Fixing bugs and adding plotting tool for GLONASS measurements

Adds tracking results plot for GLONASS processing following code for
GPS. Also fix a couple of bugs in the code and address bugs from
acq and trk modules

src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc

@@ -180,11 +180,11 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
     // 3. Check operation executed correctly
     if(d_nav.flag_CRC_test == true)
         {
-            LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite ";// << d_satellite;
+            LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite "<< d_satellite;
         }
     else
         {
-            LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel <<  " from satellite " ;//<< d_satellite;
+            LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel <<  " from satellite " << d_satellite;
         }
 
     // 4. Push the new navigation data to the queues
@@ -399,7 +399,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
 void glonass_l1_ca_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
 {
     d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
-    DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
+    DLOG(INFO) << "Setting decoder Finite State Machine to satellite "<< d_satellite;
     DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
 }
 

src/core/system_parameters/glonass_gnav_navigation_message.cc

@@ -459,7 +459,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
 
         case 6:
             // --- It is string 6 ----------------------------------------------
-            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
@@ -504,7 +504,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             break;
         case 8:
             // --- It is string 8 ----------------------------------------------
-            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
@@ -543,7 +543,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             break;
         case 10:
             // --- It is string 10 ---------------------------------------------
-            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
@@ -582,7 +582,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
             break;
         case 12:
             // --- It is string 12 ---------------------------------------------
-            i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+            i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
             d_frame_ID = get_frame_number(i_satellite_slot_number);
 
             gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
@@ -628,7 +628,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
               }
             else
               {
-                i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
+                i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
                 d_frame_ID = get_frame_number(i_satellite_slot_number);
 
                 gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));

src/core/system_parameters/glonass_gnav_navigation_message.h

@@ -155,7 +155,7 @@ public:
      */
     int string_decoder(std::string frame_string);
 
-    /*
+    /*!
     * \brief Gets the time of week in GPS Time
     * \details This converts from GLONASS Time to GPS Time of Week based on the
     * start of frame

src/utils/matlab/glonass_l1_ca_dll_pll_plot_sample.m

@@ -0,0 +1,73 @@
+% /*!
+%  * \file glonass_l1_ca_dll_pll_plot_sample.m
+%  * \brief Read GNSS-SDR Tracking dump binary file using the provided
+%  function and plot some internal variables
+%  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+%  * -------------------------------------------------------------------------
+%  *
+%  * Copyright (C) 2010-2011  (see AUTHORS file for a list of contributors)
+%  *
+%  * GNSS-SDR is a software defined Global Navigation
+%  *          Satellite Systems receiver
+%  *
+%  * This file is part of GNSS-SDR.
+%  *
+%  * GNSS-SDR is free software: you can redistribute it and/or modify
+%  * it under the terms of the GNU General Public License as published by
+%  * the Free Software Foundation, either version 3 of the License, or
+%  * at your option) any later version.
+%  *
+%  * GNSS-SDR is distributed in the hope that it will be useful,
+%  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+%  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%  * GNU General Public License for more details.
+%  *
+%  * You should have received a copy of the GNU General Public License
+%  * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+%  *
+%  * -------------------------------------------------------------------------
+%  */
+close all;
+clear all;
+
+if ~exist('glonass_l1_ca_dll_pll_read_tracking_dump.m','file')
+    addpath('./libs')
+end
+
+
+samplingFreq = 6625000;     %[Hz]
+channels = 5;
+first_channel = 0;
+
+path = '/archive/';  %% CHANGE THIS PATH
+
+for N=1:1:channels
+    tracking_log_path = [path 'glo_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
+    GNSS_tracking(N)= gps_l1_ca_dll_pll_read_tracking_dump(tracking_log_path);
+end
+
+% GNSS-SDR format conversion to MATLAB GPS receiver
+
+for N=1:1:channels
+        trackResults(N).status = 'T'; %fake track
+        trackResults(N).codeFreq       = GNSS_tracking(N).code_freq_hz.';
+        trackResults(N).carrFreq       = GNSS_tracking(N).carrier_doppler_hz.';
+        trackResults(N).dllDiscr       = GNSS_tracking(N).code_error.';
+        trackResults(N).dllDiscrFilt   = GNSS_tracking(N).code_nco.';
+        trackResults(N).pllDiscr       = GNSS_tracking(N).carr_error.';
+        trackResults(N).pllDiscrFilt   = GNSS_tracking(N).carr_nco.';
+
+        trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
+        trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
+
+        trackResults(N).I_E = GNSS_tracking(N).E.';
+        trackResults(N).I_L = GNSS_tracking(N).L.';
+        trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
+        trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
+        trackResults(N).PRN = ones(1,length(GNSS_tracking(N).E));
+
+        % Use original MATLAB tracking plot function
+        settings.numberOfChannels = channels;
+        settings.msToProcess = length(GNSS_tracking(N).E);
+        plotTracking(N,trackResults,settings)
+end

