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Glonass: implement extended correlation for cshort blocks

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Signed-off-by: Vlad P <vladisslav2011@gmail.com>
This commit is contained in:
Vlad P 2022-08-09 20:51:06 +03:00
parent c1d68ffbb3
commit aad50e44d4
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GPG Key ID: AEFFA14BBF34C023
4 changed files with 20 additions and 18 deletions
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17
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
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@ -85,7 +85,7 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(const p
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN); DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
if (d_enable_extended_integration == false) // avoid re-setting preamble indicator if (d_enable_extended_integration == false) // avoid re-setting preamble indicator
{ {
d_preamble_timestamp_s = pmt::to_double(msg); d_preamble_timestamp_samples = pmt::to_double(msg);
d_enable_extended_integration = true; d_enable_extended_integration = true;
d_preamble_synchronized = false; d_preamble_synchronized = false;
} }
@ -134,7 +134,7 @@ glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc
d_pll_to_dll_assist_secs_Ti(0.0), d_pll_to_dll_assist_secs_Ti(0.0),
d_carr_phase_error_secs_Ti(0.0), d_carr_phase_error_secs_Ti(0.0),
d_code_error_chips_Ti(0.0), d_code_error_chips_Ti(0.0),
d_preamble_timestamp_s(0.0), d_preamble_timestamp_samples(0.0),
d_extend_correlation_ms(extend_correlation_ms), d_extend_correlation_ms(extend_correlation_ms),
d_code_error_filt_chips_s(0.0), d_code_error_filt_chips_s(0.0),
d_code_error_filt_chips_Ti(0.0), d_code_error_filt_chips_Ti(0.0),
@ -154,8 +154,8 @@ glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc
d_dump(dump) d_dump(dump)
{ {
// Telemetry bit synchronization message port input // Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s")); this->message_port_register_in(pmt::mp("preamble_timestamp_samples"));
this->set_msg_handler(pmt::mp("preamble_timestamp_s"), this->set_msg_handler(pmt::mp("preamble_timestamp_samples"),
#if HAS_GENERIC_LAMBDA #if HAS_GENERIC_LAMBDA
[this](auto &&PH1) { msg_handler_preamble_index(PH1); }); [this](auto &&PH1) { msg_handler_preamble_index(PH1); });
#else #else
@ -209,7 +209,7 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
const double acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in); const double acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
// Doppler effect // Doppler effect
// Fd=(C/(C+Vr))*F // Fd=(C/(C+Vr))*F
d_glonass_freq_ch = GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)); d_glonass_freq_ch = GLONASS_L1_CA_FREQ_HZ + (DFRQ1_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
const double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch; const double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
// new chip and prn sequence periods based on acq Doppler // new chip and prn sequence periods based on acq Doppler
d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_CPS; d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_CPS;
@ -273,8 +273,8 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
// enable tracking // enable tracking
d_pull_in = true; d_pull_in = true;
d_enable_tracking = true; d_enable_tracking = true;
d_enable_extended_integration = true; d_enable_extended_integration = false;
d_preamble_synchronized = true; d_preamble_synchronized = false;
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
<< " Code Phase correction [samples]=" << delay_correction_samples << " Code Phase correction [samples]=" << delay_correction_samples
@ -604,7 +604,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
bool enable_dll_pll; bool enable_dll_pll;
if (d_enable_extended_integration == true) if (d_enable_extended_integration == true)
{ {
int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s)); int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples - d_preamble_timestamp_samples) / static_cast<double>(d_fs_in)));
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0) if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
{ {
// compute coherent integration and enable tracking loop // compute coherent integration and enable tracking loop
@ -631,6 +631,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
} }
// UPDATE INTEGRATION TIME // UPDATE INTEGRATION TIME
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GLONASS_L1_CA_CODE_PERIOD_S; CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GLONASS_L1_CA_CODE_PERIOD_S;
d_code_loop_filter.set_pdi(static_cast<float>(CURRENT_INTEGRATION_TIME_S));
enable_dll_pll = true; enable_dll_pll = true;
} }
else else

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
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@ -170,7 +170,7 @@ private:
double d_pll_to_dll_assist_secs_Ti; double d_pll_to_dll_assist_secs_Ti;
double d_carr_phase_error_secs_Ti; double d_carr_phase_error_secs_Ti;
double d_code_error_chips_Ti; double d_code_error_chips_Ti;
double d_preamble_timestamp_s; double d_preamble_timestamp_samples;
int32_t d_extend_correlation_ms; int32_t d_extend_correlation_ms;
double d_code_error_filt_chips_s; double d_code_error_filt_chips_s;
double d_code_error_filt_chips_Ti; double d_code_error_filt_chips_Ti;

