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Merge pull request #2 from gnss-sdr/next

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Merging my next branch with gnss-sdr next branch
This commit is contained in:
antonioramosdet 2017-05-28 17:57:41 +02:00 committed by GitHub
commit ad62ff2423
238 changed files with 35627 additions and 10438 deletions
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76
CMakeLists.txt
View File

@ -271,6 +271,14 @@ set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "")
# Append -O2 optimization flag for Debug builds
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O2")
# allow 'large' files in 32 bit builds
if(UNIX)
add_definitions( -D_LARGEFILE_SOURCE
-D_FILE_OFFSET_BITS=64
-D_LARGE_FILES
)
endif(UNIX)
################################################################################
@ -331,7 +339,6 @@ if(OS_IS_LINUX)
endif(OS_IS_LINUX)
################################################################################
# Googletest - https://github.com/google/googletest
################################################################################
@ -443,6 +450,16 @@ endif()
################################################################################
# Lib4cpp - http://log4cpp.sourceforge.net/
################################################################################
find_package(Log4cpp)
if(NOT LOG4CPP_FOUND)
message(FATAL_ERROR "*** Lib4cpp is required to build gnss-sdr")
endif()
################################################################################
# volk_gnsssdr module - GNSS-SDR's own VOLK library
################################################################################
@ -508,9 +525,9 @@ if(NOT VOLK_GNSSSDR_FOUND)
set(CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
set(C_FLAGS "${CMAKE_C_FLAGS} -std=c11")
if(CMAKE_CROSSCOMPILING)
set(VOLK_GNSSSDR_COMPILER "")
else(CMAKE_CROSSCOMPILING)
if(CMAKE_CROSSCOMPILING)
set(VOLK_GNSSSDR_COMPILER "")
else(CMAKE_CROSSCOMPILING)
set(VOLK_GNSSSDR_COMPILER -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER})
endif(CMAKE_CROSSCOMPILING)
set(VOLK_GNSSSDR_CMAKE_ARGS ${VOLK_GNSSSDR_COMPILER}
@ -524,7 +541,7 @@ if(NOT VOLK_GNSSSDR_FOUND)
${STRIP_VOLK_GNSSSDR_PROFILE}
${USE_THIS_PYTHON} )
if(EXISTS $ENV{OECORE_TARGET_SYSROOT})
set(VOLK_GNSSSDR_CMAKE_ARGS ${VOLK_GNSSSDR_CMAKE_ARGS}
set(VOLK_GNSSSDR_CMAKE_ARGS ${VOLK_GNSSSDR_CMAKE_ARGS}
-DCMAKE_TOOLCHAIN_FILE=${CMAKE_CURRENT_SOURCE_DIR}/cmake/Toolchains/oe-sdk_cross.cmake
-DCROSSCOMPILE_MULTILIB=TRUE )
endif(EXISTS $ENV{OECORE_TARGET_SYSROOT})
@ -614,7 +631,7 @@ if(NOT ${ENABLE_OWN_GLOG})
set(GLOG_FOUND ON)
endif(GLOG_INCLUDE_DIRS)
endif(NOT ${ENABLE_OWN_GLOG})
set(glog_RELEASE 0.3.4)
set(glog_RELEASE 0.3.5)
if (NOT GLOG_FOUND OR ${LOCAL_GFLAGS})
message (STATUS " glog library has not been found")
if(NOT GFlags_FOUND)
@ -672,7 +689,7 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${glog_RELEASE}/configure")
GROUP_EXECUTE WORLD_READ WORLD_EXECUTE)
set(GLOG_CONFIGURE ${CMAKE_CURRENT_BINARY_DIR}/glog-${glog_RELEASE}/configure_with_gflags)
# Ensure that aclocal and libtool are present
if(OS_IS_LINUX)
if(EXISTS "/usr/bin/libtoolize")
@ -882,28 +899,19 @@ endif(OS_IS_LINUX)
find_package(Armadillo)
if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
message(STATUS " Armadillo has not been found.")
message(STATUS " Armadillo will be downloaded and built automatically ")
message(STATUS " Armadillo will be downloaded and built automatically")
message(STATUS " when doing 'make'. ")
if(CMAKE_VERSION VERSION_LESS 3.1)
# ExternalProject in CMake > 3.1 cannot open .xz files
set(armadillo_RELEASE 6.700.7)
set(armadillo_MD5 "8116185e1d7391eed3bf6c500f81b4d8")
set(ARMA_FILE_EXTENSION "gz")
else(CMAKE_VERSION VERSION_LESS 3.1)
set(armadillo_RELEASE 7.800.2)
set(armadillo_MD5 "c601f3a5ec6d50666aa3a539fa20e6ca")
set(ARMA_FILE_EXTENSION "xz")
endif(CMAKE_VERSION VERSION_LESS 3.1)
set(armadillo_BRANCH 7.900.x)
set(armadillo_RELEASE ${armadillo_BRANCH})
ExternalProject_Add(
armadillo-${armadillo_RELEASE}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}
URL http://sourceforge.net/projects/arma/files/armadillo-${armadillo_RELEASE}.tar.${ARMA_FILE_EXTENSION}
DOWNLOAD_DIR ${CMAKE_CURRENT_BINARY_DIR}/download/armadillo-${armadillo_RELEASE}
URL_MD5 ${armadillo_MD5}
CMAKE_ARGS -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DBUILD_SHARED_LIBS=OFF
BUILD_IN_SOURCE 1
GIT_REPOSITORY https://github.com/conradsnicta/armadillo-code.git
GIT_TAG ${armadillo_BRANCH}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}
CMAKE_ARGS -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS=-std=c++11
BUILD_COMMAND make
UPDATE_COMMAND ""
INSTALL_COMMAND ""
@ -911,7 +919,7 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
# Set up variables
ExternalProject_Get_Property(armadillo-${armadillo_RELEASE} binary_dir)
set(ARMADILLO_INCLUDE_DIRS ${binary_dir}/include )
set(ARMADILLO_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include )
find_library(LAPACK NAMES lapack HINTS /usr/lib /usr/local/lib /usr/lib64)
if(OS_IS_MACOSX)
find_library(BLAS blas)
@ -925,10 +933,6 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
endif(NOT GFORTRAN)
set(ARMADILLO_LIBRARIES ${BLAS} ${LAPACK} ${GFORTRAN} ${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo.a)
set(LOCAL_ARMADILLO true CACHE STRING "Armadillo downloaded and built automatically" FORCE)
# Save a copy at the thirdparty folder
file(COPY ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}
DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo
)
set(ARMADILLO_VERSION_STRING ${armadillo_RELEASE})
else(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
set(armadillo_RELEASE ${ARMADILLO_VERSION_STRING})
@ -1180,8 +1184,17 @@ if($ENV{RTLSDR_DRIVER})
endif($ENV{RTLSDR_DRIVER})
if(ENABLE_OSMOSDR)
message(STATUS "The driver for OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based dongles, etc.) will be compiled." )
message(STATUS "You can disable it with 'cmake -DENABLE_OSMOSDR=OFF ../'" )
find_package(GrOsmoSDR)
if(GROSMOSDR_FOUND)
message(STATUS "The driver for OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based dongles, etc.) will be compiled." )
message(STATUS "You can disable it with 'cmake -DENABLE_OSMOSDR=OFF ../'" )
else(GROSMOSDR_FOUND)
if(ENABLE_PACKAGING)
message(WARNING "gr-osmosdr has not been found. Source blocks depending on it will NOT be built.")
else(ENABLE_PACKAGING)
message(FATAL_ERROR "gr-osmosdr required to build gnss-sdr with the optional OSMOSDR driver")
endif(ENABLE_PACKAGING)
endif(GROSMOSDR_FOUND)
else(ENABLE_OSMOSDR)
message(STATUS "The (optional) driver for OsmoSDR and related front-ends is not enabled." )
message(STATUS "Enable it with 'cmake -DENABLE_OSMOSDR=ON ../' to add support for OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based USB dongles, etc.)" )
@ -1314,4 +1327,3 @@ add_custom_target(uninstall
# Add subdirectories (in order of deps)
########################################################################
add_subdirectory(src)

74
CODE_OF_CONDUCT.md Normal file
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@ -0,0 +1,74 @@
# Contributor Covenant Code of Conduct
## Our Pledge
In the interest of fostering an open and welcoming environment, we as
contributors and maintainers pledge to making participation in our project and
our community a harassment-free experience for everyone, regardless of age, body
size, disability, ethnicity, gender identity and expression, level of experience,
nationality, personal appearance, race, religion, or sexual identity and
orientation.
## Our Standards
Examples of behavior that contributes to creating a positive environment
include:
* Using welcoming and inclusive language
* Being respectful of differing viewpoints and experiences
* Gracefully accepting constructive criticism
* Focusing on what is best for the community
* Showing empathy towards other community members
Examples of unacceptable behavior by participants include:
* The use of sexualized language or imagery and unwelcome sexual attention or
advances
* Trolling, insulting/derogatory comments, and personal or political attacks
* Public or private harassment
* Publishing others' private information, such as a physical or electronic
address, without explicit permission
* Other conduct which could reasonably be considered inappropriate in a
professional setting
## Our Responsibilities
Project maintainers are responsible for clarifying the standards of acceptable
behavior and are expected to take appropriate and fair corrective action in
response to any instances of unacceptable behavior.
Project maintainers have the right and responsibility to remove, edit, or
reject comments, commits, code, wiki edits, issues, and other contributions
that are not aligned to this Code of Conduct, or to ban temporarily or
permanently any contributor for other behaviors that they deem inappropriate,
threatening, offensive, or harmful.
## Scope
This Code of Conduct applies both within project spaces and in public spaces
when an individual is representing the project or its community. Examples of
representing a project or community include using an official project e-mail
address, posting via an official social media account, or acting as an appointed
representative at an online or offline event. Representation of a project may be
further defined and clarified by project maintainers.
## Enforcement
Instances of abusive, harassing, or otherwise unacceptable behavior may be
reported by contacting the project team at carles.fernandez@cttc.es. All
complaints will be reviewed and investigated and will result in a response that
is deemed necessary and appropriate to the circumstances. The project team is
obligated to maintain confidentiality with regard to the reporter of an incident.
Further details of specific enforcement policies may be posted separately.
Project maintainers who do not follow or enforce the Code of Conduct in good
faith may face temporary or permanent repercussions as determined by other
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]
[homepage]: http://contributor-covenant.org
[version]: http://contributor-covenant.org/version/1/4/

176
CONTRIBUTING.md Normal file
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@ -0,0 +1,176 @@
# Contributing to GNSS-SDR
:+1::tada: Thanks for taking the time to contribute! :tada::+1:
Third-party contributions are essential for keeping GNSS-SDR
continuously improving. We simply cannot access the huge number of
platforms and myriad configurations for running GNSS-SDR. We want to
keep it as easy as possible to contribute changes that get things
working in your environment. There are a few guidelines that we need
contributors to follow so that we can have a chance of keeping on top of
things.
The following is a set of guidelines for contributing to GNSS-SDR, which
is hosted in the [GNSS-SDR Organization](https://github.com/gnss-sdr) on
GitHub. These are just guidelines, not rules. Use your best judgment,
and feel free to propose changes to this document in a [pull
request](#how-to-submit-a-pull-request).
## Code of Conduct
This project adheres to the Contributor Covenant [code of
conduct](CODE_OF_CONDUCT.md). By participating, you are expected to
uphold this code. Please report unacceptable behavior.
## Reporting an issue
Have you found a bug in the code which is not in the [list of known
bugs](https://github.com/gnss-sdr/gnss-sdr/issues)? Do you have a
suggestion for improvement? Then by all means please [submit a new
issue](https://github.com/gnss-sdr/gnss-sdr/issues/new), and do not
hesitate to comment on existing [open
issues](https://github.com/gnss-sdr/gnss-sdr/issues).
When filling a new issue, please remember to:
* **Use a clear and descriptive title** for the issue to identify the
problem.
* **Describe the exact steps which reproduce the problem** in as many
details as possible. For example, start by describing your computing
platform (Operating System and version, how did you installed GNSS-SDR
and its dependencies, what file or front-end are you using as a signal
source, etc.). You can also include the configuration file you are
using, or a dump of the terminal output you are getting. The more
information you provide, the more chances to get useful answers.
* **Please be patient**. This organization is run on a volunteer basis,
so it can take some time to the Developer Team to reach your issue.
They will do their best to fix it as soon as possible.
* If you opened an issue that is now solved, it is a good practice to
**close it**.
The list of [open issues](https://github.com/gnss-sdr/gnss-sdr/issues)
can be a good starting point and a source of ideas if you are looking to
contribute to the source code.
## Contributing to the source code
### Preliminaries
1. If you still have not done so, [create your personal account on
GitHub](https://github.com/join).
2. [Fork GNSS-SDR from
GitHub](https://github.com/gnss-sdr/gnss-sdr/fork). This will copy the
whole gnss-sdr repository to your personal account.
3. Then, go to your favourite working folder in your computer and
clone your forked repository by typing (replacing ```YOUR_USERNAME``` by
the actual username of your GitHub account):
$ git clone https://github.com/YOUR_USERNAME/gnss-sdr
4. Your forked repository https://github.com/YOUR_USERNAME/gnss-sdr
will receive the default name of `origin`. You can also add the original
gnss-sdr repository, which is usually called `upstream`:
$ cd gnss-sdr
$ git remote add upstream https://github.com/gnss-sdr/gnss-sdr.git
To verify the new upstream repository you have specified for your fork,
type `git remote -v`. You should see the URL for your fork as `origin`,
and the URL for the original repository as `upstream`:
```
$ git remote -v
origin https://github.com/YOUR_USERNAME/gnss-sdr.git (fetch)
origin https://github.com/YOUR_USERNAME/gnss-sdr.git (push)
upstream https://github.com/gnss-sdr/gnss-sdr.git (fetch)
upstream https://github.com/gnss-sdr/gnss-sdr.git (push)
```
### Start working on your contribution
Checkout the `next` branch of the git repository in order to get
synchronized with the latest development code:
```
$ git checkout next
$ git pull upstream next
```
When start working in a new improvement, please **always** branch off
from `next`. Open a new branch and start working on it:
```
$ git checkout -b my_feature
```
Now you can do changes, add files, do commits (please take a look at
[how to write good commit
messages](https://chris.beams.io/posts/git-commit/)!) and push them to
your repository:
```
$ git push origin my_feature
```
If there have been new pushes to the `next` branch of the `upstream`
repository since the last time you pulled from it, you might want to put
your commits on top of them (this is mandatory for pull requests):
```
$ git pull --rebase upstream next
```
### How to submit a pull request
When the contribution is ready, you can [submit a pull
request](https://github.com/gnss-sdr/gnss-sdr/compare/). Head to your
GitHub repository, switch to your `my_feature` branch, and click the
_**Pull Request**_ button, which will do all the work for you. Code
comparison must be always to the `next` branch.
Once a pull request is sent, the Developer Team can review the set of
changes, discuss potential modifications, and even push follow-up
commits if necessary.
Some things that will increase the chance that your pull request is
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/).
* 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/).
## Contributing to the website
The content of http://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/).
Last but not the least, you can leave your comments on the website.
------
![GeNiuSS
contributes](http://gnss-sdr.org/assets/images/geniuss-contribute.png)
Thanks for your contribution to GNSS-SDR!

4
README.md
View File

@ -429,7 +429,7 @@ $ sudo xcodebuild -license
Software pre-requisites can be installed using either [Macports](#macports) or [Homebrew](#homebrew).
####<a name"macports">Macports</a>
#### <a name="macports">Macports</a>
First, [install Macports](http://www.macports.org/install.php). If you are upgrading from a previous installation, please follow the [migration rules](http://trac.macports.org/wiki/Migration).
@ -771,7 +771,7 @@ SignalSource.subdevice=B:0 ; UHD subdevice specification (for USRP1 use A:0 or B
~~~~~~
***Example: Configuring the USRP X300 with two front-ends for receiving signals in L1 and L2 bands***
***Example: Configuring the USRP X300/X310 with two front-ends for receiving signals in L1 and L2 bands***
~~~~~~
;######### SIGNAL_SOURCE CONFIG ############

78
cmake/Modules/FindLog4cpp.cmake Normal file
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@ -0,0 +1,78 @@
# - Find Log4cpp
# Find the native LOG4CPP includes and library
#
# LOG4CPP_INCLUDE_DIR - where to find LOG4CPP.h, etc.
# LOG4CPP_LIBRARIES - List of libraries when using LOG4CPP.
# LOG4CPP_FOUND - True if LOG4CPP found.
if (LOG4CPP_INCLUDE_DIR)
# Already in cache, be silent
set(LOG4CPP_FIND_QUIETLY TRUE)
endif ()
find_path(LOG4CPP_INCLUDE_DIR log4cpp/Category.hh
/opt/local/include
/usr/local/include
/usr/include
)
set(LOG4CPP_NAMES log4cpp)
find_library(LOG4CPP_LIBRARY
NAMES ${LOG4CPP_NAMES}
HINTS $ENV{GNURADIO_RUNTIME_DIR}/lib
${PC_LIBDIR}
${CMAKE_INSTALL_PREFIX}/lib/
PATHS /usr/local/lib
/usr/lib/x86_64-linux-gnu
/usr/lib/i386-linux-gnu
/usr/lib/arm-linux-gnueabihf
/usr/lib/arm-linux-gnueabi
/usr/lib/aarch64-linux-gnu
/usr/lib/mipsel-linux-gnu
/usr/lib/mips-linux-gnu
/usr/lib/mips64el-linux-gnuabi64
/usr/lib/powerpc-linux-gnu
/usr/lib/powerpc64-linux-gnu
/usr/lib/powerpc64le-linux-gnu
/usr/lib/powerpc-linux-gnuspe
/usr/lib/hppa-linux-gnu
/usr/lib/s390x-linux-gnu
/usr/lib/i386-gnu
/usr/lib/hppa-linux-gnu
/usr/lib/x86_64-kfreebsd-gnu
/usr/lib/i386-kfreebsd-gnu
/usr/lib/m68k-linux-gnu
/usr/lib/sh4-linux-gnu
/usr/lib/sparc64-linux-gnu
/usr/lib/x86_64-linux-gnux32
/usr/lib/alpha-linux-gnu
/usr/lib64
/usr/lib
/usr/local/lib
/opt/local/lib
)
if (LOG4CPP_INCLUDE_DIR AND LOG4CPP_LIBRARY)
set(LOG4CPP_FOUND TRUE)
set(LOG4CPP_LIBRARIES ${LOG4CPP_LIBRARY} CACHE INTERNAL "" FORCE)
set(LOG4CPP_INCLUDE_DIRS ${LOG4CPP_INCLUDE_DIR} CACHE INTERNAL "" FORCE)
else ()
set(LOG4CPP_FOUND FALSE CACHE INTERNAL "" FORCE)
set(LOG4CPP_LIBRARY "" CACHE INTERNAL "" FORCE)
set(LOG4CPP_LIBRARIES "" CACHE INTERNAL "" FORCE)
set(LOG4CPP_INCLUDE_DIR "" CACHE INTERNAL "" FORCE)
set(LOG4CPP_INCLUDE_DIRS "" CACHE INTERNAL "" FORCE)
endif ()
if (LOG4CPP_FOUND)
if (NOT LOG4CPP_FIND_QUIETLY)
message(STATUS "Found LOG4CPP: ${LOG4CPP_LIBRARIES}")
endif ()
else ()
if (LOG4CPP_FIND_REQUIRED)
message(STATUS "Looked for LOG4CPP libraries named ${LOG4CPPS_NAMES}.")
message(FATAL_ERROR "Could NOT find LOG4CPP library")
endif ()
endif ()

21
conf/gnss-sdr.conf
View File

@ -253,8 +253,8 @@ TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -264,14 +264,13 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm:
PVT.implementation=GPS_L1_CA_PVT
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=100
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=true
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.AR_GPS=PPP-AR ; options: OFF, Continuous, Instantaneous, Fix-and-Hold, PPP-AR
;#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
@ -279,6 +278,8 @@ 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
PVT.positioning_mode=PPP_Static
;# KML, GeoJSON, NMEA and RTCM output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats.
@ -304,5 +305,3 @@ PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false

85
conf/gnss-sdr_GPS_L1_FPGA.conf Normal file
View File

@ -0,0 +1,85 @@
; 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=4000000
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=Pass_Through
SignalSource.filename=/datalogger/signals/Agilent/New York/4msps.dat ; <- PUT YOUR FILE HERE
SignalSource.item_type=ishort
SignalSource.sampling_frequency=4000000
SignalSource.freq=1575420000
SignalSource.repeat=false
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
SignalSource.enable_throttle_control=false
SignalSource.enable_FPGA=true
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Pass_Through
SignalConditioner.item_type=cshort
SignalConditioner.enable_FPGA=true
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=8
Channels.in_acquisition=1
Channel.signal=1C
Channel.enable_FPGA=true
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=cshort
Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fpga
Acquisition_1C.select_queue_Fpga=0;
Acquisition_1C.threshold=0.005
;Acquisition_1C.pfa=0.01
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=500
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga
Tracking_1C.item_type=cshort
Tracking_1C.if=0
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=45.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=false
PVT.output_rate_ms=10
PVT.display_rate_ms=500
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
PVT.flag_nmea_tty_port=false;
PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false

11
conf/gnss-sdr_GPS_L1_GN3S_realtime.conf
View File

@ -89,17 +89,17 @@ Tracking_1C.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
Observables.implementation=Hybrid_Observables
Observables.dump=false.
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=false
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=10
PVT.display_rate_ms=500
PVT.dump_filename=./PVT
@ -110,4 +110,3 @@ PVT.dump=false
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1

15
conf/gnss-sdr_GPS_L1_SPIR.conf
View File

@ -266,8 +266,8 @@ TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -278,13 +278,10 @@ 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=GPS_L1_CA_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=100
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=true
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=500

16
conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
View File

@ -291,8 +291,8 @@ TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -302,14 +302,12 @@ 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=GPS_L1_CA_PVT
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_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=true
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100

16
conf/gnss-sdr_GPS_L1_USRP_realtime.conf
View File

@ -332,8 +332,8 @@ TelemetryDecoder_GPS.dump=false
TelemetryDecoder_GPS.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -343,14 +343,12 @@ 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=GPS_L1_CA_PVT
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_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=true
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100

16
conf/gnss-sdr_GPS_L1_acq_QuickSync.conf
View File

@ -255,8 +255,8 @@ TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -266,14 +266,12 @@ 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=GPS_L1_CA_PVT
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_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=true
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100;

