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Carles Fernandez 2019-03-19 20:45:31 +01:00
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14 changed files with 295 additions and 298 deletions
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1
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
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@ -512,7 +512,6 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
{ {
T_rx_clock_step_samples = std::round(static_cast<double>(in[d_nchannels_in - 1][0].fs) * 1e-3); // 1 ms T_rx_clock_step_samples = std::round(static_cast<double>(in[d_nchannels_in - 1][0].fs) * 1e-3); // 1 ms
LOG(INFO) << "Observables clock step samples set to " << T_rx_clock_step_samples; LOG(INFO) << "Observables clock step samples set to " << T_rx_clock_step_samples;
usleep(1000000);
} }
// Consume one item from the clock channel (last of the input channels) // Consume one item from the clock channel (last of the input channels)

4
src/algorithms/tracking/libs/cpu_multicorrelator.cc
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@ -1,11 +1,11 @@
/*! /*!
* \file cpu_multicorrelator.cc * \file cpu_multicorrelator.cc
* \brief High optimized CPU vector multiTAP correlator class * \brief Highly optimized CPU vector multiTAP correlator class
* \authors <ul> * \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es * <li> Javier Arribas, 2015. jarribas(at)cttc.es
* </ul> * </ul>
* *
* Class that implements a high optimized vector multiTAP correlator class for CPUs * Class that implements a highly optimized vector multiTAP correlator class for CPUs
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *

2
src/algorithms/tracking/libs/cpu_multicorrelator.h
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@ -65,4 +65,4 @@ private:
}; };
#endif /* CPU_MULTICORRELATOR_H_ */ #endif /* GNSS_SDR_CPU_MULTICORRELATOR_H_ */

4
src/algorithms/tracking/libs/cpu_multicorrelator_16sc.cc
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@ -1,11 +1,11 @@
/*! /*!
* \file cpu_multicorrelator_16sc.cc * \file cpu_multicorrelator_16sc.cc
* \brief High optimized CPU vector multiTAP correlator class * \brief Highly optimized CPU vector multiTAP correlator class
* \authors <ul> * \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es * <li> Javier Arribas, 2015. jarribas(at)cttc.es
* </ul> * </ul>
* *
* Class that implements a high optimized vector multiTAP correlator class for CPUs * Class that implements a highly optimized vector multiTAP correlator class for CPUs
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *

4
src/algorithms/tracking/libs/cpu_multicorrelator_16sc.h
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@ -1,11 +1,11 @@
/*! /*!
* \file cpu_multicorrelator_16sc.h * \file cpu_multicorrelator_16sc.h
* \brief High optimized CPU vector multiTAP correlator class for lv_16sc_t (short int complex) * \brief Highly optimized CPU vector multiTAP correlator class for lv_16sc_t (short int complex)
* \authors <ul> * \authors <ul>
* <li> Javier Arribas, 2016. jarribas(at)cttc.es * <li> Javier Arribas, 2016. jarribas(at)cttc.es
* </ul> * </ul>
* *
* Class that implements a high optimized vector multiTAP correlator class for CPUs * Class that implements a highly optimized vector multiTAP correlator class for CPUs
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *

7
src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.cc
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@ -6,7 +6,7 @@
* <li> Cillian O'Driscoll, 2017. cillian.odriscoll(at)gmail.com * <li> Cillian O'Driscoll, 2017. cillian.odriscoll(at)gmail.com
* </ul> * </ul>
* *
* Class that implements a high optimized vector multiTAP correlator class for CPUs * Class that implements a highly optimized vector multiTAP correlator class for CPUs
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
@ -125,7 +125,7 @@ void Cpu_Multicorrelator_Real_Codes::update_local_code(int correlator_length_sam
} }
} }
// Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
bool Cpu_Multicorrelator_Real_Codes::Carrier_wipeoff_multicorrelator_resampler( bool Cpu_Multicorrelator_Real_Codes::Carrier_wipeoff_multicorrelator_resampler(
float rem_carrier_phase_in_rad, float rem_carrier_phase_in_rad,
float phase_step_rad, float phase_step_rad,
@ -150,7 +150,8 @@ bool Cpu_Multicorrelator_Real_Codes::Carrier_wipeoff_multicorrelator_resampler(
} }
return true; return true;
} }
// Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
bool Cpu_Multicorrelator_Real_Codes::Carrier_wipeoff_multicorrelator_resampler( bool Cpu_Multicorrelator_Real_Codes::Carrier_wipeoff_multicorrelator_resampler(
float rem_carrier_phase_in_rad, float rem_carrier_phase_in_rad,
float phase_step_rad, float phase_step_rad,

