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

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7
.clang-format
View File

@ -1,7 +1,7 @@
---
Language: Cpp
# BasedOnStyle: Google
# More info: http://clang.llvm.org/docs/ClangFormatStyleOptions.html
# More info: https://clang.llvm.org/docs/ClangFormatStyleOptions.html
AccessModifierOffset: -4
AlignAfterOpenBracket: DontAlign
AlignConsecutiveAssignments: false
@ -21,7 +21,7 @@ AlwaysBreakBeforeMultilineStrings: true
AlwaysBreakTemplateDeclarations: false
BinPackArguments: true
BinPackParameters: true
BraceWrapping:
BraceWrapping:
AfterClass: false
AfterControlStatement: false
AfterEnum: false
@ -47,7 +47,7 @@ DerivePointerAlignment: true
DisableFormat: false
ExperimentalAutoDetectBinPacking: false
ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
IncludeCategories:
IncludeCategories:
- Regex: '^<.*\.h>'
Priority: 1
- Regex: '^<.*'
@ -88,4 +88,3 @@ Standard: Auto
TabWidth: 8
UseTab: Never
...

39
AUTHORS
View File

@ -1,34 +1,34 @@
GNSS-SDR Authorship
------------------------------------------------------------------------------
The GNSS-SDR project is hosted and sponsored by the Centre Tecnologic de
Telecomunicacions de Catalunya (CTTC), a non-profit research foundation located
in Castelldefels (40.396764 N, 3.713379 E), 20 km south of Barcelona, Spain.
GNSS-SDR is the by-product of GNSS research conducted at the Communications
Systems Division of CTTC, and it is the combined effort of students,
The GNSS-SDR project is hosted and sponsored by the Centre Tecnologic de
Telecomunicacions de Catalunya (CTTC), a non-profit research foundation located
in Castelldefels (40.396764 N, 3.713379 E), 20 km south of Barcelona, Spain.
GNSS-SDR is the by-product of GNSS research conducted at the Communications
Systems Division of CTTC, and it is the combined effort of students,
software engineers and researchers from different institutions around the World.
Contact Information
------------------------------------------------------------------------------
GNSS-SDR Homepage
GNSS-SDR Homepage
----------------------------
http://gnss-sdr.org
https://gnss-sdr.org
CTTC Homepage
----------------------------
http://www.cttc.cat
Mailing Lists
Mailing Lists
----------------------------
gnss-sdr-developers@lists.sourceforge.net
http://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers
gnss-sdr-developers@lists.sourceforge.net
https://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers
Email
----------------------------
Inquiries beyond the mailing list can be sent to carles.fernandez@cttc.cat
Inquiries beyond the mailing list can be sent to carles.fernandez@cttc.cat
List of authors
@ -40,7 +40,7 @@ Antonio Ramos antonio.ramos@cttc.es Developer
Marc Majoral marc.majoral@cttc.cat Developer
Pau Closas pau.closas@northeastern.edu Consultant
Jordi Vila-Valls jordi.vila@cttc.cat Consultant
Carlos Aviles carlos.avilesr@googlemail.com Contributor
Carlos Aviles carlos.avilesr@googlemail.com Contributor
David Pubill david.pubill@cttc.cat Contributor
Mara Branzanti mara.branzanti@gmail.com Contributor
Marc Molina marc.molina.pena@gmail.com Contributor
@ -54,6 +54,3 @@ Fran Fabra fabra@ice.csic.es Contributor
Cillian O'Driscoll cillian.odriscoll@gmail.com Contributor
Gabriel Araujo gabriel.araujo.5000@gmail.com Contributor
Carlos Paniego carpanie@hotmail.com Artwork

22
CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
# Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
########################################################################
@ -354,7 +354,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
message(STATUS "Your GCC version is too old and does not support some C++ features required by GNSS-SDR. GCC version must be at least ${GNSSSDR_GCC_MIN_VERSION}")
if(${LINUX_DISTRIBUTION} MATCHES "Ubuntu")
if(${LINUX_VER} MATCHES "12.04")
message(STATUS "For instructions on how to upgrade GCC, check http://askubuntu.com/a/271561")
message(STATUS "For instructions on how to upgrade GCC, check https://askubuntu.com/a/271561")
endif(${LINUX_VER} MATCHES "12.04")
endif(${LINUX_DISTRIBUTION} MATCHES "Ubuntu")
message(FATAL_ERROR "Fatal error: GCC >= ${GNSSSDR_GCC_MIN_VERSION} required.")
@ -466,7 +466,7 @@ endif(ENABLE_UNIT_TESTING OR ENABLE_SYSTEM_TESTING)
################################################################################
# Boost - http://www.boost.org
# Boost - https://www.boost.org
################################################################################
if(UNIX AND EXISTS "/usr/lib64")
list(APPEND BOOST_LIBRARYDIR "/usr/lib64") # Fedora 64-bit fix
@ -490,7 +490,7 @@ endif(NOT Boost_FOUND)
################################################################################
# GNU Radio - http://gnuradio.org
# GNU Radio - https://gnuradio.org
################################################################################
set(GR_REQUIRED_COMPONENTS RUNTIME ANALOG BLOCKS FFT FILTER PMT)
find_package(Gnuradio)
@ -1032,7 +1032,7 @@ endif(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
################################################################################
# GnuTLS - http://www.gnutls.org/
# GnuTLS - https://www.gnutls.org/
################################################################################
find_package(GnuTLS)
find_library(GNUTLS_OPENSSL_LIBRARY NAMES gnutls-openssl libgnutls-openssl.so.27
@ -1203,7 +1203,7 @@ if(ENABLE_UHD)
set(ENABLE_UHD OFF)
message(STATUS " The USRP Hardware Driver (UHD) signal source will not be built,")
message(STATUS " so all USRP-based front-ends will not be usable.")
message(STATUS " Please check http://files.ettus.com/manual/")
message(STATUS " Please check https://files.ettus.com/manual/")
else(NOT UHD_FOUND)
set(GR_REQUIRED_COMPONENTS UHD)
find_package(Gnuradio)
@ -1430,7 +1430,7 @@ if(ENABLE_GPERFTOOLS)
endif(ENABLE_GPERFTOOLS)
if(ENABLE_GPERFTOOLS)
# Set GPerftools related flags if it is available
# See http://gperftools.googlecode.com/svn/trunk/README
# See https://github.com/gperftools/gperftools/blob/master/README
if(GPERFTOOLS_FOUND)
if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free")
@ -1472,7 +1472,7 @@ if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
# set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
# endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wall -Wextra") #Add warning flags: For "-Wall" see http://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wall -Wextra") #Add warning flags: For "-Wall" see https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
# Support of C++17 is still not possible due to pm_remez.h (solved in GNU Radio 3.8)
@ -1515,7 +1515,7 @@ if(NOT (CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) AND NOT (CMAKE_CXX_COMPILER_ID M
endif(NOT (CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) AND NOT (CMAKE_CXX_COMPILER_ID MATCHES "Clang"))
# Processor-architecture related flags
# See http://gcc.gnu.org/onlinedocs/gcc/i386-and-x86_002d64-Options.html#i386-and-x86_002d64-Options
# See https://gcc.gnu.org/onlinedocs/gcc/x86-Options.html
if (NOT ARCH_COMPILER_FLAGS)
if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
if(OS_IS_MACOSX)
@ -1543,7 +1543,7 @@ set(MY_CXX_FLAGS "${MY_CXX_FLAGS} ${ARCH_COMPILER_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MY_CXX_FLAGS}")
if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
#http://gcc.gnu.org/wiki/Visibility
# https://gcc.gnu.org/wiki/Visibility
add_definitions(-fvisibility=hidden)
endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)

6
CODE_OF_CONDUCT.md
View File

@ -68,7 +68,7 @@ members of the project's leadership.
## Attribution
This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4,
available at [http://contributor-covenant.org/version/1/4][version]
available at [https://contributor-covenant.org/version/1/4][version]
[homepage]: http://contributor-covenant.org
[version]: http://contributor-covenant.org/version/1/4/
[homepage]: https://contributor-covenant.org
[version]: https://contributor-covenant.org/version/1/4/

12
CONTRIBUTING.md
View File

@ -128,7 +128,7 @@ $ git pull --rebase upstream next
### How to submit a pull request
Before submitting your code, please be sure to [apply clang-format](http://gnss-sdr.org/coding-style/#use-tools-for-automated-code-formatting).
Before submitting your code, please be sure to [apply clang-format](https://gnss-sdr.org/coding-style/#use-tools-for-automated-code-formatting).
When the contribution is ready, you can [submit a pull
request](https://github.com/gnss-sdr/gnss-sdr/compare/). Head to your
@ -146,24 +146,24 @@ accepted:
* Avoid platform-dependent code. If your code require external
dependencies, they must be available as packages in [Debian OldStable](https://wiki.debian.org/DebianOldStable).
* Write tests.
* Follow our [coding style guide](http://gnss-sdr.org/coding-style/).
* Follow our [coding style guide](https://gnss-sdr.org/coding-style/).
* Write a descriptive and detailed summary. Please consider that
reviewing pull requests is hard, so include as much information as
possible to make your pull request's intent clear.
For more details about Git usage, please check out [our
tutorial](http://gnss-sdr.org/docs/tutorials/using-git/).
tutorial](https://gnss-sdr.org/docs/tutorials/using-git/).
## Contributing to the website
The content of http://gnss-sdr.org lives in a GitHub repository at
The content of https://gnss-sdr.org lives in a GitHub repository at
https://github.com/gnss-sdr/geniuss-place
You can fork that repository, reproduce the entire website on your
computer using [Jekyll](https://jekyllrb.com/), do changes and submit
pull requests, just as explained above. For more details, please check
out [how to contribute](http://gnss-sdr.org/contribute/).
out [how to contribute](https://gnss-sdr.org/contribute/).
Last but not the least, you can leave your comments on the website.
@ -173,6 +173,6 @@ Last but not the least, you can leave your comments on the website.
![GeNiuSS
contributes](http://gnss-sdr.org/assets/images/geniuss-contribute.png)
contributes](https://gnss-sdr.org/assets/images/geniuss-contribute.png)
Thanks for your contribution to GNSS-SDR!

8
COPYING
View File

@ -1,7 +1,7 @@
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
@ -645,7 +645,7 @@ the "copyright" line and a pointer to where the full notice is found.
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
@ -664,11 +664,11 @@ might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<http://www.gnu.org/licenses/>.
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<http://www.gnu.org/philosophy/why-not-lgpl.html>.
<https://www.gnu.org/philosophy/why-not-lgpl.html>.

15
MANIFEST.md
View File

@ -14,13 +14,12 @@ copyright_owner:
dependencies: gnuradio (>= 3.7.3), armadillo, gflags, glog, gnutls
license: GPLv3+
repo: https://github.com/gnss-sdr/gnss-sdr
website: http://gnss-sdr.org
icon: http://a.fsdn.com/con/app/proj/gnss-sdr/screenshots/logo400x400.jpg
website: https://gnss-sdr.org
icon: https://a.fsdn.com/con/app/proj/gnss-sdr/screenshots/logo400x400.jpg
---
Global Navigation Satellite Systems receiver defined by software. It performs all the signal
processing from raw signal samples up to the computation of the Position-Velocity-Time solution,
including code and phase observables. It is able to work with raw data files or, if there is
computational power enough, in real time with suitable radiofrequency front-ends. This software
Global Navigation Satellite Systems receiver defined by software. It performs all the signal
processing from raw signal samples up to the computation of the Position-Velocity-Time solution,
including code and phase observables. It is able to work with raw data files or, if there is
computational power enough, in real time with suitable radiofrequency front-ends. This software
is mainly developed at [CTTC](http://www.cttc.es "Centre Tecnologic de Telecomunicacions de Catalunya")
with contributions from around the world. More info at [gnss-sdr.org](http://gnss-sdr.org "GNSS-SDR's Homepage").
with contributions from around the world. More info at [gnss-sdr.org](https://gnss-sdr.org "GNSS-SDR's Homepage").