44
conf/gnss-sdr_GPS_L1_gr_complex.conf
View File

@ -6,16 +6,16 @@
;######### GLOBAL OPTIONS ##################
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
GNSS-SDR.internal_fs_hz=4000000
GNSS-SDR.internal_fs_hz=2600000
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/datalogger/signals/Agilent/New York/4msps.dat ; <- PUT YOUR FILE HERE
SignalSource.item_type=gr_complex
SignalSource.sampling_frequency=4000000
SignalSource.filename=/home/javier/gnss/gnss-simulator/build/signal_out.bin ; <- PUT YOUR FILE HERE
SignalSource.item_type=byte
SignalSource.sampling_frequency=2600000
SignalSource.freq=1575420000
SignalSource.samples=250000000
SignalSource.samples=0
SignalSource.repeat=false
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
@ -23,8 +23,15 @@ SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Pass_Through
SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version.
;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Ibyte_To_Complex
DataTypeAdapter.dump=false
;#dump_filename: Log path and filename.
DataTypeAdapter.dump_filename=../data/DataTypeAdapter.dat
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=8
@ -39,38 +46,38 @@ Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.threshold=0.005
Acquisition_1C.threshold=0.05
;Acquisition_1C.pfa=0.01
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=500
Acquisition_1C.doppler_step=250
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.if=0
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=45.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.pll_bw_hz=25.0;
Tracking_1C.dll_bw_hz=1.0;
Tracking_1C.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=false
PVT.output_rate_ms=10
PVT.display_rate_ms=500
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=1
PVT.display_rate_ms=100
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
PVT.flag_nmea_tty_port=false;
@ -79,4 +86,3 @@ PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false

11
conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf
View File

@ -57,18 +57,18 @@ Tracking_1C.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=false
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=10
PVT.display_rate_ms=500
PVT.dump_filename=./PVT
@ -79,4 +79,3 @@ PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false

11
conf/gnss-sdr_GPS_L1_ishort.conf
View File

@ -79,16 +79,17 @@ TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=false
PVT.output_rate_ms=10
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;

56
conf/gnss-sdr_GPS_L1_nsr.conf
View File

@ -28,7 +28,7 @@ GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=Nsr_File_Signal_Source
SignalSource.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE
SignalSource.filename=/home/javier/Descargas/RoofTop_FE0_Band1.stream ; <- PUT YOUR FILE HERE
SignalSource.item_type=byte
SignalSource.sampling_frequency=20480000
SignalSource.freq=1575420000
@ -68,7 +68,8 @@ InputFilter.band2_error=1.0
InputFilter.filter_type=bandpass
InputFilter.grid_density=16
InputFilter.sampling_frequency=20480000
InputFilter.IF=5499998.47412109
#InputFilter.IF=5499998.47412109
InputFilter.IF=5679999.2370605494
InputFilter.decimation_factor=8
@ -81,9 +82,10 @@ Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels.
Channels_1C.count=8
Channels_1C.count=0
Channels_2S.count=8
Channels.in_acquisition=1
Channel.signal=1C
#Channel.signal=1C
;######### GPS ACQUISITION CONFIG ############
@ -98,6 +100,18 @@ Acquisition_1C.threshold=0.0075
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=500
Acquisition_2S.dump=false
Acquisition_2S.dump_filename=./acq_dump.dat
Acquisition_2S.item_type=gr_complex
Acquisition_2S.if=0
Acquisition_2S.coherent_integration_time_ms=20
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.threshold=0.00045
Acquisition_2S.doppler_max=5000
Acquisition_2S.doppler_step=100
Acquisition_2S.bit_transition_flag=false
Acquisition_2S.max_dwells=1
;######### TRACKING GPS CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
@ -109,22 +123,43 @@ Tracking_1C.pll_bw_hz=45.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3;
;######### GPS L2C GENERIC TRACKING CONFIG ############
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex
Tracking_2S.if=0
Tracking_2S.dump=true
Tracking_2S.dump_filename=../data/epl_tracking_ch_
Tracking_2S.pll_bw_hz=1.5;
Tracking_2S.dll_bw_hz=0.4;
Tracking_2S.order=2;
Tracking_2S.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_2S.dump=false
TelemetryDecoder_2S.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
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 ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=false
PVT.output_rate_ms=10
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
@ -134,4 +169,3 @@ PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=true

12
conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf
View File

@ -127,18 +127,17 @@ Tracking_1C.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=false
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=10
PVT.display_rate_ms=500
PVT.dump_filename=./PVT
@ -149,4 +148,3 @@ PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=true

24
conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf
View File

@ -30,20 +30,20 @@ SignalSource.implementation=File_Signal_Source
;#When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...)
SignalSource.device_address=192.168.50.2
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/home/javier/signals/signal_source_int.dat
;#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 [Hz]
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=2000000
;#freq: RF front-end center frequency in [Hz]
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#gain: Front-end Gain in [dB]
;#gain: Front-end Gain in [dB]
SignalSource.gain=40
;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
@ -62,12 +62,12 @@ SignalSource.dump_filename=dump.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.
; 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.
;## 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
@ -157,19 +157,18 @@ Tracking_1C.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
Observables.averaging_depth=1
Observables.implementation=Hybrid_Observables
Observables.dump=true
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=false
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=1
PVT.display_rate_ms=100
PVT.dump_filename=./PVT
@ -180,4 +179,3 @@ PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false

17
conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
View File

@ -243,8 +243,8 @@ TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -254,14 +254,11 @@ 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=GPS_L1_CA_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=true
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100

15
conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf
View File

@ -120,20 +120,17 @@ TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
Observables.implementation=Hybrid_Observables
Observables.dump=false
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=GPS_L1_CA_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=true
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump_filename=./PVT

9
conf/gnss-sdr_GPS_L1_two_bits_cpx.conf
View File

@ -113,15 +113,16 @@ TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=false
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=10
PVT.display_rate_ms=500
PVT.dump_filename=./PVT

9
conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf
View File

@ -180,18 +180,17 @@ Tracking_2S.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_2S.dump=false
TelemetryDecoder_2S.decimation_factor=1;
;######### OBSERVABLES CONFIG ############.
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=Hybrid_PVT
PVT.averaging_depth=10
PVT.flag_averaging=true
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump_filename=./PVT

9
conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf
View File

@ -136,18 +136,17 @@ Tracking_2S.early_late_space_chips=0.5;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_2S.dump=true
TelemetryDecoder_2S.decimation_factor=1;
;######### OBSERVABLES CONFIG ############.
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=Hybrid_PVT
PVT.averaging_depth=10
PVT.flag_averaging=true
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump_filename=./PVT

9
conf/gnss-sdr_Galileo_E1_USRP_X300_realtime.conf
View File

@ -62,14 +62,15 @@ TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############
Observables.implementation=Galileo_E1B_Observables
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=GALILEO_E1_PVT
PVT.averaging_depth=100
PVT.flag_averaging=false
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100;
PVT.display_rate_ms=500;
PVT.dump=false

13
conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf
View File

@ -237,7 +237,7 @@ TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Galileo_E1B_Observables
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -248,13 +248,10 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm:
PVT.implementation=GALILEO_E1_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=100
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=true
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100;

17
conf/gnss-sdr_Galileo_E1_ishort.conf
View File

@ -239,8 +239,8 @@ TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=Galileo_E1B_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -250,14 +250,11 @@ 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=GALILEO_E1_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=100
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=false
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100;

9
conf/gnss-sdr_Galileo_E1_nsr.conf
View File

@ -106,15 +106,16 @@ TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############
Observables.implementation=Galileo_E1B_Observables
Observables.implementation=Hybrid_Observables
Observables.dump=true
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=GALILEO_E1_PVT
PVT.averaging_depth=1
PVT.flag_averaging=false
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump=true

14
conf/gnss-sdr_Galileo_E5a.conf
View File

@ -286,8 +286,7 @@ TelemetryDecoder_5X.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation:
;Use [Galileo_E1B_Observables] for E5a also.
Observables.implementation=Galileo_E1B_Observables
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -298,14 +297,11 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm:
;Use [GALILEO_E1_PVT] for E5a also.
PVT.implementation=GALILEO_E1_PVT
PVT.implementation=RTKLIB_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=100
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=true
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time [ms]
PVT.output_rate_ms=100

10
conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf
View File

@ -134,15 +134,16 @@ TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder
TelemetryDecoder_5X.dump=false
;######### OBSERVABLES CONFIG ############
Observables.implementation=Galileo_E1B_Observables
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=GALILEO_E1_PVT
PVT.averaging_depth=100
PVT.flag_averaging=true
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=OFF ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=OFF ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.dump=false
PVT.dump_filename=./PVT
@ -152,4 +153,3 @@ PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1

15
conf/gnss-sdr_Hybrid_byte.conf
View File

@ -295,10 +295,9 @@ TelemetryDecoder_1C.decimation_factor=4;
;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
TelemetryDecoder_1B.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
@ -309,14 +308,12 @@ 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
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_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
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100;

66
conf/gnss-sdr_Hybrid_byte_sim.conf
View File

@ -7,7 +7,8 @@
;######### GLOBAL OPTIONS ##################
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
GNSS-SDR.internal_fs_hz=4000000
;#GNSS-SDR.internal_fs_hz=2048000
GNSS-SDR.internal_fs_hz=2600000
;######### SIGNAL_SOURCE CONFIG ############
@ -15,7 +16,8 @@ GNSS-SDR.internal_fs_hz=4000000
SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/datalogger/signals/gnss-sim/signal_out.bin ; <- PUT YOUR FILE HERE
;#SignalSource.filename=/home/javier/Descargas/rtlsdr_tcxo_l1/rtlsdr_tcxo_l1.bin ; <- PUT YOUR FILE HERE
SignalSource.filename=/Users/carlesfernandez/git/cttc/build/signal_out.bin ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte
@ -53,7 +55,7 @@ SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version.
;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Ibyte_To_Cshort
DataTypeAdapter.implementation=Ibyte_To_Complex
DataTypeAdapter.dump=false
;#dump_filename: Log path and filename.
DataTypeAdapter.dump_filename=../data/DataTypeAdapter.dat
@ -81,10 +83,10 @@ InputFilter.dump_filename=../data/input_filter.dat
;#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=cshort
InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter.output_item_type=cshort
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
@ -127,7 +129,7 @@ InputFilter.grid_density=16
;#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.sampling_frequency=4000000
InputFilter.sampling_frequency=2600000
InputFilter.IF=0
@ -135,30 +137,12 @@ InputFilter.IF=0
;######### 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=Direct_Resampler
Resampler.implementation=Pass_Through
;#dump: Dump the resamplered data to a file.
Resampler.dump=false
;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples.
Resampler.item_type=cshort
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=4000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
Resampler.item_type = gr_complex;
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels.
Channels_1C.count=12
Channels_1C.count=11
;#count: Number of available Galileo satellite channels.
Channels_1B.count=0
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
@ -167,7 +151,7 @@ Channels.in_acquisition=1
;#IMPORTANT: When cshort is used as input type for Acq and Trk, please set the Channel type to cshort here
;#item_type: Type and resolution for each of the signal samples.
Channel.item_type=cshort
Channel.item_type=gr_complex
;#signal:
;#if the option is disabled by default is assigned "1C" GPS L1 C/A
Channel1.signal=1C
@ -194,7 +178,7 @@ Acquisition_1C.dump=false
;#filename: Log path and filename
Acquisition_1C.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1C.item_type=cshort
Acquisition_1C.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition_1C.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
@ -205,7 +189,7 @@ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#notice that this affects the Acquisition threshold range!
Acquisition_1C.use_CFAR_algorithm=false;
;#threshold: Acquisition threshold
Acquisition_1C.threshold=11
Acquisition_1C.threshold=15
;#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_1C.pfa=0.01
;#doppler_max: Maximum expected Doppler shift [Hz]
@ -221,7 +205,7 @@ Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=cshort
Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
@ -240,9 +224,9 @@ Acquisition_1B.doppler_step=125
;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
Tracking_1C.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_1C.item_type=cshort
Tracking_1C.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1C.if=0
@ -254,7 +238,7 @@ Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1C.pll_bw_hz=15.0;
Tracking_1C.pll_bw_hz=20.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=1.5;
@ -267,7 +251,7 @@ Tracking_1C.order=3;
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
;#item_type: Type and resolution for each of the signal samples.
Tracking_1B.item_type=cshort
Tracking_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0
@ -308,8 +292,8 @@ TelemetryDecoder_1B.dump=false
TelemetryDecoder_1B.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -320,13 +304,11 @@ 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=GPS_L1_CA_PVT
PVT.implementation=RTKLIB_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
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100;

15
conf/gnss-sdr_Hybrid_gr_complex.conf
View File

@ -304,10 +304,9 @@ TelemetryDecoder_1C.decimation_factor=4;
;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
TelemetryDecoder_1B_factor=4;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
@ -318,14 +317,12 @@ 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
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_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
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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;

14
conf/gnss-sdr_Hybrid_ishort.conf
View File

@ -311,7 +311,7 @@ TelemetryDecoder_1B.dump=false
TelemetryDecoder_1B.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
@ -322,14 +322,12 @@ 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
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_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
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100;

15
conf/gnss-sdr_Hybrid_nsr.conf
View File

@ -17,7 +17,7 @@ GNSS-SDR.internal_fs_hz=2560000
SignalSource.implementation=Nsr_File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE
SignalSource.filename=/media/javier/SISTEMA/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte
@ -304,7 +304,7 @@ TelemetryDecoder_1B.dump=false
TelemetryDecoder_1B_factor=4;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
@ -315,14 +315,13 @@ 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
;#implementation: Position Velocity and Time (PVT) implementation algorithm.
PVT.implementation=RTKLIB_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=10
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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;

18
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf
View File

@ -289,12 +289,10 @@ Tracking_1C.early_late_space_chips=0.5;
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -304,14 +302,12 @@ 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=GPS_L1_CA_PVT
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_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=true
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100

16
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf
View File

@ -300,8 +300,8 @@ TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -311,14 +311,12 @@ 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=GPS_L1_CA_PVT
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_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=true
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100

18
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf
View File

@ -294,12 +294,10 @@ Tracking_1C.early_late_space_chips=0.5;
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -309,14 +307,12 @@ 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=GPS_L1_CA_PVT
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_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=true
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100

16
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf
View File

@ -299,8 +299,8 @@ TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -310,14 +310,12 @@ 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=GPS_L1_CA_PVT
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_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=true
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100

14
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf
View File

@ -294,8 +294,8 @@ TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -306,13 +306,11 @@ 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=GPS_L1_CA_PVT
PVT.implementation=RTKLIB_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=true
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100

10
conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf
View File

@ -444,7 +444,7 @@ TelemetryDecoder_2S.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.Mixed_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
@ -455,8 +455,12 @@ 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
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=10

12
conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf
View File

@ -452,7 +452,7 @@ TelemetryDecoder_1B.decimation_factor=5;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
@ -464,13 +464,11 @@ 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
PVT.implementation=RTKLIB_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
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100

18
conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf
View File

@ -364,12 +364,10 @@ Tracking_1C.early_late_space_chips=0.5;
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
;#decimation factor
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
@ -379,14 +377,12 @@ 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=GPS_L1_CA_PVT
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_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=true
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100

265
conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf
View File

@ -29,7 +29,7 @@ GNSS-SDR.SUPL_CI=0x31b0
SignalSource.implementation=Flexiband_Signal_Source
SignalSource.flag_read_file=true
SignalSource.signal_file=/datalogger/signals/Fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE
SignalSource.signal_file=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
@ -38,7 +38,7 @@ SignalSource.item_type=gr_complex
SignalSource.firmware_file=flexiband_III-1b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=2
SignalSource.RF_channels=1
;#frontend channels gain. Not usable yet!
SignalSource.gain1=0
@ -237,22 +237,29 @@ InputFilter1.decimation_factor=4
;## Resamples the input data.
Resampler1.implementation=Pass_Through
;######################################################
;######### RF CHANNEL 2 SIGNAL CONDITIONER ############
;######################################################
;######### SIGNAL_CONDITIONER 2 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner2.implementation=Pass_Through
SignalConditioner2.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER 2 CONFIG ############
DataTypeAdapter2.implementation=Pass_Through
DataTypeAdapter2.item_type=gr_complex
;######### INPUT_FILTER 2 CONFIG ############
InputFilter2.implementation=Pass_Through
;## Filter the input data. Can be combined with frequency translation for IF signals
InputFilter2.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter2.dump=false
;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter.dat
InputFilter2.dump_filename=../data/input_filter_ch2.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter2.input_item_type=gr_complex
@ -260,15 +267,67 @@ InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter2.output_item_type=gr_complex
;######### RESAMPLER CONFIG 2 ############
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter2.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter2.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter2.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
InputFilter2.band1_begin=0.0
InputFilter2.band1_end=0.45
InputFilter2.band2_begin=0.55
InputFilter2.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
InputFilter2.ampl1_begin=1.0
InputFilter2.ampl1_end=1.0
InputFilter2.ampl2_begin=0.0
InputFilter2.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
InputFilter2.band1_error=1.0
InputFilter2.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter2.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.
InputFilter2.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter2.sampling_frequency=40000000
;# IF deviation due to front-end LO inaccuracies [HZ]
InputFilter2.IF=0
;# Decimation factor after the frequency tranaslating block
InputFilter2.decimation_factor=8
;######### RESAMPLER CONFIG 1 ############
;## Resamples the input data.
Resampler2.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels.
Channels_1C.count=1
Channels_2S.count=8
Channels_1C.count=0
Channels_1B.count=10
Channels_2S.count=0
Channels_5X.count=0
;#GPS.prns=7,8
@ -283,20 +342,52 @@ Channels.in_acquisition=1
;# CHANNEL NUMBERING ORDER: GPS L1 C/A, GPS L2 L2C (M), GALILEO E1 B, GALILEO E5a
;# CHANNEL CONNECTION
Channel0.RF_channel_ID=0
Channel1.RF_channel_ID=1
Channel2.RF_channel_ID=1
Channel3.RF_channel_ID=1
Channel4.RF_channel_ID=1
Channel5.RF_channel_ID=1
Channel6.RF_channel_ID=1
Channel7.RF_channel_ID=1
Channel8.RF_channel_ID=1
Channel0.RF_channel_ID=0
Channel1.RF_channel_ID=0
Channel2.RF_channel_ID=0
Channel3.RF_channel_ID=0
Channel4.RF_channel_ID=0
Channel5.RF_channel_ID=0
Channel6.RF_channel_ID=0
Channel7.RF_channel_ID=0
Channel8.RF_channel_ID=0
Channel9.RF_channel_ID=0
Channel10.RF_channel_ID=0
Channel11.RF_channel_ID=0
Channel12.RF_channel_ID=0
Channel13.RF_channel_ID=0
Channel14.RF_channel_ID=0
Channel15.RF_channel_ID=0
Channel16.RF_channel_ID=0
Channel17.RF_channel_ID=0
Channel18.RF_channel_ID=0
Channel19.RF_channel_ID=0
Channel20.RF_channel_ID=0
Channel21.RF_channel_ID=0
Channel22.RF_channel_ID=0
Channel23.RF_channel_ID=0
Channel24.RF_channel_ID=0
Channel25.RF_channel_ID=0
Channel26.RF_channel_ID=0
Channel27.RF_channel_ID=0
Channel28.RF_channel_ID=0
Channel29.RF_channel_ID=0
Channel30.RF_channel_ID=2
Channel31.RF_channel_ID=2
Channel32.RF_channel_ID=2
Channel33.RF_channel_ID=2
Channel34.RF_channel_ID=2
Channel35.RF_channel_ID=2
Channel36.RF_channel_ID=2
Channel37.RF_channel_ID=2
Channel38.RF_channel_ID=2
Channel39.RF_channel_ID=2
;######### ACQUISITION GENERIC CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;# GPS L1 CA
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex
@ -309,32 +400,57 @@ Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false
Acquisition_1C.max_dwells=1
;# Galileo E1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold
;Acquisition_1B.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_1B.pfa=0.0000002
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition_1B.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125
;# GPS L2C M
Acquisition_2S.dump=false
Acquisition_2S.dump_filename=./acq_dump.dat
Acquisition_2S.item_type=gr_complex
Acquisition_2S.if=0
Acquisition_2S.coherent_integration_time_ms=1
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.threshold=0.0005
Acquisition_2S.threshold=0.00074
;Acquisition_2S.pfa=0.001
Acquisition_2S.doppler_max=5000
Acquisition_2S.doppler_step=100
Acquisition_2S.bit_transition_flag=false
Acquisition_2S.doppler_min=-5000
Acquisition_2S.doppler_step=60
Acquisition_2S.max_dwells=1
;# channel specific config
Acquisition_2S1.dump=false
Acquisition_2S1.dump_filename=./acq_dump.dat
Acquisition_2S1.item_type=gr_complex
Acquisition_2S1.if=0
Acquisition_2S1.coherent_integration_time_ms=1
Acquisition_2S1.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S1.threshold=0.0005
Acquisition_2S1.doppler_max=5000
Acquisition_2S1.doppler_step=100
Acquisition_2S1.bit_transition_flag=false
Acquisition_2S1.max_dwells=1
;# GALILEO E5a
Acquisition_5X.dump=false
Acquisition_5X.dump_filename=./acq_dump.dat
Acquisition_5X.item_type=gr_complex
Acquisition_5X.if=0
Acquisition_5X.coherent_integration_time_ms=1
Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
Acquisition_5X.threshold=0.009
Acquisition_5X.doppler_max=5000
Acquisition_5X.doppler_step=125
Acquisition_5X.bit_transition_flag=false
Acquisition_5X.max_dwells=1
Acquisition_5X.CAF_window_hz=0 ; **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
Acquisition_5X.Zero_padding=0 ; **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF.
;######### TRACKING CONFIG ############
@ -342,73 +458,96 @@ Acquisition_2S1.max_dwells=1
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.if=0
Tracking_1C.dump=true
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=3.0;
Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5;
;######### GALILEO E1 TRK CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.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_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.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_1B.very_early_late_space_chips=0.6;
;######### GPS L2C GENERIC TRACKING CONFIG ############
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex
Tracking_2S.if=0
Tracking_2S.dump=true
Tracking_2S.dump_filename=../data/epl_tracking_ch_
Tracking_2S.dump=false
Tracking_2S.dump_filename=./tracking_ch_
Tracking_2S.pll_bw_hz=2.0;
Tracking_2S.dll_bw_hz=0.5;
Tracking_2S.dll_bw_hz=0.25;
Tracking_2S.order=2;
Tracking_2S.early_late_space_chips=0.5;
;######### GPS L2C SPECIFIC CHANNEL TRACKING CONFIG ############
Tracking_2S1.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S1.item_type=gr_complex
Tracking_2S1.if=0
Tracking_2S1.dump=true
Tracking_2S1.dump_filename=../data/epl_tracking_ch_
Tracking_2S1.pll_bw_hz=2.0;
Tracking_2S1.dll_bw_hz=0.5;
Tracking_2S1.order=2;
Tracking_2S1.early_late_space_chips=0.5;
;######### GALILEO E5 TRK CONFIG ############
Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking
Tracking_5X.item_type=gr_complex
Tracking_5X.if=0
Tracking_5X.dump=false
Tracking_5X.dump_filename=./tracking_ch_
Tracking_5X.pll_bw_hz_init=20.0; **Only for E5a** PLL loop filter bandwidth during initialization [Hz]
Tracking_5X.dll_bw_hz_init=20.0; **Only for E5a** DLL loop filter bandwidth during initialization [Hz]
Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms]
Tracking_5X.pll_bw_hz=20.0;
Tracking_5X.dll_bw_hz=20.0;
Tracking_5X.order=2;
Tracking_5X.early_late_space_chips=0.5;
;######### TELEMETRY DECODER CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=20;
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_2S.dump=false
TelemetryDecoder_2S.decimation_factor=1;
TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder
TelemetryDecoder_5X.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
;#implementation:
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
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_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=true
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500
PVT.display_rate_ms=100
;# KML, GeoJSON, NMEA and RTCM output configuration