5
src/algorithms/tracking/libs/cpu_multicorrelator_real_codes.h
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@ -6,7 +6,7 @@
* <li> Cillian O'Driscoll, 2017, cillian.odriscoll(at)gmail.com * <li> Cillian O'Driscoll, 2017, cillian.odriscoll(at)gmail.com
* </ul> * </ul>
* *
* Class that implements a high optimized vector multiTAP correlator class for CPUs * Class that implements a highly optimized vector multiTAP correlator class for CPUs
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
@ -52,7 +52,6 @@ public:
bool set_local_code_and_taps(int code_length_chips, const float *local_code_in, float *shifts_chips); bool set_local_code_and_taps(int code_length_chips, const float *local_code_in, float *shifts_chips);
bool set_input_output_vectors(std::complex<float> *corr_out, const std::complex<float> *sig_in); bool set_input_output_vectors(std::complex<float> *corr_out, const std::complex<float> *sig_in);
void update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips = 0.0); void update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips = 0.0);
// Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float phase_rate_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples); bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float phase_rate_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples);
bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples); bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples);
bool free(); bool free();
@ -70,4 +69,4 @@ private:
}; };
#endif /* CPU_MULTICORRELATOR_REAL_CODES_H_ */ #endif /* GNSS_SDR_CPU_MULTICORRELATOR_REAL_CODES_H_ */