52
README.md
View File

@ -1,4 +1,4 @@
[![](./docs/doxygen/images/gnss-sdr_logo.png)](http://gnss-sdr.org "GNSS-SDR website")
[![](./docs/doxygen/images/gnss-sdr_logo.png)](https://gnss-sdr.org "GNSS-SDR website")
[![License: GPL v3](https://img.shields.io/badge/License-GPL%20v3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0)
@ -19,14 +19,14 @@ In the L5 band (centered at 1176.45 MHz):
- &#128752; GPS L5 :white_check_mark:
- &#128752; Galileo E5a :white_check_mark:
GNSS-SDR provides interfaces for a wide range of radio frequency front-ends, generates processing outputs in standard formats, allows for the full inspection of the whole signal processing chain, and offers a framework for the development of new features. Please visit [http://gnss-sdr.org](http://gnss-sdr.org "GNSS-SDR website") for more information about this open source software-defined GNSS receiver.
GNSS-SDR provides interfaces for a wide range of radio frequency front-ends, generates processing outputs in standard formats, allows for the full inspection of the whole signal processing chain, and offers a framework for the development of new features. Please visit [https://gnss-sdr.org](https://gnss-sdr.org "GNSS-SDR website") for more information about this open source software-defined GNSS receiver.
# How to build GNSS-SDR
This section describes how to set up the compilation environment in GNU/Linux or [macOS / Mac OS X](#macosx), and to build GNSS-SDR. See also our [build and install page](http://gnss-sdr.org/build-and-install/ "GNSS-SDR's Build and Install").
This section describes how to set up the compilation environment in GNU/Linux or [macOS / Mac OS X](#macosx), and to build GNSS-SDR. See also our [build and install page](https://gnss-sdr.org/build-and-install/ "GNSS-SDR's Build and Install").
GNU/Linux
@ -286,7 +286,7 @@ By default, you will be in the 'master' branch of the Git repository, which corr
$ git checkout next
~~~~~~
More information about GNSS-SDR-specific Git usage and pointers to further readings can be found at our [Git tutorial](http://gnss-sdr.org/docs/tutorials/using-git/ "Using Git").
More information about GNSS-SDR-specific Git usage and pointers to further readings can be found at our [Git tutorial](https://gnss-sdr.org/docs/tutorials/using-git/ "Using Git").
### Build and install GNSS-SDR
@ -507,7 +507,7 @@ $ sudo make install
Using this option, all SIMD instructions are exclusively accessed via VOLK, which automatically includes versions of each function for different SIMD instruction sets, then detects at runtime which to use, or if there are none, substitutes a generic, non-SIMD implementation.
More details can be found in our tutorial about [GNSS-SDR configuration options at building time](http://gnss-sdr.org/docs/tutorials/using-git/ "Configuration options at building time").
More details can be found in our tutorial about [GNSS-SDR configuration options at building time](https://gnss-sdr.org/docs/tutorials/using-git/ "Configuration options at building time").
<a name="macosx">macOS and Mac OS X</a>
@ -648,7 +648,7 @@ Other builds
* **Snap packages**: [Snaps](http://snapcraft.io) are universal Linux packages aimed to work on any distribution or device, from IoT devices to servers, desktops to mobile devices. Visit [https://github.com/carlesfernandez/snapcraft-sandbox](https://github.com/carlesfernandez/snapcraft-sandbox) for instructions.
* **GNSS-SDR in embedded platforms**: we provide a Software Development Kit (SDK) based on [OpenEmbedded](http://www.openembedded.org/wiki/Main_Page) for cross-compiling GNSS-SDR in your desktop computer and for producing executables that can run in embedded platforms, such as a Zedboard or a Raspberry Pi 3. Visit [Cross-compiling GNSS-SDR](http://gnss-sdr.org/docs/tutorials/cross-compiling/) for instructions.
* **GNSS-SDR in embedded platforms**: we provide a Software Development Kit (SDK) based on [OpenEmbedded](http://www.openembedded.org/wiki/Main_Page) for cross-compiling GNSS-SDR in your desktop computer and for producing executables that can run in embedded platforms, such as a Zedboard or a Raspberry Pi 3. Visit [Cross-compiling GNSS-SDR](https://gnss-sdr.org/docs/tutorials/cross-compiling/) for instructions.
Updating GNSS-SDR
@ -680,9 +680,9 @@ Before rebuilding the source code, it is safe (and recommended) to remove the re
$ rm -rf gnss-sdr/build/*
~~~~~~
If you are interested in contributing to the development of GNSS-SDR, please check out [how to do it](http://gnss-sdr.org/contribute/ "How to contribute to GNSS-SDR source code").
If you are interested in contributing to the development of GNSS-SDR, please check out [how to do it](https://gnss-sdr.org/contribute/ "How to contribute to GNSS-SDR source code").
There is a more controlled way to upgrade your repository, which is to use the Git commands ```fetch``` and ```merge```, as described in our [Git Tutorial](http://gnss-sdr.org/docs/tutorials/using-git/ "Using Git").
There is a more controlled way to upgrade your repository, which is to use the Git commands ```fetch``` and ```merge```, as described in our [Git Tutorial](https://gnss-sdr.org/docs/tutorials/using-git/ "Using Git").
@ -712,7 +712,7 @@ We use a [DBSRX2](https://www.ettus.com/product/details/DBSRX2) to do the task,
```$ gnss-sdr --config_file=/path/to/my_receiver.conf```
The program reports the current status in text mode, directly to the terminal window. If all goes well, and GNSS-SDR is able to successfully track and decode at least 4 satellites, you will get PVT fixes. The program will write .kml, .geojson and RINEX files in the folder from which ```gnss-sdr``` was run. In addition to the console output, GNSS-SDR also writes log files at /tmp/ (configurable with the commandline flag ```./gnss-sdr --log_dir=/path/to/log```).
For more information, check out our [quick start guide](http://gnss-sdr.org/quick-start-guide/).
For more information, check out our [quick start guide](https://gnss-sdr.org/quick-start-guide/).
Using GNSS-SDR
@ -772,7 +772,7 @@ Since the configuration is just a set of property names and values without any m
Hence, the application defines a simple accessor class to fetch the configuration pairs of values and passes them to a factory class called [GNSSBlockFactory](./src/core/receiver/gnss_block_factory.h). This factory decides, according to the configuration, which class needs to be instantiated and which parameters should be passed to the constructor. Hence, the factory encapsulates the complexity of blocks' instantiation. With that approach, adding a new block that requires new parameters will be as simple as adding the block class and modifying the factory to be able to instantiate it. This loose coupling between the blocks' implementations and the syntax of the configuration enables extending the application capacities in a high degree. It also allows producing fully customized receivers, for instance a testbed for acquisition algorithms, and to place observers at any point of the receiver chain.
More information can be found at the [Control Plane page](http://gnss-sdr.org/docs/control-plane/).
More information can be found at the [Control Plane page](https://gnss-sdr.org/docs/control-plane/).
Signal Processing plane
@ -800,7 +800,7 @@ Internally, GNSS-SDR makes use of the complex data types defined by [VOLK](http:
- **`gr_complex`**: Complex samples, with real and imaginary parts of type `float`. C++ type name: `std::complex<float>`.
More information about the available processing blocks and their configuration parameters can be found at the [Signal Processing Blocks documentation page](http://gnss-sdr.org/docs/sp-blocks/).
More information about the available processing blocks and their configuration parameters can be found at the [Signal Processing Blocks documentation page](https://gnss-sdr.org/docs/sp-blocks/).
### Signal Source
@ -994,7 +994,7 @@ SignalSource.dump1=false
~~~~~~
More documentation and examples are available at the [Signal Source Blocks page](http://gnss-sdr.org/docs/sp-blocks/signal-source/).
More documentation and examples are available at the [Signal Source Blocks page](https://gnss-sdr.org/docs/sp-blocks/signal-source/).
### Signal Conditioner
@ -1015,7 +1015,7 @@ If you need to adapt some aspect of your signal, you can enable the Signal Condi
SignalConditioner.implementation=Signal_Conditioner
~~~~~~
More documentation at the [Signal Conditioner Blocks page](http://gnss-sdr.org/docs/sp-blocks/signal-conditioner/).
More documentation at the [Signal Conditioner Blocks page](https://gnss-sdr.org/docs/sp-blocks/signal-conditioner/).
#### Data type adapter
@ -1027,7 +1027,7 @@ This block changes the type of input data samples. If your signal source deliver
DataTypeAdapter.implementation=Ishort_To_Complex
~~~~~~
More documentation at the [Data Type Adapter Blocks page](http://gnss-sdr.org/docs/sp-blocks/data-type-adapter/).
More documentation at the [Data Type Adapter Blocks page](https://gnss-sdr.org/docs/sp-blocks/data-type-adapter/).
#### Input filter
@ -1082,7 +1082,7 @@ InputFilter.IF=0
InputFilter.decimation_factor=1
~~~~~~
More documentation at the [Input Filter Blocks page](http://gnss-sdr.org/docs/sp-blocks/input-filter/).
More documentation at the [Input Filter Blocks page](https://gnss-sdr.org/docs/sp-blocks/input-filter/).
#### Resampler
@ -1100,7 +1100,7 @@ Resampler.sample_freq_in=8000000 ; sample frequency of the input signal
Resampler.sample_freq_out=4000000 ; desired sample frequency of the output signal
~~~~~~
More documentation at the [Resampler Blocks page](http://gnss-sdr.org/docs/sp-blocks/resampler/).
More documentation at the [Resampler Blocks page](https://gnss-sdr.org/docs/sp-blocks/resampler/).
### Channel
@ -1150,7 +1150,7 @@ This module is also in charge of managing the interplay between acquisition and
The abstract class [ChannelInterface](./src/core/interfaces/channel_interface.h) represents an interface to a channel GNSS block. Check [Channel](./src/algorithms/channel/adapters/channel.h) for an actual implementation.
More documentation at the [Channels page](http://gnss-sdr.org/docs/sp-blocks/channels/).
More documentation at the [Channels page](https://gnss-sdr.org/docs/sp-blocks/channels/).
@ -1201,7 +1201,7 @@ Acquisition_1B.dump=false
Acquisition_1B.dump_filename=./acq_dump.dat
~~~~~~
More documentation at the [Acquisition Blocks page](http://gnss-sdr.org/docs/sp-blocks/acquisition/).
More documentation at the [Acquisition Blocks page](https://gnss-sdr.org/docs/sp-blocks/acquisition/).
#### Tracking
@ -1251,7 +1251,7 @@ Tracking_1B.dump=false
Tracking_1B.dump_filename=../data/veml_tracking_ch_
~~~~~~
More documentation at the [Tracking Blocks page](http://gnss-sdr.org/docs/sp-blocks/tracking/).
More documentation at the [Tracking Blocks page](https://gnss-sdr.org/docs/sp-blocks/tracking/).
#### Decoding of the navigation message
@ -1279,7 +1279,7 @@ TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
~~~~~~
More documentation at the [Telemetry Decoder Blocks page](http://gnss-sdr.org/docs/sp-blocks/telemetry-decoder/).
More documentation at the [Telemetry Decoder Blocks page](https://gnss-sdr.org/docs/sp-blocks/telemetry-decoder/).
#### Observables
@ -1297,7 +1297,7 @@ Observables.dump=false
Observables.dump_filename=./observables.dat
~~~~~~
More documentation at the [Observables Blocks page](http://gnss-sdr.org/docs/sp-blocks/observables/).
More documentation at the [Observables Blocks page](https://gnss-sdr.org/docs/sp-blocks/observables/).
#### Computation of Position, Velocity and Time
@ -1354,13 +1354,13 @@ PVT.rtcm_station_id=1111
In order to get well-formatted GeoJSON, KML and RINEX files, always terminate ```gnss-sdr``` execution by pressing key ```q``` and then key ```ENTER```. Those files will be automatically deleted if no position fix have been obtained during the execution of the software receiver.
More documentation at the [PVT Blocks page](http://gnss-sdr.org/docs/sp-blocks/pvt/).
More documentation at the [PVT Blocks page](https://gnss-sdr.org/docs/sp-blocks/pvt/).
About the software license
==========================
GNSS-SDR is released under the [General Public License (GPL) v3](http://www.gnu.org/licenses/gpl.html), thus securing practical usability, inspection, and continuous improvement by the research community, allowing the discussion based on tangible code and the analysis of results obtained with real signals. The GPL implies that:
GNSS-SDR is released under the [General Public License (GPL) v3](https://www.gnu.org/licenses/gpl.html), thus securing practical usability, inspection, and continuous improvement by the research community, allowing the discussion based on tangible code and the analysis of results obtained with real signals. The GPL implies that:
1. Copies may be distributed free of charge or for money, but the source code has to be shipped or provided free of charge (or at cost price) on demand. The receiver of the source code has the same rights meaning he can share copies free of charge or resell.
2. The licensed material may be analyzed or modified.
@ -1393,7 +1393,7 @@ For LaTeX users, this is the BibTeX entry for your convenience:
~~~~~~
There is a list of papers related to GNSS-SDR in our [publications page](http://gnss-sdr.org/publications/ "Publications").
There is a list of papers related to GNSS-SDR in our [publications page](https://gnss-sdr.org/publications/ "Publications").
@ -1404,9 +1404,9 @@ In order to start using GNSS-SDR, you may want to populate ```gnss-sdr/data``` f
Another interesting option is working in real-time with an RF front-end. We provide drivers for UHD-compatible hardware such as the [USRP family](http://www.ettus.com/product), for OsmoSDR and other front-ends (HackRF, bladeRF, LimeSDR), for the GN3S v2 USB dongle and for some DVB-T USB dongles. Start with a low number of channels and then increase it in order to test how many channels your processor can handle in real-time.
You can find more information at the [GNSS-SDR Documentation page](http://gnss-sdr.org/docs/) or directly asking to the [GNSS-SDR Developers mailing list](http://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers).
You can find more information at the [GNSS-SDR Documentation page](https://gnss-sdr.org/docs/) or directly asking to the [GNSS-SDR Developers mailing list](http://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers).
You are also very welcome to contribute to the project, there are many ways to [participate in GNSS-SDR](http://gnss-sdr.org/contribute/). If you need some special feature not yet implemented, the Developer Team would love to be hired for developing it. Please do not hesitate to [contact them](http://gnss-sdr.org/team/).
You are also very welcome to contribute to the project, there are many ways to [participate in GNSS-SDR](https://gnss-sdr.org/contribute/). If you need some special feature not yet implemented, the Developer Team would love to be hired for developing it. Please do not hesitate to [contact them](https://gnss-sdr.org/team/).
**Enjoy GNSS-SDR!**

2
cmake/Modules/FindGFORTRAN.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
find_library(GFORTRAN NAMES gfortran
PATHS /usr/lib

2
cmake/Modules/FindGFlags.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
# - Try to find GFlags
#

2
cmake/Modules/FindGLOG.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
# - Try to find the Google Glog library
#

2
cmake/Modules/FindGPSTK.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
# - Find gpstk library
# Find the native gpstk includes and library

2
cmake/Modules/FindGnuradio.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
########################################################################
# Find GNU Radio

2
cmake/Modules/FindGperftools.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
# Tries to find Gperftools.
#

2
cmake/Modules/FindGrDbfcttc.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
########################################################################
# Find GR-DBFCTTC Module

2
cmake/Modules/FindGrGN3S.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
########################################################################
# Find GR-GN3S Module

2
cmake/Modules/FindGrOsmoSDR.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
# Tries to find gr-osmosdr.
#

2
cmake/Modules/FindLibOsmoSDR.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
# Tries to find libosmosdr.
#

2
cmake/Modules/FindLog4cpp.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
# - Find Log4cpp
# Find the native LOG4CPP includes and library

2
cmake/Modules/FindMATIO.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
# FindMATIO
#

2
cmake/Modules/FindORC.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
FIND_PACKAGE(PkgConfig)
PKG_CHECK_MODULES(PC_ORC "orc-0.4 > 0.4.22")

2
cmake/Modules/FindOpenBLAS.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
# - Try to find OpenBLAS library (not headers!)
#

2
cmake/Modules/FindOpenCL.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
# This file taken from FindOpenCL project @ http://gitorious.com/findopencl

2
cmake/Modules/FindTeleorbit.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_TELEORBIT teleorbit)

2
cmake/Modules/FindUHD.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
########################################################################
# Find the library for the USRP Hardware Driver

2
cmake/Modules/FindVolk.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
########################################################################
# Find VOLK (Vector-Optimized Library of Kernels)

2
cmake/Modules/FindVolkGnssSdr.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
########################################################################
# Find VOLK (Vector-Optimized Library of Kernels) GNSS-SDR library

2
cmake/Modules/Findiio.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_IIO gnuradio-iio)

2
cmake/Modules/Findlibiio.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_LIBIIO libiio)

2
cmake/Modules/SetupPython.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
########################################################################
# Setup the python interpreter:

2
cmake/Modules/TestForARM.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
##############################################################################
# check if the compiler defines the architecture as ARM and set the

2
cmake/Modules/TestForSSE.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
###############################################################################

2
cmake/Toolchains/oe-sdk_cross.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
##########################################################
# Toolchain file for Open Embedded

2
cmake/Toolchains/zynq-7000.cmake
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
##########################################################
# Toolchain file for Zynq-7000 devices

2
cmake/cmake_uninstall.cmake.in
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")

35
conf/front-end-cal.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; Default configuration file
; You can define your own front-end calibration tool configuration and invoke it by doing
@ -21,7 +21,7 @@ GNSS-SDR.init_altitude_m=10
; Mozoncillo
;GNSS-SDR.init_latitude_deg=41.14534824586196
;GNSS-SDR.init_longitude_deg=-4.187125019737464
;GNSS-SDR.init_longitude_deg=-4.187125019737464
;GNSS-SDR.init_altitude_m=900
@ -45,28 +45,28 @@ GNSS-SDR.SUPL_CI=40184
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=Osmosdr_Signal_Source
;#freq: RF front-end center frequency in [Hz]
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
;#sampling_frequency: Original Signal sampling frequency in samples per second
;#sampling_frequency: Original Signal sampling frequency in samples per second
SignalSource.sampling_frequency=2000000
;#gain: Front-end Gain in [dB]
SignalSource.gain=40
;#gain: Front-end Gain in [dB]
SignalSource.gain=40
SignalSource.rf_gain=40
SignalSource.if_gain=30
SignalSource.AGC_enabled=false
;# Please note that the new RTL-SDR Blog V3 dongles ship a < 1 PPM
;# Please note that the new RTL-SDR Blog V3 dongles ship a < 1 PPM
;# temperature compensated oscillator (TCXO), which is well suited for GNSS
;# signal processing, and a 4.5 V powered bias-tee to feed an active antenna.
;# Whether the bias-tee is turned off before reception depends on which version
;# of gr-osmosdr was used when compiling GNSS-SDR. With an old version
;# (for example, v0.1.4-8), the utility rtl_biast may be used to switch the
;# bias-tee, and then call gnss-sdr.
;# Whether the bias-tee is turned off before reception depends on which version
;# of gr-osmosdr was used when compiling GNSS-SDR. With an old version
;# (for example, v0.1.4-8), the utility rtl_biast may be used to switch the
;# bias-tee, and then call gnss-sdr.
;# See https://github.com/rtlsdrblog/rtl_biast
;# After reception the bias-tee is switched off automatically by the program.
;# With newer versions of gr-osmosdr (>= 0.1.4-13), the bias-tee can be
;# With newer versions of gr-osmosdr (>= 0.1.4-13), the bias-tee can be
;# activated by uncommenting the following line:
;SignalSource.osmosdr_args=rtl,bias=1
@ -82,7 +82,7 @@ SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;######### SIGNAL_CONDITIONER CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
;## It holds blocks to change data type, filter and resample input data.
;#implementation: Use [Pass_Through] or [Signal_Conditioner]
;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
@ -108,7 +108,7 @@ DataTypeAdapter.dump_filename=../data/data_type_adapter.dat
InputFilter.implementation=Freq_Xlating_Fir_Filter
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez.
;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges,
;#the desired response on those bands, and the weight given to the error in those bands.