411
conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf Normal file
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@ -0,0 +1,411 @@
; 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=5000000
;######### SUPL RRLP GPS assistance configuration #####
; Check http://www.mcc-mnc.com/
; On Android: https://play.google.com/store/apps/details?id=net.its_here.cellidinfo&hl=en
GNSS-SDR.SUPL_gps_enabled=false
GNSS-SDR.SUPL_read_gps_assistance_xml=true
GNSS-SDR.SUPL_gps_ephemeris_server=supl.google.com
GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource.implementation=Flexiband_Signal_Source
SignalSource.flag_read_file=true
SignalSource.signal_file=/home/javier/signals/20140923_20-24-17_L125_roof_210s.usb ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
;# FPGA firmware file
SignalSource.firmware_file=flexiband_III-1b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=2
;#frontend channels gain. Not usable yet!
SignalSource.gain1=0
SignalSource.gain2=0
SignalSource.gain3=0
;#frontend channels AGC
SignalSource.AGC=true
;# USB 3.0 packet buffer size (number of SuperSpeed packets)
SignalSource.usb_packet_buffer=128
;######################################################
;######### RF CHANNEL 0 SIGNAL CONDITIONER ############
;######################################################
;######### SIGNAL_CONDITIONER 0 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner0.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER 0 CONFIG ############
DataTypeAdapter0.implementation=Pass_Through
DataTypeAdapter0.item_type=gr_complex
;######### INPUT_FILTER 0 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]
;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
InputFilter0.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter0.dump=false
;#dump_filename: Log path and filename.
InputFilter0.dump_filename=../data/input_filter_ch0.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.
InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter0.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter0.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter0.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
InputFilter0.band1_begin=0.0
InputFilter0.band1_end=0.45
InputFilter0.band2_begin=0.55
InputFilter0.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
InputFilter0.ampl1_begin=1.0
InputFilter0.ampl1_end=1.0
InputFilter0.ampl2_begin=0.0
InputFilter0.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
InputFilter0.band1_error=1.0
InputFilter0.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter0.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.
InputFilter0.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter0.sampling_frequency=20000000
;# IF deviation due to front-end LO inaccuracies [HZ]
InputFilter0.IF=0
;# Decimation factor after the frequency tranaslating block
InputFilter0.decimation_factor=4
;######### RESAMPLER CONFIG 0 ############
;## Resamples the input data.
Resampler0.implementation=Pass_Through
;######################################################
;######### RF CHANNEL 1 SIGNAL CONDITIONER ############
;######################################################
;######### SIGNAL_CONDITIONER 1 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner1.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER 1 CONFIG ############
DataTypeAdapter1.implementation=Pass_Through
DataTypeAdapter1.item_type=gr_complex
;######### INPUT_FILTER 0 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]
;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
InputFilter1.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter1.dump=false
;#dump_filename: Log path and filename.
InputFilter1.dump_filename=../data/input_filter_ch1.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.
InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter1.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter1.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter1.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter1.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
InputFilter1.band1_begin=0.0
InputFilter1.band1_end=0.45
InputFilter1.band2_begin=0.55
InputFilter1.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
InputFilter1.ampl1_begin=1.0
InputFilter1.ampl1_end=1.0
InputFilter1.ampl2_begin=0.0
InputFilter1.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
InputFilter1.band1_error=1.0
InputFilter1.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter1.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.
InputFilter1.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter1.sampling_frequency=20000000
;# IF deviation due to front-end LO inaccuracies [HZ]
InputFilter1.IF=0
;# Decimation factor after the frequency tranaslating block
InputFilter1.decimation_factor=4
;######### RESAMPLER CONFIG 1 ############
;## Resamples the input data.
Resampler1.implementation=Pass_Through
;######### SIGNAL_CONDITIONER 2 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner2.implementation=Pass_Through
;######### DATA_TYPE_ADAPTER 2 CONFIG ############
DataTypeAdapter2.implementation=Pass_Through
DataTypeAdapter2.item_type=gr_complex
;######### INPUT_FILTER 2 CONFIG ############
InputFilter2.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter2.dump=false
;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter2.output_item_type=gr_complex
;######### RESAMPLER CONFIG 2 ############
;## Resamples the input data.
Resampler2.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels.
Channels_1C.count=10
Channels_2S.count=4
;#GPS.prns=7,8
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1
;# signal:
;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "5X" GALILEO E5a I+Q
;# CHANNEL NUMBERING ORDER: GPS L1 C/A, GPS L2 L2C (M), GALILEO E1 B, GALILEO E5a
;# CHANNEL CONNECTION
Channel0.RF_channel_ID=0
Channel1.RF_channel_ID=0
Channel2.RF_channel_ID=0
Channel3.RF_channel_ID=0
Channel4.RF_channel_ID=0
Channel5.RF_channel_ID=0
Channel6.RF_channel_ID=0
Channel7.RF_channel_ID=0
Channel8.RF_channel_ID=0
Channel9.RF_channel_ID=0
Channel10.RF_channel_ID=1
Channel11.RF_channel_ID=1
Channel12.RF_channel_ID=1
Channel13.RF_channel_ID=1
Channel14.RF_channel_ID=1
Channel15.RF_channel_ID=1
Channel16.RF_channel_ID=1
Channel17.RF_channel_ID=1
Channel18.RF_channel_ID=1
Channel19.RF_channel_ID=1
;######### ACQUISITION GENERIC CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0
Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.threshold=0.005
Acquisition_1C.doppler_max=5000
Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false
Acquisition_1C.max_dwells=1
;# GPS L2C M
Acquisition_2S.dump=false
Acquisition_2S.dump_filename=./acq_dump.dat
Acquisition_2S.item_type=gr_complex
Acquisition_2S.if=0
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.threshold=0.00074
;Acquisition_2S.pfa=0.001
Acquisition_2S.doppler_max=5000
Acquisition_2S.doppler_min=-5000
Acquisition_2S.doppler_step=60
Acquisition_2S.max_dwells=1
;######### TRACKING CONFIG ############
;######### GPS L1 C/A GENERIC TRACKING CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.if=0
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=3.0;
Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5;
;######### GPS L2C GENERIC TRACKING CONFIG ############
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex
Tracking_2S.if=0
Tracking_2S.dump=false
Tracking_2S.dump_filename=./tracking_ch_
Tracking_2S.pll_bw_hz=2.0;
Tracking_2S.dll_bw_hz=0.25;
Tracking_2S.order=2;
Tracking_2S.early_late_space_chips=0.5;
;######### TELEMETRY DECODER CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=20;
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_2S.dump=false
TelemetryDecoder_2S.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=true
;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT
;#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=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=100
;# KML, GeoJSON, NMEA and RTCM output configuration
;#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
;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false

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; 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=5000000
;######### SUPL RRLP GPS assistance configuration #####
; Check http://www.mcc-mnc.com/
; On Android: https://play.google.com/store/apps/details?id=net.its_here.cellidinfo&hl=en
GNSS-SDR.SUPL_gps_enabled=false
GNSS-SDR.SUPL_read_gps_assistance_xml=true
GNSS-SDR.SUPL_gps_ephemeris_server=supl.google.com
GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource.implementation=Flexiband_Signal_Source
SignalSource.flag_read_file=true
SignalSource.signal_file=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
;# FPGA firmware file
SignalSource.firmware_file=flexiband_III-1b.bit
;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file
SignalSource.RF_channels=3
;#frontend channels gain. Not usable yet!
SignalSource.gain1=0
SignalSource.gain2=0
SignalSource.gain3=0
;#frontend channels AGC
SignalSource.AGC=true
;# USB 3.0 packet buffer size (number of SuperSpeed packets)
SignalSource.usb_packet_buffer=128
;######################################################
;######### RF CHANNEL 0 SIGNAL CONDITIONER ############
;######################################################
;######### SIGNAL_CONDITIONER 0 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner0.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER 0 CONFIG ############
DataTypeAdapter0.implementation=Pass_Through
DataTypeAdapter0.item_type=gr_complex
;######### INPUT_FILTER 0 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]
;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
InputFilter0.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter0.dump=false
;#dump_filename: Log path and filename.
InputFilter0.dump_filename=../data/input_filter_ch0.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.
InputFilter0.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter0.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter0.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter0.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter0.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
InputFilter0.band1_begin=0.0
InputFilter0.band1_end=0.45
InputFilter0.band2_begin=0.55
InputFilter0.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
InputFilter0.ampl1_begin=1.0
InputFilter0.ampl1_end=1.0
InputFilter0.ampl2_begin=0.0
InputFilter0.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
InputFilter0.band1_error=1.0
InputFilter0.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter0.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.
InputFilter0.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter0.sampling_frequency=20000000
;# IF deviation due to front-end LO inaccuracies [HZ]
;#InputFilter0.IF=-205000
InputFilter0.IF=0
;# Decimation factor after the frequency tranaslating block
InputFilter0.decimation_factor=4
;######### RESAMPLER CONFIG 0 ############
;## Resamples the input data.
Resampler0.implementation=Pass_Through
;######################################################
;######### RF CHANNEL 1 SIGNAL CONDITIONER ############
;######################################################
;######### SIGNAL_CONDITIONER 1 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner1.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER 1 CONFIG ############
DataTypeAdapter1.implementation=Pass_Through
DataTypeAdapter1.item_type=gr_complex
;######### INPUT_FILTER 0 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]
;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
InputFilter1.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter1.dump=false
;#dump_filename: Log path and filename.
InputFilter1.dump_filename=../data/input_filter_ch1.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.
InputFilter1.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter1.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter1.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter1.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter1.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
InputFilter1.band1_begin=0.0
InputFilter1.band1_end=0.45
InputFilter1.band2_begin=0.55
InputFilter1.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
InputFilter1.ampl1_begin=1.0
InputFilter1.ampl1_end=1.0
InputFilter1.ampl2_begin=0.0
InputFilter1.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
InputFilter1.band1_error=1.0
InputFilter1.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter1.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.
InputFilter1.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter1.sampling_frequency=20000000
;# IF deviation due to front-end LO inaccuracies [HZ]
InputFilter1.IF=0
;# Decimation factor after the frequency tranaslating block
InputFilter1.decimation_factor=4
;######### RESAMPLER CONFIG 1 ############
;## Resamples the input data.
Resampler1.implementation=Pass_Through
;######################################################
;######### RF CHANNEL 2 SIGNAL CONDITIONER ############
;######################################################
;######### SIGNAL_CONDITIONER 2 CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
SignalConditioner2.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER 2 CONFIG ############
DataTypeAdapter2.implementation=Pass_Through
DataTypeAdapter2.item_type=gr_complex
;######### INPUT_FILTER 2 CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
InputFilter2.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter2.dump=false
;#dump_filename: Log path and filename.
InputFilter2.dump_filename=../data/input_filter_ch2.dat
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter2.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter2.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter2.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter2.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter2.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
InputFilter2.band1_begin=0.0
InputFilter2.band1_end=0.45
InputFilter2.band2_begin=0.55
InputFilter2.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
InputFilter2.ampl1_begin=1.0
InputFilter2.ampl1_end=1.0
InputFilter2.ampl2_begin=0.0
InputFilter2.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
InputFilter2.band1_error=1.0
InputFilter2.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter2.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.
InputFilter2.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
InputFilter2.sampling_frequency=40000000
;# IF deviation due to front-end LO inaccuracies [HZ]
InputFilter2.IF=0
;# Decimation factor after the frequency tranaslating block
InputFilter2.decimation_factor=8
;######### RESAMPLER CONFIG 1 ############
;## Resamples the input data.
Resampler2.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels.
Channels_1C.count=10
Channels_1B.count=10
Channels_2S.count=10
Channels_5X.count=10
;#GPS.prns=7,8
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
Channels.in_acquisition=1
;# signal:
;# "1C" GPS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "5X" GALILEO E5a I+Q
;# CHANNEL NUMBERING ORDER: GPS L1 C/A, GPS L2 L2C (M), GALILEO E1 B, GALILEO E5a
;# CHANNEL CONNECTION
Channel0.RF_channel_ID=0
Channel1.RF_channel_ID=0
Channel2.RF_channel_ID=0
Channel3.RF_channel_ID=0
Channel4.RF_channel_ID=0
Channel5.RF_channel_ID=0
Channel6.RF_channel_ID=0
Channel7.RF_channel_ID=0
Channel8.RF_channel_ID=0
Channel9.RF_channel_ID=0
Channel10.RF_channel_ID=1
Channel11.RF_channel_ID=1
Channel12.RF_channel_ID=1
Channel13.RF_channel_ID=1
Channel14.RF_channel_ID=1
Channel15.RF_channel_ID=1
Channel16.RF_channel_ID=1
Channel17.RF_channel_ID=1
Channel18.RF_channel_ID=1
Channel19.RF_channel_ID=1
Channel20.RF_channel_ID=0
Channel21.RF_channel_ID=0
Channel22.RF_channel_ID=0
Channel23.RF_channel_ID=0
Channel24.RF_channel_ID=0
Channel25.RF_channel_ID=0
Channel26.RF_channel_ID=0
Channel27.RF_channel_ID=0
Channel28.RF_channel_ID=0
Channel29.RF_channel_ID=0
Channel30.RF_channel_ID=2
Channel31.RF_channel_ID=2
Channel32.RF_channel_ID=2
Channel33.RF_channel_ID=2
Channel34.RF_channel_ID=2
Channel35.RF_channel_ID=2
Channel36.RF_channel_ID=2
Channel37.RF_channel_ID=2
Channel38.RF_channel_ID=2
Channel39.RF_channel_ID=2
;######### ACQUISITION GENERIC CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;# GPS L1 CA
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0
Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.threshold=0.005
Acquisition_1C.doppler_max=5000
Acquisition_1C.doppler_step=250
Acquisition_1C.bit_transition_flag=false
Acquisition_1C.max_dwells=1
;# Galileo E1
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition_1B.dump=false
;#filename: Log path and filename
Acquisition_1B.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition_1B.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition_1B.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition_1B.sampled_ms=4
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
;#threshold: Acquisition threshold
;Acquisition_1B.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_1B.pfa=0.0000002
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition_1B.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition_1B.doppler_step=125
;# GPS L2C M
Acquisition_2S.dump=false
Acquisition_2S.dump_filename=./acq_dump.dat
Acquisition_2S.item_type=gr_complex
Acquisition_2S.if=0
Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
Acquisition_2S.threshold=0.00074
;Acquisition_2S.pfa=0.001
Acquisition_2S.doppler_max=5000
Acquisition_2S.doppler_min=-5000
Acquisition_2S.doppler_step=60
Acquisition_2S.max_dwells=1
;# GALILEO E5a
Acquisition_5X.dump=false
Acquisition_5X.dump_filename=./acq_dump.dat
Acquisition_5X.item_type=gr_complex
Acquisition_5X.if=0
Acquisition_5X.coherent_integration_time_ms=1
Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
Acquisition_5X.threshold=0.009
Acquisition_5X.doppler_max=5000
Acquisition_5X.doppler_step=125
Acquisition_5X.bit_transition_flag=false
Acquisition_5X.max_dwells=1
Acquisition_5X.CAF_window_hz=0 ; **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
Acquisition_5X.Zero_padding=0 ; **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF.
;######### TRACKING CONFIG ############
;######### GPS L1 C/A GENERIC TRACKING CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.if=0
Tracking_1C.dump=false
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=35.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5;
;######### GALILEO E1 TRK CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_PLL_C_Aid_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
Tracking_1B.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_1B.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking_1B.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking_1B.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1B.dump_filename=../data/veml_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking_1B.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1B.dll_bw_hz=2.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1B.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
Tracking_1B.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_1B.very_early_late_space_chips=0.6;
;######### GPS L2C GENERIC TRACKING CONFIG ############
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex
Tracking_2S.if=0
Tracking_2S.dump=false
Tracking_2S.dump_filename=./tracking_ch_
Tracking_2S.pll_bw_hz=2.0;
Tracking_2S.dll_bw_hz=0.25;
Tracking_2S.order=2;
Tracking_2S.early_late_space_chips=0.5;
;######### GALILEO E5 TRK CONFIG ############
Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking
Tracking_5X.item_type=gr_complex
Tracking_5X.if=0
Tracking_5X.dump=false
Tracking_5X.dump_filename=./tracking_ch_
Tracking_5X.pll_bw_hz_init=20.0; **Only for E5a** PLL loop filter bandwidth during initialization [Hz]
Tracking_5X.dll_bw_hz_init=20.0; **Only for E5a** DLL loop filter bandwidth during initialization [Hz]
Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms]
Tracking_5X.pll_bw_hz=20.0;
Tracking_5X.dll_bw_hz=20.0;
Tracking_5X.order=2;
Tracking_5X.early_late_space_chips=0.5;
;######### TELEMETRY DECODER CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
TelemetryDecoder_2S.dump=false
TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder
TelemetryDecoder_5X.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation:
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:
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
;#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=100
;# KML, GeoJSON, NMEA and RTCM output configuration
;#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
;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=false;
;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false

12
conf/gnss-sdr_multisource_Hybrid_ishort.conf
View File

@ -420,7 +420,7 @@ TelemetryDecoder_Galileo.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
@ -431,14 +431,8 @@ 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
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT
;#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=100;

12
conf/gnss-sdr_multisource_Hybrid_nsr.conf
View File

@ -446,7 +446,7 @@ TelemetryDecoder_1B.decimation_factor=4;
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
@ -457,14 +457,8 @@ 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
;#implementation: Position Velocity and Time (PVT) implementation:
PVT.implementation=RTKLIB_PVT
;#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;

258
docs/changelog Normal file
View File

@ -0,0 +1,258 @@
## [0.0.9](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.9)
DOI: https://doi.org/10.5281/zenodo.291371
This release has several improvements, addition of new features and bug fixes in many dimensions:
### Improvements in Accuracy:
- Major rewriting in the generation of pseudoranges.
- Fixed bug in Galileo E5a/I codes.
- Fixed bug in Galileo E1 correlator spacing.
- Fixed bug that was causing errors in receivers above the troposphere.
- Fixed 16-bit complex resampler.
- Improved time tracking algorithm.
- Added Bancroft's algorithm implementation for PVT initialization.
### Improvements in Availability:
- Improved numerical stability of the PVT solution. The infamous bug that was causing apparently random error peaks has finally been fixed.
### Improvements in Efficiency:
- VOLK_GNSSSDR: Added NEON,AVX and unaligned protokernels for volk_gnsssdr_32f_index_max_32 kernel.
- VOLK_GNSSSDR: Added volk_gnsssdr-config-info to the list of generated executables.
### Improvements in Flexibility:
- Added maximum number of dwells in the Tong algorithm.
### Improvements in Interoperability:
- Added six new Galileo satellites: FM7, FM10, FM11, FM12, FM13, FM14.
- The Hybrid_Observables and Hybrid_PVT implementations can now handle more types of GNSS signals.
- The RINEX printer can now print L2C and E5a observables and navigation files, including multiband configurations.
- Added RTCM 3.2 output to more receiver configurations.
### Improvements in Maintainability:
- The VOLK_GNSSSDR library can now be built with Python 3. Switched dependencies for VOLK_GNSSDR: from (old, python2.7-only) python-cheetah templates to Python3 friendly python-mako and python-six. So, Python-cheetah dependency has been dropped, and python-mako and python-six have been added.
- If suitable versions of gflags, glog, armadillo or googletest are not found in the system, they will be downloaded and built at compile time (versions 2.2.0, 0.3.4, 7.600.2 and 1.8.0, respectively).
- Fixed more than 30 defects detected by Coverity Scan.
- Added CMake Python finder and module checker.
- Deleted files related to CPack.
- Fixes, updates and improvements in the documentation.
- Improvements in CMake scripts: General code cleaning and addition of comments. Improved user information in case of failure. Improved detection of dependencies in more processor architectures (e.g. aarch64).
### Improvements in Marketability:
- Reduced time from a commit to deployment (see virtualization mechanisms in Portability).
### Improvements in Portability:
- 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.
### Improvements in Scalability:
- Fixed bug in acquisition with rata rates higher than 16 Msps in 4ms code periods.
### Improvements in Testability:
- Major QA source code refactoring: they has been split into src/tests/unit-tests and src/tests/system-tests folders. They are optionally built with the ENABLE_UNIT_TESTING=ON (unit testing QA code), ENABLE_UNIT_TESTING_EXTRA=ON (unit tests that require extra files downloaded at configure time), ENABLE_SYSTEM_TESTING=ON (system tests, such as measurement of Time-To-First-Fix) and ENABLE_SYSTEM_TESTING_EXTRA=ON (extra system test requiring external tools, automatically downloaded and built at building time) configuration flags. The EXTRA options also download and build a custom software-defined signal generator and version 2.9 of GPSTk, if not already found on the system. Download and local link of version 2.9 can be forced by ENABLE_OWN_GPSTK=ON building configuration flag. Only ENABLE_UNIT_TESTING is set to ON by default.
- Unit tests added: CPU_multicorrelator_test and GPU_multicorrelator_test measure computer performance in multicorrelator setups.
- 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/).
### 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/
- Improved tools for compilation, execution and testing in embedded devices.
See the definitions of concepts and metrics at http://gnss-sdr.org/design-forces/
## [0.0.8](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.8)
DOI: https://doi.org/10.5281/zenodo.57022
This is a maintenance and bug fix release with no relevant new features with respect to v0.0.7. The main changes are:
- Fixed a bug that broke building when using latest VOLK release
- Updated PYBOMBS instructions
- Added Tests for FFT length
- Added Tests for CUDA-based tracking
- Added Tests for SIMD-based tracking
- Improved CUDA-based correlation.
- Updated documentation
- Fixed building in mips and powerpc architectures.
- gr-gn3s and gr-dbfcttc moved to its own repository.
- Improved package reproducibility
- VOLK_GNSSSDR: Fixed a bug in AVX2 puppet
- VOLK_GNSSSDR: can now be built using the C98 standard
- VOLK_GNSSSDR: Fixed a bug that broke building when linking to Boost in some configurations.
- VOLK_GNSSSDR: Added an option to trigger profiling at building time.
- VOLK_GNSSSDR: Fix the CMake-based check for posix_memalign.
## [0.0.7](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.7)
DOI: https://doi.org/10.5281/zenodo.51521
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 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.
- 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.
- Fixed a bug in computation of GPS L1 C/A carrier phase observable.
- Fixed a bug in the internal state machine that was blocking the receiver after a few hours of usage. Now the receiver can work continually (tested for more than one week, no known limit).
- 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.
- 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.
- 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.
## [0.0.6](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.6)
This release has several improvements and bug fixes:
- Added initial support to multi-band, multi-source configurations (multiple signal sources and signal conditioners).
- Updated configuration files to new notation. Old and new configuration notations still compatible.
- Added skeleton for mixed (multi-frequency and multi-system) observables block.
- Faster local carrier update (25% of improvement).
- Added initial support to GPS L2C real time tracking and decoding of CNAV message with NSL STEREO v2, Fraunhofer’s Flexiband, and USRPx front-ends (the latter requiring external clock).
- Added initial support to select the frontend clock reference source in UHD signal source (i.e. internal or external clock reference).
- Added 2 bits complex file source for GNSS-SDR GSoC 2015 signal sampler designed by Ajith Peter.
- Added a new rtl_tcp signal source, remote access to RTL2832U-based dongles via TCP.
- Always build front-end-cal, a calibration tool for some DVB-T receivers based on the Realtek's RTL2832U chipset.
- Fixed bug in UTC time computation for GPS signals.
- Updated satellite identification for GPS and Galileo.
- Defined ‘cbyte’ as a new input data type (std::complex<unsigned char>)
- Adding a new data_type_adapter, from interleaved short to std::complex<short>
- Adding a filter for complex short streams.
- Adding a fir_filter for std::complex<signed char> (aka cbyte). It converts the data type to floats, filters, and converts back to cbyte.
- Added a resampler for cbytes and cshorts.
- First working version of a GPS tracking block implementation using CUDA with multi-GPU device support.
- Updating RINEX obs header when leap second is available.
- Updating RINEX nav file when IONO and UTC data are available.
- Include Signal Strength Indicator in RINEX observable files.
- Tests fixed.
- Fixed more than 200 code defects detected by Coverity Scan.
- Updated documentation.
- Updated documentation and CMake scripts for the GN3S v2 driver (Linux-only)
- Armadillo version automatically downloaded and built if it is not present in the system is now 5.400.3.
- Updated old links from googlecode to new links at GitHub for Google Test, gflags, glog and gperftools.
- gfortran is no longer a required package, but it is used if available.
- Added an option to remove logging.
- Enabled cross-compilation for ARM devices.
- Lots of code cleaning.
## [0.0.5](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.5)
This release has several improvements and bug fixes:
- Now GNSS-SDR can be installed on the system with the usual ‘cmake ../ && make && sudo make install’.
- 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 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.
- Added support for interleaved I/Q byte-size sample files.
- Minor bug fixes, updated documentation and code cleaning.
## [0.0.4](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.4)
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)
- 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_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.
- Armadillo version updated to 4.400.2
- Armadillo now uses OpenBLAS instead of BLAS if the former is available on the system.
- Some raw pointers have been changed to smart pointers.
- Minor bug fixes and code cleaning.
## [0.0.3](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.3)
This release has several improvements and bug fixes, completing the transition from Subversion to Git. The main changes are:
- Created some missing directories lost in the SVN to Git transition.
- New C++11-ized block factory, flow graph and tests, resulting in better memory management and fewer segmentation faults. Several raw pointers converted to smart pointers.
- Reorganization of assistance data input and output.
- Fixed memory leak when talking to SUPL servers.
- Improved retrieval of assistance data.
- Fixing an error in a constant value related to Galileo.
- Inform users if the temporal folder is not /tmp.
- Fixes and additions to the documentation.
- README in markdown language so it looks better in Git repositories.
- Fixed a bug that prevented the update of all shared map structures (ephemeris, iono parameters, etc…).
- The configuration script now throws error if GCC is older than 4.7 or Boost is older than 1.45
- Improved detection / downloading & building if missing of Gflags and Glog.
- Improved detection / downloading & building if missing of Armadillo and related dependencies.
- Fixes many warnings that appeared when using CMake 3.0.
- Improved detection of GTEST_DIR variable.
- Include header files in libraries so IDEs such as Xcode can display them.
Enjoy it!

