rtcm_tty_port=false
+PVT.rtcm_dump_devname=/dev/pts/1
+PVT.rtcm_tcp_port=2101
+PVT.rtcm_MT1019_rate_ms=5000
+PVT.rtcm_MT1077_rate_ms=1000
+PVT.rinex_version=2
+PVT.flag_nmea_tty_port=true
+PVT.nmea_dump_devname=/dev/pts/3
+
+
+PVT.enable_monitor=true
+PVT.monitor_client_addresses=127.0.0.1
+PVT.monitor_udp_port=1111
+
+Monitor.enable_monitor=true
+Monitor.decimation_factor=4
+Monitor.client_addresses=127.0.0.1
+Monitor.udp_port=1112
+
+AcquisitionMonitor.enable_monitor=true
+AcquisitionMonitor.client_addresses=127.0.0.1
+AcquisitionMonitor.udp_port=1112
+
+

docs/CHANGELOG.md

@@ -17,6 +17,10 @@ All notable changes to GNSS-SDR will be documented in this file.
 ### Improvements in Interoperability:
 
 - Improved error handling in UDP connections.
+- Make it possible to receive multiple constellations using a single channel
+  wideband device (HackRF/LimeSDR/USRP). Demonstration:
+  https://www.youtube.com/watch?v=ZQs2sFchJ6w
+  https://www.youtube.com/watch?v=HnZkKj9a-QM
 
 ### Improvements in Portability:
 

src/core/receiver/gnss_flowgraph.cc

@@ -264,7 +264,7 @@ void GNSSFlowgraph::init()
         }
 
     /*
-     * Instantiate the receiver av message monitor block, if required
+     * Instantiate the receiver nav message monitor block, if required
      */
     enable_navdata_monitor_ = configuration_->property("NavDataMonitor.enable_monitor", false);
     if (enable_navdata_monitor_)
@@ -966,7 +966,7 @@ int GNSSFlowgraph::connect_signal_sources_to_signal_conditioners()
                                         }
                                     else
                                         {
-                                            if (j == 0)
+                                            if (j == 0 || !src->get_right_block(j))
                                                 {
                                                     // RF_channel 0 backward compatibility with single channel sources
                                                     LOG(INFO) << "connecting sig_source_ " << i << " stream " << 0 << " to conditioner " << signal_conditioner_ID;