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Bug correction for acquisition and tracking: acquisition Doppler sign were inverted and this issue caused several wrong interpretations in tracking algorithms, resulting in a swap in I/Q components. Now the bug was corrected in all tracking algorithms.

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@249 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
2012-10-18 10:24:41 +00:00
parent 4859faa245
commit a25e712be6
13 changed files with 94 additions and 80 deletions
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10
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
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@@ -286,7 +286,7 @@ void galileo_e1_dll_pll_veml_tracking_cc::update_local_carrier()
phase_rad = d_rem_carr_phase_rad;
for(int i = 0; i < d_current_prn_length_samples; i++)
{
d_carr_sign[i] = gr_complex(cos(phase_rad), sin(phase_rad));
d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
phase_rad += phase_step_rad;
}
d_rem_carr_phase_rad = fmod(phase_rad, GPS_TWO_PI);
@@ -460,8 +460,8 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
// ########### Output the tracking results to Telemetry block ##########
current_synchro_data.Prompt_I = (double)(*d_Prompt).imag(); // ???????
current_synchro_data.Prompt_Q = (double)(*d_Prompt).real(); // ???????
current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
// Tracking_timestamp_secs is aligned with the PRN start sample
current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter +
(double)d_next_prn_length_samples + (double)d_next_rem_code_phase_samples) / (double)d_fs_in;
@@ -517,8 +517,8 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL;
float tmp_float;
double tmp_double;
prompt_I = (*d_Prompt).imag();
prompt_Q = (*d_Prompt).real();
prompt_I = (*d_Prompt).real();
prompt_Q = (*d_Prompt).imag();
tmp_VE = std::abs<float>(*d_Very_Early);
tmp_E = std::abs<float>(*d_Early);
tmp_P = std::abs<float>(*d_Prompt);

21
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.cc
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@@ -310,7 +310,7 @@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::update_local_carrier()
phase = d_rem_carr_phase;
for(int i = 0; i < d_current_prn_length_samples; i++)
{
d_carr_sign[i] = gr_complex(cos(phase), sin(phase));
d_carr_sign[i] = gr_complex(cos(phase), -sin(phase));
phase += phase_step;
}
d_rem_carr_phase = fmod(phase, GPS_TWO_PI);
@@ -319,8 +319,6 @@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::update_local_carrier()
Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::~Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc()
{
d_dump_file.close();
@@ -452,19 +450,12 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
// Compute PLL error
PLL_discriminator_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / GPS_TWO_PI;
/*
* \todo Update FLL assistance algorithm!
*/
if ((((double)d_sample_counter - (double)d_acq_sample_stamp) / d_fs_in) > 3)
{
d_FLL_discriminator_hz = 0; //disconnect the FLL after the initial lock
}
/*
* DLL and FLL+PLL filter and get current carrier Doppler and code frequency
*/
carr_nco_hz = d_carrier_loop_filter.get_carrier_error(d_FLL_discriminator_hz, PLL_discriminator_hz, correlation_time_s);
d_carrier_doppler_hz = d_if_freq + carr_nco_hz;
d_code_freq_hz = GPS_L1_CA_CODE_RATE_HZ - (((d_carrier_doppler_hz - d_if_freq) * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ) - code_error_chips;
d_code_freq_hz = GPS_L1_CA_CODE_RATE_HZ + (((d_carrier_doppler_hz + d_if_freq) * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ) - code_error_chips;
/*!
* \todo Improve the lock detection algorithm!
@@ -539,8 +530,8 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error
// ########### Output the tracking data to navigation and PVT ##########
current_synchro_data.Prompt_I=(double)(*d_Prompt).imag();
current_synchro_data.Prompt_Q=(double)(*d_Prompt).real();
current_synchro_data.Prompt_I=(double)(*d_Prompt).real();
current_synchro_data.Prompt_Q=(double)(*d_Prompt).imag();
// Tracking_timestamp_secs is aligned with the PRN start sample
current_synchro_data.Tracking_timestamp_secs=((double)d_sample_counter+(double)d_current_prn_length_samples+d_rem_code_phase_samples)/d_fs_in;
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, Code_phase_secs=0
@@ -568,8 +559,8 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
float tmp_E, tmp_P, tmp_L;
float tmp_float;
double tmp_double;
prompt_I = (*d_Prompt).imag();
prompt_Q = (*d_Prompt).real();
prompt_I = (*d_Prompt).real();
prompt_Q = (*d_Prompt).imag();
tmp_E=std::abs<float>(*d_Early);
tmp_P=std::abs<float>(*d_Prompt);
tmp_L=std::abs<float>(*d_Late);