7
src/algorithms/PVT/adapters/CMakeLists.txt
View File

@ -16,10 +16,8 @@
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
#
set(PVT_ADAPTER_SOURCES
gps_l1_ca_pvt.cc
galileo_e1_pvt.cc
hybrid_pvt.cc
set(PVT_ADAPTER_SOURCES
rtklib_pvt.cc
)
include_directories(
@ -29,6 +27,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${ARMADILLO_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}

141
src/algorithms/PVT/adapters/galileo_e1_pvt.cc
View File

@ -1,141 +0,0 @@
/*!
* \file galileo_e1_pvt.cc
* \brief Implementation of an adapter of a GALILEO E1 PVT solver block to a
* PvtInterface
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e1_pvt.h"
#include <boost/math/common_factor_rt.hpp>
#include <glog/logging.h>
#include "configuration_interface.h"
using google::LogMessage;
GalileoE1Pvt::GalileoE1Pvt(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
// dump parameters
std::string default_dump_filename = "./pvt.dat";
std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
std::string default_nmea_dump_devname = "/dev/tty1";
std::string default_rtcm_dump_devname = "/dev/pts/1";
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
// moving average depth parameters
int averaging_depth = configuration->property(role + ".averaging_depth", 10);
bool flag_averaging = configuration->property(role + ".flag_averaging", false);
// output rate
int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
// display rate
int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
// NMEA Printer settings
bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RTCM Printer settings
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
// RTCM message rates: least common multiple with output_rate_ms
int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
std::map<int,int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
for (int k = 1091; k < 1098; k++) // All Galileo MSM
{
rtcm_msg_rate_ms[k] = rtcm_MSM_rate_ms;
}
// make PVT object
pvt_ = galileo_e1_make_pvt_cc(in_streams_,
dump_,
dump_filename_,
averaging_depth,
flag_averaging,
output_rate_ms,
display_rate_ms,
flag_nmea_tty_port,
nmea_dump_filename,
nmea_dump_devname,
flag_rtcm_server,
flag_rtcm_tty_port,
rtcm_tcp_port,
rtcm_station_id,
rtcm_msg_rate_ms,
rtcm_dump_devname);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}
GalileoE1Pvt::~GalileoE1Pvt()
{}
void GalileoE1Pvt::connect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void GalileoE1Pvt::disconnect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to disconnect
}
gr::basic_block_sptr GalileoE1Pvt::get_left_block()
{
return pvt_;
}
gr::basic_block_sptr GalileoE1Pvt::get_right_block()
{
return pvt_;
}

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src/algorithms/PVT/adapters/galileo_e1_pvt.h
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@ -1,94 +0,0 @@
/*!
* \file galileo_e1_pvt.h
* \brief Interface of an adapter of a GALILEO E1 PVT solver block to a
* PvtInterface.
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E1_PVT_H_
#define GNSS_SDR_GALILEO_E1_PVT_H_
#include <string>
#include "pvt_interface.h"
#include "galileo_e1_pvt_cc.h"
class ConfigurationInterface;
/*!
* \brief This class implements a PvtInterface for Galileo E1
*/
class GalileoE1Pvt : public PvtInterface
{
public:
GalileoE1Pvt(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1Pvt();
std::string role()
{
return role_;
}
//! Returns "GALILEO_E1_PVT"
std::string implementation()
{
return "GALILEO_E1_PVT";
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
void reset()
{
return;
}
//! All blocks must have an item_size() function implementation. Returns sizeof(gr_complex)
size_t item_size()
{
return sizeof(gr_complex);
}
private:
galileo_e1_pvt_cc_sptr pvt_;
bool dump_;
//unsigned int fs_in_;
std::string dump_filename_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
};
#endif

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src/algorithms/PVT/adapters/gps_l1_ca_pvt.cc
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/*!
* \file gps_l1_ca_pvt.cc
* \brief Implementation of an adapter of a GPS L1 C/A PVT solver block to a
* PvtInterface
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_pvt.h"
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/math/common_factor_rt.hpp>
#include <boost/serialization/map.hpp>
#include <glog/logging.h>
#include "configuration_interface.h"
using google::LogMessage;
GpsL1CaPvt::GpsL1CaPvt(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
// dump parameters
std::string default_dump_filename = "./pvt.dat";
std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
std::string default_nmea_dump_devname = "/dev/tty1";
std::string default_rtcm_dump_devname = "/dev/pts/1";
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
// moving average depth parameters
int averaging_depth = configuration->property(role + ".averaging_depth", 10);
bool flag_averaging = configuration->property(role + ".flag_averaging", false);
// output rate
int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
// display rate
int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
// NMEA Printer settings
bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RTCM Printer settings
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
// RTCM message rates: least common multiple with output_rate_ms
int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
std::map<int,int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
for (int k = 1071; k < 1078; k++) // All GPS MSM
{
rtcm_msg_rate_ms[k] = rtcm_MSM_rate_ms;
}
// getting names from the config file, if available
// default filename for assistance data
const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
eph_xml_filename_= configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
//const std::string utc_default_xml_filename = "./gps_utc_model.xml";
//const std::string iono_default_xml_filename = "./gps_iono.xml";
//const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
//const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
//std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
//std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
//std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
//std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
// RINEX version
int conf_rinex_version;
conf_rinex_version = configuration->property(role + ".rinex_version", 0);
// make PVT object
pvt_ = gps_l1_ca_make_pvt_cc(in_streams_,
dump_,
dump_filename_,
averaging_depth,
flag_averaging,
output_rate_ms,
display_rate_ms,
flag_nmea_tty_port,
nmea_dump_filename,
nmea_dump_devname,
flag_rtcm_server,
flag_rtcm_tty_port,
rtcm_tcp_port,
rtcm_station_id,
rtcm_msg_rate_ms,
rtcm_dump_devname,
conf_rinex_version );
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}
bool GpsL1CaPvt::save_assistance_to_XML()
{
// return variable (true == succeeded)
bool ret = false;
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
if (eph_map.size() > 0)
{
try
{
std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
ofs.close();
LOG(INFO) << "Saved GPS L1 Ephemeris map data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
return true;
}
else
{
LOG(WARNING) << "Failed to save Ephemeris, map is empty";
return false;
}
// Only try to save {utc, iono, ref time, ref location} if SUPL is enabled
// bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
// if (enable_gps_supl_assistance == true)
// {
// // try to save utc model xml file
// std::map<int, Gps_Utc_Model> utc_copy = global_gps_utc_model_map.get_map_copy();
// if (supl_client_acquisition_.save_utc_map_xml(utc_xml_filename, utc_copy) == true)
// {
// LOG(INFO) << "SUPL: Successfully saved UTC Model XML file";
// //ret = true;
// }
// else
// {
// LOG(INFO) << "SUPL: Error while trying to save utc XML file";
// //ret = false;
// }
// // try to save iono model xml file
// std::map<int, Gps_Iono> iono_copy = global_gps_iono_map.get_map_copy();
// if (supl_client_acquisition_.save_iono_map_xml(iono_xml_filename, iono_copy) == true)
// {
// LOG(INFO) << "SUPL: Successfully saved IONO Model XML file";
// //ret = true;
// }
// else
// {
// LOG(INFO) << "SUPL: Error while trying to save iono XML file";
// //ret = false;
// }
// // try to save ref time xml file
// std::map<int, Gps_Ref_Time> ref_time_copy = global_gps_ref_time_map.get_map_copy();
// if (supl_client_acquisition_.save_ref_time_map_xml(ref_time_xml_filename, ref_time_copy) == true)
// {
// LOG(INFO) << "SUPL: Successfully saved Ref Time XML file";
// //ret = true;
// }
// else
// {
// LOG(INFO) << "SUPL: Error while trying to save ref time XML file";
// //ref = false;
// }
// // try to save ref location xml file
// std::map<int, Gps_Ref_Location> ref_location_copy = global_gps_ref_location_map.get_map_copy();
// if (supl_client_acquisition_.save_ref_location_map_xml(ref_location_xml_filename, ref_location_copy) == true)
// {
// LOG(INFO) << "SUPL: Successfully saved Ref Location XML file";
// //ref = true;
// }
// else
// {
// LOG(INFO) << "SUPL: Error while trying to save ref location XML file";
// //ret = false;
// }
// }
return ret;
}
GpsL1CaPvt::~GpsL1CaPvt()
{
save_assistance_to_XML();
}
void GpsL1CaPvt::connect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void GpsL1CaPvt::disconnect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to disconnect
}
gr::basic_block_sptr GpsL1CaPvt::get_left_block()
{
return pvt_;
}
gr::basic_block_sptr GpsL1CaPvt::get_right_block()
{
return pvt_;
}

98
src/algorithms/PVT/adapters/gps_l1_ca_pvt.h
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/*!
* \file gps_l1_ca_pvt.h
* \brief Interface of an adapter of a GPS L1 C/A PVT solver block to a
* PvtInterface
* Position Velocity and Time
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L1_CA_PVT_H_
#define GNSS_SDR_GPS_L1_CA_PVT_H_
#include <string>
#include "pvt_interface.h"
#include "gps_l1_ca_pvt_cc.h"
class ConfigurationInterface;
/*!
* \brief This class implements a PvtInterface for GPS L1 C/A
*/
class GpsL1CaPvt : public PvtInterface
{
public:
GpsL1CaPvt(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPvt();
std::string role()
{
return role_;
}
//! Returns "GPS_L1_CA_PVT"
std::string implementation()
{
return "GPS_L1_CA_PVT";
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
void reset()
{
return;
}
//! All blocks must have an item_size() function implementation. Returns sizeof(gr_complex)
size_t item_size()
{
return sizeof(gr_complex);
}
private:
gps_l1_ca_pvt_cc_sptr pvt_;
bool dump_;
std::string dump_filename_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
std::string eph_xml_filename_;
bool save_assistance_to_XML();
};
#endif

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src/algorithms/PVT/adapters/hybrid_pvt.cc
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/*!
* \file hybrid_pvt.cc
* \brief Implementation of an adapter of a GALILEO E1 PVT solver block to a
* PvtInterface
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "hybrid_pvt.h"
#include <glog/logging.h>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/math/common_factor_rt.hpp>
#include <boost/serialization/map.hpp>
#include "configuration_interface.h"
using google::LogMessage;
HybridPvt::HybridPvt(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
// dump parameters
std::string default_dump_filename = "./pvt.dat";
std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
std::string default_nmea_dump_devname = "/dev/tty1";
std::string default_rtcm_dump_devname = "/dev/pts/1";
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
// moving average depth parameters
int averaging_depth = configuration->property(role + ".averaging_depth", 10);
bool flag_averaging = configuration->property(role + ".flag_averaging", false);
// output rate
int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
// display rate
int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
// NMEA Printer settings
bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RTCM Printer settings
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
// RTCM message rates: least common multiple with output_rate_ms
int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
std::map<int,int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
for (int k = 1071; k < 1078; k++) // All GPS MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
}
for (int k = 1091; k < 1098; k++) // All Galileo MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
}
// getting names from the config file, if available
// default filename for assistance data
const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
const std::string utc_default_xml_filename = "./gps_utc_model.xml";
const std::string iono_default_xml_filename = "./gps_iono.xml";
const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
eph_xml_filename_ = configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
//std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
//std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
//std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
//std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
// Infer the type of receiver
/*
* TYPE | RECEIVER
* 0 | Unknown
* 1 | GPS L1 C/A
* 2 | GPS L2C
* 3 | GPS L5
* 4 | Galileo E1B
* 5 | Galileo E5a
* 6 | Galileo E5b
* 7 | GPS L1 C/A + GPS L2C
* 8 | GPS L1 C/A + GPS L5
* 9 | GPS L1 C/A + Galileo E1B
* 10 | GPS L1 C/A + Galileo E5a
* 11 | GPS L1 C/A + Galileo E5b
* 12 | Galileo E1B + GPS L2C
* 13 | Galileo E1B + GPS L5
* 14 | Galileo E1B + Galileo E5a
* 15 | Galileo E1B + Galileo E5b
* 16 | GPS L2C + GPS L5
* 17 | GPS L2C + Galileo E5a
* 18 | GPS L2C + Galileo E5b
* 19 | GPS L5 + Galileo E5a
* 20 | GPS L5 + Galileo E5b
* 21 | GPS L1 C/A + Galileo E1B + GPS L2C
* 22 | GPS L1 C/A + Galileo E1B + GPS L5
*/
int gps_1C_count = configuration->property("Channels_1C.count", 0);
int gps_2S_count = configuration->property("Channels_2S.count", 0);
int gal_1B_count = configuration->property("Channels_1B.count", 0);
int gal_E5a_count = configuration->property("Channels_5X.count", 0); // GPS L5 or Galileo E5a ?
int gal_E5b_count = configuration->property("Channels_7X.count", 0);
unsigned int type_of_receiver = 0;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 1;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 2;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 4;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 5;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 6;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 7;
//if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 9;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 10;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 11;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 12;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 14;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 15;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 17;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 18;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 21;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
// make PVT object
pvt_ = hybrid_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}
bool HybridPvt::save_assistance_to_XML()
{
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
if (eph_map.size() > 0)
{
try
{
std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
ofs.close();
LOG(INFO) << "Saved GPS L1 Ephemeris map data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
return true; // return variable (true == succeeded)
}
else
{
LOG(WARNING) << "Failed to save Ephemeris, map is empty";
return false;
}
}
HybridPvt::~HybridPvt()
{
save_assistance_to_XML();
}
void HybridPvt::connect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void HybridPvt::disconnect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to disconnect
}
gr::basic_block_sptr HybridPvt::get_left_block()
{
return pvt_;
}
gr::basic_block_sptr HybridPvt::get_right_block()
{
return pvt_; // this is a sink, nothing downstream
}