61
src/algorithms/tracking/libs/cuda_multicorrelator.cu
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@ -1,11 +1,11 @@
/*! /*!
* \file cuda_multicorrelator.cu * \file cuda_multicorrelator.cu
* \brief High optimized CUDA GPU vector multiTAP correlator class * \brief Highly optimized CUDA GPU vector multiTAP correlator class
* \authors <ul> * \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es * <li> Javier Arribas, 2015. jarribas(at)cttc.es
* </ul> * </ul>
* *
* Class that implements a high optimized vector multiTAP correlator class for NVIDIA CUDA GPUs * Class that implements a highly optimized vector multiTAP correlator class for NVIDIA CUDA GPUs
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
@ -33,9 +33,8 @@
*/ */
#include "cuda_multicorrelator.h" #include "cuda_multicorrelator.h"
#include <stdio.h>
#include <iostream> #include <iostream>
#include <stdio.h>
// For the CUDA runtime routines (prefixed with "cuda_") // For the CUDA runtime routines (prefixed with "cuda_")
#include <cuda_runtime.h> #include <cuda_runtime.h>
@ -53,8 +52,7 @@ __global__ void Doppler_wippe_scalarProdGPUCPXxN_shifts_chips(
int vectorN, int vectorN,
int elementN, int elementN,
float rem_carrier_phase_in_rad, float rem_carrier_phase_in_rad,
float phase_step_rad float phase_step_rad)
)
{ {
//Accumulators cache //Accumulators cache
__shared__ GPU_Complex accumResult[ACCUM_N]; __shared__ GPU_Complex accumResult[ACCUM_N];
@ -90,7 +88,8 @@ __global__ void Doppler_wippe_scalarProdGPUCPXxN_shifts_chips(
for (int iAccum = threadIdx.x; iAccum < ACCUM_N; iAccum += blockDim.x) for (int iAccum = threadIdx.x; iAccum < ACCUM_N; iAccum += blockDim.x)
{ {
GPU_Complex sum = GPU_Complex(0, 0); GPU_Complex sum = GPU_Complex(0, 0);
float local_code_chip_index=0.0;; float local_code_chip_index = 0.0;
;
//float code_phase; //float code_phase;
for (int pos = iAccum; pos < elementN; pos += ACCUM_N) for (int pos = iAccum; pos < elementN; pos += ACCUM_N)
{ {
@ -109,7 +108,6 @@ __global__ void Doppler_wippe_scalarProdGPUCPXxN_shifts_chips(
//printf("vec= %i, pos %i, chip_idx=%i chip_shift=%f \r\n",vec, pos,__float2int_rd(local_code_chip_index),local_code_chip_index); //printf("vec= %i, pos %i, chip_idx=%i chip_shift=%f \r\n",vec, pos,__float2int_rd(local_code_chip_index),local_code_chip_index);
// 2.correlate // 2.correlate
sum.multiply_acc(d_sig_wiped[pos], d_local_code_in[__float2int_rd(local_code_chip_index)]); sum.multiply_acc(d_sig_wiped[pos], d_local_code_in[__float2int_rd(local_code_chip_index)]);
} }
accumResult[iAccum] = sum; accumResult[iAccum] = sum;
} }
@ -135,23 +133,26 @@ __global__ void Doppler_wippe_scalarProdGPUCPXxN_shifts_chips(
} }
} }
bool cuda_multicorrelator::init_cuda_integrated_resampler( bool cuda_multicorrelator::init_cuda_integrated_resampler(
int signal_length_samples, int signal_length_samples,
int code_length_chips, int code_length_chips,
int n_correlators int n_correlators)
)
{ {
// use command-line specified CUDA device, otherwise use device with highest Gflops/s // use command-line specified CUDA device, otherwise use device with highest Gflops/s
// findCudaDevice(argc, (const char **)argv); // findCudaDevice(argc, (const char **)argv);
cudaDeviceProp prop; cudaDeviceProp prop;
int num_devices, device; int num_devices, device;
cudaGetDeviceCount(&num_devices); cudaGetDeviceCount(&num_devices);
if (num_devices > 1) { if (num_devices > 1)
{
int max_multiprocessors = 0, max_device = 0; int max_multiprocessors = 0, max_device = 0;
for (device = 0; device < num_devices; device++) { for (device = 0; device < num_devices; device++)
{
cudaDeviceProp properties; cudaDeviceProp properties;
cudaGetDeviceProperties(&properties, device); cudaGetDeviceProperties(&properties, device);
if (max_multiprocessors < properties.multiProcessorCount) { if (max_multiprocessors < properties.multiProcessorCount)
{
max_multiprocessors = properties.multiProcessorCount; max_multiprocessors = properties.multiProcessorCount;
max_device = device; max_device = device;
} }
@ -165,7 +166,8 @@ bool cuda_multicorrelator::init_cuda_integrated_resampler(
cudaGetDeviceProperties(&prop, max_device); cudaGetDeviceProperties(&prop, max_device);
//debug code //debug code
if (prop.canMapHostMemory != 1) { if (prop.canMapHostMemory != 1)
{
printf("Device can not map memory.\n"); printf("Device can not map memory.\n");
} }
printf("L2 Cache size= %u \n", prop.l2CacheSize); printf("L2 Cache size= %u \n", prop.l2CacheSize);
