mirror of
https://github.com/gnss-sdr/gnss-sdr
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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
This commit is contained in:
Damian Miralles
@@ -180,11 +180,11 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols,int
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// 3. Check operation executed correctly
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if(d_nav.flag_CRC_test == true)
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{
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LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite ";// << d_satellite;
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LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite "<< d_satellite;
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}
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else
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{
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LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel << " from satellite " ;//<< d_satellite;
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LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel << " from satellite " << d_satellite;
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}
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// 4. Push the new navigation data to the queues
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@@ -399,7 +399,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib
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void glonass_l1_ca_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
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{
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d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
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DLOG(INFO) << "Setting decoder Finite State Machine to satellite "<< d_satellite;
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DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
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}
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@@ -459,7 +459,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
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case 6:
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// --- It is string 6 ----------------------------------------------
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i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
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i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
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d_frame_ID = get_frame_number(i_satellite_slot_number);
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gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
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@@ -504,7 +504,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
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break;
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case 8:
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// --- It is string 8 ----------------------------------------------
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i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
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i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
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d_frame_ID = get_frame_number(i_satellite_slot_number);
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gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
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@@ -543,7 +543,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
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break;
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case 10:
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// --- It is string 10 ---------------------------------------------
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i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
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i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
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d_frame_ID = get_frame_number(i_satellite_slot_number);
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gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
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@@ -582,7 +582,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
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break;
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case 12:
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// --- It is string 12 ---------------------------------------------
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i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
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i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
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d_frame_ID = get_frame_number(i_satellite_slot_number);
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gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
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@@ -628,7 +628,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string)
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}
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else
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{
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i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
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i_satellite_slot_number = static_cast<unsigned int>(read_navigation_unsigned(string_bits, n_A));
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d_frame_ID = get_frame_number(i_satellite_slot_number);
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gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<bool>(read_navigation_bool(string_bits, C_N));
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@@ -155,7 +155,7 @@ public:
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*/
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int string_decoder(std::string frame_string);
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/*
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/*!
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* \brief Gets the time of week in GPS Time
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* \details This converts from GLONASS Time to GPS Time of Week based on the
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* start of frame
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73
src/utils/matlab/glonass_l1_ca_dll_pll_plot_sample.m
Normal file
73
src/utils/matlab/glonass_l1_ca_dll_pll_plot_sample.m
Normal file
@@ -0,0 +1,73 @@
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% /*!
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% * \file glonass_l1_ca_dll_pll_plot_sample.m
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% * \brief Read GNSS-SDR Tracking dump binary file using the provided
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% function and plot some internal variables
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% * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
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% * -------------------------------------------------------------------------
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% *
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% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
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% *
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% * GNSS-SDR is a software defined Global Navigation
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% * Satellite Systems receiver
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% *
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% * This file is part of GNSS-SDR.
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% *
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% * GNSS-SDR is free software: you can redistribute it and/or modify
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% * it under the terms of the GNU General Public License as published by
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% * the Free Software Foundation, either version 3 of the License, or
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% * at your option) any later version.
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% *
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% * GNSS-SDR is distributed in the hope that it will be useful,
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% * but WITHOUT ANY WARRANTY; without even the implied warranty of
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% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% * GNU General Public License for more details.
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% *
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% * You should have received a copy of the GNU General Public License
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% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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% *
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% * -------------------------------------------------------------------------
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% */
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close all;
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clear all;
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if ~exist('glonass_l1_ca_dll_pll_read_tracking_dump.m','file')
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addpath('./libs')
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end
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samplingFreq = 6625000; %[Hz]
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channels = 5;
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first_channel = 0;
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path = '/archive/'; %% CHANGE THIS PATH
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for N=1:1:channels
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tracking_log_path = [path 'glo_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
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GNSS_tracking(N)= gps_l1_ca_dll_pll_read_tracking_dump(tracking_log_path);
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end
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% GNSS-SDR format conversion to MATLAB GPS receiver
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for N=1:1:channels
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trackResults(N).status = 'T'; %fake track
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trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
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trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
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trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
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trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
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trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
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trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
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trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
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trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';
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trackResults(N).I_E = GNSS_tracking(N).E.';
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trackResults(N).I_L = GNSS_tracking(N).L.';
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trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
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trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
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trackResults(N).PRN = ones(1,length(GNSS_tracking(N).E));
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% Use original MATLAB tracking plot function
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settings.numberOfChannels = channels;
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settings.msToProcess = length(GNSS_tracking(N).E);
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plotTracking(N,trackResults,settings)
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end
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193
src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m
Normal file
193
src/utils/matlab/libs/glonass_l1_ca_dll_pll_read_tracking_dump.m
Normal file
@@ -0,0 +1,193 @@
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% /*!
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% * \file glonass_l1_ca_dll_pll_read_tracking_dump.m
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% * \brief Read GNSS-SDR Tracking dump binary file into MATLAB.
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% * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
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% * -------------------------------------------------------------------------
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% *
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% * Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
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% *
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% * GNSS-SDR is a software defined Global Navigation
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% * Satellite Systems receiver
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% *
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% * This file is part of GNSS-SDR.
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% *
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% * GNSS-SDR is free software: you can redistribute it and/or modify
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% * it under the terms of the GNU General Public License as published by
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% * the Free Software Foundation, either version 3 of the License, or
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% * at your option) any later version.
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% *
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% * GNSS-SDR is distributed in the hope that it will be useful,
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% * but WITHOUT ANY WARRANTY; without even the implied warranty of
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% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% * GNU General Public License for more details.