@ -151,7 +151,7 @@ InputFilter.ampl2_end=0.0
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter.filter_type=bandpass
;#grid_density: determines how accurately the filter will be constructed.
@ -182,7 +182,7 @@ Resampler.implementation=Pass_Through
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
;#if: Signal intermediate frequency in [Hz]
Acquisition.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition.sampled_ms=1
@ -196,8 +196,7 @@ Acquisition.doppler_min=-100000
Acquisition.doppler_step=500
;#maximum dwells
Acquisition.max_dwells=15
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition.dump=false
;#filename: Log path and filename
Acquisition.dump_filename=./acq_dump.dat

3
conf/gnss-sdr.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; Default configuration file
; You can define your own receiver and invoke it by doing
@ -141,4 +141,3 @@ PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false
PVT.dump_filename=./PVT

2
conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
[GNSS-SDR]

2
conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
[GNSS-SDR]

2
conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
[GNSS-SDR]

2
conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
[GNSS-SDR]

2
conf/gnss-sdr_GLONASS_L2_CA_GPS_L1_CA_ibyte.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
[GNSS-SDR]

2
conf/gnss-sdr_GLONASS_L2_CA_GPS_L2C_ibyte.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
[GNSS-SDR]

2
conf/gnss-sdr_GLONASS_L2_CA_ibyte.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
[GNSS-SDR]

2
conf/gnss-sdr_GLONASS_L2_CA_ibyte_coh_trk.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
[GNSS-SDR]

2
conf/gnss-sdr_GPS_L1_2ch_fmcomms2_realtime.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_GPS_L1_CA_ibyte.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
[GNSS-SDR]

3
conf/gnss-sdr_GPS_L1_FPGA.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
@ -82,4 +82,3 @@ PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false

2
conf/gnss-sdr_GPS_L1_GN3S_realtime.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_GPS_L1_LimeSDR.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
[GNSS-SDR]

4
conf/gnss-sdr_GPS_L1_SPIR.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
@ -133,5 +133,3 @@ PVT.flag_nmea_tty_port=true;
PVT.nmea_dump_devname=/dev/pts/4
PVT.dump=false
PVT.dump_filename=./PVT

2
conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; Configuration file for using USRP X300 as a RF front-end for GPS L1 signals.
; Set SignalSource.device_address to the IP address of your device

2
conf/gnss-sdr_GPS_L1_USRP_realtime.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; Configuration file for using USRP 1 as a RF front-end for GPS L1 signals.
; Run:

2
conf/gnss-sdr_GPS_L1_acq_QuickSync.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_GPS_L1_bladeRF.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
[GNSS-SDR]

2
conf/gnss-sdr_GPS_L1_fmcomms2_realtime.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_GPS_L1_gr_complex.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_GPS_L1_ishort.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_GPS_L1_nsr.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; Sample configuration file for IFEN SX-NSR software receiver front-end
; http://www.ifen.com/products/sx-scientific-gnss-solutions/nsr-software-receiver.html

2
conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; Sample configuration file for IFEN SX-NSR software receiver front-end
; http://www.ifen.com/products/sx-scientific-gnss-solutions/nsr-software-receiver.html

2
conf/gnss-sdr_GPS_L1_plutosdr_realtime.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

14
conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
@ -45,16 +45,16 @@ SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
SignalSource.enable_throttle_control=false
;# Please note that the new RTL-SDR Blog V3 dongles ship a < 1 PPM
;# Please note that the new RTL-SDR Blog V3 dongles ship a < 1 PPM
;# temperature compensated oscillator (TCXO), which is well suited for GNSS
;# signal processing, and a 4.5 V powered bias-tee to feed an active antenna.
;# Whether the bias-tee is turned off before reception depends on which version
;# of gr-osmosdr was used when compiling GNSS-SDR. With an old version
;# (for example, v0.1.4-8), the utility rtl_biast may be used to switch the
;# bias-tee, and then call gnss-sdr.
;# Whether the bias-tee is turned off before reception depends on which version
;# of gr-osmosdr was used when compiling GNSS-SDR. With an old version
;# (for example, v0.1.4-8), the utility rtl_biast may be used to switch the
;# bias-tee, and then call gnss-sdr.
;# See https://github.com/rtlsdrblog/rtl_biast
;# After reception the bias-tee is switched off automatically by the program.
;# With newer versions of gr-osmosdr (>= 0.1.4-13), the bias-tee can be
;# With newer versions of gr-osmosdr (>= 0.1.4-13), the bias-tee can be
;# activated by uncommenting the following line:
;SignalSource.osmosdr_args=rtl,bias=1

2
conf/gnss-sdr_GPS_L1_two_bits_cpx.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; Configuration file for using USRP1 as a RF front-end for GPS L2C signals
; Run:

2
conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; Configuration file for using USRP X300 as a RF front-end for GPS L2C signals
; Set SignalSource.device_address to the IP address of your device

3
conf/gnss-sdr_Galileo_E1_USRP_X300_realtime.conf
View File

@ -1,3 +1,6 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; Configuration file for using USRP X300 as a RF front-end for Galileo E1 signals.
; Set SignalSource.device_address to the IP address of your device
; and run:

2
conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

4
conf/gnss-sdr_Galileo_E1_ishort.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
@ -104,4 +104,4 @@ PVT.rtcm_MSM_rate_ms=1000
PVT.flag_rtcm_tty_port=false;
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false
PVT.dump_filename=./PVT
PVT.dump_filename=./PVT

2
conf/gnss-sdr_Galileo_E1_nsr.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

3
conf/gnss-sdr_Galileo_E5a.conf
View File

@ -1,3 +1,6 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;

3
conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf
View File

@ -1,3 +1,6 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;

2
conf/gnss-sdr_Hybrid_byte.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_Hybrid_byte_sim.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_Hybrid_gr_complex.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_Hybrid_ishort.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_Hybrid_nsr.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

4
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
@ -185,4 +185,4 @@ PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false
PVT.dump_filename=./PVT
PVT.dump_filename=./PVT

4
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
@ -184,4 +184,4 @@ PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false
PVT.dump_filename=./PVT
PVT.dump_filename=./PVT

4
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
@ -191,4 +191,4 @@ PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false
PVT.dump_filename=./PVT
PVT.dump_filename=./PVT

2
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

3
conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
@ -278,4 +278,3 @@ PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false
PVT.dump_filename=./PVT

2
conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

4
conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
@ -253,4 +253,4 @@ PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false
PVT.dump_filename=./PVT
PVT.dump_filename=./PVT

2
conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

2
conf/gnss-sdr_multisource_Hybrid_ishort.conf
View File

@ -1,5 +1,5 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf

4
conf/gnss-sdr_multisource_Hybrid_nsr.conf
View File

@ -1,4 +1,6 @@
; Default configuration file
; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;

8
docs/PULL_REQUEST_TEMPLATE.md
View File

@ -1,12 +1,12 @@
:+1::tada: Hello, and thanks for contributing to [GNSS-SDR](http://gnss-sdr.org)! :tada::+1:
:+1::tada: Hello, and thanks for contributing to [GNSS-SDR](https://gnss-sdr.org)! :tada::+1:
Before submitting your pull request, please make sure the following is done:
1. You undertake the [Contributor Covenant Code of Conduct](https://github.com/gnss-sdr/gnss-sdr/blob/master/CODE_OF_CONDUCT.md).
2. If you are a first-time contributor, after your pull request you will be asked to sign an Individual Contributor License Agreement ([CLA](https://en.wikipedia.org/wiki/Contributor_License_Agreement)) before your code gets accepted into `master`. This license is for your protection as a Contributor as well as for the protection of [CTTC](http://www.cttc.es/); it does not change your rights to use your own contributions for any other purpose. Except for the license granted therein to CTTC and recipients of software distributed by CTTC, you reserve all right, title, and interest in and to your contributions. The information you provide in that CLA will be maintained in accordance with [CTTC's privacy policy](http://www.cttc.es/privacy/).
3. You have read the [Contributing Guidelines](https://github.com/gnss-sdr/gnss-sdr/blob/master/CONTRIBUTING.md).
4. You have read the [coding style guide](http://gnss-sdr.org/coding-style/).
5. Specifically, you have read [about clang-format](http://gnss-sdr.org/coding-style/#use-tools-for-automated-code-formatting) and you have applied it.
4. You have read the [coding style guide](https://gnss-sdr.org/coding-style/).
5. Specifically, you have read [about clang-format](https://gnss-sdr.org/coding-style/#use-tools-for-automated-code-formatting) and you have applied it.
6. You have forked the [gnss-sdr upstream repository](https://github.com/gnss-sdr/gnss-sdr) and have created your branch from `next` (or any other currently living branch in the upstream repository).
7. Please include a description of your changes here.
**Please feel free to delete this line and the above text once you have read it and in case you want to go on with your pull request.**
**Please feel free to delete this line and the above text once you have read it and in case you want to go on with your pull request.**

144
docs/changelog
View File

@ -1,3 +1,122 @@
## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
Next release will have several improvements, addition of new features and bug fixes in many dimensions:
### Improvements in Accuracy:
- Part of the RTKLIB core libraries has been integrated into GNSS-SDR. There is now a single PVT block implementation which makes use of RTKLIB to deliver PVT solutions, including Single and PPP navigation modes.
- Fixed CN0 estimation for other correlation times than 1 ms.
### Improvements in Availability:
- Internal Finite State Machines rewritten for improved continuity in delivering position fixes. This fixes a bug that was stalling the receiver after about six hours of continuous operation.
- Redesign of the time counter for enhanced continuity.
### Improvements in Efficiency:
- Added the possibility of non-blocking acquisition, which works well when using real-time data from a RF front-end.
- Complex codes have been replaced by real codes, alleviating the computational burden.
- New kernels: volk_gnsssdr_16i_xn_resampler_16i_xn.h, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h, volk_gnsssdr_32f_xn_resampler_32f_xn.h, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn.h
- Some AVX2 kernels added to the volk_gnsssdr library.
- Several performance improvements.
### Improvements in Flexibility:
- A number of new parameters have been exposed in the configuration.
- Possibility to choose Pilot or Data tracking where available.
- Enabled extended coherent integration times.
- Some configuration parameters can now be overridden by commandline flags for easier use in scripts.
### Improvements in Interoperability:
- Added the GPS L5 receiver chain.
- Added the GLONASS L1 SP receiver chain.
- Added the GLONASS L2 SP receiver chain.
- Improvements in the Galileo E5a and GPS L2C receiver chains.
- Added four more signal sources: "Fmcomms2_Signal_Source", "Plutosdr_Signal Source", "Spir_GSS6450_File_Signal_Source" and "Labsat_Signal_Source".
- Improved support for BladeRF, HackRF and RTL-SDR front-ends.
- Added tools for the interaction with front-ends based on the AD9361 chipset.
- Intermediate results are now saved in .mat binary format, readable from Matlab/Octave and from Python via h5py.
- Added the GPX output format.
- Fixed a bug in the format of NMEA sentences when latitude or longitude minutes were >10
- Improvements in the RTCM server.
- Improvements in the generation of RINEX files.
### Improvements in Maintainability:
- C-style casts have been replaced by C++ casts. C-style casts are difficult to search for. C++ casts provide compile time checking ability and express programmers' intent better, so they are safer and clearer.
- The override special identifier is now used when overriding a virtual function. This helps the compiler to check for type changes in the base class.
- Use of const container calls when result is immediately converted to a const iterator. Using these members removes an implicit conversion from iterator to const_iterator.
- Improved control over minimum required versions for core dependencies.
- Automated code formating with clang-format.
- Application of the coding style guide in several source files, improving readability.
- The software builds with C++11, C++14 and C++17 standards.
- Setup of a Continuous Integration system that checks building in a wide range of Linux distributions.
### Improvements in Portability:
- The <ctime> library has been replaced by the more modern and portable <chrono>.
- The <stdio.h> library has been replaced by the more modern and portable <fstream> for file handling.
- C++ libraries preferred over C libraries (e.g., <cctype> instead of <type.h>).
- A number of unused includes have been removed.
- The software can now be built using GCC or LLVM/Clang compilers on GNU/Linux.
- The Ninja build system can be used in replacement of make.
- The volk_gnsssdr library can be built using Python 2.7 or Python 3.6.
- Several CMake scripts improvements.
- BLAS and LAPACK libraries are mandatory on ARM devices.
### Improvements in Reliability:
- Introduced 3 new Input Filter implementations for pulsed and narrowband interference mitigation: `Pulse_Blanking_Filter`, `Notch_Filter` and `Notch_Filter_Lite`.
- Enhanced const correctness.
- rand() function replaced by <random> library.
- strlen and strncpy have been replaced by safer C++ counterparts.
- Fixed a number of defects detected by Coverity Scan.
- Some destructors have been fixed, avoiding a segmentation fault when exiting the program.
- Introduction of high-integrity C++ practices into the coding style guide.
- Website switched from http to https. Links in source code switched when available.
### Improvements in Reproducibility:
- Setup of a Continuous Reproducibility system at GitLab for the automatic reproduction of experiments. The concept was introduced in https://ieeexplore.ieee.org/document/8331069/
- Fixes of Lintian warnings related to build reproducibility.
### Improvements in Scalability:
- Improvements in multi-system, multi-band receiver configurations. The receiver now accepts any number of channels in the three available bands.
### Improvements in Testability:
- Several Unit Tests added.
- Receiver channels can now be fixed to a given satellite.
- Improved CTest support in volk_gnsssdr.
### Improvements in Usability:
- All Observables block implementations have been collapsed in a universal implementation for all kinds of GNSS signals, making it easier to configure.
- All PVT block implementations have been collapsed in a universal implementation for all kinds of GNSS signals, making it easier to configure.
- Misleading parameter name GNSS-SDR.internal_fs_hz has been replaced by GNSS-SDR.internal_fs_sps. The old parameter name is still read. If found, a warning is provided to the user.
- Updated and improved documentation.
- Added colors to the commandline user interface.
See the definitions of concepts and metrics at https://gnss-sdr.org/design-forces/
## [0.0.9](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.9)
DOI: https://doi.org/10.5281/zenodo.291371
@ -59,7 +178,7 @@ This release has several improvements, addition of new features and bug fixes in
- Now GNSS-SDR can be run in virtual environments through snap packages (see https://github.com/carlesfernandez/snapcraft-sandbox) and docker images (see https://github.com/carlesfernandez/docker-gnsssdr).
- Now GNSS-SDR is adapted to cross-compiling environments for embedded devices (see https://github.com/carlesfernandez/oe-gnss-sdr-manifest).
- BLAS and LAPACK libraries are not longer mandatory on ARM devices.
- BLAS and LAPACK libraries are no longer mandatory on ARM devices.
### Improvements in Scalability:
@ -74,17 +193,18 @@ This release has several improvements, addition of new features and bug fixes in
- Unit tests added: GpsL1CADllPllTracking and GpsL1CATelemetryDecoderTest.
- System test added: ttff_gps_l1 performs a set of cold / assisted runs of the software receiver and computes statistics about the obtained Time To First Fix.
- System test added: obs_gps_l1_system_test uses an external software-defined signal generator to produce raw digital GNSS signal from a RINEX navigation file and a position (static or dynamic), processes it with GNSS-SDR, and then compares the RINEX observation file produced by the software receiver to that produced by the signal generator.
- Software Development Kit provided for embedded devices (see http://gnss-sdr.org/docs/tutorials/cross-compiling/).
- Software Development Kit provided for embedded devices (see https://gnss-sdr.org/docs/tutorials/cross-compiling/).
### Improvements in Usability:
- Now the block factory automatically detects Channel input data type, so it is no longer required to specify Channel.input_type in the configuration. An error raises if Acquisition and Tracking Blocks are not configured with the same input data type.
- Block names changed from L2_M to L2C.
- Documentation available at http://gnss-sdr.org/docs/
- Documentation available at https://gnss-sdr.org/docs/
- Improved tools for compilation, execution and testing in embedded devices.
See the definitions of concepts and metrics at http://gnss-sdr.org/design-forces/
See the definitions of concepts and metrics at https://gnss-sdr.org/design-forces/
@ -122,12 +242,12 @@ This release has several improvements, addition of new features and bug fixes:
- Improvements in receiver design: Internal block communication has been redesigned to accommodate the addition of new signals, and now upstream and downstream communication within blocks is implemented through the GNU Radio block’s asynchronous message passing system, leading to a more scalable, more robust and cleaner design.
- Improvements in receiver design: Correlators have been rewritten to take full advantage of VOLK and VOLK_GNSSSDR, and they are of general use for any tracking block. Their API now admit an arbitrary number of correlators, spaced in an arbitrary manner, in 16ic and 32fc versions.
- Improvements in receiver design: Block adapters are now all managed by smart pointers, ensuring better memory management.
- Improvements in receiver design: Block adapters are now all managed by smart pointers, ensuring better memory management.
- Improvements in processing speed: The VOLK_GNSSSDR library has been rewritten, following current VOLK standards and adding a number of new kernels. This approach addresses both efficiency and portability. Now the library provides the key kernels for GNSS signal processing in 16ic and 32fc versions, including SSE2, SSE3, SSE4.1, AVX, AV2 and NEON implementations. Please execute volk_gnsssdr_profile and volk_profile to use the fastest implementation for your host machine.
- New source block: Two_Bit_Packed_File_Signal_Source. This block takes 2 bit samples that have been packed into bytes or shorts as input and generates a byte for each sample.
- Fixes in SUPL assistance (supl.nokia.com removed).
- Improvements in acquisition: Added a non CFAR PCPS acquisition algorithm based on the estimation of the post correlation noise floor. If enabled as an option in the acquisition configuration, it allows setting more stable thresholds in the presence of non-gaussian front-end noise (which is the usual behavior of front-ends.)
- Fixes in acquisition: Fixed mismatch between the config files and the acquisition code in the specification of the IF. Fixed a bug in the length of the FFT of local codes.
- Fixes in acquisition: Fixed mismatch between the config files and the acquisition code in the specification of the IF. Fixed a bug in the length of the FFT of local codes.
- Improvements in tracking sensitivity: Added configuration option to customize the extension of the GPS L1 CA correlation length after bit synchronization (options are: [1,2,4,5,10,20] ms). Only available in the GPS_L1_CA_DLL_PLL_C_Aid_Tracking implementation.
- New tracking block introduced: GPS_L1_CA_DLL_PLL_C_Aid_Tracking is a GPS L1 C/A carrier PLL and code DLL with optional carrier-aid feedback. It is available in both 32 bits gr_complex input samples and in 16 bits short int complex samples. The gr_complex version has also the capability to extend the coherent correlation period from 1ms to 20ms using telemetry symbol synchronization.
- Increased resolution in CN0 estimator internal variables.
@ -136,18 +256,18 @@ This release has several improvements, addition of new features and bug fixes:
- New tracking block introduced: GPS_L1_CA_DLL_PLL_Tracking_GPU is a GPS L1 C/A carrier PLL and code DLL that uses the CUDA-compatible GPU to compute carrier wipe off and correlation operations, alleviating the CPU load.