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src/algorithms/PVT/adapters/rtklib_pvt.cc Normal file
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/*!
* \file rtklib_pvt.cc
* \brief Interface of a Position Velocity and Time computation block
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "rtklib_pvt.h"
#include <glog/logging.h>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/math/common_factor_rt.hpp>
#include <boost/serialization/map.hpp>
#include "configuration_interface.h"
using google::LogMessage;
RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
// dump parameters
std::string default_dump_filename = "./pvt.dat";
std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
std::string default_nmea_dump_devname = "/dev/tty1";
std::string default_rtcm_dump_devname = "/dev/pts/1";
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
// output rate
int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
// display rate
int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
// NMEA Printer settings
bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RINEX version
int rinex_version = configuration->property(role + ".rinex_version", 3);
if( (rinex_version < 2) || (rinex_version > 3) )
{
//warn user and set the default
rinex_version = 3;
}
// RTCM Printer settings
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
// RTCM message rates: least common multiple with output_rate_ms
int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
std::map<int,int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
for (int k = 1071; k < 1078; k++) // All GPS MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
}
for (int k = 1091; k < 1098; k++) // All Galileo MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
}
// getting names from the config file, if available
// default filename for assistance data
const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
const std::string utc_default_xml_filename = "./gps_utc_model.xml";
const std::string iono_default_xml_filename = "./gps_iono.xml";
const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
eph_xml_filename_ = configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
//std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
//std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
//std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
//std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
// Infer the type of receiver
/*
* TYPE | RECEIVER
* 0 | Unknown
* 1 | GPS L1 C/A
* 2 | GPS L2C
* 3 | GPS L5
* 4 | Galileo E1B
* 5 | Galileo E5a
* 6 | Galileo E5b
* 7 | GPS L1 C/A + GPS L2C
* 8 | GPS L1 C/A + GPS L5
* 9 | GPS L1 C/A + Galileo E1B
* 10 | GPS L1 C/A + Galileo E5a
* 11 | GPS L1 C/A + Galileo E5b
* 12 | Galileo E1B + GPS L2C
* 13 | Galileo E1B + GPS L5
* 14 | Galileo E1B + Galileo E5a
* 15 | Galileo E1B + Galileo E5b
* 16 | GPS L2C + GPS L5
* 17 | GPS L2C + Galileo E5a
* 18 | GPS L2C + Galileo E5b
* 19 | GPS L5 + Galileo E5a
* 20 | GPS L5 + Galileo E5b
* 21 | GPS L1 C/A + Galileo E1B + GPS L2C
* 22 | GPS L1 C/A + Galileo E1B + GPS L5
*/
int gps_1C_count = configuration->property("Channels_1C.count", 0);
int gps_2S_count = configuration->property("Channels_2S.count", 0);
int gal_1B_count = configuration->property("Channels_1B.count", 0);
int gal_E5a_count = configuration->property("Channels_5X.count", 0); // GPS L5 or Galileo E5a ?
int gal_E5b_count = configuration->property("Channels_7X.count", 0);
unsigned int type_of_receiver = 0;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 1;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 2;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 4;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 5;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 6;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 7;
//if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 9;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 10;
if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 11;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 12;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 14;
if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 15;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 17;
if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 18;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 21;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
//RTKLIB PVT solver options
// Settings 1
int positioning_mode = -1;
std::string default_pos_mode("Single");
std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if(positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
if(positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
if(positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
if(positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC;
if(positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA;
if( positioning_mode == -1 )
{
//warn user and set the default
std::cout << "WARNING: Bad specification of positioning mode." << std::endl;
std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic" << std::endl;
std::cout << "positioning_mode specified value: " << positioning_mode_str << std::endl;
std::cout << "Setting positioning_mode to Single" << std::endl;
positioning_mode = PMODE_SINGLE;
}
int num_bands = 0;
if ((gps_1C_count > 0) || (gal_1B_count > 0)) num_bands = 1;
if (((gps_1C_count > 0) || (gal_1B_count > 0)) && (gps_2S_count > 0) ) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5a_count > 0))) num_bands = 3;
int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
if( (number_of_frequencies < 1) || (number_of_frequencies > 3) )
{
//warn user and set the default
number_of_frequencies = num_bands;
}
double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
if( (elevation_mask < 0.0) || (elevation_mask > 90.0) )
{
//warn user and set the default
elevation_mask = 15.0;
}
int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */
if( (dynamics_model < 0) || (dynamics_model > 2) )
{
//warn user and set the default
dynamics_model = 0;
}
std::string default_iono_model("OFF");
std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
int iono_model = -1;
if(iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF;
if(iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC;
if(iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS;
if(iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC;
if(iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST;
if(iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC;
if( iono_model == -1 )
{
//warn user and set the default
std::cout << "WARNING: Bad specification of ionospheric model." << std::endl;
std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX" << std::endl;
std::cout << "iono_model specified value: " << iono_model_str << std::endl;
std::cout << "Setting iono_model to OFF" << std::endl;
iono_model = IONOOPT_OFF; /* 0: ionosphere option: correction off */
}
std::string default_trop_model("OFF");
int trop_model = -1;
std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if(trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF;
if(trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS;
if(trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS;
if(trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST;
if(trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG;
if( trop_model == -1 )
{
//warn user and set the default
std::cout << "WARNING: Bad specification of tropospheric model." << std::endl;
std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad" << std::endl;
std::cout << "trop_model specified value: " << trop_model_str << std::endl;
std::cout << "Setting trop_model to OFF" << std::endl;
trop_model = TROPOPT_OFF;
}
/* RTKLIB positioning options */
int sat_PCV = 0; /* Set whether the satellite antenna PCV (phase center variation) model is used or not. This feature requires a Satellite Antenna PCV File. */
int rec_PCV = 0; /* Set whether the receiver antenna PCV (phase center variation) model is used or not. This feature requires a Receiver Antenna PCV File. */
/* Set whether the phase windup correction for PPP modes is applied or not. Only applicable to PPP‐* modes.*/
int phwindup = configuration->property(role + ".phwindup", 0);
/* Set whether the GPS Block IIA satellites in eclipse are excluded or not.
The eclipsing Block IIA satellites often degrade the PPP solutions due to unpredicted behavior of yaw‐attitude. Only applicable to PPP‐* modes.*/
int reject_GPS_IIA = configuration->property(role + ".reject_GPS_IIA", 0);
/* Set whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) feature is enabled or not.
In case of RAIM FDE enabled, a satellite is excluded if SSE (sum of squared errors) of residuals is over a threshold.
The excluded satellite is selected to indicate the minimum SSE. */
int raim_fde = configuration->property(role + ".raim_fde", 0);
int earth_tide = configuration->property(role + ".earth_tide", 0);
int nsys = 0;
if ((gps_1C_count > 0) || (gps_2S_count > 0)) nsys += SYS_GPS;
if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if( (navigation_system < 1) || (navigation_system > 255) ) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
{
//warn user and set the default
navigation_system = nsys;
}
// Settings 2
std::string default_gps_ar("Continuous");
std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
int integer_ambiguity_resolution_gps = -1;
if(integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF;
if(integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT;
if(integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST;
if(integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
if(integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR;
if( integer_ambiguity_resolution_gps == -1 )
{
//warn user and set the default
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl;
std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR" << std::endl;
std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << std::endl;
std::cout << "Setting AR_GPS to OFF" << std::endl;
integer_ambiguity_resolution_gps = ARMODE_OFF;
}
int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
if( (integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3) )
{
//warn user and set the default
integer_ambiguity_resolution_glo = 1;
}
int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */
if( (integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1) )
{
//warn user and set the default
integer_ambiguity_resolution_bds = 1;
}
double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test,
which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */
int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.
If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */
double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity.
If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */
int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value. */
double slip_threshold = configuration->property(role + ".slip_threshold", 0.05); /* set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs */
double threshold_reject_gdop = configuration->property(role + ".threshold_reject_gdop", 30.0); /* reject threshold of GDOP. If the GDOP is over the value, the observable is excluded for the estimation process as an outlier. */
double threshold_reject_innovation = configuration->property(role + ".threshold_reject_innovation", 30.0); /* reject threshold of innovation (m). If the innovation is over the value, the observable is excluded for the estimation process as an outlier. */
int number_filter_iter = configuration->property(role + ".number_filter_iter", 1); /* Set the number of iteration in the measurement update of the estimation filter.
If the baseline length is very short like 1 m, the iteration may be effective to handle
the nonlinearity of measurement equation. */
/// Statistics
double bias_0 = configuration->property(role + ".bias_0", 30.0);
double iono_0 = configuration->property(role + ".iono_0", 0.03);
double trop_0 = configuration->property(role + ".trop_0", 0.3);
double sigma_bias = configuration->property(role + ".sigma_bias", 1e-4); /* Set the process noise standard deviation of carrier‐phase
bias (ambiguity) (cycle/sqrt(s)) */
double sigma_iono = configuration->property(role + ".sigma_iono", 1e-3); /* Set the process noise standard deviation of vertical ionospheric delay per 10 km baseline (m/sqrt(s)). */
double sigma_trop = configuration->property(role + ".sigma_trop", 1e-4); /* Set the process noise standard deviation of zenith tropospheric delay (m/sqrt(s)). */
double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1); /* Set the process noise standard deviation of the receiver acceleration as
the horizontal component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as
the vertical component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
double code_phase_error_ratio_l1 = configuration->property(role + ".code_phase_error_ratio_l1", 100.0);
double code_phase_error_ratio_l2 = configuration->property(role + ".code_phase_error_ratio_l2", 100.0);
double code_phase_error_ratio_l5 = configuration->property(role + ".code_phase_error_ratio_l5", 100.0);
double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003);
double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003);
snrmask_t snrmask = { {}, {{},{}} };
prcopt_t rtklib_configuration_options = {positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
0, /* solution type (0:forward,1:backward,2:combined) */
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
navigation_system, /* navigation system */
elevation_mask * D2R, /* elevation mask angle (degrees) */
snrmask, /* snrmask_t snrmask SNR mask */
0, /* satellite ephemeris/clock (EPHOPT_XXX) */
integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */
outage_reset_ambiguity, /* obs outage count to reset bias */
min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */
10, /* min fix count to hold ambiguity */
1, /* max iteration to resolve ambiguity */
iono_model, /* ionosphere option (IONOOPT_XXX) */
trop_model, /* troposphere option (TROPOPT_XXX) */
dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */
earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
number_filter_iter, /* number of filter iteration */
0, /* code smoothing window size (0:none) */
0, /* interpolate reference obs (for post mission) */
0, /* sbssat_t sbssat SBAS correction options */
0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
0, /* rover position for fixed mode */
0, /* base position for relative mode */
/* 0:pos in prcopt, 1:average of single pos, */
/* 2:read from file, 3:rinex header, 4:rtcm pos */
{code_phase_error_ratio_l1,code_phase_error_ratio_l2,code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
{100.0,carrier_phase_error_factor_a,carrier_phase_error_factor_b,0.0,1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
{bias_0,iono_0,trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
{sigma_bias,sigma_iono,sigma_trop,sigma_acch,sigma_accv,sigma_pos}, /* prn[6] process-noise std */
5e-12, /* sclkstab: satellite clock stability (sec/sec) */
{min_ratio_to_fix_ambiguity,0.9999,0.25,0.1,0.05,0.0,0.0,0.0}, /* thresar[8]: AR validation threshold */
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
0.0, /* elevation mask to hold ambiguity (deg) */
slip_threshold, /* slip threshold of geometry-free phase (m) */
30.0, /* max difference of time (sec) */
threshold_reject_innovation, /* reject threshold of innovation (m) */
threshold_reject_gdop, /* reject threshold of gdop */
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
{"",""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
{{},{}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
0, /* max averaging epoches */
0, /* initialize by restart */
1, /* output single by dgps/float/fix/ppp outage */
{"",""}, /* char rnxopt[2][256] rinex options {rover,base} */
{sat_PCV,rec_PCV,phwindup,reject_GPS_IIA,raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
0, /* solution sync mode (0:off,1:on) */
{{},{}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
{ {}, {{},{}}, {{},{}}, {}, {} }, /* exterr_t exterr extended receiver error model */
0, /* disable L2-AR */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
};
rtkinit(&rtk, &rtklib_configuration_options);
// make PVT object
pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}
bool RtklibPvt::save_assistance_to_XML()
{
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
if (eph_map.size() > 0)
{
try
{
std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
ofs.close();
LOG(INFO) << "Saved GPS L1 Ephemeris map data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
return true; // return variable (true == succeeded)
}
else
{
LOG(WARNING) << "Failed to save Ephemeris, map is empty";
return false;
}
}
RtklibPvt::~RtklibPvt()
{
rtkfree(&rtk);
save_assistance_to_XML();
}
void RtklibPvt::connect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void RtklibPvt::disconnect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
// Nothing to disconnect
}
gr::basic_block_sptr RtklibPvt::get_left_block()
{
return pvt_;
}
gr::basic_block_sptr RtklibPvt::get_right_block()
{
return pvt_; // this is a sink, nothing downstream
}

30
src/algorithms/PVT/adapters/hybrid_pvt.h → src/algorithms/PVT/adapters/rtklib_pvt.h
View File

@ -1,8 +1,7 @@
/*!
* \file hybrid_pvt.h
* \brief Interface of an adapter of a GALILEO E1 PVT solver block to a
* PvtInterface.
* \author Javier Arribas, 2013. jarribas(at)cttc.es
* \file rtklib_pvt.h
* \brief Interface of a Position Velocity and Time computation block
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
@ -31,12 +30,12 @@
#ifndef GNSS_SDR_HYBRID_PVT_H_
#define GNSS_SDR_HYBRID_PVT_H_
#ifndef GNSS_SDR_RTKLIB_PVT_H_
#define GNSS_SDR_RTKLIB_PVT_H_
#include <string>
#include "pvt_interface.h"
#include "hybrid_pvt_cc.h"
#include "rtklib_pvt_cc.h"
class ConfigurationInterface;
@ -44,25 +43,25 @@ class ConfigurationInterface;
/*!
* \brief This class implements a PvtInterface for Galileo E1
*/
class HybridPvt : public PvtInterface
class RtklibPvt : public PvtInterface
{
public:
HybridPvt(ConfigurationInterface* configuration,
RtklibPvt(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~HybridPvt();
virtual ~RtklibPvt();
std::string role()
{
return role_;
}
//! Returns "Hybrid_Pvt"
//! Returns "RTKLIB_Pvt"
std::string implementation()
{
return "Hybrid_PVT";
return "RTKLIB_PVT";
}
void connect(gr::top_block_sptr top_block);
@ -82,13 +81,16 @@ public:
}
private:
hybrid_pvt_cc_sptr pvt_;
rtklib_pvt_cc_sptr pvt_;
rtk_t rtk;
bool dump_;
std::string dump_filename_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
std::string eph_xml_filename_;
bool save_assistance_to_XML();
};

7
src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
View File

@ -16,10 +16,8 @@
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
#
set(PVT_GR_BLOCKS_SOURCES
gps_l1_ca_pvt_cc.cc
galileo_e1_pvt_cc.cc
hybrid_pvt_cc.cc
set(PVT_GR_BLOCKS_SOURCES
rtklib_pvt_cc.cc
)
include_directories(
@ -28,6 +26,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${ARMADILLO_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}

424
src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
View File

@ -1,424 +0,0 @@
/*!
* \file galileo_e1_pvt_cc.cc
* \brief Implementation of a Position Velocity and Time computation block for GPS L1 C/A
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e1_pvt_cc.h"
#include <algorithm>
#include <iostream>
#include <map>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/math/common_factor_rt.hpp>
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "concurrent_map.h"
using google::LogMessage;
galileo_e1_pvt_cc_sptr galileo_e1_make_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename, int averaging_depth,
bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename,
std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, std::map<int,int> rtcm_msg_rate_ms, std::string rtcm_dump_devname)
{
return galileo_e1_pvt_cc_sptr(new galileo_e1_pvt_cc(nchannels, dump, dump_filename, averaging_depth,
flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname,
flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname));
}
void galileo_e1_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
{
try {
if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>) )
{
// ### Galileo EPHEMERIS ###
std::shared_ptr<Galileo_Ephemeris> galileo_eph;
galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
// insert new ephemeris record
DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
<< ", GALILEO Week Number =" << galileo_eph->WN_5
<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
// update/insert new ephemeris record to the global ephemeris map
d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>) )
{
// ### Galileo IONO ###
std::shared_ptr<Galileo_Iono> galileo_iono;
galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
d_ls_pvt->galileo_iono = *galileo_iono;
DLOG(INFO) << "New IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>) )
{
// ### Galileo UTC MODEL ###
std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
d_ls_pvt->galileo_utc_model = *galileo_utc_model;
DLOG(INFO) << "New UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>) )
{
// ### Galileo Almanac ###
std::shared_ptr<Galileo_Almanac> galileo_almanac;
galileo_almanac = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
// update/insert new ephemeris record to the global ephemeris map
d_ls_pvt->galileo_almanac = *galileo_almanac;
DLOG(INFO) << "New Galileo Almanac has arrived ";
}
else
{
LOG(WARNING) << "msg_handler_telemetry unknown object type!";
}
}
catch(boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
}
}
galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename, int averaging_depth,
bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname,
bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, std::map<int,int> rtcm_msg_rate_ms, std::string rtcm_dump_devname) :
gr::block("galileo_e1_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), gr::io_signature::make(0, 0, sizeof(gr_complex)))
{
d_output_rate_ms = output_rate_ms;
d_display_rate_ms = display_rate_ms;
d_dump = dump;
d_nchannels = nchannels;
d_dump_filename = dump_filename;
std::string dump_ls_pvt_filename = dump_filename;
// GPS Ephemeris data message port in
this->message_port_register_in(pmt::mp("telemetry"));
this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&galileo_e1_pvt_cc::msg_handler_telemetry, this, _1));
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
d_kml_dump = std::make_shared<Kml_Printer>();
d_kml_dump->set_headers(kml_dump_filename);
//initialize geojson_printer
std::string geojson_dump_filename;
geojson_dump_filename = d_dump_filename;
d_geojson_printer = std::make_shared<GeoJSON_Printer>();
d_geojson_printer->set_headers(geojson_dump_filename);
//initialize nmea_printer
d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
//initialize rtcm_printer
std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename;
unsigned short _port = rtcm_tcp_port;
unsigned short _station_id = rtcm_station_id;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, _port, _station_id, rtcm_dump_devname);
if(rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end())
{
d_rtcm_MT1045_rate_ms = rtcm_msg_rate_ms[1045];
}
else
{
d_rtcm_MT1045_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
}
if(rtcm_msg_rate_ms.find(1091) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097
{
d_rtcm_MSM_rate_ms = rtcm_msg_rate_ms[1091];
}
else
{
d_rtcm_MSM_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
}
b_rtcm_writing_started = false;
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
d_averaging_depth = averaging_depth;
d_flag_averaging = flag_averaging;
d_ls_pvt = std::make_shared<galileo_e1_ls_pvt>(nchannels, dump_ls_pvt_filename, d_dump);
d_ls_pvt->set_averaging_depth(d_averaging_depth);
d_sample_counter = 0;
d_last_sample_nav_output = 0;
d_rx_time = 0.0;
b_rinex_header_written = false;
b_rinex_header_updated = false;
rp = std::make_shared<Rinex_Printer>();
d_last_status_print_seg = 0;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception opening PVT dump file " << e.what();
}
}
}
// Create Sys V message queue
first_fix = true;
sysv_msg_key = 1101;
int msgflg = IPC_CREAT | 0666;
if ((sysv_msqid = msgget(sysv_msg_key, msgflg )) == -1)
{
std::cout << "GNSS-SDR can not create message queues!" << std::endl;
throw new std::exception();
}
}
galileo_e1_pvt_cc::~galileo_e1_pvt_cc()
{
msgctl(sysv_msqid, IPC_RMID, NULL);
}
void galileo_e1_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronization_data)
{
// Print the current receiver status using std::cout every second
int current_rx_seg = floor(channels_synchronization_data[0][0].Tracking_timestamp_secs);
if ( current_rx_seg != d_last_status_print_seg)
{
d_last_status_print_seg = current_rx_seg;
std::cout << "Current input signal time = " << current_rx_seg << " [s]" << std::endl << std::flush;
//DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
// << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
}
}
bool galileo_e1_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
{
/* Fill Sys V message structures */
int msgsend_size;
ttff_msgbuf msg;
msg.ttff = ttff.ttff;
msgsend_size = sizeof(msg.ttff);
msg.mtype = 1; /* default message ID */
/* SEND SOLUTION OVER A MESSAGE QUEUE */
/* non-blocking Sys V message send */
msgsnd(sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
return true;
}
int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
{
d_sample_counter++;
std::map<int,Gnss_Synchro> gnss_observables_map;
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
print_receiver_status(in);
// ############ 1. READ PSEUDORANGES ####
for (unsigned int i = 0; i < d_nchannels; i++)
{
if (in[i][0].Flag_valid_pseudorange == true)
{
gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map
d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
if(d_ls_pvt->galileo_ephemeris_map.size() > 0)
{
std::map<int,Galileo_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(in[i][0].PRN);
if(tmp_eph_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
}
}
}
}
// ############ 2 COMPUTE THE PVT ################################
if (gnss_observables_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0)
{
// compute on the fly PVT solution
if ((d_sample_counter % d_output_rate_ms) == 0)
{
bool pvt_result;
pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, d_flag_averaging);
if (pvt_result == true)
{
// correct the observable to account for the receiver clock offset
for (std::map<int,Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it)
{
it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->d_rx_dt_s * GPS_C_m_s;
}
if( first_fix == true)
{
std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " UTC 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;
ttff_msgbuf ttff;
ttff.mtype = 1;
ttff.ttff = d_sample_counter;
send_sys_v_ttff_msg(ttff);
first_fix = false;
}
d_kml_dump->print_position(d_ls_pvt, d_flag_averaging);
d_geojson_printer->print_position(d_ls_pvt, d_flag_averaging);
d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
if (!b_rinex_header_written)
{
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
}
if(b_rinex_header_written) // Put here another condition to separate annotations (e.g 30 s)
{
// Limit the RINEX navigation output rate to 1/6 seg
// Notice that d_sample_counter period is 4ms (for Galileo correlators)
if ((d_sample_counter - d_last_sample_nav_output) >= 6000)
{
rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map);
d_last_sample_nav_output = d_sample_counter;
}
std::map<int, Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
rp->update_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
rp->update_obs_header(rp->obsFile, d_ls_pvt->galileo_utc_model);
b_rinex_header_updated = true;
}
}
if(b_rtcm_writing_started)
{
if((d_sample_counter % (d_rtcm_MT1045_rate_ms / 4) ) == 0)
{
for(std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
}
}
if((d_sample_counter % (d_rtcm_MSM_rate_ms / 4) ) == 0)
{
std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter;
gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
}
}
if(!b_rtcm_writing_started) // the first time
{
for(std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
}
std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
}
}
// DEBUG MESSAGE: Display position in console output
if (((d_sample_counter % d_display_rate_ms) == 0) and d_ls_pvt->b_valid_position == true)
{
std::cout << "Galileo Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " UTC 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;
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " UTC 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]";
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 = "
<< d_ls_pvt->d_VDOP <<" TDOP = " << d_ls_pvt->d_TDOP
<< " GDOP = " << d_ls_pvt->d_GDOP;
}
// MULTIPLEXED FILE RECORDING - Record results to file
if(d_dump == true)
{
try
{
double tmp_double;
for (unsigned int i = 0; i < d_nchannels; i++)
{
tmp_double = in[i][0].Pseudorange_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = 0;
d_dump_file.write((char*)&tmp_double, sizeof(double));
d_dump_file.write((char*)&d_rx_time, sizeof(double));
}
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
}
consume_each(1); //one by one
return 1;
}

155
src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h
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@ -1,155 +0,0 @@
/*!
* \file galileo_e1_pvt_cc.h
* \brief Interface of a Position Velocity and Time computation block for Galileo E1
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E1_PVT_CC_H
#define GNSS_SDR_GALILEO_E1_PVT_CC_H
#include <fstream>
#include <string>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <utility>
#include <gnuradio/block.h>
#include "nmea_printer.h"
#include "kml_printer.h"
#include "rinex_printer.h"
#include "geojson_printer.h"
#include "rtcm_printer.h"
#include "galileo_e1_ls_pvt.h"
class galileo_e1_pvt_cc;
typedef boost::shared_ptr<galileo_e1_pvt_cc> galileo_e1_pvt_cc_sptr;
galileo_e1_pvt_cc_sptr galileo_e1_make_pvt_cc(unsigned int n_channels,
bool dump,
std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname);
/*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
*/
class galileo_e1_pvt_cc : public gr::block
{
private:
friend galileo_e1_pvt_cc_sptr galileo_e1_make_pvt_cc(unsigned int nchannels,
bool dump,
std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname);
galileo_e1_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname);
void msg_handler_telemetry(pmt::pmt_t msg);
bool d_dump;
bool b_rinex_header_written;
bool b_rinex_header_updated;
bool b_rtcm_writing_started;
void print_receiver_status(Gnss_Synchro** channels_synchronization_data);
int d_last_status_print_seg; //for status printer
unsigned int d_nchannels;
std::string d_dump_filename;
std::ofstream d_dump_file;
int d_averaging_depth;
bool d_flag_averaging;
int d_output_rate_ms;
int d_display_rate_ms;
long unsigned int d_sample_counter;
long unsigned int d_last_sample_nav_output;
int d_rtcm_MT1045_rate_ms;
int d_rtcm_MSM_rate_ms;
std::shared_ptr<Rinex_Printer> rp;
std::shared_ptr<Kml_Printer> d_kml_dump;
std::shared_ptr<Nmea_Printer> d_nmea_printer;
std::shared_ptr<GeoJSON_Printer> d_geojson_printer;
std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
double d_rx_time;
std::shared_ptr<galileo_e1_ls_pvt> d_ls_pvt;
bool first_fix;
key_t sysv_msg_key;
int sysv_msqid;
typedef struct {
long mtype;//required by sys v message
double ttff;
} ttff_msgbuf;
bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
public:
~galileo_e1_pvt_cc (); //!< Default destructor
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items); //!< PVT Signal Processing
};
#endif