@ -174,11 +176,14 @@ bool cuda_multicorrelator::init_cuda_integrated_resampler(
printf("sharedMemPerBlock= %lu \n", prop.sharedMemPerBlock); printf("sharedMemPerBlock= %lu \n", prop.sharedMemPerBlock);
printf("deviceOverlap= %i \n", prop.deviceOverlap); printf("deviceOverlap= %i \n", prop.deviceOverlap);
printf("multiProcessorCount= %i \n", prop.multiProcessorCount); printf("multiProcessorCount= %i \n", prop.multiProcessorCount);
}else{ }
else
{
cudaGetDevice(&selected_gps_device); cudaGetDevice(&selected_gps_device);
cudaGetDeviceProperties(&prop, selected_gps_device); cudaGetDeviceProperties(&prop, selected_gps_device);
//debug code //debug code
if (prop.canMapHostMemory != 1) { if (prop.canMapHostMemory != 1)
{
printf("Device can not map memory.\n"); printf("Device can not map memory.\n");
} }
@ -235,14 +240,13 @@ bool cuda_multicorrelator::init_cuda_integrated_resampler(
return true; return true;
} }
bool cuda_multicorrelator::set_local_code_and_taps( bool cuda_multicorrelator::set_local_code_and_taps(
int code_length_chips, int code_length_chips,
const std::complex<float> *local_codes_in, const std::complex<float> *local_codes_in,
float *shifts_chips, float *shifts_chips,
int n_correlators int n_correlators)
)
{ {
cudaSetDevice(selected_gps_device); cudaSetDevice(selected_gps_device);
//********* ZERO COPY VERSION ************ //********* ZERO COPY VERSION ************
// // Get device pointer from host memory. No allocation or memcpy // // Get device pointer from host memory. No allocation or memcpy
@ -272,12 +276,11 @@ bool cuda_multicorrelator::set_local_code_and_taps(
return true; return true;
} }
bool cuda_multicorrelator::set_input_output_vectors( bool cuda_multicorrelator::set_input_output_vectors(
std::complex<float> *corr_out, std::complex<float> *corr_out,
std::complex<float>* sig_in std::complex<float> *sig_in)
)
{ {
cudaSetDevice(selected_gps_device); cudaSetDevice(selected_gps_device);
// Save CPU pointers // Save CPU pointers
d_sig_in_cpu = sig_in; d_sig_in_cpu = sig_in;
@ -293,10 +296,12 @@ bool cuda_multicorrelator::set_input_output_vectors(
printf("cuda cudaHostGetDevicePointer error \r\n"); printf("cuda cudaHostGetDevicePointer error \r\n");
} }
return true; return true;
} }
#define gpuErrchk(ans) { gpuAssert((ans), __FILE__, __LINE__); } #define gpuErrchk(ans) \
{ \
gpuAssert((ans), __FILE__, __LINE__); \
}
inline void gpuAssert(cudaError_t code, const char *file, int line, bool abort = true) inline void gpuAssert(cudaError_t code, const char *file, int line, bool abort = true)
{ {
if (code != cudaSuccess) if (code != cudaSuccess)
@ -306,6 +311,7 @@ inline void gpuAssert(cudaError_t code, const char *file, int line, bool abort=t
} }
} }
bool cuda_multicorrelator::Carrier_wipeoff_multicorrelator_resampler_cuda( bool cuda_multicorrelator::Carrier_wipeoff_multicorrelator_resampler_cuda(
float rem_carrier_phase_in_rad, float rem_carrier_phase_in_rad,
float phase_step_rad, float phase_step_rad,
@ -314,7 +320,6 @@ bool cuda_multicorrelator::Carrier_wipeoff_multicorrelator_resampler_cuda(
int signal_length_samples, int signal_length_samples,
int n_correlators) int n_correlators)
{ {
cudaSetDevice(selected_gps_device); cudaSetDevice(selected_gps_device);
// cudaMemCpy version // cudaMemCpy version
//size_t memSize = signal_length_samples * sizeof(std::complex<float>); //size_t memSize = signal_length_samples * sizeof(std::complex<float>);
@ -337,8 +342,7 @@ bool cuda_multicorrelator::Carrier_wipeoff_multicorrelator_resampler_cuda(
n_correlators, n_correlators,
signal_length_samples, signal_length_samples,
rem_carrier_phase_in_rad, rem_carrier_phase_in_rad,
phase_step_rad phase_step_rad);
);
gpuErrchk(cudaPeekAtLastError()); gpuErrchk(cudaPeekAtLastError());
gpuErrchk(cudaStreamSynchronize(stream1)); gpuErrchk(cudaStreamSynchronize(stream1));
@ -352,6 +356,7 @@ bool cuda_multicorrelator::Carrier_wipeoff_multicorrelator_resampler_cuda(
return true; return true;
} }
cuda_multicorrelator::cuda_multicorrelator() cuda_multicorrelator::cuda_multicorrelator()
{ {
d_sig_in = NULL; d_sig_in = NULL;
@ -366,6 +371,7 @@ cuda_multicorrelator::cuda_multicorrelator()
d_code_length_chips = 0; d_code_length_chips = 0;
} }
bool cuda_multicorrelator::free_cuda() bool cuda_multicorrelator::free_cuda()
{ {
// Free device global memory // Free device global memory
@ -385,4 +391,3 @@ bool cuda_multicorrelator::free_cuda()
cudaDeviceReset(); cudaDeviceReset();
return true; return true;
} }

