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Hybrid PVT working!! It was a problem with the timestamp account in the

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correlators due to the differences in the correlation time (PRN length).
Only corrected on GPS_DLL_PLL and Galileo veml correlator.
This commit is contained in:
Javier Arribas
2014-06-30 17:48:01 +02:00
parent e7c4b35238
commit abe9ca9450
14 changed files with 704 additions and 261 deletions
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8
conf/gnss-sdr_GPS_hybrid_short.conf
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@@ -194,7 +194,7 @@ Acquisition_GPS.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
Acquisition_GPS.threshold=0.01 Acquisition_GPS.threshold=0.0075
;#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_GPS.pfa=0.01 ;Acquisition_GPS.pfa=0.01
;#doppler_max: Maximum expected Doppler shift [Hz] ;#doppler_max: Maximum expected Doppler shift [Hz]
@@ -220,7 +220,7 @@ Acquisition_Galileo.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition_Galileo.threshold=0 ;Acquisition_Galileo.threshold=0
;#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_Galileo.pfa=0.00002 Acquisition_Galileo.pfa=0.0000008
;#doppler_max: Maximum expected Doppler shift [Hz] ;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition_Galileo.doppler_max=15000 Acquisition_Galileo.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
@@ -243,7 +243,7 @@ Tracking_GPS.dump=false
Tracking_GPS.dump_filename=../data/epl_tracking_ch_ Tracking_GPS.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_GPS.pll_bw_hz=50.0; Tracking_GPS.pll_bw_hz=45.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_GPS.dll_bw_hz=4.0; Tracking_GPS.dll_bw_hz=4.0;
@@ -271,7 +271,7 @@ Tracking_Galileo.dump=false
Tracking_Galileo.dump_filename=../data/veml_tracking_ch_ Tracking_Galileo.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_Galileo.pll_bw_hz=20.0; Tracking_Galileo.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_Galileo.dll_bw_hz=2.0; Tracking_Galileo.dll_bw_hz=2.0;

5
conf/gnss-sdr_Galileo_E1.conf
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@@ -164,12 +164,11 @@ Resampler.sample_freq_out=4000000
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available satellite channels.
;#count: Number of available GPS satellite channels. ;#count: Number of available GPS satellite channels.
Channels_GPS.count=0 Channels_GPS.count=0
;#count: Number of available Galileo satellite channels. ;#count: Number of available Galileo satellite channels.
Channels_Galileo.count=4 Channels_Galileo.count=4
;#in_acquisition: Number of channels simultaneously acquiring ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1 Channels.in_acquisition=1
;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS ;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
;#if the option is disabled by default is assigned GPS ;#if the option is disabled by default is assigned GPS
@@ -281,7 +280,7 @@ Acquisition_Galileo.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition.threshold=0 ;Acquisition.threshold=0
;#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_Galileo.pfa=0.00003 Acquisition_Galileo.pfa=0.0000008
;#doppler_max: Maximum expected Doppler shift [Hz] ;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition_Galileo.doppler_max=15000 Acquisition_Galileo.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]

94
conf/gnss-sdr_Galileo_E1_IFEN.conf
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@@ -19,7 +19,7 @@ ControlThread.wait_for_flowgraph=false
SignalSource.implementation=Nsr_File_Signal_Source SignalSource.implementation=Nsr_File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed ;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/media/DATALOGGER/ION GNSS 2013/E1L1_FE0_Band0.stream SignalSource.filename=/Volumes/BOOTCAMP/signals/ifen/E1L1_FE0_Band0.stream
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte SignalSource.item_type=byte
@@ -148,11 +148,12 @@ InputFilter.decimation_factor=8
;#[Pass_Through] disables this block ;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation ;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available satellite channels. ;#count: Number of available GPS satellite channels.
Channels.count=6 Channels_GPS.count=0
;#in_acquisition: Number of channels simultaneously acquiring ;#count: Number of available Galileo satellite channels.
Channels_Galileo.count=6
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1 Channels.in_acquisition=1
;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS ;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
;#if the option is disabled by default is assigned GPS ;#if the option is disabled by default is assigned GPS
@@ -217,78 +218,115 @@ Channel.system=Galileo
;#if the option is disabled by default is assigned "1C" GPS L1 C/A ;#if the option is disabled by default is assigned "1C" GPS L1 C/A
Channel.signal=1B Channel.signal=1B
;Galileo FM3 -> PRN 19
;Galileo FM4 -> PRN 20
;######### CHANNEL 0 CONFIG ############
;Channel0.system=Galileo
;Channel0.signal=1B
;#satellite: Satellite PRN ID for this channel. Disable this option to random search
;Channel0.satellite=20
;######### CHANNEL 1 CONFIG ############
;Channel1.system=Galileo
;Channel1.signal=1B
;Channel1.satellite=12
;######### CHANNEL 2 CONFIG ############
;Channel2.system=Galileo
;Channel2.signal=1B
;#satellite: Satellite PRN ID for this channel. Disable this option to random search
;Channel2.satellite=11
;######### CHANNEL 3 CONFIG ############
;Channel3.system=Galileo
;Channel3.signal=1B
;Channel3.satellite=19
;######### ACQUISITION GLOBAL CONFIG ############ ;######### 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 Acquisition.dump=false
;#filename: Log path and filename ;#filename: Log path and filename
Acquisition.dump_filename=./acq_dump.dat Acquisition_Galileo.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition.item_type=gr_complex Acquisition_Galileo.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz] ;#if: Signal intermediate frequency in [Hz]
Acquisition.if=0 Acquisition_Galileo.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms] ;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition.sampled_ms=4 Acquisition_Galileo.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition Acquisition_Galileo.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold ;#threshold: Acquisition threshold
;Acquisition.threshold=0 ;Acquisition.threshold=0
;#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=0.00001 Acquisition_Galileo.pfa=0.0000008
;#doppler_max: Maximum expected Doppler shift [Hz] ;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition.doppler_max=10000 Acquisition_Galileo.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz] ;#doppler_max: Doppler step in the grid search [Hz]
Acquisition.doppler_step=125 Acquisition_Galileo.doppler_step=125
;######### ACQUISITION CHANNELS CONFIG ###### ;######### ACQUISITION CHANNELS CONFIG ######
;######### ACQUISITION CH 0 CONFIG ############ ;######### ACQUISITION CH 0 CONFIG ############
;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false ;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false
;Acquisition0.repeat_satellite = false ;Acquisition_Galileo0.repeat_satellite = true
;Acquisition_Galileo1.repeat_satellite = true
;Acquisition_Galileo2.repeat_satellite = true
;Acquisition_Galileo3.repeat_satellite = true
;#cboc: Only for [Galileo_E1_PCPS_Ambiguous_Acquisition]. This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false]. ;#cboc: Only for [Galileo_E1_PCPS_Ambiguous_Acquisition]. This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false].
;#Use only if GNSS-SDR.internal_fs_hz is greater than or equal to 6138000 ;#Use only if GNSS-SDR.internal_fs_hz is greater than or equal to 6138000
Acquisition0.cboc=false Acquisition_Galileo0.cboc=false
;######### ACQUISITION CH 1 CONFIG ############ ;######### ACQUISITION CH 1 CONFIG ############
Acquisition1.cboc=false Acquisition_Galileo1.cboc=false
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking] ;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_Galileo.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
Tracking.item_type=gr_complex Tracking_Galileo.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz] ;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking.if=0 Tracking_Galileo.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 Tracking_Galileo.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. ;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking.dump_filename=../data/veml_tracking_ch_ Tracking_Galileo.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz] ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking.pll_bw_hz=20.0; Tracking_Galileo.pll_bw_hz=20.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz] ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking.dll_bw_hz=2.0; Tracking_Galileo.dll_bw_hz=2.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking_Galileo.fll_bw_hz=10.0;
;#order: PLL/DLL loop filter order [2] or [3] ;#order: PLL/DLL loop filter order [2] or [3]
Tracking.order=3; Tracking_Galileo.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo ;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking.early_late_space_chips=0.15; Tracking_Galileo.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] ;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking.very_early_late_space_chips=0.6; Tracking_Galileo.very_early_late_space_chips=0.6;
;######### TELEMETRY DECODER CONFIG ############ ;######### TELEMETRY DECODER CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A or [Galileo_E1B_Telemetry_Decoder] for Galileo E1B ;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A or [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_Galileo.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder.dump=false TelemetryDecoder_Galileo.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A. ;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.