505
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
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@ -1,505 +0,0 @@
/*!
* \file gps_l1_ca_pvt_cc.cc
* \brief Implementation of a Position Velocity and Time computation block for GPS L1 C/A
* \author Javier Arribas, 2011. jarribas(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_pvt_cc.h"
#include <algorithm>
#include <iostream>
#include <map>
#include <utility>
#include <boost/math/common_factor_rt.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "concurrent_map.h"
#include "sbas_telemetry_data.h"
#include "sbas_ionospheric_correction.h"
using google::LogMessage;
gps_l1_ca_pvt_cc_sptr
gps_l1_ca_make_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
int rinex_version)
{
return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels,
dump,
dump_filename,
averaging_depth,
flag_averaging,
output_rate_ms,
display_rate_ms,
flag_nmea_tty_port,
nmea_dump_filename,
nmea_dump_devname,
flag_rtcm_server,
flag_rtcm_tty_port,
rtcm_tcp_port,
rtcm_station_id,
rtcm_msg_rate_ms,
rtcm_dump_devname,
rinex_version));
}
void gps_l1_ca_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
{
try {
if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>) )
{
// ### GPS EPHEMERIS ###
std::shared_ptr<Gps_Ephemeris> gps_eph;
gps_eph = boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
<< gps_eph->i_satellite_PRN << " (Block "
<< gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
<< "inserted with Toe="<< gps_eph->d_Toe<<" and GPS Week="
<< gps_eph->i_GPS_week;
// update/insert new ephemeris record to the global ephemeris map
d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>) )
{
// ### GPS IONO ###
std::shared_ptr<Gps_Iono> gps_iono;
gps_iono = boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
d_ls_pvt->gps_iono = *gps_iono;
DLOG(INFO) << "New IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>) )
{
// ### GPS UTC MODEL ###
std::shared_ptr<Gps_Utc_Model> gps_utc_model;
gps_utc_model = boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
d_ls_pvt->gps_utc_model = *gps_utc_model;
DLOG(INFO) << "New UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Sbas_Ionosphere_Correction>) )
{
// ### SBAS IONO ###
std::shared_ptr<Sbas_Ionosphere_Correction> sbas_iono;
sbas_iono = boost::any_cast<std::shared_ptr<Sbas_Ionosphere_Correction>>(pmt::any_ref(msg));
d_ls_pvt->sbas_iono = *sbas_iono;
DLOG(INFO) << "New SBAS IONO record has arrived ";
}
//TODO: add SBAS correction maps here
//d_ls_pvt->sbas_sat_corr_map = global_sbas_sat_corr_map.get_map_copy();
//d_ls_pvt->sbas_ephemeris_map = global_sbas_ephemeris_map.get_map_copy();
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Sbas_Raw_Msg>) )
{
std::shared_ptr<Sbas_Raw_Msg> sbas_raw_msg_ptr;
sbas_raw_msg_ptr = boost::any_cast<std::shared_ptr<Sbas_Raw_Msg>>(pmt::any_ref(msg));
Sbas_Raw_Msg sbas_raw_msg = *sbas_raw_msg_ptr;
// read SBAS raw messages directly from queue and write them into rinex file
// create the header of not yet done
if(!b_rinex_sbs_header_written)
{
rp->rinex_sbs_header(rp->sbsFile);
b_rinex_sbs_header_written = true;
}
// Define the RX time of the SBAS message by using the GPS time.
// It has only an effect if there has not been yet a SBAS MT12 available
// when the message was received.
if(sbas_raw_msg.get_rx_time_obj().is_related() == false
&& gnss_observables_map.size() > 0
&& d_ls_pvt->gps_ephemeris_map.size() > 0)
{
// doesn't matter which channel/satellite we choose
Gnss_Synchro gs = gnss_observables_map.begin()->second;
Gps_Ephemeris eph = d_ls_pvt->gps_ephemeris_map.begin()->second;
double relative_rx_time = gs.Tracking_timestamp_secs;
int gps_week = eph.i_GPS_week;
double gps_sec = gs.d_TOW_at_current_symbol;
Sbas_Time_Relation time_rel(relative_rx_time, gps_week, gps_sec);
sbas_raw_msg.relate(time_rel);
}
// send the message to the rinex logger if it has a valid GPS time stamp
if(sbas_raw_msg.get_rx_time_obj().is_related())
{
rp->log_rinex_sbs(rp->sbsFile, sbas_raw_msg);
}
}
else
{
LOG(WARNING) << "msg_handler_telemetry unknown object type!";
}
}
catch(boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
}
}
std::map<int,Gps_Ephemeris> gps_l1_ca_pvt_cc::get_GPS_L1_ephemeris_map()
{
return d_ls_pvt->gps_ephemeris_map;
}
bool gps_l1_ca_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
{
/* Fill Sys V message structures */
int msgsend_size;
ttff_msgbuf msg;
msg.ttff = ttff.ttff;
msgsend_size = sizeof(msg.ttff);
msg.mtype = 1; /* default message ID */
/* SEND SOLUTION OVER A MESSAGE QUEUE */
/* non-blocking Sys V message send */
msgsnd(sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
return true;
}
gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
int rinex_version) :
gr::block("gps_l1_ca_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, sizeof(gr_complex)) )
{
d_output_rate_ms = output_rate_ms;
d_display_rate_ms = display_rate_ms;
d_dump = dump;
d_nchannels = nchannels;
d_dump_filename = dump_filename;
std::string dump_ls_pvt_filename = dump_filename;
// GPS Ephemeris data message port in
this->message_port_register_in(pmt::mp("telemetry"));
this->set_msg_handler(pmt::mp("telemetry"),
boost::bind(&gps_l1_ca_pvt_cc::msg_handler_telemetry, this, _1));
// initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
d_kml_printer = std::make_shared<Kml_Printer>();
d_kml_printer->set_headers(kml_dump_filename);
// initialize geojson_printer
std::string geojson_dump_filename;
geojson_dump_filename = d_dump_filename;
d_geojson_printer = std::make_shared<GeoJSON_Printer>();
d_geojson_printer->set_headers(geojson_dump_filename);
// initialize nmea_printer
d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
// initialize rtcm_printer
std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename;
d_rtcm_tcp_port = rtcm_tcp_port;
d_rtcm_station_id = rtcm_station_id;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, d_rtcm_tcp_port, d_rtcm_station_id, rtcm_dump_devname);
if(rtcm_msg_rate_ms.find(1019) != rtcm_msg_rate_ms.end())
{
d_rtcm_MT1019_rate_ms = rtcm_msg_rate_ms[1019];
}
else
{
d_rtcm_MT1019_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
}
if(rtcm_msg_rate_ms.find(1071) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
{
d_rtcm_MSM_rate_ms = rtcm_msg_rate_ms[1071];
}
else
{
d_rtcm_MSM_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
}
b_rtcm_writing_started = false;
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
d_averaging_depth = averaging_depth;
d_flag_averaging = flag_averaging;
d_ls_pvt = std::make_shared<gps_l1_ca_ls_pvt>((int)nchannels, dump_ls_pvt_filename, d_dump);
d_ls_pvt->set_averaging_depth(d_averaging_depth);
d_sample_counter = 0;
d_last_sample_nav_output = 0;
d_rx_time = 0.0;
d_last_status_print_seg = 0;
b_rinex_header_written = false;
b_rinex_header_updated = false;
b_rinex_sbs_header_written = false;
rp = std::make_shared<Rinex_Printer>(rinex_version);
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure & e)
{
LOG(INFO) << "Exception opening PVT dump file " << e.what();
}
}
}
// Create Sys V message queue
first_fix = true;
sysv_msg_key = 1101;
int msgflg = IPC_CREAT | 0666;
if ((sysv_msqid = msgget(sysv_msg_key, msgflg )) == -1)
{
std::cout << "GNSS-SDR can not create message queues!" << std::endl;
throw new std::exception();
}
}
gps_l1_ca_pvt_cc::~gps_l1_ca_pvt_cc()
{
msgctl(sysv_msqid, IPC_RMID, NULL);
}
void gps_l1_ca_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronization_data)
{
// Print the current receiver status using std::cout every second
int current_rx_seg = floor(channels_synchronization_data[0][0].Tracking_timestamp_secs);
if ( current_rx_seg!= d_last_status_print_seg)
{
d_last_status_print_seg = current_rx_seg;
std::cout << "Current input signal time = " << current_rx_seg << " [s]" << std::endl << std::flush;
//DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
// << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]";
}
}
int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
{
gnss_observables_map.clear();
d_sample_counter++;
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; // Get the input pointer
print_receiver_status(in);
// ############ 1. READ PSEUDORANGES ####
for (unsigned int i = 0; i < d_nchannels; i++)
{
if (in[i][0].Flag_valid_pseudorange == true)
{
gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map
d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
if(d_ls_pvt->gps_ephemeris_map.size() > 0)
{
std::map<int,Gps_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->gps_ephemeris_map.find(in[i][0].PRN);
if(tmp_eph_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
}
}
}
}
// ############ 2 COMPUTE THE PVT ################################
if (gnss_observables_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0)
{
// compute on the fly PVT solution
if ((d_sample_counter % d_output_rate_ms) == 0)
{
bool pvt_result;
pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, d_flag_averaging);
if (pvt_result == true)
{
// correct the observable to account for the receiver clock offset
for (std::map<int,Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it)
{
it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->d_rx_dt_s * GPS_C_m_s;
}
if(first_fix == true)
{
std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " UTC 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;
ttff_msgbuf ttff;
ttff.mtype = 1;
ttff.ttff = d_sample_counter;
send_sys_v_ttff_msg(ttff);
first_fix = false;
}
d_kml_printer->print_position(d_ls_pvt, d_flag_averaging);
d_geojson_printer->print_position(d_ls_pvt, d_flag_averaging);
d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
if (!b_rinex_header_written)
{
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time);
rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
}
if(b_rinex_header_written)
{
// Limit the RINEX navigation output rate to 1/6 seg
// Notice that d_sample_counter period is 1ms (for GPS correlators)
if ((d_sample_counter - d_last_sample_nav_output) >= 6000)
{
rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_ephemeris_map);
d_last_sample_nav_output = d_sample_counter;
}
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
{
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono);
b_rinex_header_updated = true;
}
}
if(b_rtcm_writing_started)
{
if((d_sample_counter % d_rtcm_MT1019_rate_ms) == 0)
{
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
}
if((d_sample_counter % d_rtcm_MSM_rate_ms) == 0)
{
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
}
}
if(!b_rtcm_writing_started) // the first time
{
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
}
}
// DEBUG MESSAGE: Display position in console output
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)
<< " UTC 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;
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " UTC 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]";
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 = "
<< d_ls_pvt->d_VDOP <<" TDOP = " << d_ls_pvt->d_TDOP << " GDOP = " << d_ls_pvt->d_GDOP;
}
// MULTIPLEXED FILE RECORDING - Record results to file
if(d_dump == true)
{
try
{
double tmp_double;
for (unsigned int i = 0; i < d_nchannels ; i++)
{
tmp_double = in[i][0].Pseudorange_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = 0;
d_dump_file.write((char*)&tmp_double, sizeof(double));
d_dump_file.write((char*)&d_rx_time, sizeof(double));
}
}
catch (const std::ifstream::failure & e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
}
consume_each(1); //one by one
return 1;
}

170
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h
View File

@ -1,170 +0,0 @@
/*!
* \file gps_l1_ca_pvt_cc.h
* \brief Interface of a Position Velocity and Time computation block for GPS L1 C/A
* \author Javier Arribas, 2011. jarribas(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L1_CA_PVT_CC_H
#define GNSS_SDR_GPS_L1_CA_PVT_CC_H
#include <fstream>
#include <string>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <gnuradio/block.h>
#include "nmea_printer.h"
#include "kml_printer.h"
#include "rinex_printer.h"
#include "geojson_printer.h"
#include "rtcm_printer.h"
#include "gps_l1_ca_ls_pvt.h"
class gps_l1_ca_pvt_cc;
typedef boost::shared_ptr<gps_l1_ca_pvt_cc> gps_l1_ca_pvt_cc_sptr;
gps_l1_ca_pvt_cc_sptr gps_l1_ca_make_pvt_cc(unsigned int n_channels,
bool dump,
std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
int rinex_version
);
/*!
* \brief This class implements a block that computes the PVT solution
*/
class gps_l1_ca_pvt_cc : public gr::block
{
private:
friend gps_l1_ca_pvt_cc_sptr gps_l1_ca_make_pvt_cc(unsigned int nchannels,
bool dump,
std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
int rinex_version);
gps_l1_ca_pvt_cc(unsigned int nchannels,
bool dump,
std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
int rinex_version);
void msg_handler_telemetry(pmt::pmt_t msg);
bool d_dump;
bool b_rinex_header_written;
bool b_rinex_sbs_header_written;
bool b_rinex_header_updated;
bool b_rtcm_writing_started;
unsigned short d_rtcm_tcp_port;
unsigned short d_rtcm_station_id;
int d_rtcm_MT1019_rate_ms;
int d_rtcm_MSM_rate_ms;
void print_receiver_status(Gnss_Synchro** channels_synchronization_data);
int d_last_status_print_seg; //for status printer
unsigned int d_nchannels;
std::string d_dump_filename;
std::ofstream d_dump_file;
int d_averaging_depth;
bool d_flag_averaging;
int d_output_rate_ms;
int d_display_rate_ms;
long unsigned int d_sample_counter;
long unsigned int d_last_sample_nav_output;
std::shared_ptr<Rinex_Printer> rp;
std::shared_ptr<Kml_Printer> d_kml_printer;
std::shared_ptr<Nmea_Printer> d_nmea_printer;
std::shared_ptr<GeoJSON_Printer> d_geojson_printer;
std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
double d_rx_time;
std::shared_ptr<gps_l1_ca_ls_pvt> d_ls_pvt;
std::map<int,Gnss_Synchro> gnss_observables_map;
bool first_fix;
key_t sysv_msg_key;
int sysv_msqid;
typedef struct {
long mtype;//required by sys v message
double ttff;
} ttff_msgbuf;
bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
public:
/*!
* \brief Get latest set of GPS L1 ephemeris from PVT block
*
* It is used to save the assistance data at the receiver shutdown
*/
std::map<int,Gps_Ephemeris> get_GPS_L1_ephemeris_map();
~gps_l1_ca_pvt_cc (); //!< Default destructor
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items); //!< PVT Signal Processing
};
#endif

1106
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
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File diff suppressed because it is too large Load Diff

1169
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc Normal file
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File diff suppressed because it is too large Load Diff

96
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h → src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -1,7 +1,7 @@
/*!
* \file hybrid_pvt_cc.h
* \brief Interface of a Position Velocity and Time computation block for Galileo E1
* \author Javier Arribas, 2013. jarribas(at)cttc.es
* \file rtklib_pvt_cc.h
* \brief Interface of a Position Velocity and Time computation block
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
@ -28,85 +28,70 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_HYBRID_PVT_CC_H
#define GNSS_SDR_HYBRID_PVT_CC_H
#ifndef GNSS_SDR_RTKLIB_PVT_CC_H
#define GNSS_SDR_RTKLIB_PVT_CC_H
#include <ctime>
#include <fstream>
#include <utility>
#include <string>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <gnuradio/block.h>
#include <gnuradio/sync_block.h>
#include "nmea_printer.h"
#include "kml_printer.h"
#include "geojson_printer.h"
#include "rinex_printer.h"
#include "rtcm_printer.h"
#include "hybrid_ls_pvt.h"
#include "rtklib_solver.h"
class hybrid_pvt_cc;
class rtklib_pvt_cc;
typedef boost::shared_ptr<hybrid_pvt_cc> hybrid_pvt_cc_sptr;
typedef boost::shared_ptr<rtklib_pvt_cc> rtklib_pvt_cc_sptr;
hybrid_pvt_cc_sptr hybrid_make_pvt_cc(unsigned int n_channels,
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
bool dump,
std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver);
const unsigned int type_of_receiver,
rtk_t & rtk);
/*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
*/
class hybrid_pvt_cc : public gr::block
class rtklib_pvt_cc : public gr::sync_block
{
private:
friend hybrid_pvt_cc_sptr hybrid_make_pvt_cc(unsigned int nchannels,
friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
bool dump,
std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver);
hybrid_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver);
const unsigned int type_of_receiver,
rtk_t & rtk);
void msg_handler_telemetry(pmt::pmt_t msg);
@ -120,18 +105,14 @@ private:
int d_rtcm_MT1097_rate_ms;
int d_rtcm_MSM_rate_ms;
void print_receiver_status(Gnss_Synchro** channels_synchronization_data);
int d_last_status_print_seg; //for status printer
unsigned int d_nchannels;
std::string d_dump_filename;
std::ofstream d_dump_file;
int d_averaging_depth;
bool d_flag_averaging;
int d_output_rate_ms;
int d_display_rate_ms;
long unsigned int d_sample_counter;
long unsigned int d_last_sample_nav_output;
std::shared_ptr<Rinex_Printer> rp;
std::shared_ptr<Kml_Printer> d_kml_dump;
@ -139,8 +120,16 @@ private:
std::shared_ptr<GeoJSON_Printer> d_geojson_printer;
std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
double d_rx_time;
double d_TOW_at_curr_symbol_constellation;
std::shared_ptr<hybrid_ls_pvt> d_ls_pvt;
double last_pvt_display_T_rx_s;
double last_RTCM_1019_output_time;
double last_RTCM_1045_output_time;
double last_RTCM_1077_output_time;
double last_RTCM_1097_output_time;
double last_RTCM_MSM_output_time;
double last_RINEX_obs_output_time;
double last_RINEX_nav_output_time;
std::shared_ptr<rtklib_solver> d_ls_pvt;
std::map<int,Gnss_Synchro> gnss_observables_map;
bool observables_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b);
@ -154,8 +143,27 @@ private:
double ttff;
} ttff_msgbuf;
bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
struct timeval tv;
long long int begin;
public:
rtklib_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver,
rtk_t & rtk);
/*!
* \brief Get latest set of GPS L1 ephemeris from PVT block
*
@ -163,10 +171,10 @@ public:
*/
std::map<int,Gps_Ephemeris> get_GPS_L1_ephemeris_map();
~hybrid_pvt_cc (); //!< Default destructor
~rtklib_pvt_cc(); //!< Default destructor
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items); //!< PVT Signal Processing
int work (int noutput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items); //!< PVT Signal Processing
};
#endif

20
src/algorithms/PVT/libs/CMakeLists.txt
View File

@ -21,14 +21,13 @@ add_definitions( -DGNSS_SDR_VERSION="${VERSION}" )
set(PVT_LIB_SOURCES
pvt_solution.cc
ls_pvt.cc
gps_l1_ca_ls_pvt.cc
galileo_e1_ls_pvt.cc
hybrid_ls_pvt.cc
kml_printer.cc
rinex_printer.cc
nmea_printer.cc
rtcm_printer.cc
geojson_printer.cc
rtklib_solver.cc
)
include_directories(
@ -37,6 +36,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${Boost_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
@ -46,5 +46,17 @@ file(GLOB PVT_LIB_HEADERS "*.h")
list(SORT PVT_LIB_HEADERS)
add_library(pvt_lib ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS})
source_group(Headers FILES ${PVT_LIB_HEADERS})
add_dependencies(pvt_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE})
target_link_libraries(pvt_lib ${Boost_LIBRARIES} ${GFlags_LIBS} ${GLOG_LIBRARIES} ${ARMADILLO_LIBRARIES})
add_dependencies(pvt_lib rtklib_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE})
target_link_libraries(
pvt_lib
rtklib_lib
${Boost_LIBRARIES}
${GFlags_LIBS}
${GLOG_LIBRARIES}
${ARMADILLO_LIBRARIES}
${BLAS}
${LAPACK}
)

257
src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
View File

@ -1,257 +0,0 @@
/*!
* \file galileo_e1_ls_pvt.cc
* \brief Implementation of a Least Squares Position, Velocity, and Time
* (PVT) solver, based on K.Borre's Matlab receiver.
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e1_ls_pvt.h"
#include <glog/logging.h>
#include "Galileo_E1.h"
using google::LogMessage;
galileo_e1_ls_pvt::galileo_e1_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file) : Ls_Pvt()
{
// init empty ephemeris for all the available GNSS channels
d_nchannels = nchannels;
d_ephemeris = new Galileo_Navigation_Message[nchannels];
d_dump_filename = dump_filename;
d_flag_dump_enabled = flag_dump_to_file;
d_galileo_current_time = 0;
d_flag_averaging = false;
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
}
}
}
}
galileo_e1_ls_pvt::~galileo_e1_ls_pvt()
{
d_dump_file.close();
delete[] d_ephemeris;
}
bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, double galileo_current_time, bool flag_averaging)
{
std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
arma::vec W; // channels weight vector
arma::vec obs; // pseudoranges observation vector
arma::mat satpos; // satellite positions matrix
int Galileo_week_number = 0;
double utc = 0.0;
double GST = 0.0;
double TX_time_corrected_s = 0.0;
double SV_clock_bias_s = 0.0;
d_flag_averaging = flag_averaging;
// ********************************************************************************
// ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) ****
// ********************************************************************************
int valid_obs = 0; //valid observations counter
for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin();
gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
gnss_pseudoranges_iter++)
{
// 1- find the ephemeris for the current SV observation. The SV PRN ID is the map key
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_pseudoranges_iter->first);
if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
{
/*!
* \todo Place here the satellite CN0 (power level, or weight factor)
*/
W.resize(valid_obs + 1, 1);
W(valid_obs) = 1;
// COMMON RX TIME PVT ALGORITHM
double Rx_time = galileo_current_time;
double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m / GALILEO_C_m_s;
// 2- compute the clock drift using the clock model (broadcast) for this SV, including relativistic effect
SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time);
// 3- compute the current ECEF position for this SV using corrected TX time
TX_time_corrected_s = Tx_time - SV_clock_bias_s;
galileo_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
//store satellite positions in a matrix
satpos.resize(3, valid_obs + 1);
satpos(0, valid_obs) = galileo_ephemeris_iter->second.d_satpos_X;
satpos(1, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Y;
satpos(2, valid_obs) = galileo_ephemeris_iter->second.d_satpos_Z;
// 4- fill the observations vector with the corrected pseudoranges
obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s - d_rx_dt_s * GALILEO_C_m_s;
d_visible_satellites_IDs[valid_obs] = galileo_ephemeris_iter->second.i_satellite_PRN;
d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST
GST = galileo_ephemeris_map.find(gnss_pseudoranges_iter->first)->second.Galileo_System_Time(Galileo_week_number, galileo_current_time);
// SV ECEF DEBUG OUTPUT
DLOG(INFO) << "ECEF satellite SV ID=" << galileo_ephemeris_iter->second.i_satellite_PRN
<< " X=" << galileo_ephemeris_iter->second.d_satpos_X
<< " [m] Y=" << galileo_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << galileo_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs=" << obs(valid_obs) << " [m]";
valid_obs++;
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV "<< gnss_pseudoranges_iter->first;
}
}
// ********************************************************************************
// ****** SOLVE LEAST SQUARES******************************************************
// ********************************************************************************
d_valid_observations = valid_obs;
LOG(INFO) << "Galileo PVT: valid observations=" << valid_obs;
if (valid_obs >= 4)
{
arma::vec rx_position_and_time;
DLOG(INFO) << "satpos=" << satpos;
DLOG(INFO) << "obs="<< obs;
DLOG(INFO) << "W=" << W;
try
{
// check if this is the initial position computation
if (d_rx_dt_s == 0)
{
// execute Bancroft's algorithm to estimate initial receiver position and time
DLOG(INFO) << " Executing Bancroft algorithm...";
rx_position_and_time = bancroftPos(satpos.t(), obs);
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
d_rx_dt_s = rx_position_and_time(3) / GALILEO_C_m_s; // save time for the next iteration [meters]->[seconds]
}
// Execute WLS using previous position as the initialization point
rx_position_and_time = leastSquarePos(satpos, obs, W);
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
d_rx_dt_s += rx_position_and_time(3) / GALILEO_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
// Compute Gregorian time
utc = galileo_utc_model.GST_to_UTC_time(GST, Galileo_week_number);
// get time string Gregorian calendar
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)
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
d_position_UTC_time = p_time;
DLOG(INFO) << "Galileo Position at TOW=" << galileo_current_time << " in ECEF (X,Y,Z) = " << rx_position_and_time;
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
d_rx_dt_s = rx_position_and_time(3)/GALILEO_C_m_s; // Convert RX time offset from meters to seconds
DLOG(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]" << " RX time offset= " << d_rx_dt_s << " [s]";
// ###### Compute DOPs ########
compute_DOP();
// ######## LOG FILE #########
if(d_flag_dump_enabled == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
// PVT GPS time
tmp_double = galileo_current_time;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position East [m]
tmp_double = rx_position_and_time(0);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position North [m]
tmp_double = rx_position_and_time(1);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position Up [m]
tmp_double = rx_position_and_time(2);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// User clock offset [s]
tmp_double = rx_position_and_time(3);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Latitude [deg]
tmp_double = d_latitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Longitude [deg]
tmp_double = d_longitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Height [m]
tmp_double = d_height_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing PVT LS dump file "<< e.what();
}
}
// MOVING AVERAGE PVT
galileo_e1_ls_pvt::pos_averaging(flag_averaging);
}
catch(const std::exception & e)
{
d_rx_dt_s = 0; //reset rx time estimation
LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what();
b_valid_position = false;
}
}
else
{
b_valid_position = false;
}
return b_valid_position;
}