- Obsolete/buggy blocks removed: GPS_L1_CA_DLL_FLL_PLL_Tracking, GPS_L1_CA_DLL_PLL_Optim_Tracking.
- Added a RTCM printer and TCP server in PVT blocks (still experimental). The receiver is now able to stream data in real time, serving RTCM 3.2 messages to multiple clients. For instance, it can act as a Ntrip Source feeding a Ntrip Server, or to be used as data input in RTKLIB, obtaining Precise Point Positioning fixes in real-time. The TCP port, Station ID, and rate of MT1019/MT1045 and MSM can be configured. GPS_L1_CA_PVT serves MT1019 (GPS Ephemeris) and MSM7 (MT1077, full GPS pseudoranges, phase ranges, phase range rates and CNR - high resolution) messages, while GALILEO_E1_PVT serves MT1045 (Galileo ephemeris) and MSM7 (MT1097, full Galileo pseudoranges, phase ranges, phase range rates and CNR - high resolution).
- Added a GeoJSON printer. Basic (least-squares) position fixes can be now also stored in this format, in addition to KML.
- Added a GeoJSON printer. Basic (least-squares) position fixes can be now also stored in this format, in addition to KML.
- Obsolete block removed: output filter.
- QA code migrated to the new asynchronous message passing system.
- Improvements in documentation: update of README.md file, addition of documentation for the VOLK_GNSSSDR library, updated links to new ICDs.
- Improvements in documentation: Satellite identification updated to current constellation status.
- Improvements in documentation: Satellite identification updated to current constellation status.
- Updated and cleaner console output. Now Galileo satellites have the ‘E’ identifier in their PRN number.
- Several improvements in CMake scripts allow to build GNSS-SDR in Linux Debian (Jessie, Stretch and Sid), Ubuntu (from 12.04 to 16.04), including amd64, i386, armhf and arm64 architectures, and possibly in other GNU/Linux distributions, as well as in Mac OS X 10.9 to 10.11. It also works well with CMake 3.5 (some problems solved with VOLK_GNSSSDR as a sub-project).
- The software can link either against OpenSSL or against GnuTLS with openssl extensions, whatever it is available. This allows buildings in distributions such as Fedora or ArchLinux, while being compatible with binary distribution through Debian packages.
- Fixed a number of defects detected by Coverity Scan.
- Some fixes required by Debian licensing and packaging system.
- Added a CGRAN (http://www.cgran.org/) manifest
- Lots of code cleaning and fixes of typos and small bugs.
- Lots of code cleaning and fixes of typos and small bugs.
@ -198,7 +318,7 @@ This release has several improvements and bug fixes:
- Added volk_gnsssdr library, a volk-like library implementing some specific kernels and ensuring portable executables. It comes with a ‘volk_gnsssdr_profile’ executable, in the fashion of volk_profile. Volk and volk_gnsssdr are compatible and can be mixed together. This is expected to enable faster execution of the software receiver in upcoming versions.
- The former ‘rtlsdr_signal_source’ has been replaced by a more general ‘osmosdr_signal_source’ compatible with all those front-ends accessible by the OsmoSDR driver (bladeRF, hackRF, etc.) in addition to RTL-based dongles.
- Added manpages when binaries gnss-sdr, volk_gnsssdr_profile and front-end-cal are installed.
- Now GNSS-SDR can be build on i386, amd64, armhf, armel and arm64 architectures.
- Now GNSS-SDR can be built on i386, amd64, armhf, armel and arm64 architectures.
- Now GNSS-SDR builds on Ubuntu 14.04 and 14.10, Debian jessie/sid and Mac OS X 10.9 and 10.10.
- Improved detection of dependencies, specially when installed as .deb packages.
- Added a ‘check' target with some minimal tests.
@ -214,14 +334,14 @@ This release has several improvements and bug fixes:
- Added hybrid processing GPS L1 C/A and Galileo E1B, providing position fixes make use of observables for both constellations.
- Added implementations of the QuickSync algorithm for GPS L1 C/A and Galileo E1 acquisition.
- Added processing blocks for Galileo E5a: Acquisition, Tracking, Telemetry_Decoder (experimental)
- Added processing blocks for Galileo E5a: Acquisition, Tracking, Telemetry_Decoder (experimental)
- New configuration files allow to configure GPS and Galileo channels in the same receiver.
- Added tropospheric corrections to GPS and Galileo PVT solution.
- Improved precision obtained by changing some variables from float to double.
- New building options: ENABLE_GN3S, ENABLE_RTLSDR and ENABLE_ARRAY and ENABLE_OPENCL.
- Improved documentation on how to enable optional drivers.
- Fixed bug in memory alignment that caused problems with high data rates.
- Added ENABLE_GENERIC_ARCH, an option to build the binary without detecting the SIMD instruction set present in the compiling machine, so it can be executed in other machines without those specific sets.
- Added ENABLE_GENERIC_ARCH, an option to build the binary without detecting the SIMD instruction set present in the compiling machine, so it can be executed in other machines without those specific sets.
- Added ENABLE_GPERFTOOLS, which links the executable to tcmalloc and profiler if Gperftools is available on the system.
- Added carrier phase, Doppler shift and signal strength observables to the RINEX files. Static PPP solutions are available for GPS with RTKLIB via RINEX files.
- The executable now produces RINEX files version 3.02 of Galileo Observables, Navigation data, and mixed (GPS/Galileo) observables and nav data. RINEX 3.02 is the default version of RINEX files.

324
docs/doxygen/other/main_page.dox
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
/*! \mainpage
@ -23,12 +23,12 @@
Welcome to GNSS-SDR!
GNSS-SDR is an open-source <a href="http://en.wikipedia.org/wiki/Software_GNSS_receiver" target="_blank">GNSS software receiver</a> freely available to the research community. This project provides a common framework for GNSS signal processing which can operate in a variety of computer platforms. This tool is intended to foster collaboration, increase awareness, and reduce development costs in the field of GNSS receiver design and customized use of GNSS signals.
GNSS-SDR is an open-source <a href="https://en.wikipedia.org/wiki/Software_GNSS_receiver" target="_blank">GNSS software receiver</a> freely available to the research community. This project provides a common framework for GNSS signal processing which can operate in a variety of computer platforms. This tool is intended to foster collaboration, increase awareness, and reduce development costs in the field of GNSS receiver design and customized use of GNSS signals.
For details about GNSS-SDR and using it, please see the <a
href="http://gnss-sdr.org" target="_blank"><b>main project page</b></a> or browse the code at the <a
href="http://sourceforge.net/p/gnss-sdr/cttc/ci/master/tree/" target="_blank"><b>Sourceforge project page</b></a>. You could be also interested in
<a href="http://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers" target="_blank"><b>subscribing to the mailing list</b></a>.
href="https://gnss-sdr.org" target="_blank"><b>main project page</b></a> or browse the code at the <a
href="https://sourceforge.net/p/gnss-sdr/cttc/ci/master/tree/" target="_blank"><b>Sourceforge project page</b></a>. You could be also interested in
<a href="https://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers" target="_blank"><b>subscribing to the mailing list</b></a>.
\section toc Contents
\li \ref overview
@ -56,25 +56,25 @@ More details on GNSS-SDR signal processing blocks:
\section overview Overview
GNSS-SDR provides an interface to different suitable RF front-ends and implements all the receiver chain up to the navigation solution.
Its design allows any kind of customization, including interchangeability of signal sources, signal processing algorithms,
interoperability with other systems, output formats, and offers interfaces to all the intermediate signals, parameters and variables.
The goal is to write efficient and truly reusable code, easy to read and maintain, with fewer bugs, and producing highly optimized executables
in a variety of hardware platforms and operating systems. In that sense, the challenge consists of defining a gentle balance within level
of abstraction and performance. GNSS-SDR runs in a personal computer and provides interfaces through USB and Ethernet
GNSS-SDR provides an interface to different suitable RF front-ends and implements all the receiver chain up to the navigation solution.
Its design allows any kind of customization, including interchangeability of signal sources, signal processing algorithms,
interoperability with other systems, output formats, and offers interfaces to all the intermediate signals, parameters and variables.
The goal is to write efficient and truly reusable code, easy to read and maintain, with fewer bugs, and producing highly optimized executables
in a variety of hardware platforms and operating systems. In that sense, the challenge consists of defining a gentle balance within level
of abstraction and performance. GNSS-SDR runs in a personal computer and provides interfaces through USB and Ethernet
buses to a variety of either commercially available or custom-made RF front-ends, adapting the processing algorithms to different sampling frequencies, intermediate
frequencies and sample resolutions. This makes possible rapid prototyping of specific receivers intended, for instance, to geodetic applications,
observation of the ionospheric impact on navigation signals, GNSS reflectometry, signal quality monitoring, or carrier-phase based navigation techniques.
frequencies and sample resolutions. This makes possible rapid prototyping of specific receivers intended, for instance, to geodetic applications,
observation of the ionospheric impact on navigation signals, GNSS reflectometry, signal quality monitoring, or carrier-phase based navigation techniques.
\image html overview.png
\image latex overview.png "Overview" width=12cm
As signal inputs, it accepts:
\li Raw data file captured with a data grabber (digitized at some intermediate frequency or directly at baseband).
\li Any suitable RF configuration that can be driven by the Universal Software Radio Peripheral Hardware Driver (<a href="http://files.ettus.com/uhd_docs/manual/html/" target="_blank">UHD</a>).
This includes all current and future <a href="http://www.ettus.com/">Ettus Research</a> products. The USRP1 + DBSRX 2.2 daughterboard is an example of working configuration for GPS L1 C/A and Galileo E1B and E1C signals.
\li The <a href="http://gnss-sdr.org/docs/tutorials/sige-gn3s-sampler-v2-usb-front-end/" target="blank">GN3S v2 USB dongle</a> (GN3S v3 might work with small modifications).
\li Experimentally, with some <a href="http://gnss-sdr.org/docs/tutorials/gnss-sdr-operation-realtek-rtl2832u-usb-dongle-dvb-t-receiver/" target="_blank">USB DVB-T dongles based on the Realtek RTL2832U chipset</a>.
\li Any suitable RF configuration that can be driven by the Universal Software Radio Peripheral Hardware Driver (<a href="https://files.ettus.com/uhd_docs/manual/html/" target="_blank">UHD</a>).
This includes all current and future <a href="https://www.ettus.com/">Ettus Research</a> products. The USRP1 + DBSRX 2.2 daughterboard is an example of working configuration for GPS L1 C/A and Galileo E1B and E1C signals.
\li The <a href="https://gnss-sdr.org/docs/tutorials/sige-gn3s-sampler-v2-usb-front-end/" target="blank">GN3S v2 USB dongle</a> (GN3S v3 might work with small modifications).
\li Experimentally, with some <a href="https://gnss-sdr.org/docs/tutorials/gnss-sdr-operation-realtek-rtl2832u-usb-dongle-dvb-t-receiver/" target="_blank">USB DVB-T dongles based on the Realtek RTL2832U chipset</a>.
\li For mathematical representations of the targeted signals, check out the \ref the_signal_model page.
As outputs, it provides:
@ -85,22 +85,22 @@ As outputs, it provides:
\li Position, Velocity and Time solution in KML format and NMEA
\section build Building GNSS-SDR
\section build Building GNSS-SDR
In principle, GNSS-SDR can be built in any Unix-like system. In practice, it depends on being able to install all the required dependencies. See the <a href="http://gnss-sdr.org/build-and-install/" target="_blank">building guide</a> page for details about the project's
dependencies and build process. Mainly, it consists on installing <a href="http://gnuradio.org/" target="_blank">GNU Radio</a> plus some few more libraries:
In principle, GNSS-SDR can be built in any Unix-like system. In practice, it depends on being able to install all the required dependencies. See the <a href="https://gnss-sdr.org/build-and-install/" target="_blank">building guide</a> page for details about the project's
dependencies and build process. Mainly, it consists on installing <a href="https://gnuradio.org/" target="_blank">GNU Radio</a> plus some few more libraries:
\li <a href="http://code.google.com/p/gflags/" target="_blank">Gflags</a>, a library that implements commandline flags processing,
\li <a href="http://code.google.com/p/google-glog/" target="_blank">Glog</a>, a library that implements application-level logging,
\li <a href="https://github.com/gflags/gflags" target="_blank">Gflags</a>, a library that implements commandline flags processing,
\li <a href="https://github.com/google/glog" target="_blank">Glog</a>, a library that implements application-level logging,
\li <a href="http://arma.sourceforge.net/" target="_blank">Armadillo</a>, a C++ linear algebra library,
\li <a href="http://code.google.com/p/googletest/" target="_blank">Googletest</a>, Google's framework for writing C++ tests (requires definition of the GTEST_DIR variable),
\li <a href="https://github.com/google/googletest" target="_blank">Googletest</a>, Google's framework for writing C++ tests (requires definition of the GTEST_DIR variable),
and, optionally,
\li <a href="http://code.google.com/p/gperftools/" target="_blank">Gperftools</a>, which provides fast, multi-threaded malloc() and performance analysis tools.
\li <a href="https://github.com/gperftools/gperftools" target="_blank">Gperftools</a>, which provides fast, multi-threaded malloc() and performance analysis tools.
After all dependencies are installed, clone the GNSS-SDR repository:
\verbatim
$ git clone git://git.code.sf.net/p/gnss-sdr/cttc gnss-sdr
$ git clone https://github.com/gnss-sdr/gnss-sdr
\endverbatim
This will create a folder named gnss-sdr with the following structure:
@ -111,7 +111,7 @@ This will create a folder named gnss-sdr with the following structure:
|---conf <- Configuration files. Each file represents one receiver.
|---data <- Populate this folder with your captured data.
|---docs <- Contains documentation-related files
|---install <- Executables
|---install <- Executables
|---src <- Source code folder
|-----algorithms
|-------PVT
@ -136,7 +136,7 @@ This will create a folder named gnss-sdr with the following structure:
|-----utils <- some utilities (e.g. Matlab scripts)
\endverbatim
You are now ready to build GNSS-SDR by using <a href="http://www.cmake.org/" target="_blank">CMake</a> as building tool:
You are now ready to build GNSS-SDR by using <a href="https://cmake.org/" target="_blank">CMake</a> as building tool:
\verbatim
$ cd gnss-sdr/build
$ cmake ../
@ -149,8 +149,8 @@ You can run them from that folder, but if you prefer to install gnss-sdr on your
$ sudo make install
\endverbatim
This will make a copy of the conf/ folder into /usr/local/share/gnss-sdr/conf for your reference.
We suggest to create a working directory at your preferred location and store your own configuration and data files there.
This will make a copy of the conf/ folder into /usr/local/share/gnss-sdr/conf for your reference.
We suggest to create a working directory at your preferred location and store your own configuration and data files there.
You can create the documentation by doing:
@ -158,7 +158,7 @@ You can create the documentation by doing:
$ make doc
\endverbatim
from the <tt>gnss-sdr/build</tt> folder. In both cases, <a href="http://www.stack.nl/~dimitri/doxygen/" target="_blank">Doxygen</a> will generate HTML documentation that can be
from the <tt>gnss-sdr/build</tt> folder. In both cases, <a href="http://www.stack.nl/~dimitri/doxygen/" target="_blank">Doxygen</a> will generate HTML documentation that can be
retrieved pointing your browser of preference to <tt>gnss-sdr/docs/html/index.html</tt>.
There are two more extra targets available. From the <tt>gnss-sdr/build</tt> folder:
@ -201,20 +201,20 @@ $ sudo make uninstall
$ rm -rf *
\endverbatim
You can also check <a href="http://git-scm.com/book" target="_blank">The Git Book</a> for more information about Git usage.
You can also check <a href="https://git-scm.com/book" target="_blank">The Git Book</a> for more information about Git usage.
\section using_gnss-sdr Using GNSS-SDR
With GNSS-SDR, you can define you own receiver, work with captured raw data or from a RF front-end, dump into files intermediate signals, or tune every single algorithm used in the \ref signal_processing. All the configuration
is done in a single file. Those configuration files reside at the <tt>gnss-sdr/conf</tt> folder. By default, the executable <tt>gnss-sdr</tt> will read the configuration
available at <tt>gnss-sdr/conf/gnss-sdr.conf</tt>. You can edit that file to fit your needs, or even better, define a new <tt>my_receiver.conf</tt> file with your own configuration.
available at <tt>gnss-sdr/conf/gnss-sdr.conf</tt>. You can edit that file to fit your needs, or even better, define a new <tt>my_receiver.conf</tt> file with your own configuration.
This new receiver can be done by invoking gnss-sdr with the <tt>--config_file</tt> flag pointing to your configuration file:
\verbatim
$ gnss-sdr --config_file=../conf/my_receiver.conf
\endverbatim
You can see a guide of available implementations at <tt>gnss-sdr/conf/master.conf</tt>. That folder contains other working examples as well. If you have a working
configuration and want to share it will others, please email it to the <a href="http://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers" target="_blank"><b>GNSS-SDR developers mailing list</b></a>
configuration and want to share it will others, please email it to the <a href="https://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers" target="_blank"><b>GNSS-SDR developers mailing list</b></a>
and we will be happy to upload it to the server.
You can use a single configuration file for processing
@ -224,41 +224,41 @@ $ gnss-sdr --config_file=../conf/my_receiver.conf --signal_source=../data/my_cap
\endverbatim
This will override the <tt>SignalSource.filename</tt> specified in the configuration file.
You can get a complete list of available commandline flags by doing:
You can get a complete list of available commandline flags by doing:
\verbatim
$ gnss-sdr --help
\endverbatim
For general usage of commandline flags, see <a href="http://google-gflags.googlecode.com/svn/trunk/doc/gflags.html" target="_blank">how to use Google Commandline Flags</a>.
\section control_plane Control plane
GNSS-SDR's main method initializes the logging library, processes the command line flags, if any, provided by the user and instantiates a ControlThread object.
Its constructor reads the configuration file, creates a control queue and creates a flowgraph according to the configuration. Then, the program's main method
calls the run() method of the instantiated object, an action that connects the flowgraph and starts running it. After that, and until a stop message is received,
it reads control messages sent by the receiver's modules through a safe-thread queue and processes them. Finally, when a stop message is received, the main
GNSS-SDR's main method initializes the logging library, processes the command line flags, if any, provided by the user and instantiates a ControlThread object.
Its constructor reads the configuration file, creates a control queue and creates a flowgraph according to the configuration. Then, the program's main method
calls the run() method of the instantiated object, an action that connects the flowgraph and starts running it. After that, and until a stop message is received,
it reads control messages sent by the receiver's modules through a safe-thread queue and processes them. Finally, when a stop message is received, the main
method executes the destructor of the ControlThread object, which deallocates memory, does other cleanup and exits the program.
The GNSSFlowgraph class is responsible for preparing the graph of blocks according to the configuration, running it, modifying it during run-time and stopping it.
Blocks are identified by its role. This class knows which roles it has to instantiate and how to connect them.
It relies on the configuration to get the correct instances of the roles it needs and then it applies the connections between GNU Radio blocks to make the
graph ready to be started. The complexity related to managing the blocks and the data stream is handled by GNU Radio's <tt>gr::top_block</tt> class. GNSSFlowgraph wraps
the <tt>gr::top_block</tt> instance so we can take advantage of the \ref gnss_block_factory, the configuration system and the processing blocks. This class is also responsible
for applying changes to the configuration of the flowgraph during run-time, dynamically reconfiguring channels: it selects the strategy for selecting satellites.
This can range from a sequential search over all the satellites' ID to smarter approaches that determine what are the satellites most likely in-view based on rough
The GNSSFlowgraph class is responsible for preparing the graph of blocks according to the configuration, running it, modifying it during run-time and stopping it.
Blocks are identified by its role. This class knows which roles it has to instantiate and how to connect them.