17
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc
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@@ -82,7 +82,7 @@ gps_l1_ca_dll_pll_make_optim_tracking_cc(
void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::forecast (int noutput_items,
gr_vector_int &ninput_items_required)
{
ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call
ninput_items_required[0] = d_gnuradio_forecast_samples ; //set the required available samples in each call
}
@@ -109,6 +109,7 @@ Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc(
d_if_freq = if_freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_gnuradio_forecast_samples=(int)d_vector_length*2;
d_dump_filename = dump_filename;
// Initialize tracking ==========================================
@@ -339,14 +340,14 @@ void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::update_local_carrier()
{
//using temp variables
gr_fxpt::sincos(phase_rad_i,&sin_f,&cos_f);
d_carr_sign[i] = gr_complex(cos_f, sin_f);
d_carr_sign[i] = gr_complex(cos_f, -sin_f);
//using references (may be it can be a problem for c++11 standard
//gr_fxpt::sincos(phase_rad_i,&d_carr_sign[i].imag(),&d_carr_sign[i].real());
phase_rad_i += phase_step_rad_i;
// Using std::cos and std::sin
//d_carr_sign[i] = gr_complex(cos(phase_rad), sin(phase_rad));
//d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
}
d_rem_carr_phase_rad = fmod(gr_fxpt::fixed_to_float(phase_rad_i), GPS_TWO_PI);
@@ -425,7 +426,7 @@ int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vec
// variable code PRN sample block size
d_current_prn_length_samples = d_next_prn_length_samples;
//update_local_code();
update_local_code();
update_local_carrier();
// perform Early, Prompt and Late correlation
@@ -535,8 +536,8 @@ int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vec
// ########### Output the tracking data to navigation and PVT ##########
current_synchro_data.Prompt_I = (double)(*d_Prompt).imag();
current_synchro_data.Prompt_Q = (double)(*d_Prompt).real();
current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
// Tracking_timestamp_secs is aligned with the PRN start sample
current_synchro_data.Tracking_timestamp_secs=((double)d_sample_counter+(double)d_next_prn_length_samples+(double)d_next_rem_code_phase_samples)/(double)d_fs_in;
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
@@ -593,8 +594,8 @@ int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vec
float tmp_E, tmp_P, tmp_L;
float tmp_float;
double tmp_double;
prompt_I = (*d_Prompt).imag();
prompt_Q = (*d_Prompt).real();
prompt_I = (*d_Prompt).real();
prompt_Q = (*d_Prompt).imag();
tmp_E = std::abs<float>(*d_Early);
tmp_P = std::abs<float>(*d_Prompt);
tmp_L = std::abs<float>(*d_Late);

2
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.h
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@@ -135,7 +135,6 @@ private:
long d_fs_in;
double d_early_late_spc_chips;
double d_code_phase_step_chips;
gr_complex* d_ca_code;
@@ -190,6 +189,7 @@ private:
// control vars
bool d_enable_tracking;
bool d_pull_in;
int d_gnuradio_forecast_samples;
// file dump
std::string d_dump_filename;