74
src/algorithms/PVT/libs/galileo_e1_ls_pvt.h
View File

@ -1,74 +0,0 @@
/*!
* \file galileo_e1_ls_pvt.h
* \brief Interface of a Least Squares Position, Velocity, and Time (PVT)
* solver, based on K.Borre's Matlab receiver.
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E1_LS_PVT_H_
#define GNSS_SDR_GALILEO_E1_LS_PVT_H_
#include <fstream>
#include <iostream>
#include <map>
#include <string>
#include "ls_pvt.h"
#include "galileo_navigation_message.h"
#include "gnss_synchro.h"
#include "galileo_ephemeris.h"
#include "galileo_utc_model.h"
/*!
* \brief This class implements a simple PVT Least Squares solution
*/
class galileo_e1_ls_pvt : public Ls_Pvt
{
public:
galileo_e1_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file);
~galileo_e1_ls_pvt();
bool get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, double galileo_current_time, bool flag_averaging);
int d_nchannels; //!< Number of available channels for positioning
Galileo_Navigation_Message* d_ephemeris;
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono;
Galileo_Almanac galileo_almanac;
double d_galileo_current_time;
bool d_flag_dump_enabled;
bool d_flag_averaging;
std::string d_dump_filename;
std::ofstream d_dump_file;
};
#endif

263
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
View File

@ -1,263 +0,0 @@
/*!
* \file gps_l1_ca_ls_pvt.cc
* \brief Implementation of a Least Squares Position, Velocity, and Time
* (PVT) solver, based on K.Borre's Matlab receiver.
* \author Javier Arribas, 2011. jarribas(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_ls_pvt.h"
#include <gflags/gflags.h>
#include <glog/logging.h>
using google::LogMessage;
gps_l1_ca_ls_pvt::gps_l1_ca_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file) : Ls_Pvt()
{
// init empty ephemeris for all the available GNSS channels
d_nchannels = nchannels;
d_ephemeris = new Gps_Navigation_Message[nchannels];
d_dump_filename = dump_filename;
d_flag_dump_enabled = flag_dump_to_file;
d_flag_averaging = false;
d_GPS_current_time = 0;
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
}
}
}
}
gps_l1_ca_ls_pvt::~gps_l1_ca_ls_pvt()
{
d_dump_file.close();
delete[] d_ephemeris;
}
bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, double GPS_current_time, bool flag_averaging)
{
std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
arma::vec W; // channels weight vector
arma::vec obs; // pseudoranges observation vector
arma::mat satpos; // satellite positions matrix
int GPS_week = 0;
double utc = 0.0;
double TX_time_corrected_s;
double SV_clock_bias_s = 0.0;
d_flag_averaging = flag_averaging;
// ********************************************************************************
// ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) ****
// ********************************************************************************
int valid_obs = 0; //valid observations counter
for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin();
gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
gnss_pseudoranges_iter++)
{
// 1- find the ephemeris for the current SV observation. The SV PRN ID is the map key
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_pseudoranges_iter->first);
if (gps_ephemeris_iter != gps_ephemeris_map.end())
{
/*!
* \todo Place here the satellite CN0 (power level, or weight factor)
*/
W.resize(valid_obs + 1, 1);
W(valid_obs) = 1;
// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
// first estimate of transmit time
double Rx_time = GPS_current_time;
double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m / GPS_C_m_s;
// 2- compute the clock drift using the clock model (broadcast) for this SV, not including relativistic effect
SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time); //- gps_ephemeris_iter->second.d_TGD;
// 3- compute the current ECEF position for this SV using corrected TX time and obtain clock bias including relativistic effect
TX_time_corrected_s = Tx_time - SV_clock_bias_s;
double dtr = gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
//store satellite positions in a matrix
satpos.resize(3, valid_obs + 1);
satpos(0, valid_obs) = gps_ephemeris_iter->second.d_satpos_X;
satpos(1, valid_obs) = gps_ephemeris_iter->second.d_satpos_Y;
satpos(2, valid_obs) = gps_ephemeris_iter->second.d_satpos_Z;
// 4- fill the observations vector with the corrected pseudoranges
obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_pseudoranges_iter->second.Pseudorange_m + dtr * GPS_C_m_s - d_rx_dt_s * GPS_C_m_s;
d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
// SV ECEF DEBUG OUTPUT
DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
<< " X=" << gps_ephemeris_iter->second.d_satpos_X
<< " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs=" << obs(valid_obs) << " [m]";
valid_obs++;
// compute the UTC time for this SV (just to print the associated UTC timestamp)
GPS_week = gps_ephemeris_iter->second.i_GPS_week;
utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week);
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_pseudoranges_iter->first;
}
}
// ********************************************************************************
// ****** SOLVE LEAST SQUARES******************************************************
// ********************************************************************************
d_valid_observations = valid_obs;
DLOG(INFO) << "(new)PVT: valid observations=" << valid_obs;
if (valid_obs >= 4)
{
arma::vec rx_position_and_time;
DLOG(INFO) << "satpos=" << satpos;
DLOG(INFO) << "obs=" << obs;
DLOG(INFO) << "W=" << W;
try
{
// check if this is the initial position computation
if (d_rx_dt_s == 0)
{
// execute Bancroft's algorithm to estimate initial receiver position and time
DLOG(INFO) << " Executing Bancroft algorithm...";
rx_position_and_time = bancroftPos(satpos.t(), obs);
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
d_rx_dt_s = rx_position_and_time(3) / GPS_C_m_s; // save time for the next iteration [meters]->[seconds]
}
// Execute WLS using previous position as the initialization point
rx_position_and_time = leastSquarePos(satpos, obs, W);
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
DLOG(INFO) << "(new)Position at TOW=" << GPS_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
DLOG(INFO) << "Accumulated rx clock error=" << d_rx_dt_s << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]";
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
// Compute UTC time and print PVT solution
double secondsperweek = 604800.0; // number of seconds in one week (7*24*60*60)
boost::posix_time::time_duration t = boost::posix_time::seconds(utc + secondsperweek * static_cast<double>(GPS_week));
// 22 August 1999 last GPS time roll over
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
d_position_UTC_time = p_time;
DLOG(INFO) << "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]" << " RX time offset= " << d_rx_dt_s << " [s]";
// ###### Compute DOPs ########
compute_DOP();
// ######## LOG FILE #########
if(d_flag_dump_enabled == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
// PVT GPS time
tmp_double = GPS_current_time;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position East [m]
tmp_double = d_rx_pos(0);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position North [m]
tmp_double = d_rx_pos(1);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position Up [m]
tmp_double = d_rx_pos(2);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// User clock offset [s]
tmp_double = d_rx_dt_s;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Latitude [deg]
tmp_double = d_latitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Longitude [deg]
tmp_double = d_longitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Height [m]
tmp_double = d_height_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
}
}
// MOVING AVERAGE PVT
pos_averaging(flag_averaging);
}
catch(const std::exception & e)
{
d_rx_dt_s = 0; //reset rx time estimation
LOG(WARNING) << "Problem with the solver, invalid solution!" << e.what();
LOG(WARNING) << "satpos=" << satpos;
LOG(WARNING) << "obs=" << obs;
LOG(WARNING) << "W=" << W;
b_valid_position = false;
}
}
else
{
b_valid_position = false;
}
return b_valid_position;
}

81
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h
View File

@ -1,81 +0,0 @@
/*!
* \file gps_l1_ca_ls_pvt.h
* \brief Interface of a Least Squares Position, Velocity, and Time (PVT)
* solver for GPS L1 C/A, based on K.Borre's Matlab receiver.
* \author Javier Arribas, 2011. jarribas(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L1_CA_LS_PVT_H_
#define GNSS_SDR_GPS_L1_CA_LS_PVT_H_
#include <fstream>
#include <map>
#include <string>
#include "ls_pvt.h"
#include "GPS_L1_CA.h"
#include "gnss_synchro.h"
#include "gps_ephemeris.h"
#include "gps_navigation_message.h"
#include "gps_utc_model.h"
#include "sbas_telemetry_data.h"
#include "sbas_ionospheric_correction.h"
#include "sbas_satellite_correction.h"
#include "sbas_ephemeris.h"
/*!
* \brief This class implements a simple PVT Least Squares solution for GPS L1 C/A signals
*/
class gps_l1_ca_ls_pvt : public Ls_Pvt
{
public:
gps_l1_ca_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file);
~gps_l1_ca_ls_pvt();
bool get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, double GPS_current_time, bool flag_averaging);
int d_nchannels; //!< Number of available channels for positioning
Gps_Navigation_Message* d_ephemeris;
// new ephemeris storage
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new Gps_Ephemeris
Gps_Utc_Model gps_utc_model;
Gps_Iono gps_iono;
Sbas_Ionosphere_Correction sbas_iono;
std::map<int,Sbas_Satellite_Correction> sbas_sat_corr_map;
std::map<int,Sbas_Ephemeris> sbas_ephemeris_map;
double d_GPS_current_time;
bool d_flag_dump_enabled;
bool d_flag_averaging;
std::string d_dump_filename;
std::ofstream d_dump_file;
};
#endif

10
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
View File

@ -32,6 +32,8 @@
#include "hybrid_ls_pvt.h"
#include <glog/logging.h>
#include "Galileo_E1.h"
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
using google::LogMessage;
@ -192,8 +194,14 @@ bool hybrid_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
satpos(2, valid_obs) = gps_ephemeris_iter->second.d_satpos_Z;
// 4- fill the observations vector with the corrected pseudoranges
// compute code bias: TGD for single frequency
// See IS-GPS-200E section 20.3.3.3.3.2
double sqrt_Gamma=GPS_L1_FREQ_HZ/GPS_L2_FREQ_HZ;
double Gamma=sqrt_Gamma*sqrt_Gamma;
double P1_P2=(1.0-Gamma)*(gps_ephemeris_iter->second.d_TGD* GPS_C_m_s);
double Code_bias_m= P1_P2/(1.0-Gamma);
obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s - d_rx_dt_s * GPS_C_m_s;
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s-Code_bias_m-d_rx_dt_s * GPS_C_m_s;
d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
d_visible_satellites_CN0_dB[valid_obs] = gnss_observables_iter->second.CN0_dB_hz;

6
src/algorithms/PVT/libs/hybrid_ls_pvt.h
View File

@ -41,18 +41,20 @@
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "gnss_synchro.h"
#include "rtklib_rtkcmn.h"
/*!
* \brief This class implements a simple PVT Least Squares solution
*/
class hybrid_ls_pvt : public Ls_Pvt
{
private:
public:
hybrid_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file);
~hybrid_ls_pvt();
bool get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging);
bool get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging);
int d_nchannels; //!< Number of available channels for positioning
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris

182
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -187,6 +187,7 @@ Rinex_Printer::Rinex_Printer(int conf_version)
}
numberTypesObservations = 4; // Number of available types of observable in the system
fake_cnav_iode = 1;
}
@ -1897,9 +1898,17 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_CNAV
// -------- BROADCAST ORBIT - 1
line.clear();
line += std::string(5, ' ');
// If there is no IODE in CNAV, so we set it to zero
double my_zero = 0.0;
line += Rinex_Printer::doub2for(my_zero, 18, 2);
// If there is no IODE in CNAV, so we check if Toe in message Type 10, Toe in Message type 11 and Toc in message types 30-37.
// Whenever these three terms do not match, a data set cutover has occurred and new data must be collected.
// See IS-GPS-200H, p. 155
if ( !((gps_ephemeris_iter->second.d_Toe1 == gps_ephemeris_iter->second.d_Toe2) && (gps_ephemeris_iter->second.d_Toe1 == gps_ephemeris_iter->second.d_Toc)) ) // Toe1: Toe in message type 10, Toe2: Toe in message type 11
{
// Toe1: Toe in message type 10, Toe2: Toe in message type 11,
fake_cnav_iode = fake_cnav_iode + 1;
if(fake_cnav_iode == 240) fake_cnav_iode = 1;
}
line += Rinex_Printer::doub2for(fake_cnav_iode, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_Crs, 18, 2);
line += std::string(1, ' ');
@ -1962,6 +1971,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_CNAV
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_IDOT, 18, 2);
line += std::string(1, ' ');
// No data flag for L2 P code
double my_zero = 0.0;
line += Rinex_Printer::doub2for(my_zero, 18, 2);
line += std::string(1, ' ');
double GPS_week_continuous_number = static_cast<double>(gps_ephemeris_iter->second.i_GPS_week + 1024); // valid until April 7, 2019 (check http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm)
@ -1981,8 +1991,8 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int,Gps_CNAV
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(gps_ephemeris_iter->second.d_TGD, 18, 2);
line += std::string(1, ' ');
// no IODC in CNAV, so we set it to zero
line += Rinex_Printer::doub2for(my_zero, 18, 2);
// no IODC in CNAV, so we fake it (see above)
line += Rinex_Printer::doub2for(fake_cnav_iode, 18, 2);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
@ -4760,87 +4770,87 @@ void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int &year, int &mont
}
void Rinex_Printer::log_rinex_sbs(std::fstream& out, const Sbas_Raw_Msg& sbs_message)
{
// line 1: PRN / EPOCH / RCVR
std::stringstream line1;
// SBAS PRN
line1 << sbs_message.get_prn();
line1 << " ";
// gps time of reception
int gps_week;
double gps_sec;
if(sbs_message.get_rx_time_obj().get_gps_time(gps_week, gps_sec))
{
int year;
int month;
int day;
int hour;
int minute;
int second;
double gps_sec_one_digit_precicion = round(gps_sec *10)/10; // to prevent rounding towards 60.0sec in the stream output
int gps_tow = trunc(gps_sec_one_digit_precicion);
double sub_sec = gps_sec_one_digit_precicion - double(gps_tow);
to_date_time(gps_week, gps_tow, year, month, day, hour, minute, second);
line1 << asFixWidthString(year, 2, '0') << " " << asFixWidthString(month, 2, '0') << " " << asFixWidthString(day, 2, '0') << " " << asFixWidthString(hour, 2, '0') << " " << asFixWidthString(minute, 2, '0') << " " << rightJustify(asString(double(second)+sub_sec,1),4,' ');
}
else
{
line1 << std::string(19, ' ');
}
line1 << " ";
// band
line1 << "L1";
line1 << " ";
// Length of data message (bytes)
line1 << asFixWidthString(sbs_message.get_msg().size(), 3, ' ');
line1 << " ";
// File-internal receiver index
line1 << " 0";
line1 << " ";
// Transmission System Identifier
line1 << "SBA";
line1 << std::string(35, ' ');
lengthCheck(line1.str());
out << line1.str() << std::endl;
// DATA RECORD - 1
std::stringstream line2;
line2 << " ";
// Message frame identifier
if (sbs_message.get_msg_type() < 10) line2 << " ";
line2 << sbs_message.get_msg_type();
line2 << std::string(4, ' ');
// First 18 bytes of message (hex)
std::vector<unsigned char> msg = sbs_message.get_msg();
for (size_t i = 0; i < 18 && i < msg.size(); ++i)
{
line2 << std::hex << std::setfill('0') << std::setw(2);
line2 << int(msg[i]) << " ";
}
line2 << std::string(19, ' ');
lengthCheck(line2.str());
out << line2.str() << std::endl;
// DATA RECORD - 2
std::stringstream line3;
line3 << std::string(7, ' ');
// Remaining bytes of message (hex)
for (size_t i = 18; i < 36 && i < msg.size(); ++i)
{
line3 << std::hex << std::setfill('0') << std::setw(2);
line3 << int(msg[i]) << " ";
}
line3 << std::string(31, ' ');
lengthCheck(line3.str());
out << line3.str() << std::endl;
}
//void Rinex_Printer::log_rinex_sbs(std::fstream& out, const Sbas_Raw_Msg& sbs_message)
//{
// // line 1: PRN / EPOCH / RCVR
// std::stringstream line1;
//
// // SBAS PRN
// line1 << sbs_message.get_prn();
// line1 << " ";
//
// // gps time of reception
// int gps_week;
// double gps_sec;
// if(sbs_message.get_rx_time_obj().get_gps_time(gps_week, gps_sec))
// {
// int year;
// int month;
// int day;
// int hour;
// int minute;
// int second;
//
// double gps_sec_one_digit_precicion = round(gps_sec *10)/10; // to prevent rounding towards 60.0sec in the stream output
// int gps_tow = trunc(gps_sec_one_digit_precicion);
// double sub_sec = gps_sec_one_digit_precicion - double(gps_tow);
//
// to_date_time(gps_week, gps_tow, year, month, day, hour, minute, second);
// line1 << asFixWidthString(year, 2, '0') << " " << asFixWidthString(month, 2, '0') << " " << asFixWidthString(day, 2, '0') << " " << asFixWidthString(hour, 2, '0') << " " << asFixWidthString(minute, 2, '0') << " " << rightJustify(asString(double(second)+sub_sec,1),4,' ');
// }
// else
// {
// line1 << std::string(19, ' ');
// }
// line1 << " ";
//
// // band
// line1 << "L1";
// line1 << " ";
//
// // Length of data message (bytes)
// line1 << asFixWidthString(sbs_message.get_msg().size(), 3, ' ');
// line1 << " ";
// // File-internal receiver index
// line1 << " 0";
// line1 << " ";
// // Transmission System Identifier
// line1 << "SBA";
// line1 << std::string(35, ' ');
// lengthCheck(line1.str());
// out << line1.str() << std::endl;
//
// // DATA RECORD - 1
// std::stringstream line2;
// line2 << " ";
// // Message frame identifier
// if (sbs_message.get_msg_type() < 10) line2 << " ";
// line2 << sbs_message.get_msg_type();
// line2 << std::string(4, ' ');
// // First 18 bytes of message (hex)
// std::vector<unsigned char> msg = sbs_message.get_msg();
// for (size_t i = 0; i < 18 && i < msg.size(); ++i)
// {
// line2 << std::hex << std::setfill('0') << std::setw(2);
// line2 << int(msg[i]) << " ";
// }
// line2 << std::string(19, ' ');
// lengthCheck(line2.str());
// out << line2.str() << std::endl;
//
// // DATA RECORD - 2
// std::stringstream line3;
// line3 << std::string(7, ' ');
// // Remaining bytes of message (hex)
// for (size_t i = 18; i < 36 && i < msg.size(); ++i)
// {
// line3 << std::hex << std::setfill('0') << std::setw(2);
// line3 << int(msg[i]) << " ";
// }
// line3 << std::string(31, ' ');
// lengthCheck(line3.str());
// out << line3.str() << std::endl;
//}
int Rinex_Printer::signalStrength(const double snr)

5
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -61,7 +61,6 @@
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "galileo_navigation_message.h"
#include "sbas_telemetry_data.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "gnss_synchro.h"
@ -214,7 +213,7 @@ public:
/*!
* \brief Writes raw SBAS messages into the RINEX file
*/
void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message);
//void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message);
void update_nav_header(std::fstream & out, const Gps_Utc_Model & gps_utc, const Gps_Iono & gps_iono);
@ -277,6 +276,8 @@ private:
*/
void lengthCheck(const std::string & line);
double fake_cnav_iode;
/*
* If the string is bigger than length, truncate it from the right.
* otherwise, add pad characters to its right.