6
src/algorithms/tracking/libs/cuda_multicorrelator.h
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@ -1,11 +1,11 @@
/*! /*!
* \file cuda_multicorrelator.h * \file cuda_multicorrelator.h
* \brief High optimized CUDA GPU vector multiTAP correlator class * \brief Highly optimized CUDA GPU vector multiTAP correlator class
* \authors <ul> * \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es * <li> Javier Arribas, 2015. jarribas(at)cttc.es
* </ul> * </ul>
* *
* Class that implements a high optimized vector multiTAP correlator class for NVIDIA CUDA GPUs * Class that implements a highly optimized vector multiTAP correlator class for NVIDIA CUDA GPUs
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
@ -92,6 +92,7 @@ struct GPU_Complex
} }
}; };
struct GPU_Complex_Short struct GPU_Complex_Short
{ {
float r; float r;
@ -149,7 +150,6 @@ private:
GPU_Complex* d_local_codes_in; GPU_Complex* d_local_codes_in;
GPU_Complex* d_corr_out; GPU_Complex* d_corr_out;
//
std::complex<float>* d_sig_in_cpu; std::complex<float>* d_sig_in_cpu;
std::complex<float>* d_corr_out_cpu; std::complex<float>* d_corr_out_cpu;

43
src/algorithms/tracking/libs/tracking_FLL_PLL_filter.cc
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@ -32,7 +32,26 @@
*/ */
#include "tracking_FLL_PLL_filter.h" #include "tracking_FLL_PLL_filter.h"
#include <iostream>
Tracking_FLL_PLL_filter::Tracking_FLL_PLL_filter()
{
d_order = 0;
d_pll_w = 0.0;
d_pll_w0p3 = 0.0;
d_pll_w0f2 = 0.0;
d_pll_x = 0.0;
d_pll_a2 = 0.0;
d_pll_w0f = 0.0;
d_pll_a3 = 0.0;
d_pll_w0p2 = 0.0;
d_pll_b3 = 0.0;
d_pll_w0p = 0.0;
}
Tracking_FLL_PLL_filter::~Tracking_FLL_PLL_filter() = default;
void Tracking_FLL_PLL_filter::set_params(float fll_bw_hz, float pll_bw_hz, int order) void Tracking_FLL_PLL_filter::set_params(float fll_bw_hz, float pll_bw_hz, int order)
{ {
@ -104,8 +123,7 @@ float Tracking_FLL_PLL_filter::get_carrier_error(float FLL_discriminator, float
pll_w_new = d_pll_w + PLL_discriminator * d_pll_w0p2 * correlation_time_s + FLL_discriminator * d_pll_w0f * correlation_time_s; pll_w_new = d_pll_w + PLL_discriminator * d_pll_w0p2 * correlation_time_s + FLL_discriminator * d_pll_w0f * correlation_time_s;
carrier_error_hz = 0.5 * (pll_w_new + d_pll_w) + d_pll_a2 * d_pll_w0p * PLL_discriminator; carrier_error_hz = 0.5 * (pll_w_new + d_pll_w) + d_pll_a2 * d_pll_w0p * PLL_discriminator;
d_pll_w = pll_w_new; d_pll_w = pll_w_new;
/*std::cout<<" d_pll_w = "<<carrier_error_hz<< /* std::cout << " d_pll_w = " << carrier_error_hz << ", pll_w_new = " << pll_w_new
", pll_w_new = "<<pll_w_new
<< ", PLL_discriminator=" << PLL_discriminator << ", PLL_discriminator=" << PLL_discriminator
<< " FLL_discriminator =" << FLL_discriminator << " FLL_discriminator =" << FLL_discriminator
<< " correlation_time_s = " << correlation_time_s << "\r\n"; */ << " correlation_time_s = " << correlation_time_s << "\r\n"; */
@ -113,22 +131,3 @@ float Tracking_FLL_PLL_filter::get_carrier_error(float FLL_discriminator, float
return carrier_error_hz; return carrier_error_hz;
} }
Tracking_FLL_PLL_filter::Tracking_FLL_PLL_filter()
{
d_order = 0;
d_pll_w = 0;
d_pll_w0p3 = 0;
d_pll_w0f2 = 0;
d_pll_x = 0;
d_pll_a2 = 0;
d_pll_w0f = 0;
d_pll_a3 = 0;
d_pll_w0p2 = 0;
d_pll_b3 = 0;
d_pll_w0p = 0;
}
Tracking_FLL_PLL_filter::~Tracking_FLL_PLL_filter() = default;