It relies on the configuration to get the correct instances of the roles it needs and then it applies the connections between GNU Radio blocks to make the
graph ready to be started. The complexity related to managing the blocks and the data stream is handled by GNU Radio's <tt>gr::top_block</tt> class. GNSSFlowgraph wraps
the <tt>gr::top_block</tt> instance so we can take advantage of the \ref gnss_block_factory, the configuration system and the processing blocks. This class is also responsible
for applying changes to the configuration of the flowgraph during run-time, dynamically reconfiguring channels: it selects the strategy for selecting satellites.
This can range from a sequential search over all the satellites' ID to smarter approaches that determine what are the satellites most likely in-view based on rough
estimations of the receiver position in order to avoid searching satellites in the other side of the Earth.
The Control Plane is in charge of creating a flowgraph according to the configuration and then managing the modules. Configuration allows users to define in an easy way their own
custom receiver by specifying the flowgraph (type of signal source, number of channels, algorithms to be used for each channel and each module, strategies for
satellite selection, type of output format, etc.). Since it is difficult to foresee what future module implementations will be needed in terms of configuration,
we used a very simple approach that can be extended without a major impact in the code. This can be achieved by simply mapping the names of the variables in the
custom receiver by specifying the flowgraph (type of signal source, number of channels, algorithms to be used for each channel and each module, strategies for
satellite selection, type of output format, etc.). Since it is difficult to foresee what future module implementations will be needed in terms of configuration,
we used a very simple approach that can be extended without a major impact in the code. This can be achieved by simply mapping the names of the variables in the
modules with the names of the parameters in the configuration.
\subsection configuration Configuration
Properties are passed around within the program using the ConfigurationInterface class. There are two implementations of this interface: FileConfiguration and
InMemoryConfiguration. FileConfiguration reads the properties (pairs of property name and value) from a file and stores them internally. InMemoryConfiguration does
not read from a file; it remains empty after instantiation and property values and names are set using the set property method. FileConfiguration is intended to be
used in the actual GNSS-SDR application whereas InMemoryConfiguration is intended to be used in tests to avoid file-dependency in the file system. Classes that
need to read configuration parameters will receive instances of ConfigurationInterface from where they will fetch the values. For instance, parameters related
Properties are passed around within the program using the ConfigurationInterface class. There are two implementations of this interface: FileConfiguration and
InMemoryConfiguration. FileConfiguration reads the properties (pairs of property name and value) from a file and stores them internally. InMemoryConfiguration does
not read from a file; it remains empty after instantiation and property values and names are set using the set property method. FileConfiguration is intended to be
used in the actual GNSS-SDR application whereas InMemoryConfiguration is intended to be used in tests to avoid file-dependency in the file system. Classes that
need to read configuration parameters will receive instances of ConfigurationInterface from where they will fetch the values. For instance, parameters related
to SignalSource should look like this:
\verbatim
@ -266,80 +266,80 @@ SignalSource.parameter1=value1
SignalSource.parameter2=value2
\endverbatim
The name of these parameters can be anything but one reserved word: implementation. This parameter indicates in its value the name of the class that has to be instantiated
by the factory for that role. For instance, if our signal source is providing data already at baseband and thus we want to use the implementation Pass_Through for module SignalConditioner, the corresponding line in the
The name of these parameters can be anything but one reserved word: implementation. This parameter indicates in its value the name of the class that has to be instantiated
by the factory for that role. For instance, if our signal source is providing data already at baseband and thus we want to use the implementation Pass_Through for module SignalConditioner, the corresponding line in the
configuration file would be
\verbatim
SignalConditioner.implementation=Pass_Through
\endverbatim
Since the configuration is just a set of property names and values without any meaning or syntax, the system is very versatile and easily extendable. Adding new
properties to the system only implies modifications in the classes that will make use of these properties. In addition, the configuration files are not checked
against any strict syntax so it is always in a correct status (as long as it contains pairs of property names and values in <a href="http://en.wikipedia.org/wiki/INI_file" target="_blank">INI format</a>).
Since the configuration is just a set of property names and values without any meaning or syntax, the system is very versatile and easily extendable. Adding new
properties to the system only implies modifications in the classes that will make use of these properties. In addition, the configuration files are not checked
against any strict syntax so it is always in a correct status (as long as it contains pairs of property names and values in <a href="https://en.wikipedia.org/wiki/INI_file" target="_blank">INI format</a>).
\subsection gnss_block_factory GNSS block factory
Hence, the application defines a simple accessor class to fetch the configuration pairs of values and passes them to a factory class called GNSSBlockFactory.
This factory decides, according to the configuration, which class needs to be instantiated and which parameters should be passed to the constructor. Hence, the factory
encapsulates the complexity of blocks' instantiation. With that approach, adding a new block that requires new parameters will be as simple as adding the block
class and modifying the factory to be able to instantiate it. This loose coupling between the blocks' implementations and the syntax of the configuration
enables extending the application capacities in a high degree. It also allows to produce fully customized receivers, for instance a testbed for acquisition
Hence, the application defines a simple accessor class to fetch the configuration pairs of values and passes them to a factory class called GNSSBlockFactory.
This factory decides, according to the configuration, which class needs to be instantiated and which parameters should be passed to the constructor. Hence, the factory
encapsulates the complexity of blocks' instantiation. With that approach, adding a new block that requires new parameters will be as simple as adding the block
class and modifying the factory to be able to instantiate it. This loose coupling between the blocks' implementations and the syntax of the configuration
enables extending the application capacities in a high degree. It also allows to produce fully customized receivers, for instance a testbed for acquisition
algorithms, and to place observers at any point of the receiver chain.
\section signal_processing Signal Processing plane
GNU Radio's class <tt>gr::basic_block</tt> is the abstract base class for all signal processing blocks, a bare abstraction of an entity that has a name and a set of
inputs and outputs. It is never instantiated directly; rather, this is the abstract parent class of both <tt>gr::hier_block2</tt>, which is a recursive container that
adds or removes processing or hierarchical blocks to the internal graph, and <tt>gr::block</tt>, which is the abstract base class for all the processing blocks.
GNU Radio's class <tt>gr::basic_block</tt> is the abstract base class for all signal processing blocks, a bare abstraction of an entity that has a name and a set of
inputs and outputs. It is never instantiated directly; rather, this is the abstract parent class of both <tt>gr::hier_block2</tt>, which is a recursive container that
adds or removes processing or hierarchical blocks to the internal graph, and <tt>gr::block</tt>, which is the abstract base class for all the processing blocks.
\image html ClassHierarchy.png
\image latex ClassHierarchy.png "Class hierarchy of signal processing blocks" width=12cm
A signal processing flow is constructed by creating a tree of hierarchical blocks, which at any level may also contain terminal nodes that actually implement signal
A signal processing flow is constructed by creating a tree of hierarchical blocks, which at any level may also contain terminal nodes that actually implement signal
processing functions.
Class <tt>gr::top_block</tt> is the top-level hierarchical block representing a flowgraph. It defines GNU Radio runtime functions used during the execution of the
program: run(), start(), stop(), wait(), etc. A a subclass called GNSSBlockInterface is the common interface for all the GNSS-SDR modules. It defines pure virtual
Class <tt>gr::top_block</tt> is the top-level hierarchical block representing a flowgraph. It defines GNU Radio runtime functions used during the execution of the
program: run(), start(), stop(), wait(), etc. A a subclass called GNSSBlockInterface is the common interface for all the GNSS-SDR modules. It defines pure virtual
methods, that are required to be implemented by a derived class.
Subclassing GNSSBlockInterface, we defined interfaces for the GNSS receiver blocks depicted in the figure above. This hierarchy provides the definition of different
algorithms and different implementations, which will be instantiated according to the configuration. This strategy allows
multiple implementations sharing a common interface, achieving the objective of decoupling interfaces from implementations: it defines a family of algorithms, encapsulates each one,
Subclassing GNSSBlockInterface, we defined interfaces for the GNSS receiver blocks depicted in the figure above. This hierarchy provides the definition of different
algorithms and different implementations, which will be instantiated according to the configuration. This strategy allows
multiple implementations sharing a common interface, achieving the objective of decoupling interfaces from implementations: it defines a family of algorithms, encapsulates each one,
and makes them interchangeable. Hence, we let the algorithm vary independently from the program that uses it.
\subsection signal_source Signal Source
The input of a software receiver are the raw bits that come out from the front-end's analog-to-digital converter (ADC).
Those bits can be read from a file stored in the hard disk or directly in real-time from a hardware device through USB or Ethernet buses.
The input of a software receiver are the raw bits that come out from the front-end's analog-to-digital converter (ADC).
Those bits can be read from a file stored in the hard disk or directly in real-time from a hardware device through USB or Ethernet buses.
The Signal Source module is in charge of implementing the hardware driver, that is, the portion of the code that communicates with the RF front-end and receives
the samples coming from the ADC. This communication is usually performed through USB or Ethernet buses. Since real-time processing requires a highly optimized
implementation of the whole receiver, this module also allows to read samples from a file stored in a hard disk, and thus processing without time constraints.
Relevant parameters of those samples are the intermediate frequency (or baseband I&Q components), the sampling rate and number of bits per sample, that must be
The Signal Source module is in charge of implementing the hardware driver, that is, the portion of the code that communicates with the RF front-end and receives
the samples coming from the ADC. This communication is usually performed through USB or Ethernet buses. Since real-time processing requires a highly optimized
implementation of the whole receiver, this module also allows to read samples from a file stored in a hard disk, and thus processing without time constraints.
Relevant parameters of those samples are the intermediate frequency (or baseband I&Q components), the sampling rate and number of bits per sample, that must be
specified by the user in the configuration file.
This module also performs bit-depth adaptation, since most of the existing RF front-ends provide samples quantized with 2 or 3 bits, while operations inside
the processor are performed on 32- or 64-bit words, depending on its architecture. Although there are implementations of the most intensive computational
processes (mainly correlation) that take advantage of specific data types and architectures for the sake of
efficiency, the approach is processor-specific and hardly portable. We suggest to keep signal samples in standard data types and letting the compiler
the processor are performed on 32- or 64-bit words, depending on its architecture. Although there are implementations of the most intensive computational
processes (mainly correlation) that take advantage of specific data types and architectures for the sake of
efficiency, the approach is processor-specific and hardly portable. We suggest to keep signal samples in standard data types and letting the compiler
select the best library version (implemented using SIMD or any other processor-specific technology) of the required routines for a given processor.
Example: FileSignalSource
The user can configure the receiver for reading from a file, setting in the configuration file the data file location, sample format,
The user can configure the receiver for reading from a file, setting in the configuration file the data file location, sample format,
and the sampling frequency and intermediate frequency at what the signal was originally captured.
\verbatim
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/home/user/gnss-sdr/data/my_capture.dat
SignalSource.item_type=gr_complex
SignalSource.sampling_frequency=4000000 ; Sampling frequency in [Hz]
SignalSource.freq=1575420000 ; RF front-end center frequency in [Hz]
\endverbatim
SignalSource.freq=1575420000 ; RF front-end center frequency in [Hz]
\endverbatim
Example: UhdSignalSource
@ -349,7 +349,7 @@ The user may prefer to use a UHD-compatible RF front-end and try real-time proce
SignalSource.implementation=UHD_Signal_Source
SignalSource.item_type=gr_complex
SignalSource.sampling_frequency=4000000 ; Sampling frequency in [Hz]
SignalSource.freq=1575420000 ; RF front-end center frequency in [Hz]
SignalSource.freq=1575420000 ; RF front-end center frequency in [Hz]
SignalSource.gain=60 ; Front-end gain in dB
SignalSource.subdevice=B:0 ; UHD subdevice specification (for USRP1 use A:0 or B:0)
\endverbatim
@ -358,8 +358,8 @@ Other examples are available at <tt>gnss-sdr/conf</tt>.
\subsection signal_conditioner Signal Conditioner
The signal conditioner is in charge of resampling the signal and delivering a reference sample rate to the downstream processing blocks, acting as
a facade between the signal source and the synchronization channels, providing a simplified interface to the input signal.
In case of multiband front-ends, this module would be in charge of providing a separated data stream for each band.
a facade between the signal source and the synchronization channels, providing a simplified interface to the input signal.
In case of multiband front-ends, this module would be in charge of providing a separated data stream for each band.
\subsection channel Channel
@ -368,31 +368,28 @@ A channel encapsulates all signal processing devoted to a single satellite. Thus
channels is selectable by the user in the configuration file, this approach helps improving the scalability and maintainability of the receiver.
This module is also in charge of managing the interplay between acquisition and tracking. Acquisition can be initialized in several ways, depending on
the prior information available (called cold start when the receiver has no information about its position nor the satellites almanac; warm start when
a rough location and the approximate time of day are available, and the receiver has a recently recorded almanac broadcast; or hot start when the receiver
the prior information available (called cold start when the receiver has no information about its position nor the satellites almanac; warm start when
a rough location and the approximate time of day are available, and the receiver has a recently recorded almanac broadcast; or hot start when the receiver
was tracking a satellite and the signal line of sight broke for a short period of time, but the ephemeris and almanac data is still valid, or this information
is provided by other means), and an acquisition process can finish deciding that the satellite is not present, that longer integration is needed in order to
is provided by other means), and an acquisition process can finish deciding that the satellite is not present, that longer integration is needed in order to
confirm the presence of the satellite, or declaring the satellite present. In the latter case, acquisition process should stop and trigger the tracking module
with coarse estimations of the synchronization parameters. The mathematical abstraction used to design this logic is known as finite state machine (FSM), that is
a behavior model composed of a finite number of states, transitions between those states, and actions. For the implementation, we used the
<a href="http://www.boost.org/libs/statechart/doc/tutorial.html" target="_blank">Boost.Statechart library</a>,
which provides desirable features such as support for asynchronous state machines, multi-threading, type-safety, error handling and compile-time validation.
with coarse estimations of the synchronization parameters.
The abstract class ChannelInterface represents an interface to a channel GNSS block. Check Channel for an actual implementation.
\subsubsection acquisition Acquisition
The first task of a GNSS receiver is to detect the presence or absence of in-view satellites. This is done by the acquisition system process, which also provides a coarse estimation of two signal parameters: the frequency shift
The first task of a GNSS receiver is to detect the presence or absence of in-view satellites. This is done by the acquisition system process, which also provides a coarse estimation of two signal parameters: the frequency shift
with respect to the nominal IF frequency, and a delay term which allows the receiver to create a local code aligned with the incoming code.
AcquisitionInterface is the common interface for all the acquisition algorithms and their corresponding implementations. Algorithms' interface, that may vary
depending on the use of information external to the receiver, such as in Assisted GNSS, is defined in classes referred to as <i>adapters</i>.
These adapters wrap the GNU Radio blocks interface into a compatible interface expected by AcquisitionInterface. This allows the use of existing GNU Radio blocks
derived from <tt>gr::block</tt>, and ensures that newly developed implementations will also be reusable in other GNU Radio-based applications.
AcquisitionInterface is the common interface for all the acquisition algorithms and their corresponding implementations. Algorithms' interface, that may vary
depending on the use of information external to the receiver, such as in Assisted GNSS, is defined in classes referred to as <i>adapters</i>.
These adapters wrap the GNU Radio blocks interface into a compatible interface expected by AcquisitionInterface. This allows the use of existing GNU Radio blocks
derived from <tt>gr::block</tt>, and ensures that newly developed implementations will also be reusable in other GNU Radio-based applications.
Moreover, it adds still another layer of abstraction, since each given acquisition algorithm can have different implementations (for instance using
different numerical libraries). In such a way, implementations can be continuously improved without having any impact neither on the algorithm interface nor the general acquisition interface.
Check GpsL1CaPcpsAcquisition and GalileoE1PcpsAmbiguousAcquisition for examples of adapters from a Parallel Code Phase Search (PCPS) acquisition block, and
pcps_acquisition_cc for an example of a block implementation. The source code of all the available acquisition algorithms is located at:
\verbatim
|-gnss-sdr
|---src
@ -406,13 +403,13 @@ The user can select a given implementation for the algorithm to be used in each
\verbatim
;######### ACQUISITION GLOBAL CONFIG ############
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition.dump=false
;#filename: Log path and filename
Acquisition.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
;#if: Signal intermediate frequency in [Hz]
Acquisition.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition.sampled_ms=1
@ -420,8 +417,8 @@ Acquisition.sampled_ms=1
Acquisition.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold
Acquisition.threshold=0.005
;#pfa: Acquisition false alarm probability. This option overrides the threshold option.
;Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
;#pfa: Acquisition false alarm probability. This option overrides the threshold option.
;Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition.pfa=0.0001
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition.doppler_max=10000
@ -429,7 +426,7 @@ Acquisition.doppler_max=10000
Acquisition.doppler_step=500
;######### ACQUISITION CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;#The following options are specific to each channel and overwrite the generic options
