Merge branch 'kf' of https://github.com/gnss-sdr/gnss-sdr into next

src/algorithms/tracking/adapters/CMakeLists.txt

@@ -35,6 +35,7 @@ set(TRACKING_ADAPTER_SOURCES
      gps_l2_m_dll_pll_tracking.cc
      glonass_l1_ca_dll_pll_tracking.cc
      glonass_l1_ca_dll_pll_c_aid_tracking.cc
+     gps_l1_ca_kf_tracking.cc
      gps_l5_dll_pll_tracking.cc
      glonass_l2_ca_dll_pll_tracking.cc
      glonass_l2_ca_dll_pll_c_aid_tracking.cc
@@ -49,6 +50,7 @@ include_directories(
      ${CMAKE_SOURCE_DIR}/src/algorithms/tracking/gnuradio_blocks
      ${CMAKE_SOURCE_DIR}/src/algorithms/tracking/libs
      ${CMAKE_SOURCE_DIR}/src/algorithms/libs
+     ${ARMADILLO_INCLUDE_DIRS}
      ${GLOG_INCLUDE_DIRS}
      ${GFlags_INCLUDE_DIRS}
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}

src/algorithms/tracking/adapters/gps_l1_ca_kf_tracking.cc

@@ -0,0 +1,175 @@
+/*!
+ * \file gps_l1_ca_kf_tracking.cc
+ * \brief Implementation of an adapter of a DLL + Kalman carrier
+ * tracking loop block for GPS L1 C/A signals
+ * \author Javier Arribas, 2018. jarribas(at)cttc.es
+ * \author Jordi Vila-Valls 2018. jvila(at)cttc.es
+ * \author Carles Fernandez-Prades 2018. cfernandez(at)cttc.es
+ *
+ * Reference:
+ * J. Vila-Valls, P. Closas, M. Navarro and C. Fernández-Prades,
+ * "Are PLLs Dead? A Tutorial on Kalman Filter-based Techniques for Digital
+ * Carrier Synchronization", IEEE Aerospace and Electronic Systems Magazine,
+ * Vol. 32, No. 7, pp. 28–45, July 2017. DOI: 10.1109/MAES.2017.150260
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (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/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include "gps_l1_ca_kf_tracking.h"
+#include "gnss_sdr_flags.h"
+#include "GPS_L1_CA.h"
+#include "configuration_interface.h"
+#include <glog/logging.h>
+
+
+using google::LogMessage;
+
+GpsL1CaKfTracking::GpsL1CaKfTracking(
+    ConfigurationInterface* configuration, std::string role,
+    unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
+{
+    DLOG(INFO) << "role " << role;
+    //################# CONFIGURATION PARAMETERS ########################
+    int order;
+    int fs_in;
+    int vector_length;
+    int f_if;
+    bool dump;
+    std::string dump_filename;
+    std::string item_type;
+    std::string default_item_type = "gr_complex";
+    float pll_bw_hz;
+    float dll_bw_hz;
+    float early_late_space_chips;
+    bool bce_run;
+    unsigned int bce_ptrans;
+    unsigned int bce_strans;
+    int bce_nu;
+    int bce_kappa;
+
+    item_type = configuration->property(role + ".item_type", default_item_type);
+    order = configuration->property(role + ".order", 2);
+    int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+    fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
+    f_if = configuration->property(role + ".if", 0);
+    dump = configuration->property(role + ".dump", false);
+    dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
+    if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
+    early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
+    std::string default_dump_filename = "./track_ch";
+    dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
+    vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
+
+    bce_run = configuration->property(role + ".bce_run", false);
+    bce_ptrans = configuration->property(role + ".p_transient", 0);
+    bce_strans = configuration->property(role + ".s_transient", 0);
+    bce_nu = configuration->property(role + ".bce_nu", 0);
+    bce_kappa = configuration->property(role + ".bce_kappa", 0);
+
+    //################# MAKE TRACKING GNURadio object ###################
+    if (item_type.compare("gr_complex") == 0)
+        {
+            item_size_ = sizeof(gr_complex);
+            tracking_ = gps_l1_ca_kf_make_tracking_cc(
+                order,
+                f_if,
+                fs_in,
+                vector_length,
+                dump,
+                dump_filename,
+                dll_bw_hz,
+                early_late_space_chips,
+                bce_run,
+                bce_ptrans,
+                bce_strans,
+                bce_nu,
+                bce_kappa);
+        }
+    else
+        {
+            item_size_ = sizeof(gr_complex);
+            LOG(WARNING) << item_type << " unknown tracking item type.";
+        }
+    channel_ = 0;
+    DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
+}
+
+
+GpsL1CaKfTracking::~GpsL1CaKfTracking()
+{
+}
+
+
+void GpsL1CaKfTracking::start_tracking()
+{
+    tracking_->start_tracking();
+}
+
+
+/*
+ * Set tracking channel unique ID
+ */
+void GpsL1CaKfTracking::set_channel(unsigned int channel)
+{
+    channel_ = channel;
+    tracking_->set_channel(channel);
+}
+
+
+void GpsL1CaKfTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+    tracking_->set_gnss_synchro(p_gnss_synchro);
+}
+
+
+void GpsL1CaKfTracking::connect(gr::top_block_sptr top_block)
+{
+    if (top_block)
+        { /* top_block is not null */
+        };
+    //nothing to connect, now the tracking uses gr_sync_decimator
+}
+
+
+void GpsL1CaKfTracking::disconnect(gr::top_block_sptr top_block)
+{
+    if (top_block)
+        { /* top_block is not null */
+        };
+    //nothing to disconnect, now the tracking uses gr_sync_decimator
+}
+
+
+gr::basic_block_sptr GpsL1CaKfTracking::get_left_block()
+{
+    return tracking_;
+}
+
+
+gr::basic_block_sptr GpsL1CaKfTracking::get_right_block()
+{
+    return tracking_;
+}