17
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
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@ -83,7 +83,7 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(const p
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN); DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
if (d_enable_extended_integration == false) // avoid re-setting preamble indicator if (d_enable_extended_integration == false) // avoid re-setting preamble indicator
{ {
d_preamble_timestamp_s = pmt::to_double(msg); d_preamble_timestamp_samples = pmt::to_double(msg);
d_enable_extended_integration = true; d_enable_extended_integration = true;
d_preamble_synchronized = false; d_preamble_synchronized = false;
} }
@ -132,7 +132,7 @@ glonass_l2_ca_dll_pll_c_aid_tracking_sc::glonass_l2_ca_dll_pll_c_aid_tracking_sc
d_pll_to_dll_assist_secs_Ti(0.0), d_pll_to_dll_assist_secs_Ti(0.0),
d_carr_phase_error_secs_Ti(0.0), d_carr_phase_error_secs_Ti(0.0),
d_code_error_chips_Ti(0.0), d_code_error_chips_Ti(0.0),
d_preamble_timestamp_s(0.0), d_preamble_timestamp_samples(0.0),
d_extend_correlation_ms(extend_correlation_ms), d_extend_correlation_ms(extend_correlation_ms),
d_code_error_filt_chips_s(0.0), d_code_error_filt_chips_s(0.0),
d_code_error_filt_chips_Ti(0.0), d_code_error_filt_chips_Ti(0.0),
@ -152,8 +152,8 @@ glonass_l2_ca_dll_pll_c_aid_tracking_sc::glonass_l2_ca_dll_pll_c_aid_tracking_sc
d_dump(dump) d_dump(dump)
{ {
// Telemetry bit synchronization message port input // Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s")); this->message_port_register_in(pmt::mp("preamble_timestamp_samples"));
this->set_msg_handler(pmt::mp("preamble_timestamp_s"), this->set_msg_handler(pmt::mp("preamble_timestamp_samples"),
#if HAS_GENERIC_LAMBDA #if HAS_GENERIC_LAMBDA
[this](auto &&PH1) { msg_handler_preamble_index(PH1); }); [this](auto &&PH1) { msg_handler_preamble_index(PH1); });
#else #else
@ -206,7 +206,7 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_sc::start_tracking()
const double acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in); const double acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
// Doppler effect // Doppler effect
// Fd=(C/(C+Vr))*F // Fd=(C/(C+Vr))*F
d_glonass_freq_ch = GLONASS_L2_CA_FREQ_HZ + (GLONASS_L2_CA_FREQ_HZ * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)); d_glonass_freq_ch = GLONASS_L2_CA_FREQ_HZ + (DFRQ2_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
const double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch; const double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
// new chip and prn sequence periods based on acq Doppler // new chip and prn sequence periods based on acq Doppler
d_code_freq_chips = radial_velocity * GLONASS_L2_CA_CODE_RATE_CPS; d_code_freq_chips = radial_velocity * GLONASS_L2_CA_CODE_RATE_CPS;
@ -269,8 +269,8 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_sc::start_tracking()
// enable tracking // enable tracking
d_pull_in = true; d_pull_in = true;
d_enable_tracking = true; d_enable_tracking = true;
d_enable_extended_integration = true; d_enable_extended_integration = false;
d_preamble_synchronized = true; d_preamble_synchronized = false;
d_acc_carrier_phase_initialized = false; d_acc_carrier_phase_initialized = false;
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
@ -601,7 +601,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
bool enable_dll_pll; bool enable_dll_pll;
if (d_enable_extended_integration == true) if (d_enable_extended_integration == true)
{ {
const int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s)); const int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples - d_preamble_timestamp_samples) / static_cast<double>(d_fs_in)));
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0) if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
{ {
// compute coherent integration and enable tracking loop // compute coherent integration and enable tracking loop
@ -663,6 +663,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
// perform basic (1ms) correlation // perform basic (1ms) correlation
// UPDATE INTEGRATION TIME // UPDATE INTEGRATION TIME
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in); CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
d_code_loop_filter.set_pdi(static_cast<float>(CURRENT_INTEGRATION_TIME_S));
enable_dll_pll = true; enable_dll_pll = true;
} }
} }

2
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
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@ -165,7 +165,7 @@ private:
double d_pll_to_dll_assist_secs_Ti; double d_pll_to_dll_assist_secs_Ti;
double d_carr_phase_error_secs_Ti; double d_carr_phase_error_secs_Ti;
double d_code_error_chips_Ti; double d_code_error_chips_Ti;
double d_preamble_timestamp_s; double d_preamble_timestamp_samples;
int32_t d_extend_correlation_ms; int32_t d_extend_correlation_ms;
double d_code_error_filt_chips_s; double d_code_error_filt_chips_s;
double d_code_error_filt_chips_Ti; double d_code_error_filt_chips_Ti;