;######### ACQUISITION CH 0 CONFIG ############
@ -455,12 +452,12 @@ Acquisition.doppler_step=500
\subsubsection tracking Tracking
When a satellite is declared present, the parameters estimated by the acquisition module are then fed to the receiver tracking module, which represents the
second stage of the signal processing unit, aiming to perform a local search for accurate estimates of code delay and carrier phase, and following their eventual
variations.
variations.
Again, a class hierarchy consisting of a TrackingInterface class and subclasses implementing algorithms provides a way of testing different approaches,
with full access to their parameters. Check GpsL1CaDllPllTracking or GalileoE1DllPllVemlTracking for examples of adapters, and Gps_L1_Ca_Dll_Pll_Tracking_cc for an example
Again, a class hierarchy consisting of a TrackingInterface class and subclasses implementing algorithms provides a way of testing different approaches,
with full access to their parameters. Check GpsL1CaDllPllTracking or GalileoE1DllPllVemlTracking for examples of adapters, and Gps_L1_Ca_Dll_Pll_Tracking_cc for an example
of a signal processing block implementation. There are also available some useful classes and functions for signal tracking; take a look at Correlator, lock_detectors.h, tracking_discriminators.h or
tracking_2nd_DLL_filter.h.
tracking_2nd_DLL_filter.h.
The source code of all the available tracking algorithms is located at:
\verbatim
@ -482,10 +479,10 @@ Tracking.implementation=GPS_L1_CA_DLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
Tracking.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
@ -508,12 +505,12 @@ Tracking.early_late_space_chips=0.5;
\endverbatim
\subsubsection decoding Decoding of the navigation message
Most of GNSS signal links are modulated by a navigation message containing the time the message was transmitted, orbital parameters of satellites
(also known as ephemeris) and an almanac (information about the general system health, rough orbits of all satellites in the network as well as data related to
error correction). Navigation data bits are structured in words, pages, subframes, frames and superframes. Sometimes, bits corresponding to a single parameter are
spread over different words, and values extracted from different frames are required for proper decoding. Some words are for synchronization purposes, others for
error control an others contain actual information. There are also error control mechanisms, from parity checks to forward error correction (FEC) encoding and
interleaving, depending on the system. All this decoding complexity is managed by a finite state machine implemented with the <a href="http://www.boost.org/libs/statechart/doc/tutorial.html" target="_blank">Boost.Statechart library</a>.
Most of GNSS signal links are modulated by a navigation message containing the time the message was transmitted, orbital parameters of satellites
(also known as ephemeris) and an almanac (information about the general system health, rough orbits of all satellites in the network as well as data related to
error correction). Navigation data bits are structured in words, pages, subframes, frames and superframes. Sometimes, bits corresponding to a single parameter are
spread over different words, and values extracted from different frames are required for proper decoding. Some words are for synchronization purposes, others for
error control an others contain actual information. There are also error control mechanisms, from parity checks to forward error correction (FEC) encoding and
interleaving, depending on the system.
The common interface is TelemetryDecoderInterface. Check GpsL1CaTelemetryDecoder for an example of the GPS L1 NAV message decoding adapter, and gps_l1_ca_telemetry_decoder_cc
for an actual implementation of a signal processing block. Configuration example:
@ -527,13 +524,13 @@ TelemetryDecoder.dump=false
See the \ref reference_docs for more information about the signal format.
\subsection observables Observables
GNSS systems provide different kinds of observations. The most commonly used are the code observations, also called pseudoranges. The <i>pseudo</i> comes from
GNSS systems provide different kinds of observations. The most commonly used are the code observations, also called pseudoranges. The <i>pseudo</i> comes from
the fact that on the receiver side the clock error is unknown and thus the measurement is not a pure range observation. High accuracy applications also use the
carrier phase observations, which are based on measuring the difference between the carrier phase transmitted by the GNSS satellites and the phase of the carrier
generated in the receiver. Both observables are computed from the outputs of the tracking module and the decoding of the navigation message.
This module collects all the data provided by every tracked channel, aligns all received data into a coherent set, and computes the observables.
The common interface is ObservablesInterface.
The common interface is ObservablesInterface.
Configuration example:
\verbatim
@ -541,7 +538,7 @@ Configuration example:
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
;#dump_filename: Log path and filename.
@ -567,24 +564,24 @@ PVT.flag_nmea_tty_port=true;
;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
\endverbatim
This implementation allows tuning of the following parameters:
\verbatim
PVT.averaging_depth=10 ; Number of PVT observations in the moving average algorithm
PVT.flag_averaging=true ; Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=true ; Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.output_rate_ms=100 ; Period in [ms] between two PVT outputs
PVT.display_rate_ms=500 ; Position console print (std::out) interval [ms].
PVT.dump=false ; Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false ; Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump_filename=./PVT ; Log path and filename without extension.
\endverbatim
\section license About the software license
GNSS-SDR is released under the <a href="http://www.gnu.org/licenses/gpl.html" target="_blank">General Public License (GPL) v3</a>, thus securing practical usability, inspection,
and continuous improvement by the research community, allowing the discussion based on tangible code and the analysis of results obtained with real signals.
GNSS-SDR is released under the <a href="https://www.gnu.org/licenses/gpl.html" target="_blank">General Public License (GPL) v3</a>, thus securing practical usability, inspection,
and continuous improvement by the research community, allowing the discussion based on tangible code and the analysis of results obtained with real signals.
The GPL implies that:
\li Copies may be distributed free of charge or for money, but the source code has to be shipped or provided free of charge (or at cost price) on demand. The receiver of the source code has the same rights meaning he can share copies free of charge or resell.
@ -600,8 +597,8 @@ If you use GNSS-SDR to produce a research paper or Thesis, we would appreciate i
\li \anchor Navitec2012 C. Fern&aacute;ndez-Prades, J. Arribas, L. Esteve, D. Pubill, P. Closas, <a href="http://www.cttc.es/publication/an-open-source-galileo-e1-software-receiver/" target="_blank"><i>An Open Source Galileo E1 Software Receiver</i></a>, in Proc. of the 6th ESA Workshop on Satellite Navigation Technologies (NAVITEC 2012), ESTEC, Noordwijk, The Netherlands, Dec. 2012.
\li J. Arribas, <a href="http://theses.eurasip.org/theses/449/gnss-array-based-acquisition-theory-and/" target="_blank"><i>GNSS Array-based Acquisition: Theory and Implementation</i></a>, PhD Thesis, Universitat Polit&egrave;cnica de Catalunya, Barcelona, Spain, June 2012.
\li C. Fern&aacute;ndez-Prades, J. Arribas, P. Closas, C. Avil&eacute;s, and L. Esteve, <a href="http://www.cttc.es/publication/gnss-sdr-an-open-source-tool-for-researchers-and-developers/" target="_blank"><i>GNSS-SDR: an open source tool for researchers and developers</i></a>, in Proc. of the ION GNSS 2011 Conference, Portland, Oregon, Sept. 19-23, 2011.
\li C. Fern&aacute;ndez-Prades, C. Avil&eacute;s, L. Esteve, J. Arribas, and P. Closas, <a href="http://www.cttc.es/publication/design-patterns-for-gnss-software-receivers/" target="_blank"><i>Design patterns for GNSS software receivers</i></a>, in Proc. of the 5th ESA Workshop on Satellite Navigation Technologies (NAVITEC'2010), ESTEC, Noordwijk, The Netherlands, Dec. 2010. DOI:10.1109/NAVITEC.2010.5707981
\li C. Fern&aacute;ndez-Prades, J. Arribas, P. Closas, C. Avil&eacute;s, and L. Esteve, <a href="http://www.cttc.es/publication/gnss-sdr-an-open-source-tool-for-researchers-and-developers/" target="_blank"><i>GNSS-SDR: an open source tool for researchers and developers</i></a>, in Proc. of the ION GNSS 2011 Conference, Portland, Oregon, Sept. 19-23, 2011.
\li C. Fern&aacute;ndez-Prades, C. Avil&eacute;s, L. Esteve, J. Arribas, and P. Closas, <a href="http://www.cttc.es/publication/design-patterns-for-gnss-software-receivers/" target="_blank"><i>Design patterns for GNSS software receivers</i></a>, in Proc. of the 5th ESA Workshop on Satellite Navigation Technologies (NAVITEC'2010), ESTEC, Noordwijk, The Netherlands, Dec. 2010. DOI:10.1109/NAVITEC.2010.5707981
For LaTeX users, these are the BibTeX cites for your convenience:
@ -609,12 +606,12 @@ For LaTeX users, these are the BibTeX cites for your convenience:
@INPROCEEDINGS{GNSS-SDR12
author = {C.~{Fern\'{a}ndez--Prades} and J.~Arribas and L.~Esteve and D.~Pubill and P.~Closas},
title = {An Open Source {G}alileo {E1} Software Receiver},
booktitle = {Proc. of the 6th ESA Workshop on Satellite Navigation Technologies (NAVITEC'2012)},
year = {2012},
address = {ESTEC, Noordwijk, The Netherlands},
booktitle = {Proc. of the 6th ESA Workshop on Satellite Navigation Technologies (NAVITEC'2012)},
year = {2012},
address = {ESTEC, Noordwijk, The Netherlands},
month = {Dec.} }
\endverbatim
\verbatim
@PHDTHESIS{Arribas12,
author = {J.~Arribas},
@ -624,48 +621,45 @@ For LaTeX users, these are the BibTeX cites for your convenience:
address = {Barcelona, Spain},
month = {June} }
\endverbatim
\verbatim
@INPROCEEDINGS{GNSS-SDR11,
AUTHOR = {C.~{Fern\'{a}ndez--Prades} and J.~Arribas and P.~Closas and C.~Avil\'{e}s and L.~Esteve},
TITLE = {{GNSS-SDR}: An Open Source Tool For Researchers and Developers},
BOOKTITLE = {Proc. of the ION GNSS 2011 Conference},
YEAR = {2011},
address = {Portland, Oregon},
month = {Sept.} }
@INPROCEEDINGS{GNSS-SDR11,
AUTHOR = {C.~{Fern\'{a}ndez--Prades} and J.~Arribas and P.~Closas and C.~Avil\'{e}s and L.~Esteve},
TITLE = {{GNSS-SDR}: An Open Source Tool For Researchers and Developers},
BOOKTITLE = {Proc. of the ION GNSS 2011 Conference},
YEAR = {2011},
address = {Portland, Oregon},
month = {Sept.} }
\endverbatim
\verbatim
@INPROCEEDINGS{GNSS-SDR10,
AUTHOR = {C.~{Fern\'{a}ndez--Prades} and C.~Avil\'{e}s and L.~Esteve and J.~Arribas and P.~Closas},
TITLE = {Design patterns for {GNSS} software receivers},
BOOKTITLE = {Proc. of the 5th ESA Workshop on Satellite Navigation Technologies (NAVITEC'2010)},
YEAR = {2010},
address = {ESTEC, Noordwijk, The Netherlands},
month = {Dec.},
note = {DOI:10.1109/NAVITEC.2010.5707981} }
@INPROCEEDINGS{GNSS-SDR10,
AUTHOR = {C.~{Fern\'{a}ndez--Prades} and C.~Avil\'{e}s and L.~Esteve and J.~Arribas and P.~Closas},
TITLE = {Design patterns for {GNSS} software receivers},
BOOKTITLE = {Proc. of the 5th ESA Workshop on Satellite Navigation Technologies (NAVITEC'2010)},
YEAR = {2010},
address = {ESTEC, Noordwijk, The Netherlands},
month = {Dec.},
note = {DOI:10.1109/NAVITEC.2010.5707981} }
\endverbatim
\section now_what Ok, now what?
In order to start using GNSS-SDR, you may want to populate <tt>gnss-sdr/data</tt> folder (or anywhere else on your system) with raw data files. By "raw data" we mean the output
of a Radio Frequency front-end's Analog-to_Digital converter. GNSS-SDR needs signal samples already in baseband or in passband, at a suitable intemediate frequency (on the order of MHz).
In order to start using GNSS-SDR, you may want to populate <tt>gnss-sdr/data</tt> folder (or anywhere else on your system) with raw data files. By "raw data" we mean the output
of a Radio Frequency front-end's Analog-to_Digital converter. GNSS-SDR needs signal samples already in baseband or in passband, at a suitable intemediate frequency (on the order of MHz).
Prepare your configuration file, and then you are ready for going to the <tt> gnss-sdr/install</tt> folder, running <tt>./gnss-sdr</tt>, and see how the file is processed.
Please ask the Developer Team for a signal sample if you need one, and they will do their best ;-)
Another interesting option is working in real-time with a RF front-end. We provide drivers for UHD-compatible hardware (see \ref signal_source), for the GN3S v2 USB dongle
and for some DVB-T USB dongles. Start with a low number of channels and then increase it in order to test how many channels your processor can handle in real-time.
You can find more information at the <a href="http://gnss-sdr.org/docs/" target="_blank"><b>GNSS-SDR Documentation page</b></a> or directly asking to the
<a href="http://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers" target="_blank"><b>GNSS-SDR Developers mailing list</b></a>.
You are also very welcome to contribute to the project, there are many ways to <a href="http://gnss-sdr.org/contribute/" target="_blank"><b>participate in GNSS-SDR</b></a>.
If you need some special feature not yet implemented, the Developer Team would love to be hired for developing it.
Please do not hesitate to <a href="http://gnss-sdr.org/team/" target="_blank"><b>contact them</b></a>.
You can find more information at the <a href="https://gnss-sdr.org/docs/" target="_blank"><b>GNSS-SDR Documentation page</b></a> or directly asking to the
<a href="https://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers" target="_blank"><b>GNSS-SDR Developers mailing list</b></a>.
Enjoy GNSS-SDR!
You are also very welcome to contribute to the project, there are many ways to <a href="https://gnss-sdr.org/contribute/" target="_blank"><b>participate in GNSS-SDR</b></a>.
If you need some special feature not yet implemented, the Developer Team would love to be hired for developing it.
Please do not hesitate to <a href="https://gnss-sdr.org/team/" target="_blank"><b>contact them</b></a>.
Enjoy GNSS-SDR!
The Developer Team.
*/

74
docs/doxygen/other/reference_docs.dox
View File

@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
/*! \page reference_docs Reference Documents
@ -21,32 +21,32 @@
\section icd Interface Control Documents
\subsection gps GPS
All the current GPS Interface Control Documents can be downloaded from <a href="http://www.gps.gov" target="_blank">GPS.gov</a>, the official U.S. Government webpage for GPS.
All the current GPS Interface Control Documents can be downloaded from <a href="https://www.gps.gov" target="_blank">GPS.gov</a>, the official U.S. Government webpage for GPS.
\li GPS L1 and L2C: Global Positioning System Directorate, <a href="http://www.gps.gov/technical/icwg/IS-GPS-200H.pdf" target="_blank"><b>Interface Specification IS-GPS-200 Revision H</b></a>. September, 2013.
\li GPS L1C (available with first Block III launch): Global Positioning System Directorate, <a href="http://www.gps.gov/technical/icwg/IS-GPS-800D.pdf" target="_blank"><b>Interface Specification IS-GPS-800 Revision D</b></a>. September, 2013.
\li GPS L5 (first Block IIF satellite launched on May, 2010): Global Positioning System Directorate, <a href="http://www.gps.gov/technical/icwg/IS-GPS-705D.pdf" target="_blank"><b>Interface Specification IS-GPS-705 Revision D</b></a>. September, 2013.
\li GPS L1 and L2C: Global Positioning System Directorate, <a href="https://www.gps.gov/technical/icwg/IS-GPS-200H.pdf" target="_blank"><b>Interface Specification IS-GPS-200 Revision H</b></a>. September, 2013.
\li GPS L1C (available with first Block III launch): Global Positioning System Directorate, <a href="https://www.gps.gov/technical/icwg/IS-GPS-800D.pdf" target="_blank"><b>Interface Specification IS-GPS-800 Revision D</b></a>. September, 2013.
\li GPS L5 (first Block IIF satellite launched on May, 2010): Global Positioning System Directorate, <a href="https://www.gps.gov/technical/icwg/IS-GPS-705D.pdf" target="_blank"><b>Interface Specification IS-GPS-705 Revision D</b></a>. September, 2013.
\subsection glonass GLONASS
Official GLONASS webpage: <a href="http://www.glonass-ianc.rsa.ru/en/" target="_blank"> Information-analytical centre official website</a>.
Official GLONASS webpage: <a href="http://www.glonass-ianc.rsa.ru/en/" target="_blank"> Information-analytical centre official website</a>.
\li Standard Accuracy (ST) signals at L1 and L2: Russian Institute of Space Device Engineering, Global Navigation Satellite System GLONASS. <a href="http://facility.unavco.org/data/docs/ICD_GLONASS_5.1_(2008)_en.pdf" target="_blank"><b>Interface Control Document. Navigational radiosignal in bands L1, L2. Edition 5.1</b></a>, Moscow, Russia, 2008
\subsection galileo Galileo
Check the <a href="http://ec.europa.eu/enterprise/policies/satnav/galileo/index_en.htm" target="_blank">Galileo website of the European Commission</a> and the
<a href="http://www.esa.int/Our_Activities/Navigation/The_future_-_Galileo/What_is_Galileo" target="_blank">Galileo website of the European Space Agency</a>.
Check the <a href="https://ec.europa.eu/enterprise/policies/satnav/galileo/index_en.htm" target="_blank">Galileo website of the European Commission</a> and the
<a href="https://www.esa.int/Our_Activities/Navigation/The_future_-_Galileo/What_is_Galileo" target="_blank">Galileo website of the European Space Agency</a>.
There is a website with <a href="http://igs.org/mgex/Status_GAL.htm" target="_blank">Galileo constellation status information</a> from the International GNSS Service.
\li Galileo E5, E6, and E1: European GNSS (Galileo) Open Service. <a href="http://www.gsc-europa.eu/system/files/galileo_documents/Galileo_OS_SIS_ICD.pdf" target="_blank"><b>Signal In Space Interface Control Document. Ref: OS SIS ICD, Issue 1.2</b></a>, European Commission, Nov. 2015.
\li Galileo E5, E6, and E1: European GNSS (Galileo) Open Service. <a href="http://www.gsc-europa.eu/system/files/galileo_documents/Galileo_OS_SIS_ICD.pdf" target="_blank"><b>Signal In Space Interface Control Document. Ref: OS SIS ICD, Issue 1.2</b></a>, European Commission, Nov. 2015.
\li European GNSS (Galileo) Open Service <a href="" target="_blank"><b>Signal-In-Space Operational Status Definition</b></a>, European Commission, Sept. 2015.
The European Commission is granting free access to the technical information on the future Galileo open service signal, i.e. the specifications manufacturers
and developers need to process data received from satellites. This document informs receiver manufacturers, application developers and service providers on how
The European Commission is granting free access to the technical information on the future Galileo open service signal, i.e. the specifications manufacturers
and developers need to process data received from satellites. This document informs receiver manufacturers, application developers and service providers on how
to use the future Galileo system and what they can expect in terms of performance.
\subsection beidou BeiDou
@ -65,20 +65,20 @@ Open Service Signal (Version 2.0). China Satellite Navigation Office, December 2
\li <a href="http://egnos-portal.eu/sites/default/files/EGNOS-open-service-sdd.PDF" target="_blank"><b>EGNOS Open Service (OS) Service Definition Document. Ref: EGN-SDD OS, Revision 2.2</b></a>, European GNSS Agency (GSA), Feb. 12, 2015. This is a complementary document to the RTCA DO229D, mentioned above. It describes the scope of services provided by the EGNOS Open Service to be used by end-users or Application Specific Service Providers. It details the general conditions relating to the use of the EGNOS service, a technical description of the Signal-in-Space (SIS), the reference receiver, environmental conditions, the service performance achieved and aspects relating to service provision.
\li <a href="http://egnos-user-support.essp-sas.eu/new_egnos_ops/sites/default/files/library/official_docs/egnos_sol_sdd_in_force.pdf" target="_blank"><b>EGNOS Safety of Life Service Definition Document. Ref: EGN-SDD SoL, Revision 3.0</b></a>, European GNSS Agency (GSA), Sep. 22, 2015. The EGNOS Safety of Life (SoL) Service is provided openly and is freely accessible without any direct charge and is tailored to safety-critical transport applications in various domains, in particular for aviation applications. The service is thus compliant with the aviation APV-I (Approach with Vertical Guidance) requirements, as defined by ICAO in Annex 10, but may support also applications in other SoL domains.
\li <a href="http://egnos-user-support.essp-sas.eu/new_egnos_ops/sites/default/files/library/official_docs/egnos_sol_sdd_in_force.pdf" target="_blank"><b>EGNOS Safety of Life Service Definition Document. Ref: EGN-SDD SoL, Revision 3.0</b></a>, European GNSS Agency (GSA), Sep. 22, 2015. The EGNOS Safety of Life (SoL) Service is provided openly and is freely accessible without any direct charge and is tailored to safety-critical transport applications in various domains, in particular for aviation applications. The service is thus compliant with the aviation APV-I (Approach with Vertical Guidance) requirements, as defined by ICAO in Annex 10, but may support also applications in other SoL domains.
\li <a href="http://egnos-portal.gsa.europa.eu/sites/default/files/EGNOS_EDAS_SDD_2.1.pdf" target="_blank"><b>EGNOS Data Access Service (EDAS) Service Definition Document, Rf: EGN-SDD EDAS, V2.1</b></a>, European GNSS Agency (GSA), Dec. 19, 2014.
More information about EGNOS can be found through the <a href="http://www.egnos-portal.eu/" target="_blank">EGNOS Portal</a>.