src/algorithms/tracking/adapters/gps_l1_ca_kf_tracking.h

@@ -0,0 +1,105 @@
+/*!
+ * \file GPS_L1_CA_KF_Tracking.h
+ * \brief  Interface of an adapter of a DLL + Kalman carrier
+ * tracking loop block for GPS L1 C/A signals
+ * \author Javier Arribas, 2018. jarribas(at)cttc.es
+ * \author Jordi Vila-Valls 2018. jvila(at)cttc.es
+ * \author Carles Fernandez-Prades 2018. cfernandez(at)cttc.es
+ *
+ * Reference:
+ * J. Vila-Valls, P. Closas, M. Navarro and C. Fernandez-Prades,
+ * "Are PLLs Dead? A Tutorial on Kalman Filter-based Techniques for Digital
+ * Carrier Synchronization", IEEE Aerospace and Electronic Systems Magazine,
+ * Vol. 32, No. 7, pp. 28–45, July 2017. DOI: 10.1109/MAES.2017.150260
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (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/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GPS_L1_CA_KF_TRACKING_H_
+#define GNSS_SDR_GPS_L1_CA_KF_TRACKING_H_
+
+#include "gps_l1_ca_kf_tracking_cc.h"
+#include "tracking_interface.h"
+#include <string>
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class implements a code DLL + carrier PLL tracking loop
+ */
+class GpsL1CaKfTracking : public TrackingInterface
+{
+public:
+    GpsL1CaKfTracking(ConfigurationInterface* configuration,
+        std::string role,
+        unsigned int in_streams,
+        unsigned int out_streams);
+
+    virtual ~GpsL1CaKfTracking();
+
+    inline std::string role() override
+    {
+        return role_;
+    }
+
+    //! Returns "GPS_L1_CA_KF_Tracking"
+    inline std::string implementation() override
+    {
+        return "GPS_L1_CA_KF_Tracking";
+    }
+
+    inline size_t item_size() override
+    {
+        return item_size_;
+    }
+
+    void connect(gr::top_block_sptr top_block) override;
+    void disconnect(gr::top_block_sptr top_block) override;
+    gr::basic_block_sptr get_left_block() override;
+    gr::basic_block_sptr get_right_block() override;
+
+    /*!
+     * \brief Set tracking channel unique ID
+     */
+    void set_channel(unsigned int channel) override;
+
+    /*!
+     * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+     * to efficiently exchange synchronization data between acquisition and tracking blocks
+     */
+    void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
+
+    void start_tracking() override;
+
+private:
+    gps_l1_ca_kf_tracking_cc_sptr tracking_;
+    size_t item_size_;
+    unsigned int channel_;
+    std::string role_;
+    unsigned int in_streams_;
+    unsigned int out_streams_;
+};
+
+#endif  // GNSS_SDR_GPS_L1_CA_KF_TRACKING_H_