10
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
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@@ -307,7 +307,7 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::update_local_carrier()
phase_rad = d_rem_carr_phase_rad;
for(int i = 0; i < d_current_prn_length_samples; i++)
{
d_carr_sign[i] = gr_complex(cos(phase_rad), sin(phase_rad));
d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
phase_rad += phase_step_rad;
}
d_rem_carr_phase_rad = fmod(phase_rad, GPS_TWO_PI);
@@ -496,8 +496,8 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
// ########### Output the tracking data to navigation and PVT ##########
current_synchro_data.Prompt_I = (double)(*d_Prompt).imag();
current_synchro_data.Prompt_Q = (double)(*d_Prompt).real();
current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
// Tracking_timestamp_secs is aligned with the PRN start sample
current_synchro_data.Tracking_timestamp_secs=((double)d_sample_counter+(double)d_next_prn_length_samples+(double)d_next_rem_code_phase_samples)/(double)d_fs_in;
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
@@ -554,8 +554,8 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
float tmp_E, tmp_P, tmp_L;
float tmp_float;
double tmp_double;
prompt_I = (*d_Prompt).imag();
prompt_Q = (*d_Prompt).real();
prompt_I = (*d_Prompt).real();
prompt_Q = (*d_Prompt).imag();
tmp_E = std::abs<float>(*d_Early);
tmp_P = std::abs<float>(*d_Prompt);
tmp_L = std::abs<float>(*d_Late);

16
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
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@@ -310,10 +310,6 @@ void Gps_L1_Ca_Tcp_Connector_Tracking_cc::update_local_code()
{
associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_spc_chips, code_length_chips));
d_early_code[i] = d_ca_code[associated_chip_index];
//associated_chip_index = 1 + round(fmod(tcode_chips, code_length_chips));
//d_prompt_code[i] = d_ca_code[associated_chip_index];
//associated_chip_index = 1 + round(fmod(tcode_chips+d_early_late_spc_chips, code_length_chips));
//d_late_code[i] = d_ca_code[associated_chip_index];
tcode_chips = tcode_chips + d_code_phase_step_chips;
}
@@ -332,7 +328,7 @@ void Gps_L1_Ca_Tcp_Connector_Tracking_cc::update_local_carrier()
phase_rad = d_rem_carr_phase_rad;
for(int i = 0; i < d_current_prn_length_samples; i++)
{
d_carr_sign[i] = gr_complex(cos(phase_rad), sin(phase_rad));
d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
phase_rad += phase_step_rad;
}
d_rem_carr_phase_rad = fmod(phase_rad, GPS_TWO_PI);
@@ -466,7 +462,7 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
d_control_id++;
//! Send and receive a TCP packet
boost::array<float, NUM_TX_VARIABLES> tx_variables_array = {{d_control_id,(*d_Early).imag(),(*d_Early).real(),(*d_Late).imag(),(*d_Late).real(),(*d_Prompt).imag(),(*d_Prompt).real(),d_acq_carrier_doppler_hz,1}};
boost::array<float, NUM_TX_VARIABLES> tx_variables_array = {{d_control_id,(*d_Early).real(),(*d_Early).imag(),(*d_Late).real(),(*d_Late).imag(),(*d_Prompt).real(),(*d_Prompt).imag(),d_acq_carrier_doppler_hz,1}};
d_tcp_com.send_receive_tcp_packet(tx_variables_array, &tcp_data);
//! Recover the tracking data
@@ -545,8 +541,8 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
// ########### Output the tracking data to navigation and PVT ##########
current_synchro_data.Prompt_I = (double)(*d_Prompt).imag();
current_synchro_data.Prompt_Q = (double)(*d_Prompt).real();
current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
current_synchro_data.Tracking_timestamp_secs = d_sample_counter_seconds;
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
current_synchro_data.Code_phase_secs = (double)d_code_phase_samples * (1/(float)d_fs_in);
@@ -600,8 +596,8 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
float tmp_float;
prompt_I = (*d_Prompt).imag();
prompt_Q = (*d_Prompt).real();
prompt_I = (*d_Prompt).real();
prompt_Q = (*d_Prompt).imag();
tmp_E = std::abs<float>(*d_Early);
tmp_P = std::abs<float>(*d_Prompt);
tmp_L = std::abs<float>(*d_Late);