More information about EGNOS can be found through the <a href="https://egnos-user-support.essp-sas.eu/new_egnos_ops/index.php" target="_blank">EGNOS Portal</a>.
\section standards Other Standards
\subsection rinex RINEX
The final output of a navigation receiver is usually its position, speed or other related physical quantities. However, the calculation of those quantities
are based on a series of measurements from one or more satellite constellations. Although receivers calculate positions in real time, in many cases it is
interesting to store intermediate measures for later post-processing. RINEX is the standard format that allows the management and disposal of the measures
The final output of a navigation receiver is usually its position, speed or other related physical quantities. However, the calculation of those quantities
are based on a series of measurements from one or more satellite constellations. Although receivers calculate positions in real time, in many cases it is
interesting to store intermediate measures for later post-processing. RINEX is the standard format that allows the management and disposal of the measures
generated by a receiver, as well as their off-line processing by a multitude of applications.
\li The most common version at present is <a href="http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt" target="_blank"><b>RINEX: The Receiver Independent Exchange Format Version 2.11</b></a>, which enables storage of measurements from pseudorange, carrier-phase and Doppler systems for GPS or GLONASS,
\li The most common version at present is <a href="http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt" target="_blank"><b>RINEX: The Receiver Independent Exchange Format Version 2.11</b></a>, which enables storage of measurements from pseudorange, carrier-phase and Doppler systems for GPS or GLONASS,
along with data from EGNOS and WAAS satellite based augmentation systems (SBAS).
\li The most recent version is <a href="ftp://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf" target="_blank"><b>RINEX: The Receiver Independent Exchange Format Version 3.01</b></a> published in June, 2009.
@ -88,11 +88,11 @@ It includes Galileo and improves the handling of multi-constellation data files.
\subsection nmea NMEA
The <a href="http://www.nmea.org" target="_blank">National Marine Electronics Association </a> released the NMEA 0183 Interface Standard, which defines electrical signal requirements, data transmission protocol and time,
The <a href="http://www.nmea.org" target="_blank">National Marine Electronics Association </a> released the NMEA 0183 Interface Standard, which defines electrical signal requirements, data transmission protocol and time,
and specific sentence formats for a 4800-baud serial data bus. The standard is <a href="http://www.nmea.org/store/index.asp?show=cprd&cid=8" target="_blank">available for purchase</a>.
\subsection kml KML
KML is an XML language focused on geographic visualization, including annotation of maps and images. Geographic visualization includes not only the presentation of graphical data on the globe, but also the control of the user's navigation in the sense of where to go and where to look.
KML is an XML language focused on geographic visualization, including annotation of maps and images. Geographic visualization includes not only the presentation of graphical data on the globe, but also the control of the user's navigation in the sense of where to go and where to look.
Google submitted KML (formerly Keyhole Markup Language) to the Open Geospatial Consortium (OGC) to be evolved within the OGC consensus process with the following goal: KML Version 2.2 has been adopted as an OGC implementation standard.
\li Open Geospatial Consortium, Inc., <a href="http://portal.opengeospatial.org/files/?artifact_id=27810" target="_blank"><b>OGC KML Version 2.2.0</b></a>, April 2008.
@ -100,33 +100,33 @@ Google submitted KML (formerly Keyhole Markup Language) to the Open Geospatial C
\subsection cxx C++ Standards
In 1998, the C++ standards committee (the <a href="http://www.open-std.org/JTC1/SC22/WG21/" target="_blank">ISO/IEC JTC1/SC22/WG21 working group</a>)
standardized C++ and published the international standard ISO/IEC 14882:1998 (informally known as C++98). A technical corrigendum was approved in 2003,
In 1998, the C++ standards committee (the <a href="http://www.open-std.org/JTC1/SC22/WG21/" target="_blank">ISO/IEC JTC1/SC22/WG21 working group</a>)
standardized C++ and published the international standard ISO/IEC 14882:1998 (informally known as C++98). A technical corrigendum was approved in 2003,
and the standard was published again as the ISO/IEC 14882:2003.
Published ISO and IEC standards can be purchased from a member body of ISO or IEC. Free copies of the C++ standard Committee Drafts
were <a href="http://www.csci.csusb.edu/dick/c++std/" target="_blank">made public</a> before the official standard was released.
Published ISO and IEC standards can be purchased from a member body of ISO or IEC. Free copies of the C++ standard Committee Drafts
were <a href="http://www.csci.csusb.edu/dick/c++std/" target="_blank">made public</a> before the official standard was released.
In 2005, a technical report, called the <a href="http://www.open-std.org/JTC1/SC22/WG21/docs/papers/2005/n1836.pdf" target="_blank">Library Technical Report 1</a>
(often known as TR1 for short), was released. While not an official part of the standard, it specified a number of extensions to the standard library,
which were expected to be included in the next version of C++. The linked document is officially a draft, but that is due only to procedural issues;
In 2005, a technical report, called the <a href="http://www.open-std.org/JTC1/SC22/WG21/docs/papers/2005/n1836.pdf" target="_blank">Library Technical Report 1</a>
(often known as TR1 for short), was released. While not an official part of the standard, it specified a number of extensions to the standard library,
which were expected to be included in the next version of C++. The linked document is officially a draft, but that is due only to procedural issues;
the content did not change. Scott Meyers provides more <a href="http://www.aristeia.com/EC3E/TR1_info.html" target="_blank">TR1 information</a>.
Some ISO/IEC standards are publicly available, for instance: <a href="http://standards.iso.org/ittf/PubliclyAvailableStandards/c043351_ISO_IEC_TR_18015_2006(E).zip" target="_blank">ISO/IEC TR 18015:2006 Technical Report on C++ Performance</a>.
The standard for the next version of the language (previously known as C++0x) was finally
published with the name of <a href="http://en.wikipedia.org/wiki/C%2B%2B11" target="_blank">C++11</a> in September, 2011, as the ISO/IEC 14882:2011 Standard. GCC, the GNU Compiler Collection,
<a href="http://gcc.gnu.org/projects/cxx0x.html" target="_blank">provides partial C++11 support</a>. Bjarne Stroustrup maintains a <a href="http://www.stroustrup.com/C++11FAQ.html" target="_blank">C++11 FAQ</a>.
The standard for the next version of the language (previously known as C++0x) was finally
published with the name of <a href="https://en.wikipedia.org/wiki/C%2B%2B11" target="_blank">C++11</a> in September, 2011, as the ISO/IEC 14882:2011 Standard. GCC, the GNU Compiler Collection,
<a href="http://gcc.gnu.org/projects/cxx0x.html" target="_blank">provides partial C++11 support</a>. Bjarne Stroustrup maintains a <a href="http://www.stroustrup.com/C++11FAQ.html" target="_blank">C++11 FAQ</a>.
\li The most recent public draft of the <a href="http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2011/n3242.pdf" target="_blank"><b>Standard for Programming Language C++</b></a> was published in Feb. 2011.
\subsection protocols Positioning protocols in wireless communication networks
Cellular industry location standards first appeared in the late 1990s, with the <a href="http://www.3gpp.org/index.php" target="_blank">3rd generation partnership project (3GPP)</a> radio resource location services protocol (RRLP) technical specification 44.031 positioning protocol for GSM networks.
Today, RRLP is the de facto standardized protocol to carry GNSS assistance data to GNSS-enabled mobile devices, and the term "3GPP specification" now covers all GSM (including GPRS and EDGE),
W-CDMA and LTE (including LTE-A) specifications. Precisely, the label "LTE-A" is applied to networks compliant with LTE Release 10 and beyond, which fulfill the requirements issued by
the <a href="http://www.itu.int/en/ITU-R/Pages/default.aspx" target="_blank">International Telecommunication Union Radiocommunication Sector (ITU-R)</a> in the global standard for international mobile telecommunications (IMT Advanced, also referred to as 4G)
Cellular industry location standards first appeared in the late 1990s, with the <a href="http://www.3gpp.org/index.php" target="_blank">3rd generation partnership project (3GPP)</a> radio resource location services protocol (RRLP) technical specification 44.031 positioning protocol for GSM networks.
Today, RRLP is the de facto standardized protocol to carry GNSS assistance data to GNSS-enabled mobile devices, and the term "3GPP specification" now covers all GSM (including GPRS and EDGE),
W-CDMA and LTE (including LTE-A) specifications. Precisely, the label "LTE-A" is applied to networks compliant with LTE Release 10 and beyond, which fulfill the requirements issued by
the <a href="http://www.itu.int/en/ITU-R/Pages/default.aspx" target="_blank">International Telecommunication Union Radiocommunication Sector (ITU-R)</a> in the global standard for international mobile telecommunications (IMT Advanced, also referred to as 4G)
access technologies.
Control plane protocols:
@ -139,12 +139,12 @@ User plane protocols:
\li Open Mobile Alliance (OMA), <a href="http://member.openmobilealliance.org/ftp/Public_documents/LOC/Permanent_documents/OMA-AD-SUPL-V1_0-20070615-A.zip" target="_blank"><b>Secure User Plane Location Architecture Version 1 (SUPL 1.0)</b></a>, June 2007.
\li Open Mobile Alliance (OMA), <a href="http://member.openmobilealliance.org/ftp/Public_documents/LOC/Permanent_documents/OMA-AD-SUPL-V2_0-20120417-A.zip" target="_blank"><b>Secure User Plane Location Architecture Version 2 (SUPL 2.0)</b></a>, April 2012.
LTE Release 9 introduced extension hooks in LPP messages, so that the bodies external to 3GPP could extend the LPP feature set. OMA LPP extensions (LPPe), supported in SUPL 3.0, build on top of the 3GPP LPP reusing its procedures and data types.
LTE Release 9 introduced extension hooks in LPP messages, so that the bodies external to 3GPP could extend the LPP feature set. OMA LPP extensions (LPPe), supported in SUPL 3.0, build on top of the 3GPP LPP reusing its procedures and data types.
Check the <a href="http://technical.openmobilealliance.org/Technical/LOC.aspx" target="_blank">OMA Location Working Group (WG) webpage</a> for updated information about LPP Extensions (LPPe) Specification.
\li The <a href="http://technical.openmobilealliance.org/Technical/release_program/mlp_v31.aspx" target="_blank"><b>OMA Mobile Location Protocol (MLP) V3.1</b></a> is an application-level protocol for getting the position of mobile stations (mobile phones, wireless personal digital assistants, etc.) independent
of underlying network technology. The MLP serves as the interface between a Location Server and a Location Services (LCS) Client.
\li The <a href="http://technical.openmobilealliance.org/Technical/release_program/mlp_v31.aspx" target="_blank"><b>OMA Mobile Location Protocol (MLP) V3.1</b></a> is an application-level protocol for getting the position of mobile stations (mobile phones, wireless personal digital assistants, etc.) independent
of underlying network technology. The MLP serves as the interface between a Location Server and a Location Services (LCS) Client.
This specification defines the core set of operations that a Location Server should be able to perform.
*/
*/

136
docs/doxygen/other/signal_model.dox
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@ -13,7 +13,7 @@
# 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/>.
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
/*! \page the_signal_model Signal model
@ -21,46 +21,46 @@
\section gnss_signal_model GNSS signal model
This page describes signals transmitted by GNSS space vehicles. Signal models are mathematical representations
of the electromagnetic waves that are exciting the receiver's antenna. The current induced by those waves is then amplified, filtered and downconverted to a suitable frequency (can be at some intermediate frequency or
of the electromagnetic waves that are exciting the receiver's antenna. The current induced by those waves is then amplified, filtered and downconverted to a suitable frequency (can be at some intermediate frequency or
directly to baseband), and then converted to 0s and 1s by the Analog-to-Digital Converter (ADC). That is the job of the Radio Frequency front-end, which at its output delivers a stream of
digital samples. Those samples constitute the input of a software receiver, so for GNSS-SDR the signal models described below can be seen as <i>the rules of the game</i>.
digital samples. Those samples constitute the input of a software receiver, so for GNSS-SDR the signal models described below can be seen as <i>the rules of the game</i>.
GNSS' space vehicles are modern versions of lighthouses, but with better visibility. Each satellite is a reference point, and if we know our distance to several reference points,
GNSS' space vehicles are modern versions of lighthouses, but with better visibility. Each satellite is a reference point, and if we know our distance to several reference points,
we can compute our location, just as mariners do when they see a couple of lighthouses. For each in-view satellite \f$i\f$ of system \f$s\f$, we can write:
\f{equation}{\label{eq:pseudorange}
\rho_i = \sqrt{ \left(x^{\text{Tx}}_i - x \right)^2 + \left(y^{\text{Tx}}_i - y \right)^2 + \left(z^{\text{Tx}}_i - z \right)^2}+c\Delta t^{(s)}+\sigma_{e},
\f}
where \f$\left(x^{\text{Tx}}_i, y^{\text{Tx}}_i, z^{\text{Tx}}_i\right)\f$ is the satellite's position (known from the navigation message), \f$(x,y,z)\f$ the receiver's position,
and \f$\sigma_e\f$ gathers other sources of error. Since the receiver needs to estimate its own 3D position (three spatial unknowns) and its clock deviation with respect to
the satellites' time basis, at least \f$3+N_s\f$ satellites must be seen by the receiver at the same time, where \f$N_s\f$ is the number of different navigation systems available
(in-view) at a given time. Each received satellite signal, once synchronized and demodulated at the receiver, defines one equation such as the one defined above,
forming a set of nonlinear equations that can be solved algebraically by means of the <a href="http://navipedia.org/index.php/Bancroft_Method" target="_blank">Bancroft algorithm</a> or
numerically, resorting to multidimensional Newton-Raphson and weighted least square methods. When <i>a priori</i> information is added we resort to Bayesian estimation, a problem
that can be solved recursively by a Kalman filter or any of its variants. The problem can be further expanded by adding other unknowns (for instance, parameters of ionospheric and
tropospheric models), sources of information from other systems, mapping information, and even motion models of the receiver. In the design of multi-constellation GNSS receivers,
the vector of unknowns can also include the receiver clock offset with respect to each system in order to take advantage of a higher number of in-view satellites and using them
where \f$\left(x^{\text{Tx}}_i, y^{\text{Tx}}_i, z^{\text{Tx}}_i\right)\f$ is the satellite's position (known from the navigation message), \f$(x,y,z)\f$ the receiver's position,
and \f$\sigma_e\f$ gathers other sources of error. Since the receiver needs to estimate its own 3D position (three spatial unknowns) and its clock deviation with respect to
the satellites' time basis, at least \f$3+N_s\f$ satellites must be seen by the receiver at the same time, where \f$N_s\f$ is the number of different navigation systems available
(in-view) at a given time. Each received satellite signal, once synchronized and demodulated at the receiver, defines one equation such as the one defined above,
forming a set of nonlinear equations that can be solved algebraically by means of the <a href="http://navipedia.org/index.php/Bancroft_Method" target="_blank">Bancroft algorithm</a> or
numerically, resorting to multidimensional Newton-Raphson and weighted least square methods. When <i>a priori</i> information is added we resort to Bayesian estimation, a problem
that can be solved recursively by a Kalman filter or any of its variants. The problem can be further expanded by adding other unknowns (for instance, parameters of ionospheric and
tropospheric models), sources of information from other systems, mapping information, and even motion models of the receiver. In the design of multi-constellation GNSS receivers,
the vector of unknowns can also include the receiver clock offset with respect to each system in order to take advantage of a higher number of in-view satellites and using them
jointly in the navigation solution, therefore increasing accuracy.
The <a href="http://en.wikipedia.org/wiki/Analytic_signal" target="_blank">analytic representation</a> of a signal received from a GNSS satellite can be generically expressed as
The <a href="https://en.wikipedia.org/wiki/Analytic_signal" target="_blank">analytic representation</a> of a signal received from a GNSS satellite can be generically expressed as
\f{equation}{\label{eq:analytic}
r(t)=\alpha(t) s_{T} \left(t-\tau(t)\right)e^{-j2 \pi f_d(t) }e^{j 2 \pi f_c t}+n(t)~,
\f}
where \f$\alpha(t)\f$ is the amplitude, \f$s_{T}(t)\f$ is the complex baseband transmitted signal, \f$\tau(t)\f$ is the time-varying delay, \f$f_d(t)=f_c \tau(t)\f$ is the Doppler shift, \f$f_c\f$ is
the carrier frequency, and \f$n(t)\f$ is a noise term. These signals arrive to the Earth's surface at extremely low power (e.g. \f$-158.5\f$ dBW for GPS L1 C/A-code, \f$-157\f$ dBW
for Galileo E1), well below the noise floor. In order to estimate its distances to satellites, the receiver must correlate time-aligned replicas of the corresponding pseudorandom
code with the incoming signal, in a process called <i>despreading</i> that provides processing gain only to the signal of interest. After a coarse and fine estimation stages of the
synchronization parameters (usually known as acquisition and tracking, respectively), signal processing output is in form of <i>observables</i>:
<i>i)</i> the pseudorange (code) measurement,
where \f$\alpha(t)\f$ is the amplitude, \f$s_{T}(t)\f$ is the complex baseband transmitted signal, \f$\tau(t)\f$ is the time-varying delay, \f$f_d(t)=f_c \tau(t)\f$ is the Doppler shift, \f$f_c\f$ is
the carrier frequency, and \f$n(t)\f$ is a noise term. These signals arrive to the Earth's surface at extremely low power (e.g. \f$-158.5\f$ dBW for GPS L1 C/A-code, \f$-157\f$ dBW
for Galileo E1), well below the noise floor. In order to estimate its distances to satellites, the receiver must correlate time-aligned replicas of the corresponding pseudorandom
code with the incoming signal, in a process called <i>despreading</i> that provides processing gain only to the signal of interest. After a coarse and fine estimation stages of the
synchronization parameters (usually known as acquisition and tracking, respectively), signal processing output is in form of <i>observables</i>:
<i>i)</i> the pseudorange (code) measurement,
equivalent to the difference of the time of reception (expressed
in the time frame of the receiver) and the time of transmission (expressed in the time frame of the satellite) of a distinct satellite signal; and optionally
in the time frame of the receiver) and the time of transmission (expressed in the time frame of the satellite) of a distinct satellite signal; and optionally
<i>ii)</i> the carrier-phase measurement, actually being a measurement on the beat frequency between the received carrier of the satellite signal and a receiver-generated reference frequency.
Carrier phase measurements are ambiguous, in the sense that the integer number of carrier wavelengths between satellite and the receiver's antenna is unknown.
Techniques such as <a href="http://www.citg.tudelft.nl/en/about-faculty/departments/geoscience-and-remote-sensing/research-themes/gps/lambda-method/" target="_blank">Least-square AMBiguity Decorrelation Approach (LAMBDA)</a> or
Multi Carrier Ambiguity Resolution (MCAR) can be applied to resolve such ambiguity and provide an accurate estimation of the distance between the satellite and the receiver.
<i>ii)</i> the carrier-phase measurement, actually being a measurement on the beat frequency between the received carrier of the satellite signal and a receiver-generated reference frequency.
Carrier phase measurements are ambiguous, in the sense that the integer number of carrier wavelengths between satellite and the receiver's antenna is unknown.
Techniques such as <a href="http://www.citg.tudelft.nl/en/about-faculty/departments/geoscience-and-remote-sensing/research-themes/gps/lambda-method/" target="_blank">Least-square AMBiguity Decorrelation Approach (LAMBDA)</a> or
Multi Carrier Ambiguity Resolution (MCAR) can be applied to resolve such ambiguity and provide an accurate estimation of the distance between the satellite and the receiver.
Then, depending on the required accuracy, the navigation solution can range from pseudorange-only, computationally low demanding, and limited accuracy least squares methods to sophisticated combinations of code and
Then, depending on the required accuracy, the navigation solution can range from pseudorange-only, computationally low demanding, and limited accuracy least squares methods to sophisticated combinations of code and