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% *
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% * You should have received a copy of the GNU General Public License
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% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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% *
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% * -------------------------------------------------------------------------
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% */
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function [GNSS_tracking] = glonass_l1_ca_dll_pll_read_tracking_dump (filename, count)
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%% usage: glonass_l1_ca_dll_pll_read_tracking_dump_64bits (filename, [count])
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%%
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%% open GNSS-SDR tracking binary log file .dat and return the contents
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%%
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m = nargchk (1,2,nargin);
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num_float_vars=5;
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num_unsigned_long_int_vars=1;
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num_double_vars=11;
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num_unsigned_int_vars=1;
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double_size_bytes=8;
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unsigned_long_int_size_bytes=8;
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float_size_bytes=4;
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long_int_size_bytes=4;
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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;
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bytes_shift=0;
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if (m)
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usage (m);
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end
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if (nargin < 2)
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%count = Inf;
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file_stats = dir(filename);
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%round num bytes to read to integer number of samples (to protect the script from binary
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%dump end file transitory)
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count = (file_stats.bytes - mod(file_stats.bytes,skip_bytes_each_read))/skip_bytes_each_read;
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end
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%loops_counter = fread (f, count, 'uint32',4*12);
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f = fopen (filename, 'rb');
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if (f < 0)
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else
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v1 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
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bytes_shift=bytes_shift+float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved float
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v2 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
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bytes_shift=bytes_shift+float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved float
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v3 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
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bytes_shift=bytes_shift+float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved float
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v4 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
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bytes_shift=bytes_shift+float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved float
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v5 = fread (f, count, 'float',skip_bytes_each_read-float_size_bytes);
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bytes_shift=bytes_shift+float_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved unsigned_long_int
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v6 = fread (f, count, 'uint64',skip_bytes_each_read-unsigned_long_int_size_bytes);
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bytes_shift=bytes_shift+unsigned_long_int_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved double
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v7 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
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bytes_shift=bytes_shift+double_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved double
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v8 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
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bytes_shift=bytes_shift+double_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved double
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v9 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
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bytes_shift=bytes_shift+double_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved double
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v10 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
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bytes_shift=bytes_shift+double_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved double
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v11 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
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bytes_shift=bytes_shift+double_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved double
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v12 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
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bytes_shift=bytes_shift+double_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved double
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v13 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
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bytes_shift=bytes_shift+double_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved double
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v14 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
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bytes_shift=bytes_shift+double_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved double
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v15 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
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bytes_shift=bytes_shift+double_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved double
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v16 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
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bytes_shift=bytes_shift+double_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved double
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v17 = fread (f, count, 'float64',skip_bytes_each_read-double_size_bytes);
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bytes_shift=bytes_shift+double_size_bytes;
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fseek(f,bytes_shift,'bof'); % move to next interleaved double
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v18 = fread (f, count, 'uint32',skip_bytes_each_read-double_size_bytes);
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fclose (f);
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%%%%%%%% output vars %%%%%%%%
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% // EPR
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% d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
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% d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
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% d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
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% // PROMPT I and Q (to analyze navigation symbols)
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% d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
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% d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
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% // PRN start sample stamp
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% //tmp_float=(float)d_sample_counter;
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% d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
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% // accumulated carrier phase
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% d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(double));
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%
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% // carrier and code frequency
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% d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
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% d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
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%
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% //PLL commands
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% d_dump_file.write(reinterpret_cast<char*>(&carr_phase_error_secs_Ti), sizeof(double));
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% d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
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%
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% //DLL commands
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% d_dump_file.write(reinterpret_cast<char*>(&code_error_chips_Ti), sizeof(double));
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% d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
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%
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% // CN0 and carrier lock test
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% d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
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% d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
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%
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% // AUX vars (for debug purposes)
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% tmp_double = d_rem_code_phase_samples;
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% d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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% tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
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% d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
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% // PRN
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% unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
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% d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
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E=v1;
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P=v2;
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L=v3;
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prompt_I=v4;
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prompt_Q=v5;
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PRN_start_sample=v6;
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acc_carrier_phase_rad=v7;
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carrier_doppler_hz=v8;
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code_freq_hz=v9;
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carr_error=v10;
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carr_nco=v11;
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code_error=v12;
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code_nco=v13;
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CN0_SNV_dB_Hz=v14;
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carrier_lock_test=v15;
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var1=v16;
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var2=v17;
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PRN=v18;
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GNSS_tracking.E=E;
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GNSS_tracking.P=P;
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GNSS_tracking.L=L;
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GNSS_tracking.prompt_I=prompt_I;
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GNSS_tracking.prompt_Q=prompt_Q;
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GNSS_tracking.PRN_start_sample=PRN_start_sample;
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GNSS_tracking.acc_carrier_phase_rad=acc_carrier_phase_rad;
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GNSS_tracking.carrier_doppler_hz=carrier_doppler_hz;
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GNSS_tracking.code_freq_hz=code_freq_hz;
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GNSS_tracking.carr_error=carr_error;
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GNSS_tracking.carr_nco=carr_nco;
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GNSS_tracking.code_error=code_error
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GNSS_tracking.code_nco=code_nco;
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GNSS_tracking.CN0_SNV_dB_Hz=CN0_SNV_dB_Hz;
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GNSS_tracking.carrier_lock_test=carrier_lock_test;
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GNSS_tracking.d_rem_code_phase_samples=var1;
|
||||
GNSS_tracking.var2=var2;
|
||||
GNSS_tracking.PRN=PRN;
|
||||
end
|
||||
Reference in New Issue
Block a user