328
conf/gnss-sdr_Hybrid_IFEN.conf Normal file
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@@ -0,0 +1,328 @@
; Default configuration file
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
;GNSS-SDR.internal_fs_hz=6826700
GNSS-SDR.internal_fs_hz=2560000
;GNSS-SDR.internal_fs_hz=4096000
;GNSS-SDR.internal_fs_hz=5120000
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource.implementation=Nsr_File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/Volumes/BOOTCAMP/signals/ifen/E1L1_FE0_Band0.stream
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=20480000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
SignalSource.subdevice=B:0
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
;## 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
;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data.
;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Pass_Through
DataTypeAdapter.item_type=float
;######### INPUT_FILTER CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation
;# that shifts IF down to zero Hz.
InputFilter.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#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.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse
;#reponse given a set of band edges, the desired reponse on those bands,
;#and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter.input_item_type=float
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter.number_of_bands=2
;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
;#The number of band_begin and band_end elements must match the number of bands
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.45
InputFilter.band2_begin=0.55
InputFilter.band2_end=1.0
;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
;#The number of ampl_begin and ampl_end elements must match the number of bands
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
;#band_error: weighting applied to each band (usually 1).
;#The number of band_error elements must match the number of bands
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter.filter_type=bandpass
;#grid_density: determines how accurately the filter will be constructed.
;The minimum value is 16; higher values are slower to compute the filter.
InputFilter.grid_density=16
;# Original sampling frequency stored in the signal file
InputFilter.sampling_frequency=20480000
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
InputFilter.IF=5499998.47412109
;# Decimation factor after the frequency tranaslating block
InputFilter.decimation_factor=8
;######### RESAMPLER CONFIG ############
;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
Resampler.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels.
Channels_GPS.count=4
;#count: Number of available Galileo satellite channels.
Channels_Galileo.count=4
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1
;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
;#if the option is disabled by default is assigned GPS
Channel.system=GPS, Galileo
;#signal:
;#if the option is disabled by default is assigned "1C" GPS L1 C/A
Channel.signal=1C
;######### GPS ACQUISITION CONFIG ############
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_GPS.dump=false
;#filename: Log path and filename
Acquisition_GPS.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_GPS.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition_GPS.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_GPS.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold
Acquisition_GPS.threshold=0.0075
;#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_GPS.pfa=0.01
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition_GPS.doppler_max=10000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_GPS.doppler_step=500
;######### GALILEO ACQUISITION CONFIG ############
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_Galileo.dump=false
;#filename: Log path and filename
Acquisition_Galileo.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_Galileo.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition_Galileo.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_Galileo.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_Galileo.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold
;Acquisition_Galileo.threshold=0
;#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_Galileo.pfa=0.0000008
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition_Galileo.doppler_max=15000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_Galileo.doppler_step=125
;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_GPS.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_GPS.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_GPS.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_GPS.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_GPS.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_GPS.pll_bw_hz=45.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_GPS.dll_bw_hz=4.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking_GPS.fll_bw_hz=10.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_GPS.order=3;
;######### TRACKING GALILEO CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_Galileo.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
Tracking_Galileo.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_Galileo.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_Galileo.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_Galileo.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_Galileo.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_Galileo.dll_bw_hz=2.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking_Galileo.fll_bw_hz=10.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_Galileo.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_Galileo.early_late_space_chips=0.15;
;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
Tracking_Galileo.very_early_late_space_chips=0.6;
;######### TELEMETRY DECODER GPS CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_GPS.dump=false
;#decimation factor
TelemetryDecoder_GPS.decimation_factor=4;
;######### TELEMETRY DECODER GALILEO CONFIG ############
;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_Galileo.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_Galileo.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
PVT.implementation=Hybrid_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=10
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=false
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=10;
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500;
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;######### OUTPUT_FILTER CONFIG ############
;# Receiver output filter: Leave this block disabled in this version
OutputFilter.implementation=Null_Sink_Output_Filter
OutputFilter.filename=data/gnss-sdr.dat
OutputFilter.item_type=gr_complex