3
src/algorithms/tracking/libs/tracking_discriminators.cc
View File

@ -36,6 +36,7 @@
#include <cmath> #include <cmath>
// All the outputs are in RADIANS // All the outputs are in RADIANS
/* /*
* FLL four quadrant arctan discriminator: * FLL four quadrant arctan discriminator:
* \f{equation} * \f{equation}
@ -45,7 +46,6 @@
* \f$I_{PS1},Q_{PS1}\f$ are the inphase and quadrature prompt correlator outputs respectively at sample time \f$t_1\f$, and * \f$I_{PS1},Q_{PS1}\f$ are the inphase and quadrature prompt correlator outputs respectively at sample time \f$t_1\f$, and
* \f$I_{PS2},Q_{PS2}\f$ are the inphase and quadrature prompt correlator outputs respectively at sample time \f$t_2\f$. The output is in [radians/second]. * \f$I_{PS2},Q_{PS2}\f$ are the inphase and quadrature prompt correlator outputs respectively at sample time \f$t_2\f$. The output is in [radians/second].
*/ */
double fll_four_quadrant_atan(gr_complex prompt_s1, gr_complex prompt_s2, double t1, double t2) double fll_four_quadrant_atan(gr_complex prompt_s1, gr_complex prompt_s2, double t1, double t2)
{ {
double cross, dot; double cross, dot;
@ -105,6 +105,7 @@ double dll_nc_e_minus_l_normalized(gr_complex early_s1, gr_complex late_s1)
return 0.5 * (P_early - P_late) / (P_early + P_late); return 0.5 * (P_early - P_late) / (P_early + P_late);
} }
/* /*
* DLL Noncoherent Very Early Minus Late Power (VEMLP) normalized discriminator, using the outputs * DLL Noncoherent Very Early Minus Late Power (VEMLP) normalized discriminator, using the outputs
* of four correlators, Very Early (VE), Early (E), Late (L) and Very Late (VL): * of four correlators, Very Early (VE), Early (E), Late (L) and Very Late (VL):

14
src/algorithms/tracking/libs/tracking_loop_filter.cc
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@ -4,7 +4,7 @@
* \author Cillian O'Driscoll, 2015. cillian.odriscoll(at)gmail.com * \author Cillian O'Driscoll, 2015. cillian.odriscoll(at)gmail.com
* *
* Class implementing a generic 1st, 2nd or 3rd order loop filter. Based * Class implementing a generic 1st, 2nd or 3rd order loop filter. Based
* on the bilinear transform of the standard Weiner filter. * on the bilinear transform of the standard Wiener filter.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
@ -36,6 +36,8 @@
#include <glog/logging.h> #include <glog/logging.h>
#include <cmath> #include <cmath>
const int MAX_LOOP_ORDER = 3;
const int MAX_LOOP_HISTORY_LENGTH = 4;
Tracking_loop_filter::Tracking_loop_filter(float update_interval, Tracking_loop_filter::Tracking_loop_filter(float update_interval,
float noise_bandwidth, float noise_bandwidth,
@ -74,7 +76,7 @@ float Tracking_loop_filter::apply(float current_input)
// Now apply the filter coefficients: // Now apply the filter coefficients:
float result = 0.0; float result = 0.0;
// Hanlde the old outputs first: // Handle the old outputs first:
for (unsigned int ii = 0; ii < d_output_coefficients.size(); ++ii) for (unsigned int ii = 0; ii < d_output_coefficients.size(); ++ii)
{ {
result += d_output_coefficients[ii] * d_outputs[(d_current_index + ii) % MAX_LOOP_HISTORY_LENGTH]; result += d_output_coefficients[ii] * d_outputs[(d_current_index + ii) % MAX_LOOP_HISTORY_LENGTH];
@ -95,16 +97,13 @@ float Tracking_loop_filter::apply(float current_input)
d_inputs[d_current_index] = current_input; d_inputs[d_current_index] = current_input;
for (unsigned int ii = 0; ii < d_input_coefficients.size(); ++ii) for (unsigned int ii = 0; ii < d_input_coefficients.size(); ++ii)
{ {
result += d_input_coefficients[ii] * d_inputs[(d_current_index + ii) % MAX_LOOP_HISTORY_LENGTH]; result += d_input_coefficients[ii] * d_inputs[(d_current_index + ii) % MAX_LOOP_HISTORY_LENGTH];
} }
d_outputs[d_current_index] = result; d_outputs[d_current_index] = result;
return result; return result;
} }
@ -179,7 +178,6 @@ void Tracking_loop_filter::update_coefficients(void)
d_output_coefficients[0] = 1.0; d_output_coefficients[0] = 1.0;
} }
break; break;
case 3: case 3:
wn = d_noise_bandwidth / 0.7845; // From Kaplan wn = d_noise_bandwidth / 0.7845; // From Kaplan
float a3 = 1.1; float a3 = 1.1;
@ -208,7 +206,6 @@ void Tracking_loop_filter::update_coefficients(void)
d_input_coefficients[1] = g1 * T * T / 2.0 - 2.0 * g3; d_input_coefficients[1] = g1 * T * T / 2.0 - 2.0 * g3;
d_input_coefficients[2] = g3 + T / 2.0 * (-g2 + T / 2.0 * g1); d_input_coefficients[2] = g3 + T / 2.0 * (-g2 + T / 2.0 * g1);
d_output_coefficients.resize(2); d_output_coefficients.resize(2);
d_output_coefficients[0] = 2.0; d_output_coefficients[0] = 2.0;
d_output_coefficients[1] = -1.0; d_output_coefficients[1] = -1.0;
@ -260,10 +257,9 @@ void Tracking_loop_filter::set_order(int loop_order)
{ {
if (loop_order < 1 or loop_order > MAX_LOOP_ORDER) if (loop_order < 1 or loop_order > MAX_LOOP_ORDER)
{ {
LOG(ERROR) << "Ignoring attempt to set loop order to " << loop_order LOG(WARNING) << "Ignoring attempt to set loop order to " << loop_order
<< ". Maximum allowed order is: " << MAX_LOOP_ORDER << ". Maximum allowed order is: " << MAX_LOOP_ORDER
<< ". Not changing current value of " << d_loop_order; << ". Not changing current value of " << d_loop_order;
return; return;
} }