src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m

@@ -0,0 +1,193 @@
+% /*!
+%  * \file glonass_l1_ca_dll_pll_read_tracking_dump.m
+%  * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
+%  * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
+%  * -------------------------------------------------------------------------
+%  *
+%  * Copyright (C) 2010-2011  (see AUTHORS file for a list of contributors)
+%  *
+%  * GNSS-SDR is a software defined Global Navigation
+%  *          Satellite Systems receiver
+%  *
+%  * This file is part of GNSS-SDR.
+%  *
+%  * GNSS-SDR is free software: you can redistribute it and/or modify
+%  * it under the terms of the GNU General Public License as published by
+%  * the Free Software Foundation, either version 3 of the License, or
+%  * at your option) any later version.
+%  *
+%  * GNSS-SDR is distributed in the hope that it will be useful,
+%  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+%  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+%  * GNU General Public License for more details.
+%  *
+%  * You should have received a copy of the GNU General Public License
+%  * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+%  *
+%  * -------------------------------------------------------------------------
+%  */
+function [GNSS_tracking] = glonass_l1_ca_dll_pll_read_tracking_dump (filename, count)
+
+  %% usage: glonass_l1_ca_dll_pll_read_tracking_dump_64bits (filename, [count])
+  %%
+  %% open GNSS-SDR tracking binary log file .dat and return the contents
+  %%
+
+  m = nargchk (1,2,nargin);
+  num_float_vars=5;
+  num_unsigned_long_int_vars=1;
+  num_double_vars=11;
+  num_unsigned_int_vars=1;
+  double_size_bytes=8;
+  unsigned_long_int_size_bytes=8;
+  float_size_bytes=4;
+  long_int_size_bytes=4;
+
+  skip_bytes_each_read=float_size_bytes*num_float_vars+unsigned_long_int_size_bytes*num_unsigned_long_int_vars+double_size_bytes*num_double_vars+long_int_size_bytes*num_unsigned_int_vars;
+  bytes_shift=0;
+  if (m)
+    usage (m);
+  end
+
+  if (nargin < 2)
+    %count = Inf;
+    file_stats = dir(filename);
+    %round num bytes to read to integer number of samples (to protect the script from binary
+    %dump end file transitory)
+    count = (file_stats.bytes - mod(file_stats.bytes,skip_bytes_each_read))/skip_bytes_each_read;
+  end
+    %loops_counter = fread (f, count, 'uint32',4*12);
+  f = fopen (filename, 'rb');
+  if (f < 0)
+  else
+    v1 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v2 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v3 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v4 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved float
+    v5 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
+        bytes_shift=bytes_shift+float_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved unsigned_long_int
+    v6 = fread (f, count, 'uint64',skip_bytes_each_read-unsigned_long_int_size_bytes);
+        bytes_shift=bytes_shift+unsigned_long_int_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v7 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v8 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v9 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v10 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v11 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v12 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v13 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v14 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v15 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v16 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v17 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
+        bytes_shift=bytes_shift+double_size_bytes;
+    fseek(f,bytes_shift,'bof'); % move to next interleaved double
+    v18 = fread (f, count, 'uint32',skip_bytes_each_read-double_size_bytes);
+    fclose (f);
+
+    %%%%%%%% output vars %%%%%%%%
+
+%                     // EPR
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+%                     // PROMPT I and Q (to analyze navigation symbols)
+%                     d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+%                     d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+%                     // PRN start sample stamp
+%                     //tmp_float=(float)d_sample_counter;
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
+%                     // accumulated carrier phase
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
+%
+%                     // carrier and code frequency
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
+%
+%                     //PLL commands
+%                     d_dump_file.write(reinterpret_cast<char*>(&carr_phase_error_secs_Ti), sizeof(double));
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
+%
+%                     //DLL commands
+%                     d_dump_file.write(reinterpret_cast<char*>(&code_error_chips_Ti), sizeof(double));
+%                     d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
+%
+%                     // CN0 and carrier lock test
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
+%                     d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
+%
+%                     // AUX vars (for debug purposes)
+%                     tmp_double = d_rem_code_phase_samples;
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+%                     tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
+%                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+%                             // PRN
+%             unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
+%             d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
+    E=v1;
+    P=v2;
+    L=v3;
+    prompt_I=v4;
+    prompt_Q=v5;
+    PRN_start_sample=v6;
+    acc_carrier_phase_rad=v7;
+    carrier_doppler_hz=v8;
+    code_freq_hz=v9;
+    carr_error=v10;
+    carr_nco=v11;
+    code_error=v12;
+    code_nco=v13;
+    CN0_SNV_dB_Hz=v14;
+    carrier_lock_test=v15;
+    var1=v16;
+    var2=v17;
+    PRN=v18;
+
+    GNSS_tracking.E=E;
+    GNSS_tracking.P=P;
+    GNSS_tracking.L=L;
+    GNSS_tracking.prompt_I=prompt_I;
+    GNSS_tracking.prompt_Q=prompt_Q;
+    GNSS_tracking.PRN_start_sample=PRN_start_sample;
+    GNSS_tracking.acc_carrier_phase_rad=acc_carrier_phase_rad;
+    GNSS_tracking.carrier_doppler_hz=carrier_doppler_hz;
+    GNSS_tracking.code_freq_hz=code_freq_hz;
+    GNSS_tracking.carr_error=carr_error;
+    GNSS_tracking.carr_nco=carr_nco;
+    GNSS_tracking.code_error=code_error
+    GNSS_tracking.code_nco=code_nco;
+    GNSS_tracking.CN0_SNV_dB_Hz=CN0_SNV_dB_Hz;
+    GNSS_tracking.carrier_lock_test=carrier_lock_test;
+    GNSS_tracking.d_rem_code_phase_samples=var1;
+    GNSS_tracking.var2=var2;
+    GNSS_tracking.PRN=PRN;
+  end