24
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
View File

@@ -152,7 +152,7 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
//d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges) //d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
d_TOW_at_curr_symbol_constellation=in[i][0].d_TOW_at_current_symbol; // d_TOW_at_current_symbol not corrected by delta t (just for debug) d_TOW_at_curr_symbol_constellation=in[i][0].d_TOW_at_current_symbol; // d_TOW_at_current_symbol not corrected by delta t (just for debug)
d_rx_time = in[i][0].d_TOW_hybrid_at_current_symbol; // hybrid rx time, all the channels have the same RX timestamp (common RX time pseudoranges) d_rx_time = in[i][0].d_TOW_hybrid_at_current_symbol; // hybrid rx time, all the channels have the same RX timestamp (common RX time pseudoranges)
std::cout<<"CH PVT = "<< i << ", d_TOW = " << d_TOW_at_curr_symbol_constellation<<", rx_time_hybrid_PVT = " << d_rx_time << " same RX timestamp (common RX time pseudoranges)"<< std::endl; //std::cout<<"CH PVT = "<< i << ", d_TOW = " << d_TOW_at_curr_symbol_constellation<<", rx_time_hybrid_PVT = " << d_rx_time << " same RX timestamp (common RX time pseudoranges)"<< std::endl;
} }
} }
@@ -197,19 +197,21 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
// ############ 2 COMPUTE THE PVT ################################ // ############ 2 COMPUTE THE PVT ################################
if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0) // ToDo: relax this condition because the receiver shuld work even with NO GALILEO SATELLITES
//if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0)
if (gnss_pseudoranges_map.size() > 0)
{ {
std::cout << "Both GPS and Galileo ephemeris map have been filled " << std::endl; //std::cout << "Both GPS and Galileo ephemeris map have been filled " << std::endl;
// compute on the fly PVT solution // compute on the fly PVT solution
if ((d_sample_counter % d_output_rate_ms) == 0) if ((d_sample_counter % d_output_rate_ms) == 0)
{ {
bool pvt_result; //bool pvt_result;
pvt_result = d_ls_pvt->get_PVT(gnss_pseudoranges_map, d_rx_time, d_flag_averaging); d_ls_pvt->get_PVT(gnss_pseudoranges_map, d_rx_time, d_flag_averaging);
std::cout << "pvt_result = " << pvt_result << std::endl; //std::cout << "pvt_result = " << pvt_result << std::endl;
if (pvt_result == true) if (d_ls_pvt->b_valid_position == true)
{ {
//IMPLEMENT KML OUTPUT d_kml_dump.print_position_galileo(d_ls_pvt, d_flag_averaging); d_kml_dump.print_position_hybrid(d_ls_pvt, d_flag_averaging);
//ToDo: Implement Galileo RINEX and Galileo NMEA outputs //ToDo: Implement Galileo RINEX and Galileo NMEA outputs
// d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging); // d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
// //
@@ -247,15 +249,15 @@ int hybrid_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
if (((d_sample_counter % d_display_rate_ms) == 0) and d_ls_pvt->b_valid_position == true) if (((d_sample_counter % d_display_rate_ms) == 0) and d_ls_pvt->b_valid_position == true)
{ {
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time) std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d << " using "<<d_ls_pvt->d_valid_observations<<" observations is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl; << " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time) LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d << " using "<<d_ls_pvt->d_valid_observations<<" observations is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]"; << " [deg], Height= " << d_ls_pvt->d_height_m << " [m]";
LOG(INFO) << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time) LOG(INFO) << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " is HDOP = " << d_ls_pvt->d_HDOP << " VDOP = " << " using "<<d_ls_pvt->d_valid_observations<<" observations is HDOP = " << d_ls_pvt->d_HDOP << " VDOP = "
<< d_ls_pvt->d_VDOP <<" TDOP = " << d_ls_pvt->d_TDOP << d_ls_pvt->d_VDOP <<" TDOP = " << d_ls_pvt->d_TDOP
<< " GDOP = " << d_ls_pvt->d_GDOP; << " GDOP = " << d_ls_pvt->d_GDOP;
} }