5
src/algorithms/tracking/libs/tracking_loop_filter.h
View File

@ -4,7 +4,7 @@
* \author Cillian O'Driscoll, 2015. cillian.odriscoll(at)gmail.com * \author Cillian O'Driscoll, 2015. cillian.odriscoll(at)gmail.com
* *
* Class implementing a generic 1st, 2nd or 3rd order loop filter. Based * Class implementing a generic 1st, 2nd or 3rd order loop filter. Based
* on the bilinear transform of the standard Weiner filter. * on the bilinear transform of the standard Wiener filter.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
@ -33,8 +33,6 @@
#ifndef GNSS_SDR_TRACKING_LOOP_FILTER_H_ #ifndef GNSS_SDR_TRACKING_LOOP_FILTER_H_
#define GNSS_SDR_TRACKING_LOOP_FILTER_H_ #define GNSS_SDR_TRACKING_LOOP_FILTER_H_
#define MAX_LOOP_ORDER 3
#define MAX_LOOP_HISTORY_LENGTH 4
#include <vector> #include <vector>
@ -74,7 +72,6 @@ private:
// Compute the filter coefficients: // Compute the filter coefficients:
void update_coefficients(void); void update_coefficients(void);
public: public:
float get_noise_bandwidth(void) const; float get_noise_bandwidth(void) const;
float get_update_interval(void) const; float get_update_interval(void) const;

2
src/core/system_parameters/beidou_dnav_navigation_message.cc
View File

@ -830,7 +830,7 @@ int32_t Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const& s
d_eccentricity_msb = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_E_MSB)); d_eccentricity_msb = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_E_MSB));
d_eccentricity_msb_bits = (read_navigation_unsigned(subframe_bits, D2_E_MSB)); d_eccentricity_msb_bits = (read_navigation_unsigned(subframe_bits, D2_E_MSB));
// Adjust for lsb in next page (shift number of lsb to the left) // Adjust for lsb in next page (shift number of lsb to the left)
d_eccentricity_msb = static_cast<uint64_t>((static_cast<int>(d_eccentricity_msb) << 22)); d_eccentricity_msb = static_cast<uint64_t>((static_cast<uint64_t>(d_eccentricity_msb) << 22));
d_eccentricity_msb_bits = d_eccentricity_msb_bits << 22; d_eccentricity_msb_bits = d_eccentricity_msb_bits << 22;
// Set system flags for message reception // Set system flags for message reception