phase observables at different frequencies for high demanding applications such as surveying, geodesy, and geophysics.
@ -74,7 +74,7 @@ and civilian users on a continuous, worldwide basis. Two GPS services are provid
the Precise Positioning Service (PPS), available primarily to the military of the United
States and its allies, and the Standard Positioning Service (SPS) open to civilian users.
\li <b>GPS L1</b>. Defined at <a href="http://www.gps.gov/technical/icwg/IS-GPS-200F.pdf" target="_blank"><b>Interface Specification IS-GPS-200 Revision F</b></a>, this band is centered at \f$f_{\text{GPS L1}}=1575.42\f$ MHz. The complex baseband transmitted signal can be written as
\li <b>GPS L1</b>. Defined at <a href="https://www.gps.gov/technical/icwg/IS-GPS-200F.pdf" target="_blank"><b>Interface Specification IS-GPS-200 Revision F</b></a>, this band is centered at \f$f_{\text{GPS L1}}=1575.42\f$ MHz. The complex baseband transmitted signal can be written as
\f{equation}{
s^{\text{(GPS L1)}}_{T}(t)=e_{L1I}(t) + j e_{L1Q}(t)~,
\f}
@ -83,30 +83,30 @@ s^{\text{(GPS L1)}}_{T}(t)=e_{L1I}(t) + j e_{L1Q}(t)~,
e_{L1I}(t) =& \sum_{l=-\infty}^{\infty} D_{\text{NAV}}\Big[ [l]_{204600}\Big] \oplus C_{\text{P(Y)}}\Big[ |l|_{L_{\text{P(Y)}}} \Big] p(t - lT_{c,\text{P(Y)}})~,\label{eq:L1CAI}\\
e_{L1Q}(t) =& \sum_{l=-\infty}^{\infty} D_{\text{NAV}}\Big[ [l]_{20460} \Big] \oplus C_{\text{C/A}} \Big[ |l|_{1023} \Big] p(t - lT_{c,\text{C/A}})~,\label{eq:L1CA}
\f}
where \f$\oplus\f$ is the exclusive-or operation (modulo-2 addition), \f$|l|_{L}\f$ means \f$l\f$ modulo \f$L\f$, \f$[l]_{L}\f$ means the integer part of \f$\frac{l}{L}\f$,
\f$D_{\text{NAV}}\f$ is the GPS navigation message bit sequence, transmitted at \f$50\f$ bps, \f$T_{c,\text{P(Y)}}=\frac{1}{10.23}\f$ \f$\mu\f$s, \f$T_{c,\text{C/A}}=\frac{1}{1.023}\f$ \f$\mu\f$s,
\f$L_{\text{P(Y)}}=6.1871 \cdot 10^{12}\f$, and \f$p(t)\f$ is a rectangular pulse of a chip-period duration centered at \f$t=0\f$ and filtered at the transmitter.
According to the chip rate, the binary phase-shift keying modulations in the equations above are denoted as BPSK(10) and BPSK(1), respectively. The precision P codes (named Y codes whenever
the anti-spoofing mode is activated, encrypting the code and thus denying non-U.S. military users) are sequences of \f$7\f$ days in length. Regarding the modernization plans for GPS, it
is worthwhile to mention that there is a new civilian-use signal planned, called L1C and defined at <a href="http://www.gps.gov/technical/icwg/IS-GPS-800B.pdf" target="_blank"><b>Interface Specification IS-GPS-800 Revision B</b></a>,
to be broadcast on the same L1 frequency that currently contains the C/A signal. The L1C will be available with first Block III launch, currently scheduled for 2013. The implementation will
where \f$\oplus\f$ is the exclusive-or operation (modulo-2 addition), \f$|l|_{L}\f$ means \f$l\f$ modulo \f$L\f$, \f$[l]_{L}\f$ means the integer part of \f$\frac{l}{L}\f$,
\f$D_{\text{NAV}}\f$ is the GPS navigation message bit sequence, transmitted at \f$50\f$ bps, \f$T_{c,\text{P(Y)}}=\frac{1}{10.23}\f$ \f$\mu\f$s, \f$T_{c,\text{C/A}}=\frac{1}{1.023}\f$ \f$\mu\f$s,
\f$L_{\text{P(Y)}}=6.1871 \cdot 10^{12}\f$, and \f$p(t)\f$ is a rectangular pulse of a chip-period duration centered at \f$t=0\f$ and filtered at the transmitter.
According to the chip rate, the binary phase-shift keying modulations in the equations above are denoted as BPSK(10) and BPSK(1), respectively. The precision P codes (named Y codes whenever
the anti-spoofing mode is activated, encrypting the code and thus denying non-U.S. military users) are sequences of \f$7\f$ days in length. Regarding the modernization plans for GPS, it
is worthwhile to mention that there is a new civilian-use signal planned, called L1C and defined at <a href="http://www.gps.gov/technical/icwg/IS-GPS-800B.pdf" target="_blank"><b>Interface Specification IS-GPS-800 Revision B</b></a>,
to be broadcast on the same L1 frequency that currently contains the C/A signal. The L1C will be available with first Block III launch, currently scheduled for 2013. The implementation will
provide C/A code to ensure backward compatibility.
\li <b>GPS L2C</b>. Defined at <a href="http://www.gps.gov/technical/icwg/IS-GPS-200F.pdf" target="_blank"><b>Interface Specification IS-GPS-200 Revision F</b></a>, is only available on
Block IIR-M and subsequent satellite blocks. Centered at \f$f_{\text{GPS L2}}=1227.60\f$ MHz, the signal structure is the same than in (\ref{eq:GPSL1}), with the precision code in the In-phase
\li <b>GPS L2C</b>. Defined at <a href="https://www.gps.gov/technical/icwg/IS-GPS-200F.pdf" target="_blank"><b>Interface Specification IS-GPS-200 Revision F</b></a>, is only available on
Block IIR-M and subsequent satellite blocks. Centered at \f$f_{\text{GPS L2}}=1227.60\f$ MHz, the signal structure is the same than in (\ref{eq:GPSL1}), with the precision code in the In-phase
component, just as in (\ref{eq:L1CAI}) but with an optional presence of the navigation message \f$D_{\text{NAV}}\f$. For the Quadrature-phase component, three options are defined:
\f{align}{ e_{L2CQ}(t) =& \sum_{l=-\infty}^{\infty} D_{\text{CNAV}} \Big[ [l]_{10230} \Big] \oplus \left( C_{\text{CL}} \Big[ |l|_{L_{\text{CL}}} \Big] p_{\text{\tiny{1/2}}} \left( t - lT_{c,L2C} \right) + \right.\\ {} &+ \left. C_{\text{CM}} \Big[ |l|_{L_{\text{CM}}} \Big] p_{\text{\tiny{1/2}}}\left(t - \left(l+\frac{3}{4}\right)T_{c,L2C}\right) \right),\\
e_{L2CQ}(t) =& \sum_{l=-\infty}^{\infty} D_{\text{NAV}} \Big[ [l]_{20460} \Big] \oplus C_{\text{C/A}} \Big[ |l|_{1023} \Big] p \left(t - lT_{c,\text{C/A}}\right) \text{, or}\\
e_{L2CQ}(t)=& \sum_{l=-\infty}^{\infty}C_{\text{C/A}} \Big[ |l|_{1023} \Big] p(t - lT_{c,\text{C/A}})~,
\f}
where \f$T_{c,L2C}=\frac{1}{511.5}\f$ ms and \f$p_{\text{\tiny{1/2}}}(t)\f$ is a rectangular pulse of half chip-period duration, thus time-multiplexing both codes. The civilian long
code \f$C_{\text{CL}}\f$ is \f$L_{\text{CL}}=767250\f$ chips long, repeating every \f$1.5\f$ s, while the civilian moderate code \f$C_{\text{CM}}\f$ is \f$L_{\text{CL}}=10230\f$ chips
long and its repeats every \f$20\f$ ms. The CNAV data is an upgraded version of the original NAV navigation message, containing higher precision representation and nominally more accurate
where \f$T_{c,L2C}=\frac{1}{511.5}\f$ ms and \f$p_{\text{\tiny{1/2}}}(t)\f$ is a rectangular pulse of half chip-period duration, thus time-multiplexing both codes. The civilian long
code \f$C_{\text{CL}}\f$ is \f$L_{\text{CL}}=767250\f$ chips long, repeating every \f$1.5\f$ s, while the civilian moderate code \f$C_{\text{CM}}\f$ is \f$L_{\text{CL}}=10230\f$ chips
long and its repeats every \f$20\f$ ms. The CNAV data is an upgraded version of the original NAV navigation message, containing higher precision representation and nominally more accurate
data than the NAV data. It is transmitted at \f$25\f$ bps with forward error correction (FEC) encoding, resulting in \f$50\f$ sps.
\li <b>GPS L5</b>. The GPS L5 link, defined at <a href="http://www.gps.gov/technical/icwg/IS-GPS-705B.pdf" target="_blank"><b>Interface Specification IS-GPS-705 Revision B</b></a>, is only available
\li <b>GPS L5</b>. The GPS L5 link, defined at <a href="https://www.gps.gov/technical/icwg/IS-GPS-705B.pdf" target="_blank"><b>Interface Specification IS-GPS-705 Revision B</b></a>, is only available
in Block IIF (first satellite launched on May, 2010) and subsequent satellite blocks. Centered at \f$f_{\text{GPS L5}}=1176.45\f$ MHz, this signal in space can be written as:
\f{equation}{
s^{\text{(GPS L5)}}_{T}(t)=e_{L5I}(t) +j e_{L5Q}(t)~,
@ -129,9 +129,9 @@ Eight satellites are equally spaced in each plane with \f$45^o\f$ argument of la
the orbital planes have an argument of latitude displacement of \f$15^o\f$ relative to each other.
GLONASS civil signal-in-space is defined at <a href="http://facility.unavco.org/data/docs/ICD_GLONASS_5.1_(2008)_en.pdf" target="_blank"><b>Interface Control Document. Navigational radiosignal in bands L1, L2. Edition 5.1</b></a>.
This system makes use of a frequency-division multiple access (FDMA) signal structure, transmitting in two bands: \f$f^{(k)}_{GLO L1}=1602+k \cdot 0.5625\f$ MHz and \f$f^{(k)}_{GLO L2}=1246+k \cdot 0.4375\f$ MHz,
where \f$k\in \left\{ -7,-6,\cdots,5,6\right\}\f$ is the channel number. Satellites in opposite points of an orbit plane transmit signals on equal frequencies, as these satellites will never be
GLONASS civil signal-in-space is defined at <a href="http://facility.unavco.org/data/docs/ICD_GLONASS_5.1_(2008)_en.pdf" target="_blank"><b>Interface Control Document. Navigational radiosignal in bands L1, L2. Edition 5.1</b></a>.
This system makes use of a frequency-division multiple access (FDMA) signal structure, transmitting in two bands: \f$f^{(k)}_{GLO L1}=1602+k \cdot 0.5625\f$ MHz and \f$f^{(k)}_{GLO L2}=1246+k \cdot 0.4375\f$ MHz,
where \f$k\in \left\{ -7,-6,\cdots,5,6\right\}\f$ is the channel number. Satellites in opposite points of an orbit plane transmit signals on equal frequencies, as these satellites will never be
in view simultaneously by a ground-based user.
@ -144,18 +144,18 @@ s^{\text{(GLO L1)}}_{T}(t)=e_{L1I}(t) + j e_{L1Q}(t)~,
e_{L1I}(t) =& \sum_{l=-\infty}^{\infty} D_{\text{GNAV}}\Big[ [l]_{102200}\Big] \oplus C_{\text{HP}} \Big[ |l|_{L_{\text{HP}}} \Big] p(t - lT_{c,\text{HP}})~,\\
e_{L1Q}(t) =& \sum_{l=-\infty}^{\infty} D_{\text{GNAV}}\Big[ [l]_{10220} \Big] \oplus C_{\text{SP}} \Big[ |l|_{511} \Big] p(t - lT_{c,\text{SP}})~,
\f}
where \f$T_{c,\text{HP}}=\frac{1}{5.11}\f$ \f$\mu\f$s, \f$T_{c,\text{SP}}=\frac{1}{0.511}\f$ \f$\mu\f$s, and \f$L_{\text{HP}}=3.3554\cdot 10^7\f$. The navigation
message \f$D_{\text{GNAV}}\f$ is transmitted at \f$50\f$ bps. Details of its content and structure, as well as the generation of the \f$C_{\text{SP}}\f$ code, can be found at
the <a href="http://facility.unavco.org/data/docs/ICD_GLONASS_5.1_(2008)_en.pdf" target="_blank">ICD</a>. The usage of the HP signal should be agreed with the Russian Federation Defense
where \f$T_{c,\text{HP}}=\frac{1}{5.11}\f$ \f$\mu\f$s, \f$T_{c,\text{SP}}=\frac{1}{0.511}\f$ \f$\mu\f$s, and \f$L_{\text{HP}}=3.3554\cdot 10^7\f$. The navigation
message \f$D_{\text{GNAV}}\f$ is transmitted at \f$50\f$ bps. Details of its content and structure, as well as the generation of the \f$C_{\text{SP}}\f$ code, can be found at
the <a href="http://facility.unavco.org/data/docs/ICD_GLONASS_5.1_(2008)_en.pdf" target="_blank">ICD</a>. The usage of the HP signal should be agreed with the Russian Federation Defense
Ministry, and no more details have been disclosed.
\li <b>GLONASS L2</b>. Beginning with the second generation of satellites, called GLONASS-M and first launched in 2001, a second civil signal is available using the same SP code than the one in the L1 band.
The use of FDMA techniques, in which the same code is used to broadcast navigation signals on different frequencies, and the placement of civil GLONASS transmissions on frequencies close to \f$1600\f$ MHz,
well above the GPS L1 band, have complicated the design of combined GLONASS/GPS receivers, particularly low-cost equipment for mass-market applications. Future plans of modernization are
intended to increase compatibility and interoperability with other GNSS, and include the addition of a code-division multiple access (CDMA) structure, and possibly binary offset carrier (BOC)
modulation, beginning with the third civil signal in the L3 band (\f$1197.648 - 1212.255\f$ MHz). Russia is implementing the new signals on the next-generation GLONASS-K satellites, with a
The use of FDMA techniques, in which the same code is used to broadcast navigation signals on different frequencies, and the placement of civil GLONASS transmissions on frequencies close to \f$1600\f$ MHz,
well above the GPS L1 band, have complicated the design of combined GLONASS/GPS receivers, particularly low-cost equipment for mass-market applications. Future plans of modernization are
intended to increase compatibility and interoperability with other GNSS, and include the addition of a code-division multiple access (CDMA) structure, and possibly binary offset carrier (BOC)
modulation, beginning with the third civil signal in the L3 band (\f$1197.648 - 1212.255\f$ MHz). Russia is implementing the new signals on the next-generation GLONASS-K satellites, with a
first prototype successfully launched into orbit on February 26, 2011.
@ -173,9 +173,9 @@ period of \f$14\f$ hours. The Control segment full infrastructure will be compos
Galileo's Open Service is defined at <a href="http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf" target="_blank"><b>Signal In Space Interface Control Document. Ref: OS SIS ICD, Issue 1.1</b></a>, where the following signal structures are specified:
\li <b>Galileo E1</b>. This band, centered at \f$f_{\text{Gal E1}}=1575.420\f$ MHz and with a reference bandwidth of \f$24.5520\f$ MHz, uses the so-called composite binary offset carrier
\li <b>Galileo E1</b>. This band, centered at \f$f_{\text{Gal E1}}=1575.420\f$ MHz and with a reference bandwidth of \f$24.5520\f$ MHz, uses the so-called composite binary offset carrier
CBOC(6,1,\f$\frac{1}{11}\f$) modulation, defined in baseband as:
\f{align}{
\f{align}{
s^{\text{(Gal E1)}}_{T}(t)=&\frac{1}{\sqrt{2}} \Big( e_{E1B}(t)\left( \alpha sc_A(t)+ \beta sc_B(t) \right)+ \\
{}& - e_{E1C}(t) \left( \alpha sc_A(t)- \beta sc_B(t) \right) \Big)~,\label{eq:CBOC}
\f}
@ -192,8 +192,8 @@ In case of channel \f$C\f$, it is a pilot (dataless) channel with a secondary co
\f{align}{
\nonumber e_{E1C}(t)&= \sum_{m=-\infty}^{+\infty}C_{E1Cs}\Big[|m|_{25}\Big] \oplus \sum_{l=1}^{4092}C_{E1Cp}\Big[ l \Big] \cdot \\ {}& \; \; \cdot p(t-mT_{c,E1Cs}-lT_{c,E1Cp})~,\label{eq:E1C}
\f}
with \f$T_{c,E1B}=T_{c,E1Cp}=\frac{1}{1.023}\f$ \f$\mu\f$s and \f$T_{c,E1Cs}=4\f$ ms. The \f$C_{E1B}\f$ and \f$C_{E1Cp}\f$ primary codes are pseudorandom memory code sequences defined at
Annex C.7 and C.8 of <a href="http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf" target="_blank">OS SIS ICD</a>. The binary
with \f$T_{c,E1B}=T_{c,E1Cp}=\frac{1}{1.023}\f$ \f$\mu\f$s and \f$T_{c,E1Cs}=4\f$ ms. The \f$C_{E1B}\f$ and \f$C_{E1Cp}\f$ primary codes are pseudorandom memory code sequences defined at
Annex C.7 and C.8 of <a href="http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf" target="_blank">OS SIS ICD</a>. The binary
sequence of the secondary code \f$C_{E1Cs}\f$ is 0011100000001010110110010. This band also contains another component, Galileo E1A, intended for the Public Regulated Service (PRS).
It uses a BOC(15,2.5) modulation with cosine-shaped subcarrier \f$f_{s,E1A}=15.345\f$ MHz and \f$T_{c, E1A}=\frac{1}{2.5575}\f$ \f$\mu\f$s.
The PRS spreading codes and the structure of the navigation message have not been made public.
@ -207,19 +207,19 @@ s_{T}^{\text{(Gal E6)}}(t) = \frac{1}{\sqrt{2}}\left(e_{E6B}(t)-e_{E6C}(t)\right
\nonumber e_{E6B}(t) =& \sum_{m=-\infty}^{+\infty} D_{\text{C/NAV}} \Big[ [l]_{5115}\Big] \oplus C_{E6B}\Big[|l|_{L_{E6B}}\Big] \cdot \\ {}& \cdot p(t - lT_{c,E6}),\\
\nonumber e_{E6C}(t) =& \sum_{m=-\infty}^{+\infty}C_{E6Cs}\Big[|m|_{100}\Big] \oplus \sum_{l=1}^{L_{E6C}}C_{E6Cp}\Big[ l \Big] \cdot \\ {}& \cdot p(t-mT_{c,E6s} -lT_{c,E6p}),
\f}
where \f$D_{\text{C/NAV}}\f$ is the C/NAV navigation data stream, which is modulated with the encrypted ranging code \f$C_{E6B}\f$ with chip period \f$T_{c,E6}=\frac{1}{5.115}\f$ \f$\mu\f$s, thus
being a BPSK(5) modulation. Codes \f$C_{E6B}\f$ and primary codes \f$C_{E6Cs}\f$ and their respective lengths, \f$L_{E6B}\f$ and \f$L_{E6C}\f$, have not been published. The secondary codes
for the pilot component, \f$C_{E6Cs}\f$, are available at the <a href="http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf" target="_blank">OS SIS ICD</a>.
where \f$D_{\text{C/NAV}}\f$ is the C/NAV navigation data stream, which is modulated with the encrypted ranging code \f$C_{E6B}\f$ with chip period \f$T_{c,E6}=\frac{1}{5.115}\f$ \f$\mu\f$s, thus
being a BPSK(5) modulation. Codes \f$C_{E6B}\f$ and primary codes \f$C_{E6Cs}\f$ and their respective lengths, \f$L_{E6B}\f$ and \f$L_{E6C}\f$, have not been published. The secondary codes
for the pilot component, \f$C_{E6Cs}\f$, are available at the <a href="http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf" target="_blank">OS SIS ICD</a>.
The receiver reference bandwidth for this signal is \f$40.920\f$ MHz. This band also contains another component, Galileo E6A, intended for PRS.
\li <b>Galileo E5</b>. Centered at \f$f_{\text{Gal E5}}=1191.795\f$ MHz and with a total bandwidth of \f$51.150\f$ MHz, its signal structure deserves some analysis. The AltBOC modulation can be generically expressed as
\f{equation}{\label{AltBOC}
s^{\text{AltBOC}}(t)=x_1(t)v^{*}(t)+x_2(t)v(t)~,
\f}
where \f$v(t)=\frac{1}{\sqrt{2}}\left( \text{sign}\left( \cos (2 \pi f_s t)\right)+j \text{sign}\left( \sin (2 \pi f_s t)\right)\right)\f$ is the single side-band
subcarrier, \f$f_s\f$ is the subcarrier frequency, \f$(\cdot)^{*}\f$ stands for the conjugate operation, and \f$x_1(t)\f$ and \f$x_2(t)\f$ are QPSK signals.
The resulting waveform does not exhibit constant envelope. In case of Galileo, the need for high efficiency of the satellites' onboard High Power Amplifier (HPA) has pushed
a modification on the signal in order to make it envelope-constant and thus use the HPA at saturation. This can be done by adding some inter-modulation products to the expression
where \f$v(t)=\frac{1}{\sqrt{2}}\left( \text{sign}\left( \cos (2 \pi f_s t)\right)+j \text{sign}\left( \sin (2 \pi f_s t)\right)\right)\f$ is the single side-band
subcarrier, \f$f_s\f$ is the subcarrier frequency, \f$(\cdot)^{*}\f$ stands for the conjugate operation, and \f$x_1(t)\f$ and \f$x_2(t)\f$ are QPSK signals.
The resulting waveform does not exhibit constant envelope. In case of Galileo, the need for high efficiency of the satellites' onboard High Power Amplifier (HPA) has pushed
a modification on the signal in order to make it envelope-constant and thus use the HPA at saturation. This can be done by adding some inter-modulation products to the expression
above, coming up with the following definition:
\f{align}{
@ -260,9 +260,9 @@ receiver. The single subcarrier \f$sc_s(t)\f$ and the product subcarrier \f$sc_p
sc_p(t)=& -\frac{\sqrt{2}}{4}\text{sign} \left( \cos \left( 2 \pi f_s t - \frac{\pi}{4}\right) \right)+\\ \nonumber {}&+ \frac{1}{2}\text{sign} \Big( \cos \left( 2 \pi f_s t \right) \Big)+\\
{} &-\frac{\sqrt{2}}{4}\text{sign} \left( \cos \left( 2 \pi f_s t + \frac{\pi}{4}\right) \right)~,
\f}
with a subcarrier frequency of \f$f_s=15.345\f$ MHz, thus defining an AltBOC(15,10) modulation. The QPSK(10) signal \f$e_{E5a}(t)\f$ defined above is shifted
with a subcarrier frequency of \f$f_s=15.345\f$ MHz, thus defining an AltBOC(15,10) modulation. The QPSK(10) signal \f$e_{E5a}(t)\f$ defined above is shifted
to \f$f_{\text{Gal E5a}}\doteq f_{\text{Gal E5}}-f_s=1176.450\f$ MHz, while \f$e_{E5b}(t)\f$ is shifted to \f$f_{\text{Gal E5b}}\doteq f_{\text{Gal E5}}+f_s=1207.140\f$ MHz.
Thus, we can bandpass filter around \f$f_{\text{Gal E5a}}\f$ and get a good approximation of a QPSK(10) signal, with very low energy components of \f$e_{E5b}(t)\f$, \f$ \bar{e}_{E5a}(t)\f$,
Thus, we can bandpass filter around \f$f_{\text{Gal E5a}}\f$ and get a good approximation of a QPSK(10) signal, with very low energy components of \f$e_{E5b}(t)\f$, \f$ \bar{e}_{E5a}(t)\f$,
and \f$ \bar{e}_{E5b}(t)\f$:
\f{equation}{
s_{T}^{\text{(Gal E5a)}}(t) \simeq e_{E5aI}(t)+je_{E5aQ}(t).
@ -273,9 +273,9 @@ The same applies to \f$e_{E5b}(t)\f$, allowing an independent reception of two Q
This text is an except of the following paper:
\li C. Fern&aacute;ndez-Prades, L. Lo Presti, E. Falleti, <a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=5942139" target="_blank"><i>Satellite Radiolocalization From GPS to GNSS and Beyond: Novel Technologies and Applications for Civil Mass-Market</i></a>.
\li C. Fern&aacute;ndez-Prades, L. Lo Presti, E. Falleti, <a href="https://ieeexplore.ieee.org/document/5942139/" target="_blank"><i>Satellite Radiolocalization From GPS to GNSS and Beyond: Novel Technologies and Applications for Civil Mass-Market</i></a>.
Proceedings of the IEEE. Vol 99, No. 11, pp. 1882-1904. November, 2011. DOI: 10.1109/JPROC.2011.2158032
*/
*/

8
docs/manpage/front-end-cal-manpage
View File

@ -17,9 +17,9 @@ The crystal oscillator that ships with the RTL2832U family devices exhibits limi
\fBfront\-end\-cal\fR takes the following options:
.TP
\fB\-config_file=\fR\fI<path\-to\-configuration\-file>\fR Set the configuration file.
.TP
.TP
\fB\-signal_source=\fR\fI<path\-to\-raw\-signal\-file>\fR If defined, path to the file containing the signal samples (overrides the data file specified in the configuration file).
.TP
.TP
\fB\-log_dir=\fR\fI<path\-to\-directory>\fR If defined, overrides the default directory where logs are saved.
.TP
\fB\-version\fR Print program version and exit.
@ -32,10 +32,10 @@ Example of configuration file available at: ${prefix}/share/gnss\-sdr/conf/front
\.TP
[1] C. Fernandez\-Prades, J. Arribas, P. Closas, \fITurning a Television into a GNSS Receiver\fR, in Proceedings of ION GNSS+, 15\-16 September 2013, Nashville, Tennessee (USA). A draft copy is freely available at http://www.cttc.es/publication/turning\-a\-television\-into\-a\-gnss\-receiver/
\.TP
Check http://gnss\\-sdr.org for more information.
Check https://gnss\-sdr.org for more information.
.SH BUGS
No known bugs.
.SH AUTHOR
Javier Arribas (javier.arribas@cttc.es)
\.TP
This software has been developed at CTTC (Centre Tecnologic de Telecomunicacions de Catalunya, http://www.cttc.es) with contributions from around the world.
This software has been developed at CTTC (Centre Tecnologic de Telecomunicacions de Catalunya, http://www.cttc.es) with contributions from around the world.

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