334
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
View File

@@ -251,7 +251,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
if (gnss_pseudoranges_iter->second.System == 'E') if (gnss_pseudoranges_iter->second.System == 'E')
{ {
std::cout << "Satellite System: " << gnss_pseudoranges_iter->second.System <<std::endl; //std::cout << "Satellite System: " << gnss_pseudoranges_iter->second.System <<std::endl;
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_pseudoranges_iter->first); galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_pseudoranges_iter->first);
if (galileo_ephemeris_iter != galileo_ephemeris_map.end()) if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
@@ -270,7 +270,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
//JAVIER VERSION: //JAVIER VERSION:
double Rx_time = hybrid_current_time; double Rx_time = hybrid_current_time;
std::cout<<"Gal_Rx_time = "<< Rx_time << std::endl; //std::cout<<"Gal_Rx_time = "<< Rx_time << std::endl;
//to compute satellite position we need GST = WN+TOW (everything expressed in seconds) //to compute satellite position we need GST = WN+TOW (everything expressed in seconds)
//double Rx_time = galileo_current_time + Galileo_week_number*sec_in_day*day_in_week; //double Rx_time = galileo_current_time + Galileo_week_number*sec_in_day*day_in_week;
@@ -322,7 +322,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
<< " [m] Y=" << galileo_ephemeris_iter->second.d_satpos_Y << " [m] Y=" << galileo_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << galileo_ephemeris_iter->second.d_satpos_Z << " [m] Z=" << galileo_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs=" << obs(obs_counter) << " [m]"; << " [m] PR_obs=" << obs(obs_counter) << " [m]";
std::cout<<"E"<<galileo_ephemeris_iter->second.i_satellite_PRN<< " satellite position computed"<< std::endl; //std::cout<<"E"<<galileo_ephemeris_iter->second.i_satellite_PRN<< " satellite position computed"<< std::endl;
} }
else // the ephemeris are not available for this SV else // the ephemeris are not available for this SV
@@ -337,7 +337,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
} }
else if (gnss_pseudoranges_iter->second.System == 'G') else if (gnss_pseudoranges_iter->second.System == 'G')
{ {
std::cout << "Satellite System: " << gnss_pseudoranges_iter->second.System <<std::endl; //std::cout << "Satellite System: " << gnss_pseudoranges_iter->second.System <<std::endl;
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key // 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_pseudoranges_iter->first); gps_ephemeris_iter = gps_ephemeris_map.find(gnss_pseudoranges_iter->first);
if (gps_ephemeris_iter != gps_ephemeris_map.end()) if (gps_ephemeris_iter != gps_ephemeris_map.end())
@@ -350,7 +350,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files) // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
// first estimate of transmit time // first estimate of transmit time
double Rx_time = hybrid_current_time; double Rx_time = hybrid_current_time;
std::cout<<"Gps_Rx_time = "<< Rx_time << std::endl; //std::cout<<"Gps_Rx_time = "<< Rx_time << std::endl;
double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m/GPS_C_m_s; double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m/GPS_C_m_s;
//std::cout<<"Gps_Tx_time = "<< Tx_time << std::endl; //std::cout<<"Gps_Tx_time = "<< Tx_time << std::endl;
// 2- compute the clock drift using the clock model (broadcast) for this SV // 2- compute the clock drift using the clock model (broadcast) for this SV
@@ -380,7 +380,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
<< " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y << " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z << " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs=" << obs(obs_counter) << " [m]"; << " [m] PR_obs=" << obs(obs_counter) << " [m]";
std::cout<<"G"<<gps_ephemeris_iter->second.i_satellite_PRN<< " satellite position computed"<< std::endl; //std::cout<<"G"<<gps_ephemeris_iter->second.i_satellite_PRN<< " satellite position computed"<< std::endl;
@@ -405,174 +405,180 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, do
obs_counter++; obs_counter++;
std::cout<<"Number of observations in PVT = " << obs_counter << std::endl;
} }
//std::cout<<"Number of observations in PVT = " << obs_counter << std::endl;
// ******************************************************************************** // ********************************************************************************
// ****** SOLVE LEAST SQUARES****************************************************** // ****** SOLVE LEAST SQUARES******************************************************
// ******************************************************************************** // ********************************************************************************
d_valid_observations = valid_obs; d_valid_observations = valid_obs;
LOG(INFO) << "Galileo PVT: valid observations=" << valid_obs; LOG(INFO) << "HYBRID PVT: valid observations=" << valid_obs;
if (valid_obs >= 4) if (valid_obs >= 4)
{ {
//std::cout<<"LS SOLVER CALLED " << obs_counter << std::endl;
arma::vec mypos;
//std::cout << "satpos=" << satpos;
//std::cout << "obs="<< obs;
//std::cout << "W=" << W;
DLOG(INFO) << "satpos=" << satpos;
DLOG(INFO) << "obs="<< obs;
DLOG(INFO) << "W=" << W;
mypos = leastSquarePos(satpos, obs, W);
// arma::vec mypos; // Compute GST and Gregorian time
// DLOG(INFO) << "satpos=" << satpos; double GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time);
// DLOG(INFO) << "obs="<< obs; utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
// DLOG(INFO) << "W=" << W; // get time string Gregorian calendar
// mypos = leastSquarePos(satpos, obs, W); boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
// // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
// // Compute GST and Gregorian time boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
// double GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time); d_position_UTC_time = p_time;
// utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number); LOG(INFO) << "HYBRID Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z) = " << mypos;
// // get time string Gregorian calendar
// boost::posix_time::time_duration t = boost::posix_time::seconds(utc); cart2geo((double)mypos(0), (double)mypos(1), (double)mypos(2), 4);
// // 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2) //ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km)
// boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t); if (d_height_m > 50000)
// d_position_UTC_time = p_time; {
// LOG(INFO) << "Galileo Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z) = " << mypos; b_valid_position = false;
// LOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
// cart2geo((double)mypos(0), (double)mypos(1), (double)mypos(2), 4); << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
// //ToDo: Find an Observables/PVT random bug with some satellite configurations that gives an erratic PVT solution (i.e. height>50 km) << " [deg], Height= " << d_height_m << " [m]";
// if (d_height_m > 50000)
// { std::cout << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
// b_valid_position = false; << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
// return false; << " [deg], Height= " << d_height_m << " [m]" << std::endl;
// } return false;
// LOG(INFO) << "Galileo Position at " << boost::posix_time::to_simple_string(p_time) }
// << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
// << " [deg], Height= " << d_height_m << " [m]"; LOG(INFO) << "Hybrid Position at " << boost::posix_time::to_simple_string(p_time)
// << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
// std::cout << "Galileo Position at " << boost::posix_time::to_simple_string(p_time) << " [deg], Height= " << d_height_m << " [m]";
// << " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d // ###### Compute DOPs ########
// << " [deg], Height= " << d_height_m << " [m]" << std::endl; // 1- Rotation matrix from ECEF coordinates to ENU coordinates
// // ref: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates
// // ###### Compute DOPs ######## arma::mat F = arma::zeros(3,3);
// // 1- Rotation matrix from ECEF coordinates to ENU coordinates F(0,0) = -sin(GPS_TWO_PI*(d_longitude_d/360.0));
// // ref: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates F(0,1) = -sin(GPS_TWO_PI*(d_latitude_d/360.0))*cos(GPS_TWO_PI*(d_longitude_d/360.0));
// arma::mat F = arma::zeros(3,3); F(0,2) = cos(GPS_TWO_PI*(d_latitude_d/360.0))*cos(GPS_TWO_PI*(d_longitude_d/360.0));
// F(0,0) = -sin(GPS_TWO_PI*(d_longitude_d/360.0));
// F(0,1) = -sin(GPS_TWO_PI*(d_latitude_d/360.0))*cos(GPS_TWO_PI*(d_longitude_d/360.0)); F(1,0) = cos((GPS_TWO_PI*d_longitude_d)/360.0);
// F(0,2) = cos(GPS_TWO_PI*(d_latitude_d/360.0))*cos(GPS_TWO_PI*(d_longitude_d/360.0)); F(1,1) = -sin((GPS_TWO_PI*d_latitude_d)/360.0)*sin((GPS_TWO_PI*d_longitude_d)/360.0);
// F(1,2) = cos((GPS_TWO_PI*d_latitude_d/360.0))*sin((GPS_TWO_PI*d_longitude_d)/360.0);
// F(1,0) = cos((GPS_TWO_PI*d_longitude_d)/360.0);
// F(1,1) = -sin((GPS_TWO_PI*d_latitude_d)/360.0)*sin((GPS_TWO_PI*d_longitude_d)/360.0); F(2,0) = 0;
// F(1,2) = cos((GPS_TWO_PI*d_latitude_d/360.0))*sin((GPS_TWO_PI*d_longitude_d)/360.0); F(2,1) = cos((GPS_TWO_PI*d_latitude_d)/360.0);
// F(2,2) = sin((GPS_TWO_PI*d_latitude_d/360.0));
// F(2,0) = 0;
// F(2,1) = cos((GPS_TWO_PI*d_latitude_d)/360.0); // 2- Apply the rotation to the latest covariance matrix (available in ECEF from LS)
// F(2,2) = sin((GPS_TWO_PI*d_latitude_d/360.0)); arma::mat Q_ECEF = d_Q.submat(0, 0, 2, 2);
// arma::mat DOP_ENU = arma::zeros(3, 3);
// // 2- Apply the rotation to the latest covariance matrix (available in ECEF from LS)
// arma::mat Q_ECEF = d_Q.submat(0, 0, 2, 2); try
// arma::mat DOP_ENU = arma::zeros(3, 3); {
// DOP_ENU = arma::htrans(F)*Q_ECEF*F;
// try d_GDOP = sqrt(arma::trace(DOP_ENU)); // Geometric DOP
// { d_PDOP = sqrt(DOP_ENU(0,0) + DOP_ENU(1,1) + DOP_ENU(2,2)); // PDOP
// DOP_ENU = arma::htrans(F)*Q_ECEF*F; d_HDOP = sqrt(DOP_ENU(0,0) + DOP_ENU(1,1)); // HDOP
// d_GDOP = sqrt(arma::trace(DOP_ENU)); // Geometric DOP d_VDOP = sqrt(DOP_ENU(2,2)); // VDOP
// d_PDOP = sqrt(DOP_ENU(0,0) + DOP_ENU(1,1) + DOP_ENU(2,2)); // PDOP d_TDOP = sqrt(d_Q(3,3)); // TDOP
// d_HDOP = sqrt(DOP_ENU(0,0) + DOP_ENU(1,1)); // HDOP }
// d_VDOP = sqrt(DOP_ENU(2,2)); // VDOP catch(std::exception& ex)
// d_TDOP = sqrt(d_Q(3,3)); // TDOP {
// } d_GDOP = -1; // Geometric DOP
// catch(std::exception& ex) d_PDOP = -1; // PDOP
// { d_HDOP = -1; // HDOP
// d_GDOP = -1; // Geometric DOP d_VDOP = -1; // VDOP
// d_PDOP = -1; // PDOP d_TDOP = -1; // TDOP
// d_HDOP = -1; // HDOP }
// d_VDOP = -1; // VDOP
// d_TDOP = -1; // TDOP // ######## LOG FILE #########
// } if(d_flag_dump_enabled == true)
// {
// // ######## LOG FILE ######### // MULTIPLEXED FILE RECORDING - Record results to file
// if(d_flag_dump_enabled == true) try
// { {
// // MULTIPLEXED FILE RECORDING - Record results to file double tmp_double;
// try // PVT GPS time
// { tmp_double = hybrid_current_time;
// double tmp_double; d_dump_file.write((char*)&tmp_double, sizeof(double));
// // PVT GPS time // ECEF User Position East [m]
// tmp_double = hybrid_current_time; tmp_double = mypos(0);
// d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
// // ECEF User Position East [m] // ECEF User Position North [m]
// tmp_double = mypos(0); tmp_double = mypos(1);
// d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
// // ECEF User Position North [m] // ECEF User Position Up [m]
// tmp_double = mypos(1); tmp_double = mypos(2);
// d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
// // ECEF User Position Up [m] // User clock offset [s]
// tmp_double = mypos(2); tmp_double = mypos(3);
// d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
// // User clock offset [s] // GEO user position Latitude [deg]
// tmp_double = mypos(3); tmp_double = d_latitude_d;
// d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
// // GEO user position Latitude [deg] // GEO user position Longitude [deg]
// tmp_double = d_latitude_d; tmp_double = d_longitude_d;
// d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
// // GEO user position Longitude [deg] // GEO user position Height [m]
// tmp_double = d_longitude_d; tmp_double = d_height_m;
// d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
// // GEO user position Height [m] }
// tmp_double = d_height_m; catch (const std::ifstream::failure& e)
// d_dump_file.write((char*)&tmp_double, sizeof(double)); {
// } LOG(WARNING) << "Exception writing PVT LS dump file "<< e.what();
// catch (const std::ifstream::failure& e) }
// { }
// LOG(WARNING) << "Exception writing PVT LS dump file "<< e.what();
// } // MOVING AVERAGE PVT
// } if (flag_averaging == true)
// {
// // MOVING AVERAGE PVT if (d_hist_longitude_d.size() == (unsigned int)d_averaging_depth)
// if (flag_averaging == true) {
// { // Pop oldest value
// if (d_hist_longitude_d.size() == (unsigned int)d_averaging_depth) d_hist_longitude_d.pop_back();
// { d_hist_latitude_d.pop_back();
// // Pop oldest value d_hist_height_m.pop_back();
// d_hist_longitude_d.pop_back(); // Push new values
// d_hist_latitude_d.pop_back(); d_hist_longitude_d.push_front(d_longitude_d);
// d_hist_height_m.pop_back(); d_hist_latitude_d.push_front(d_latitude_d);
// // Push new values d_hist_height_m.push_front(d_height_m);
// d_hist_longitude_d.push_front(d_longitude_d);
// d_hist_latitude_d.push_front(d_latitude_d); d_avg_latitude_d = 0;
// d_hist_height_m.push_front(d_height_m); d_avg_longitude_d = 0;
// d_avg_height_m = 0;
// d_avg_latitude_d = 0; for (unsigned int i = 0; i < d_hist_longitude_d.size(); i++)
// d_avg_longitude_d = 0; {
// d_avg_height_m = 0; d_avg_latitude_d = d_avg_latitude_d + d_hist_latitude_d.at(i);
// for (unsigned int i = 0; i < d_hist_longitude_d.size(); i++) d_avg_longitude_d = d_avg_longitude_d + d_hist_longitude_d.at(i);
// { d_avg_height_m = d_avg_height_m + d_hist_height_m.at(i);
// d_avg_latitude_d = d_avg_latitude_d + d_hist_latitude_d.at(i); }
// d_avg_longitude_d = d_avg_longitude_d + d_hist_longitude_d.at(i); d_avg_latitude_d = d_avg_latitude_d / (double)d_averaging_depth;
// d_avg_height_m = d_avg_height_m + d_hist_height_m.at(i); d_avg_longitude_d = d_avg_longitude_d / (double)d_averaging_depth;
// } d_avg_height_m = d_avg_height_m / (double)d_averaging_depth;
// d_avg_latitude_d = d_avg_latitude_d / (double)d_averaging_depth; b_valid_position = true;
// d_avg_longitude_d = d_avg_longitude_d / (double)d_averaging_depth; return true; //indicates that the returned position is valid
// d_avg_height_m = d_avg_height_m / (double)d_averaging_depth; }
// b_valid_position = true; else
// return true; //indicates that the returned position is valid {
// } // int current_depth=d_hist_longitude_d.size();
// else // Push new values
// { d_hist_longitude_d.push_front(d_longitude_d);
// // int current_depth=d_hist_longitude_d.size(); d_hist_latitude_d.push_front(d_latitude_d);
// // Push new values d_hist_height_m.push_front(d_height_m);
// d_hist_longitude_d.push_front(d_longitude_d);
// d_hist_latitude_d.push_front(d_latitude_d); d_avg_latitude_d = d_latitude_d;
// d_hist_height_m.push_front(d_height_m); d_avg_longitude_d = d_longitude_d;
// d_avg_height_m = d_height_m;
// d_avg_latitude_d = d_latitude_d; b_valid_position = false;
// d_avg_longitude_d = d_longitude_d; return false; //indicates that the returned position is not valid yet
// d_avg_height_m = d_height_m; }
// b_valid_position = false; }
// return false; //indicates that the returned position is not valid yet else
// } {
// } b_valid_position = true;
// else return true; //indicates that the returned position is valid
// { }
// b_valid_position = true;
// return true; //indicates that the returned position is valid
// }
} }
else else
{ {

28
src/algorithms/PVT/libs/kml_printer.cc
View File

@@ -142,6 +142,34 @@ bool Kml_Printer::print_position_galileo(galileo_e1_ls_pvt* position,bool print_
} }
} }
bool Kml_Printer::print_position_hybrid(hybrid_ls_pvt* position,bool print_average_values)
{
double latitude;
double longitude;
double height;
if (print_average_values == false)
{
latitude = position->d_latitude_d;
longitude = position->d_longitude_d;
height = position->d_height_m;
}
else
{
latitude = position->d_avg_latitude_d;
longitude = position->d_avg_longitude_d;
height = position->d_avg_height_m;
}
if (kml_file.is_open())
{
kml_file << longitude << "," << latitude << "," << height << std::endl;
return true;
}
else
{
return false;
}
}
bool Kml_Printer::close_file() bool Kml_Printer::close_file()
{ {

3
src/algorithms/PVT/libs/kml_printer.h
View File

@@ -38,7 +38,7 @@
#include <string> #include <string>
#include "gps_l1_ca_ls_pvt.h" #include "gps_l1_ca_ls_pvt.h"
#include "galileo_e1_ls_pvt.h" #include "galileo_e1_ls_pvt.h"
#include "hybrid_ls_pvt.h"
/*! /*!
* \brief Prints PVT information to OGC KML format file (can be viewed with Google Earth) * \brief Prints PVT information to OGC KML format file (can be viewed with Google Earth)
@@ -53,6 +53,7 @@ public:
bool set_headers(std::string filename); bool set_headers(std::string filename);
bool print_position(gps_l1_ca_ls_pvt* position, bool print_average_values); bool print_position(gps_l1_ca_ls_pvt* position, bool print_average_values);
bool print_position_galileo(galileo_e1_ls_pvt* position, bool print_average_values); bool print_position_galileo(galileo_e1_ls_pvt* position, bool print_average_values);
bool print_position_hybrid(hybrid_ls_pvt* position, bool print_average_values);
bool close_file(); bool close_file();
Kml_Printer(); Kml_Printer();
~Kml_Printer(); ~Kml_Printer();

82
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
View File

@@ -118,6 +118,7 @@ int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninpu
Gnss_Synchro current_gnss_synchro[d_nchannels]; Gnss_Synchro current_gnss_synchro[d_nchannels];
std::map<int,Gnss_Synchro> current_gnss_synchro_map; std::map<int,Gnss_Synchro> current_gnss_synchro_map;
std::map<int,Gnss_Synchro> current_gnss_synchro_map_gps_only;
std::map<int,Gnss_Synchro>::iterator gnss_synchro_iter; std::map<int,Gnss_Synchro>::iterator gnss_synchro_iter;
d_sample_counter++; //count for the processed samples d_sample_counter++; //count for the processed samples
/* /*
@@ -136,6 +137,10 @@ int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninpu
{ {
//record the word structure in a map for pseudorange computation //record the word structure in a map for pseudorange computation
current_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i])); current_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
if (current_gnss_synchro[i].System=='G')
{
current_gnss_synchro_map_gps_only.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
}
} }
} }
@@ -144,7 +149,7 @@ int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninpu
*/ */
DLOG(INFO)<<"gnss_synchro set size="<<current_gnss_synchro_map.size()<<std::endl; DLOG(INFO)<<"gnss_synchro set size="<<current_gnss_synchro_map.size()<<std::endl;
if(current_gnss_synchro_map.size() > 0) if(current_gnss_synchro_map.size() > 0)// and current_gnss_synchro_map_gps_only.size()>0)
{ {
/* /*
* 2.1 Use CURRENT set of measurements and find the nearest satellite * 2.1 Use CURRENT set of measurements and find the nearest satellite
@@ -152,24 +157,31 @@ int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninpu
*/ */
// what is the most recent symbol TOW in the current set? -> this will be the reference symbol // what is the most recent symbol TOW in the current set? -> this will be the reference symbol
gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), Hybrid_pairCompare_gnss_synchro_d_TOW_hybrid_at_current_symbol); gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), Hybrid_pairCompare_gnss_synchro_d_TOW_hybrid_at_current_symbol);
double d_TOW_reference = gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol; //gnss_synchro_iter = max_element(current_gnss_synchro_map_gps_only.begin(), current_gnss_synchro_map_gps_only.end(), Hybrid_pairCompare_gnss_synchro_d_TOW_hybrid_at_current_symbol);
std::cout<<"d_TOW_hybrid_reference [ms] = "<< d_TOW_reference*1000 <<std::endl; double d_TOW_reference = gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol;
char ref_sat_system=gnss_synchro_iter->second.System;
DLOG(INFO)<<"d_TOW_hybrid_reference [ms] = "<< d_TOW_reference*1000 <<std::endl;
double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms; double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
std::cout<<"ref_PRN_rx_time_ms [ms] = "<< d_ref_PRN_rx_time_ms <<std::endl; DLOG(INFO)<<"ref_PRN_rx_time_ms [ms] = "<< d_ref_PRN_rx_time_ms <<std::endl;
//int reference_channel= gnss_synchro_iter->second.Channel_ID; //int reference_channel= gnss_synchro_iter->second.Channel_ID;
// Now compute RX time differences due to the PRN alignment in the correlators // Now compute RX time differences due to the PRN alignment in the correlators
double traveltime_ms; double traveltime_ms;
double pseudorange_m; double pseudorange_m;
double delta_rx_time_ms; double delta_rx_time_ms;
double delta_TOW_ms;
//std::cout<<"d_sample_counter="<<d_sample_counter<<std::endl;
for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++) for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
{ {
// compute the required symbol history shift in order to match the reference symbol // check and correct synchronization in cross-system pseudoranges!
delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms-d_ref_PRN_rx_time_ms; delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms-d_ref_PRN_rx_time_ms;
delta_TOW_ms = (d_TOW_reference - gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol)*1000.0;
//std::cout<<"delta_rx_time_ms["<<gnss_synchro_iter->second.Channel_ID<<","<<gnss_synchro_iter->second.System<<"]="<<delta_rx_time_ms<<std::endl;
//std::cout<<"delta_TOW_ms["<<gnss_synchro_iter->second.Channel_ID<<","<<gnss_synchro_iter->second.System<<"]="<<delta_TOW_ms<<std::endl;
//compute the pseudorange //compute the pseudorange
traveltime_ms = (d_TOW_reference - gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol)*1000.0 + delta_rx_time_ms + GALILEO_STARTOFFSET_ms; traveltime_ms = delta_TOW_ms + delta_rx_time_ms + GALILEO_STARTOFFSET_ms;
pseudorange_m = traveltime_ms * GALILEO_C_m_ms; // [m] pseudorange_m = traveltime_ms * GALILEO_C_m_ms; // [m]
std::cout<<"CH "<<gnss_synchro_iter->second.Channel_ID<<" tracking GNSS System "<<gnss_synchro_iter->second.System<<" has PRN start at= "<<gnss_synchro_iter->second.Prn_timestamp_ms<<" [ms], d_TOW_at_current_symbol = "<<(gnss_synchro_iter->second.d_TOW_at_current_symbol)*1000<<" [ms], d_TOW_hybrid_at_current_symbol = "<<(gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol)*1000<<"[ms], delta_rx_time_ms = "<< delta_rx_time_ms << "[ms], travel_time = " << traveltime_ms << ", pseudorange[m] = "<< pseudorange_m << std::endl; DLOG(INFO)<<"CH "<<gnss_synchro_iter->second.Channel_ID<<" tracking GNSS System "<<gnss_synchro_iter->second.System<<" has PRN start at= "<<gnss_synchro_iter->second.Prn_timestamp_ms<<" [ms], d_TOW_at_current_symbol = "<<(gnss_synchro_iter->second.d_TOW_at_current_symbol)*1000<<" [ms], d_TOW_hybrid_at_current_symbol = "<<(gnss_synchro_iter->second.d_TOW_hybrid_at_current_symbol)*1000<<"[ms], delta_rx_time_ms = "<< delta_rx_time_ms << "[ms], travel_time = " << traveltime_ms << ", pseudorange[m] = "<< pseudorange_m << std::endl;
// update the pseudorange object // update the pseudorange object
//current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second; //current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
@@ -178,35 +190,37 @@ int hybrid_observables_cc::general_work (int noutput_items, gr_vector_int &ninpu
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_hybrid_at_current_symbol = round(d_TOW_reference*1000)/1000 + GALILEO_STARTOFFSET_ms/1000.0; current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_hybrid_at_current_symbol = round(d_TOW_reference*1000)/1000 + GALILEO_STARTOFFSET_ms/1000.0;
} }
std::cout<<std::endl; //std::cout<<std::endl;
} }
// if(d_dump == true) if(d_dump == true)
// { {
// // MULTIPLEXED FILE RECORDING - Record results to file // MULTIPLEXED FILE RECORDING - Record results to file
// try try
// { {
// double tmp_double; double tmp_double;
// for (unsigned int i = 0; i < d_nchannels ; i++) for (unsigned int i = 0; i < d_nchannels ; i++)
// { {
// tmp_double = current_gnss_synchro[i].d_TOW_at_current_symbol; tmp_double = current_gnss_synchro[i].d_TOW_at_current_symbol;
// d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
// tmp_double = current_gnss_synchro[i].Prn_timestamp_ms; tmp_double = current_gnss_synchro[i].d_TOW_hybrid_at_current_symbol;
// d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
// tmp_double = current_gnss_synchro[i].Pseudorange_m; tmp_double = current_gnss_synchro[i].Prn_timestamp_ms;
// d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
// tmp_double = (double)(current_gnss_synchro[i].Flag_valid_pseudorange==true); tmp_double = current_gnss_synchro[i].Pseudorange_m;
// d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
// tmp_double = current_gnss_synchro[i].PRN; tmp_double = (double)(current_gnss_synchro[i].Flag_valid_pseudorange==true);
// d_dump_file.write((char*)&tmp_double, sizeof(double)); d_dump_file.write((char*)&tmp_double, sizeof(double));
// } tmp_double = current_gnss_synchro[i].PRN;
// } d_dump_file.write((char*)&tmp_double, sizeof(double));
// catch (const std::ifstream::failure& e) }
// { }
// LOG(WARNING) << "Exception writing observables dump file " << e.what(); catch (const std::ifstream::failure& e)
// } {
// } LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
consume_each(1); //consume one by one consume_each(1); //consume one by one

12
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
View File

@@ -418,6 +418,10 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
//2. Add the telemetry decoder information //2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true) if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
//update TOW at the preamble instant //update TOW at the preamble instant
// JAVI: 30/06/2014
// TOW, in Galileo, is referred to the START of the PAGE PART, that is, THE FIRST SYMBOL OF THAT PAGE, NOT THE PREAMBLE.
// thus, no correction should be done. d_TOW_at_Preamble should be renamed to d_TOW_at_page_start.
// Sice we detected the preable, then, we are in the last symbol of that preable, or just at the start of the first page symbol.
//flag preamble is true after the all page (even and odd) is recevived. I/NAV page period is 2 SECONDS //flag preamble is true after the all page (even and odd) is recevived. I/NAV page period is 2 SECONDS
{ {
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0; Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
@@ -428,7 +432,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
/* 1 sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD) is added because /* 1 sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD) is added because
* if we have a TOW value it means that we are at the begining of the last page part * if we have a TOW value it means that we are at the begining of the last page part
* (GNU Radio history keeps in a buffer the rest of the incomming frame part)*/ * (GNU Radio history keeps in a buffer the rest of the incomming frame part)*/
d_TOW_at_current_symbol = d_TOW_at_Preamble;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD; d_TOW_at_current_symbol=d_TOW_at_Preamble;//-GALIELO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
d_nav.flag_TOW_5 = false; d_nav.flag_TOW_5 = false;
} }
@@ -440,7 +444,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
/* 1 sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD) is added because /* 1 sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD) is added because
* if we have a TOW value it means that we are at the begining of the last page part * if we have a TOW value it means that we are at the begining of the last page part
* (GNU Radio history keeps in a buffer the rest of the incomming frame part)*/ * (GNU Radio history keeps in a buffer the rest of the incomming frame part)*/
d_TOW_at_current_symbol = d_TOW_at_Preamble;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD; d_TOW_at_current_symbol=d_TOW_at_Preamble;//-GALIELO_E1_CODE_PERIOD;//+ (double)GALILEO_INAV_PREAMBLE_LENGTH_BITS/(double)GALILEO_TELEMETRY_RATE_BITS_SECOND;
d_nav.flag_TOW_6 = false; d_nav.flag_TOW_6 = false;
} }
else else
@@ -461,7 +465,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
if(d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) //all GGTO parameters arrived if(d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) //all GGTO parameters arrived
{ {
delta_t=d_nav.A_0G_10+d_nav.A_1G_10*(d_TOW_at_current_symbol-d_nav.t_0G_10+604800*(fmod((d_nav.WN_0-d_nav.WN_0G_10),64))); delta_t=d_nav.A_0G_10+d_nav.A_1G_10*(d_TOW_at_current_symbol-d_nav.t_0G_10+604800.0*(fmod((d_nav.WN_0-d_nav.WN_0G_10),64)));
} }
@@ -480,7 +484,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
current_synchro_data.d_TOW = d_TOW_at_Preamble; current_synchro_data.d_TOW = d_TOW_at_Preamble;
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol; current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.d_TOW_hybrid_at_current_symbol= current_synchro_data.d_TOW_at_current_symbol - delta_t; //delta_t = t_gal - t_gps ----> t_gps = t_gal -delta_t current_synchro_data.d_TOW_hybrid_at_current_symbol= current_synchro_data.d_TOW_at_current_symbol - delta_t; //delta_t = t_gal - t_gps ----> t_gps = t_gal -delta_t
std::cout<< "delta_t = " << delta_t << std::endl; DLOG(INFO)<< "delta_t = " << delta_t << std::endl;
current_synchro_data.Flag_preamble = d_flag_preamble; current_synchro_data.Flag_preamble = d_flag_preamble;
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0; current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms; current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;

10
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
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@@ -301,10 +301,15 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
//1. Copy the current tracking output //1. Copy the current tracking output
current_synchro_data = in[0][0]; current_synchro_data = in[0][0];
//2. Add the telemetry decoder information //2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_GPS_FSM.d_nav.d_TOW > 0) //update TOW at the preamble instant (todo: check for valid d_TOW) if (this->d_flag_preamble == true and d_GPS_FSM.d_nav.d_TOW > 0)
//update TOW at the preamble instant (todo: check for valid d_TOW)
// JAVI: 30/06/2014
// TOW, in GPS, is referred to the START of the SUBFRAME, that is, THE FIRST SYMBOL OF THAT SUBFRAME, NOT THE PREAMBLE.
// thus, no correction should be done. d_TOW_at_Preamble should be renamed to d_TOW_at_subframe_start.
// Sice we detected the preable, then, we are in the last symbol of that preamble, or just at the start of the first subframe symbol.
{ {
d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + GPS_SUBFRAME_SECONDS; //we decoded the current TOW when the last word of the subframe arrive, so, we have a lag of ONE SUBFRAME d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + GPS_SUBFRAME_SECONDS; //we decoded the current TOW when the last word of the subframe arrive, so, we have a lag of ONE SUBFRAME
d_TOW_at_current_symbol = d_TOW_at_Preamble + GPS_CA_PREAMBLE_LENGTH_BITS/GPS_CA_TELEMETRY_RATE_BITS_SECOND; d_TOW_at_current_symbol = d_TOW_at_Preamble;//GPS_L1_CA_CODE_PERIOD;// + (double)GPS_CA_PREAMBLE_LENGTH_BITS/(double)GPS_CA_TELEMETRY_RATE_BITS_SECOND;
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0; Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
if (flag_TOW_set == false) if (flag_TOW_set == false)
{ {
@@ -345,6 +350,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
} }
//todo: implement averaging //todo: implement averaging
d_average_count++; d_average_count++;
if (d_average_count==d_decimation_output_factor) if (d_average_count==d_decimation_output_factor)
{ {

17
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
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@@ -395,7 +395,7 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
T_prn_samples = T_prn_seconds * (float)d_fs_in; T_prn_samples = T_prn_seconds * (float)d_fs_in;
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs*(float)d_fs_in; K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs*(float)d_fs_in;
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
// ####### CN0 ESTIMATION AND LOCK DETECTORS ###### // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES) if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
@@ -442,9 +442,18 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
current_synchro_data.Prompt_I = (double)(*d_Prompt).real(); current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag(); current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
// Tracking_timestamp_secs is aligned with the PRN start sample
current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + // Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
(double)d_current_prn_length_samples + (double)d_rem_code_phase_samples) / (double)d_fs_in; //compute remnant code phase samples BEFORE the Tracking timestamp
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
//current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter +
// (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples) / (double)d_fs_in;
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_rem_code_phase_samples) / (double)d_fs_in;
//compute remnant code phase samples AFTER the Tracking timestamp
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0 // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
current_synchro_data.Code_phase_secs = 0; current_synchro_data.Code_phase_secs = 0;
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad; current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;

16
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
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@@ -435,7 +435,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
T_prn_samples = T_prn_seconds * (float)d_fs_in; T_prn_samples = T_prn_seconds * (float)d_fs_in;
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs*(float)d_fs_in; K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs*(float)d_fs_in;
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
// ####### CN0 ESTIMATION AND LOCK DETECTORS ###### // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES) if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
@@ -477,8 +477,18 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
// ########### Output the tracking data to navigation and PVT ########## // ########### Output the tracking data to navigation and PVT ##########
current_synchro_data.Prompt_I = (double)(*d_Prompt).real(); current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag(); current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
// Tracking_timestamp_secs is aligned with the PRN start sample
current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples)/(double)d_fs_in; // Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
//compute remnant code phase samples BEFORE the Tracking timestamp
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
//current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples)/(double)d_fs_in;
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_rem_code_phase_samples)/(double)d_fs_in;
//compute remnant code phase samples AFTER the Tracking timestamp
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
//current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter)/(double)d_fs_in;
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0 // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
current_synchro_data.Code_phase_secs = 0; current_synchro_data.Code_phase_secs = 0;
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad; current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;

4
src/core/system_parameters/gnss_synchro.h
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@@ -56,12 +56,10 @@ public:
double CN0_dB_hz; //!< Set by Tracking processing block double CN0_dB_hz; //!< Set by Tracking processing block
double Carrier_Doppler_hz; //!< Set by Tracking processing block double Carrier_Doppler_hz; //!< Set by Tracking processing block
double Carrier_phase_rads; //!< Set by Tracking processing block double Carrier_phase_rads; //!< Set by Tracking processing block
//old
double Code_phase_secs; //!< Set by Tracking processing block double Code_phase_secs; //!< Set by Tracking processing block
double Tracking_timestamp_secs; //!< Set by Tracking processing block double Tracking_timestamp_secs; //!< Set by Tracking processing block
//new
unsigned long int PRN_start_sample; //!< Set by Tracking processing block
bool Flag_valid_tracking; bool Flag_valid_tracking;
//Telemetry Decoder //Telemetry Decoder
double Prn_timestamp_ms; //!< Set by Telemetry Decoder processing block double Prn_timestamp_ms; //!< Set by Telemetry Decoder processing block
double Prn_timestamp_at_preamble_ms; //!< Set by Telemetry Decoder processing block double Prn_timestamp_at_preamble_ms; //!< Set by Telemetry Decoder processing block