360
src/algorithms/PVT/libs/rtklib_solver.cc Normal file
View File

@ -0,0 +1,360 @@
/*!
* \file rtklib_solver.cc
* \brief PVT solver based on rtklib library functions adapted to the GNSS-SDR
* data flow and structures
* \authors <ul>
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* <li> 2007-2013, T. Takasu
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* -----------------------------------------------------------------------*/
#include "rtklib_solver.h"
#include <glog/logging.h>
#include "rtklib_conversions.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
using google::LogMessage;
rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t & rtk)
{
// init empty ephemeris for all the available GNSS channels
d_nchannels = nchannels;
d_dump_filename = dump_filename;
d_flag_dump_enabled = flag_dump_to_file;
count_valid_position = 0;
d_flag_averaging = false;
rtk_ = rtk;
pvt_sol = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 };
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
}
}
}
}
rtklib_solver::~rtklib_solver()
{
d_dump_file.close();
}
bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging)
{
std::map<int,Gnss_Synchro>::iterator gnss_observables_iter;
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter;
d_flag_averaging = flag_averaging;
// ********************************************************************************
// ****** PREPARE THE DATA (SV EPHEMERIS AND OBSERVATIONS) ************************
// ********************************************************************************
int valid_obs = 0; //valid observations counter
obsd_t obs_data[MAXOBS];
eph_t eph_data[MAXOBS];
for(gnss_observables_iter = gnss_observables_map.begin();
gnss_observables_iter != gnss_observables_map.end();
gnss_observables_iter++)
{
switch(gnss_observables_iter->second.System)
{
case 'E':
{
std::string sig_(gnss_observables_iter->second.Signal);
// Galileo E1
if(sig_.compare("1B") == 0)
{
// 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_observables_iter->second.PRN);
if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
{
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5,
0);
valid_obs++;
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
// Galileo E5
if(sig_.compare("5X") == 0)
{
// 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_observables_iter->second.PRN);
if (galileo_ephemeris_iter != galileo_ephemeris_map.end())
{
bool found_E1_obs=false;
for (int i = 0; i < valid_obs; i++)
{
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO)))
{
obs_data[i] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5,
2);//Band 3 (L5/E5)
found_E1_obs=true;
break;
}
}
if (!found_E1_obs)
{
//insert Galileo E5 obs as new obs and also insert its ephemeris
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN_5,
2); //Band 3 (L5/E5)
valid_obs++;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
break;
}
case 'G':
{
// GPS L1
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal);
if(sig_.compare("1C") == 0)
{
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.end())
{
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_ephemeris_iter->second.i_GPS_week,
0);
valid_obs++;
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
}
}
//GPS L2
if(sig_.compare("2S") == 0)
{
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
{
// 1. Find the same satellite in GPS L1 band
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.end())
{
// 2. If found, replace the existing GPS L1 ephemeris with the GPS L2 ephemeris
// (more precise!), and attach the L2 observation to the L1 observation in RTKLIB structure
for (int i = 0; i < valid_obs; i++)
{
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2)
break;
}
}
}
else
{
// 3. If not found, insert the GPS L2 ephemeris and the observation
//convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
//convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs = {{0,0}, '0', '0', {}, {}, {}, {}, {}, {}};
obs_data[valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.i_GPS_week,
1);//Band 2 (L2)
valid_obs++;
}
}
else // the ephemeris are not available for this SV
{
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
break;
}
default :
DLOG(INFO) << "Hybrid observables: Unknown GNSS";
break;
}
}
// **********************************************************************
// ****** SOLVE PVT******************************************************
// **********************************************************************
b_valid_position = false;
if (valid_obs > 0)
{
int result = 0;
nav_t nav_data;
nav_data.eph = eph_data;
nav_data.n = valid_obs;
for (int i = 0; i < MAXSAT; i++)
{
nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */
nav_data.lam[i][1] = SPEED_OF_LIGHT / FREQ2; /* L2 */
nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L5/E5 */
}
result = rtkpos(&rtk_, obs_data, valid_obs, &nav_data);
if(result == 0)
{
LOG(INFO) << "RTKLIB rtkpos error message: " << rtk_.errbuf;
d_rx_dt_s = 0; //reset rx time estimation
d_valid_observations = 0;
}
else
{
d_valid_observations = rtk_.sol.ns; //record the number of valid satellites used by the PVT solver
pvt_sol = rtk_.sol;
b_valid_position = true;
arma::vec rx_position_and_time(4);
rx_position_and_time(0) = pvt_sol.rr[0];
rx_position_and_time(1) = pvt_sol.rr[1];
rx_position_and_time(2) = pvt_sol.rr[2];
rx_position_and_time(3) = pvt_sol.dtr[0];
d_rx_pos = rx_position_and_time.rows(0, 2); // save ECEF position for the next iteration
d_rx_dt_s += rx_position_and_time(3) / GPS_C_m_s; // accumulate the rx time error for the next iteration [meters]->[seconds]
DLOG(INFO) << "RTKLIB Position at TOW=" << Rx_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
boost::posix_time::ptime p_time;
gtime_t rtklib_utc_time = gpst2utc(pvt_sol.time);
p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
p_time+=boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
d_position_UTC_time = p_time;
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
DLOG(INFO) << "RTKLIB 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]" << " RX time offset= " << d_rx_dt_s << " [s]";
// ######## LOG FILE #########
if(d_flag_dump_enabled == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
// PVT GPS time
tmp_double = Rx_time;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position East [m]
tmp_double = rx_position_and_time(0);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position North [m]
tmp_double = rx_position_and_time(1);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position Up [m]
tmp_double = rx_position_and_time(2);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// User clock offset [s]
tmp_double = rx_position_and_time(3);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Latitude [deg]
tmp_double = d_latitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Longitude [deg]
tmp_double = d_longitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Height [m]
tmp_double = d_height_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
}
}
}
}
return b_valid_position;
}

107
src/algorithms/PVT/libs/rtklib_solver.h Normal file
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@ -0,0 +1,107 @@
/*!
* \file rtklib_solver.h
* \brief PVT solver based on rtklib library functions adapted to the GNSS-SDR
* data flow and structures
* \authors <ul>
* <li> 2017, Javier Arribas
* <li> 2017, Carles Fernandez
* <li> 2007-2013, T. Takasu
* </ul>
*
* This is a derived work from RTKLIB http://www.rtklib.com/
* The original source code at https://github.com/tomojitakasu/RTKLIB is
* released under the BSD 2-clause license with an additional exclusive clause
* that does not apply here. This additional clause is reproduced below:
*
* " The software package includes some companion executive binaries or shared
* libraries necessary to execute APs on Windows. These licenses succeed to the
* original ones of these software. "
*
* Neither the executive binaries nor the shared libraries are required by, used
* or included in GNSS-SDR.
*
* -------------------------------------------------------------------------
* Copyright (C) 2007-2013, T. Takasu
* Copyright (C) 2017, Javier Arribas
* Copyright (C) 2017, Carles Fernandez
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* -------------------------------------------------------------------------*/
#ifndef GNSS_SDR_RTKLIB_SOLVER_H_
#define GNSS_SDR_RTKLIB_SOLVER_H_
#include <fstream>
#include <iostream>
#include <map>
#include <string>
#include "rtklib_rtkpos.h"
#include "galileo_navigation_message.h"
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "gnss_synchro.h"
#include "pvt_solution.h"
/*!
* \brief This class implements a simple PVT Least Squares solution
*/
class rtklib_solver : public Pvt_Solution
{
private:
public:
rtklib_solver(int nchannels,std::string dump_filename, bool flag_dump_to_file, rtk_t & rtk);
~rtklib_solver();
bool get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging);
int d_nchannels; //!< Number of available channels for positioning
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map;
Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono;
Galileo_Almanac galileo_almanac;
Gps_Utc_Model gps_utc_model;
Gps_Iono gps_iono;
Gps_CNAV_Iono gps_cnav_iono;
Gps_CNAV_Utc_Model gps_cnav_utc_model;
int count_valid_position;
bool d_flag_dump_enabled;
sol_t pvt_sol;
rtk_t rtk_;
std::string d_dump_filename;
std::ofstream d_dump_file;
};
#endif

1
src/algorithms/acquisition/CMakeLists.txt
View File

@ -18,4 +18,5 @@
add_subdirectory(adapters)
add_subdirectory(gnuradio_blocks)
#add_subdirectory(libs)

6
src/algorithms/acquisition/adapters/CMakeLists.txt
View File

@ -33,7 +33,10 @@ set(ACQ_ADAPTER_SOURCES
galileo_e5a_noncoherent_iq_acquisition_caf.cc
)
if(ENABLE_FPGA)
set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_acquisition_fpga.cc)
endif(ENABLE_FPGA)
if(OPENCL_FOUND)
set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_opencl_acquisition.cc)
endif(OPENCL_FOUND)
@ -44,6 +47,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}

284
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc Normal file
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@ -0,0 +1,284 @@
/*!
* \file gps_l1_ca_pcps_acquisition_fpga.cc
* \brief Adapts a PCPS acquisition block to an FPGA Acquisition Interface for
* GPS L1 C/A signals. This file is based on the file gps_l1_ca_pcps_acquisition.cc
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
using google::LogMessage;
GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) :
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "cshort";
std::string default_dump_filename = "./data/acquisition.dat";
DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
if_ = configuration_->property(role + ".if", 0);
dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
// note : the FPGA is implemented according to bit transition flag = 0. Setting bit transition flag to 1 has no effect.
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
// note : the FPGA is implemented according to use_CFAR_algorithm = 0. Setting use_CFAR_algorithm to 1 has no effect.
use_CFAR_algorithm_flag_=configuration_->property(role + ".use_CFAR_algorithm", false);
// note : the FPGA does not use the max_dwells variable.
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//--- Find number of samples per spreading code -------------------------
code_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
// code length has the same value as d_fft_size
float nbits;
nbits = ceilf(log2f(code_length_));
nsamples_total_ = pow(2,nbits);
//vector_length_ = code_length_ * sampled_ms_;
vector_length_ = nsamples_total_ * sampled_ms_;
if( bit_transition_flag_ )
{
vector_length_ *= 2;
}
code_ = new gr_complex[vector_length_];
select_queue_Fpga_ = configuration_->property(role + ".select_queue_Fpga", 0);
if (item_type_.compare("cshort") == 0 )
{
item_size_ = sizeof(lv_16sc_t);
gps_acquisition_fpga_sc_ = gps_pcps_make_acquisition_fpga_sc(sampled_ms_, max_dwells_,
doppler_max_, if_, fs_in_, code_length_, code_length_, vector_length_,
bit_transition_flag_, use_CFAR_algorithm_flag_, select_queue_Fpga_, dump_, dump_filename_);
DLOG(INFO) << "acquisition(" << gps_acquisition_fpga_sc_->unique_id() << ")";
}
else{
LOG(FATAL) << item_type_ << " FPGA only accepts chsort";
}
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
}
GpsL1CaPcpsAcquisitionFpga::~GpsL1CaPcpsAcquisitionFpga()
{
delete[] code_;
}
void GpsL1CaPcpsAcquisitionFpga::set_channel(unsigned int channel)
{
channel_ = channel;
gps_acquisition_fpga_sc_->set_channel(channel_);
}
void GpsL1CaPcpsAcquisitionFpga::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
if(pfa == 0.0)
{
threshold_ = threshold;
}
else
{
threshold_ = calculate_threshold(pfa);
}
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
gps_acquisition_fpga_sc_->set_threshold(threshold_);
}
void GpsL1CaPcpsAcquisitionFpga::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
gps_acquisition_fpga_sc_->set_doppler_max(doppler_max_);
}
void GpsL1CaPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
gps_acquisition_fpga_sc_->set_doppler_step(doppler_step_);
}
void GpsL1CaPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
gps_acquisition_fpga_sc_->set_gnss_synchro(gnss_synchro_);
}
signed int GpsL1CaPcpsAcquisitionFpga::mag()
{
return gps_acquisition_fpga_sc_->mag();
}
void GpsL1CaPcpsAcquisitionFpga::init()
{
gps_acquisition_fpga_sc_->init();
set_local_code();
}
void GpsL1CaPcpsAcquisitionFpga::set_local_code()
{
std::complex<float>* code = new std::complex<float>[vector_length_];
//init to zeros for the zero padding of the fft
for (uint s=0;s<vector_length_;s++)
{
code[s] = std::complex<float>(0, 0);
}
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_ , 0);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i*vector_length_]), code, sizeof(gr_complex)*vector_length_);
}
gps_acquisition_fpga_sc_->set_local_code(code_);
delete[] code;
}
void GpsL1CaPcpsAcquisitionFpga::reset()
{
gps_acquisition_fpga_sc_->set_active(true);
}
void GpsL1CaPcpsAcquisitionFpga::set_state(int state)
{
gps_acquisition_fpga_sc_->set_state(state);
}
float GpsL1CaPcpsAcquisitionFpga::calculate_threshold(float pfa)
{
//Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
{
frequency_bins++;
}
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda);
float threshold = (float)quantile(mydist,val);
return threshold;
}
void GpsL1CaPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
//nothing to connect
}
void GpsL1CaPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
//nothing to disconnect
}
gr::basic_block_sptr GpsL1CaPcpsAcquisitionFpga::get_left_block()
{
return gps_acquisition_fpga_sc_;
}
gr::basic_block_sptr GpsL1CaPcpsAcquisitionFpga::get_right_block()
{
return gps_acquisition_fpga_sc_;
}

172
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h Normal file
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@ -0,0 +1,172 @@
/*!
* \file gps_l1_ca_pcps_acquisition_fpga.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L1 C/A signals. This file is based on the file gps_l1_ca_pcps_acquisition.h
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_
#include <string>
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "gps_pcps_acquisition_fpga_sc.h"
#include "complex_byte_to_float_x2.h"
#include <volk_gnsssdr/volk_gnsssdr.h>
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals
*/
class GpsL1CaPcpsAcquisitionFpga: public AcquisitionInterface
{
public:
GpsL1CaPcpsAcquisitionFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsAcquisitionFpga();
std::string role()
{
return role_;
}
/*!
* \brief Returns "GPS_L1_CA_PCPS_Acquisition"
*/
std::string implementation()
{
return "GPS_L1_CA_PCPS_Acquisition_Fpga";
}
size_t item_size()
{
return item_size_;
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
/*!
* \brief Set acquisition channel unique ID
*/
void set_channel(unsigned int channel);
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
void set_threshold(float threshold);
/*!
* \brief Set maximum Doppler off grid search
*/
void set_doppler_max(unsigned int doppler_max);
/*!
* \brief Set Doppler steps for the grid search
*/
void set_doppler_step(unsigned int doppler_step);
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local code for GPS L1/CA PCPS acquisition algorithm.
*/
void set_local_code();
/*!
* \brief Returns the maximum peak of grid search
*/
signed int mag();
/*!
* \brief Restart acquisition algorithm
*/
void reset();
/*!
* \brief If state = 1, it forces the block to start acquiring from the first sample
*/
void set_state(int state);
private:
ConfigurationInterface* configuration_;
gps_pcps_acquisition_fpga_sc_sptr gps_acquisition_fpga_sc_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
unsigned int channel_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
long fs_in_;
long if_;
bool dump_;
std::string dump_filename_;
std::complex<float> * code_;
Gnss_Synchro * gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
unsigned int nsamples_total_;
unsigned int select_queue_Fpga_;
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_ */

10
src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
View File

@ -29,6 +29,10 @@ set(ACQ_GR_BLOCKS_SOURCES
galileo_pcps_8ms_acquisition_cc.cc
galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
)
if(ENABLE_FPGA)
set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} gps_pcps_acquisition_fpga_sc.cc)
endif(ENABLE_FPGA)
if(OPENCL_FOUND)
set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_opencl_acquisition_cc.cc)
@ -39,6 +43,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
@ -60,8 +65,9 @@ file(GLOB ACQ_GR_BLOCKS_HEADERS "*.h")
list(SORT ACQ_GR_BLOCKS_HEADERS)
add_library(acq_gr_blocks ${ACQ_GR_BLOCKS_SOURCES} ${ACQ_GR_BLOCKS_HEADERS})
source_group(Headers FILES ${ACQ_GR_BLOCKS_HEADERS})
target_link_libraries(acq_gr_blocks gnss_sp_libs gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_FFT_LIBRARIES} ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${OPT_LIBRARIES})
#target_link_libraries(acq_gr_blocks gnss_sp_libs gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_FFT_LIBRARIES}
#target_link_libraries(acq_gr_blocks acquisition_lib gnss_sp_libs gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_FFT_LIBRARIES} ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${OPT_LIBRARIES} ${OPT_ACQUISITION_LIBRARIES})
target_link_libraries(acq_gr_blocks gnss_sp_libs gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_FFT_LIBRARIES} ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${OPT_LIBRARIES} ${OPT_ACQUISITION_LIBRARIES})
if(NOT VOLK_GNSSSDR_FOUND)
add_dependencies(acq_gr_blocks volk_gnsssdr_module)
endif(NOT VOLK_GNSSSDR_FOUND)

1
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
View File

@ -275,7 +275,6 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Flag_preamble = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;

1
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc
View File

@ -153,7 +153,6 @@ void galileo_pcps_8ms_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Flag_preamble = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;

431
src/algorithms/acquisition/gnuradio_blocks/gps_pcps_acquisition_fpga_sc.cc Normal file
View File

@ -0,0 +1,431 @@
/*!
* \file gps_pcps_acquisition_fpga_sc.cc
* \brief This class implements a Parallel Code Phase Search Acquisition in the FPGA.
* This file is based on the file gps_pcps_acquisition_sc.cc
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_pcps_acquisition_fpga_sc.h"
#include <sstream>
#include <boost/filesystem.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include "control_message_factory.h"
#include "GPS_L1_CA.h" //GPS_TWO_PI
using google::LogMessage;
void wait3(int seconds)
{
boost::this_thread::sleep_for(boost::chrono::seconds{seconds});
}
gps_pcps_acquisition_fpga_sc_sptr gps_pcps_make_acquisition_fpga_sc(
unsigned int sampled_ms, unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code, int vector_length,
bool bit_transition_flag, bool use_CFAR_algorithm_flag,
unsigned int select_queue_Fpga,
bool dump,
std::string dump_filename)
{
return gps_pcps_acquisition_fpga_sc_sptr(
new gps_pcps_acquisition_fpga_sc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms,
samples_per_code, vector_length, bit_transition_flag, use_CFAR_algorithm_flag, select_queue_Fpga, dump, dump_filename));
}
gps_pcps_acquisition_fpga_sc::gps_pcps_acquisition_fpga_sc(
unsigned int sampled_ms, unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code, int vector_length,
bool bit_transition_flag, bool use_CFAR_algorithm_flag,
unsigned int select_queue_Fpga,
bool dump,
std::string dump_filename) :
gr::block("pcps_acquisition_fpga_sc",gr::io_signature::make(0, 0, sizeof(lv_16sc_t)),gr::io_signature::make(0, 0, 0))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;
d_freq = freq;
d_fs_in = fs_in;
d_samples_per_ms = samples_per_ms;
d_samples_per_code = samples_per_code;
d_sampled_ms = sampled_ms;
d_max_dwells = max_dwells; // Note : d_max_dwells is not used in the FPGA implementation
d_well_count = 0;
d_doppler_max = doppler_max;
d_fft_size = d_sampled_ms * d_samples_per_ms;
d_mag = 0;
d_input_power = 0.0;
d_num_doppler_bins = 0;
d_bit_transition_flag = bit_transition_flag; // Note : bit transition flag is ignored and assumed 0 in the FPGA implementation
d_use_CFAR_algorithm_flag = use_CFAR_algorithm_flag; // Note : user CFAR algorithm flag is ignored and assumed 0 in the FPGA implementation
d_threshold = 0.0;
d_doppler_step = 250;
d_code_phase = 0;
d_test_statistics = 0.0;
d_channel = 0;
d_doppler_freq = 0.0;
d_nsamples_total = vector_length;
//if( d_bit_transition_flag )
// {
// d_fft_size *= 2;
// d_max_dwells = 1;
// }
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_nsamples_total * sizeof(float), volk_gnsssdr_get_alignment()));
//temporary storage for the input conversion from 16sc to float 32fc
d_in_32fc = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_nsamples_total, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_nsamples_total, false);
// FPGA queue selection
d_select_queue_Fpga = select_queue_Fpga;
// For dumping samples into a file
d_dump = dump;
d_dump_filename = dump_filename;
d_gnss_synchro = 0;
d_grid_doppler_wipeoffs = 0;
}
gps_pcps_acquisition_fpga_sc::~gps_pcps_acquisition_fpga_sc()
{
if (d_num_doppler_bins > 0)
{
for (unsigned int i = 0; i < d_num_doppler_bins; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
}
delete[] d_grid_doppler_wipeoffs;
}
volk_gnsssdr_free(d_fft_codes);
volk_gnsssdr_free(d_magnitude);
volk_gnsssdr_free(d_in_32fc);
delete d_ifft;
delete d_fft_if;
if (d_dump)
{
d_dump_file.close();
}
acquisition_fpga_8sc.free();
}
void gps_pcps_acquisition_fpga_sc::set_local_code(std::complex<float> * code)
{
// COD
// Here we want to create a buffer that looks like this:
// [ 0 0 0 ... 0 c_0 c_1 ... c_L]
// where c_i is the local code and there are L zeros and L chips
int offset = 0;
// if( d_bit_transition_flag )
// {
// std::fill_n( d_fft_if->get_inbuf(), d_nsamples_total, gr_complex( 0.0, 0.0 ) );
// offset = d_nsamples_total;
// }
memcpy(d_fft_if->get_inbuf() + offset, code, sizeof(gr_complex) * d_nsamples_total);
d_fft_if->execute(); // We need the FFT of local code
volk_32fc_conjugate_32fc(d_fft_codes_padded, d_fft_if->get_outbuf(), d_nsamples_total);
acquisition_fpga_8sc.set_local_code(d_fft_codes_padded);
}
void gps_pcps_acquisition_fpga_sc::update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq)
{
float phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(d_fs_in);
float _phase[1];
_phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(carrier_vector, - phase_step_rad, _phase, correlator_length_samples);
}
void gps_pcps_acquisition_fpga_sc::init()
{
d_gnss_synchro->Flag_valid_acquisition = false;
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Flag_preamble = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_mag = 0.0;
d_input_power = 0.0;
d_num_doppler_bins = ceil( static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step));
// Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_freq + doppler);
}
acquisition_fpga_8sc.init(d_fft_size, d_nsamples_total, d_freq, d_doppler_max, d_doppler_step, d_num_doppler_bins, d_fs_in, d_select_queue_Fpga);
}
void gps_pcps_acquisition_fpga_sc::set_state(int state)
{
d_state = state;
if (d_state == 1)
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
d_test_statistics = 0.0;
}
else if (d_state == 0)
{}
else
{
LOG(ERROR) << "State can only be set to 0 or 1";
}
}
void gps_pcps_acquisition_fpga_sc::set_active(bool active)
{
float temp_peak_to_noise_level = 0.0;
float peak_to_noise_level = 0.0;
acquisition_fpga_8sc.block_samples(); // block the samples to run the acquisition this is only necessary for the tests
d_active = active;
// while (d_well_count < d_max_dwells)
// {
int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
d_state = 1;
// initialize acquisition algorithm
int doppler;
uint32_t indext = 0;
float magt = 0.0;
//int effective_fft_size = ( d_bit_transition_flag ? d_fft_size/2 : d_fft_size );
int effective_fft_size = d_fft_size;
//float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
d_mag = 0.0;
unsigned int initial_sample;
d_well_count++;
DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: "
<< ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step;
// Doppler frequency search loop
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
acquisition_fpga_8sc.set_phase_step(doppler_index);
acquisition_fpga_8sc.run_acquisition(); // runs acquisition and waits until it is finished
acquisition_fpga_8sc.read_acquisition_results(&indext, &magt, &initial_sample, &d_input_power);
d_sample_counter = initial_sample;
temp_peak_to_noise_level = (float) (magt / d_input_power);
if (peak_to_noise_level < temp_peak_to_noise_level)
{
peak_to_noise_level = temp_peak_to_noise_level;
d_mag = magt;
d_input_power = (d_input_power - d_mag) / (effective_fft_size - 1);
//if (d_test_statistics < (d_mag / d_input_power) || !d_bit_transition_flag)
// {
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext % d_samples_per_code);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
d_test_statistics = d_mag / d_input_power;
// }
}
// Record results to file if required
if (d_dump)
{
std::stringstream filename;
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
boost::filesystem::path p = d_dump_filename;
filename << p.parent_path().string()
<< boost::filesystem::path::preferred_separator
<< p.stem().string()
<< "_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_"
<< doppler
<< p.extension().string();
DLOG(INFO) << "Writing ACQ out to " << filename.str();
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write((char*)d_ifft->get_outbuf(), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close();
}
}
if (d_test_statistics > d_threshold)
{
d_state = 2; // Positive acquisition
// 6.1- Declare positive acquisition using a message port
DLOG(INFO) << "positive acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << d_test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "magnitude " << d_mag;
DLOG(INFO) << "input signal power " << d_input_power;
d_active = false;
d_state = 0;
acquisition_message = 1;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
// break;
}
else //if (d_well_count == d_max_dwells)
{
d_state = 3; // Negative acquisition
// 6.2- Declare negative acquisition using a message port
DLOG(INFO) << "negative acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << d_test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "magnitude " << d_mag;
DLOG(INFO) << "input signal power " << d_input_power;
d_active = false;
d_state = 0;
acquisition_message = 2;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
// break;
}
// }
acquisition_fpga_8sc.unblock_samples();
DLOG(INFO) << "Done. Consumed 1 item.";
}
int gps_pcps_acquisition_fpga_sc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused)))
{
// general work not used with the acquisition
return noutput_items;
}

239
src/algorithms/acquisition/gnuradio_blocks/gps_pcps_acquisition_fpga_sc.h Normal file
View File

@ -0,0 +1,239 @@
/*!
* \file gps_pcps_acquisition_fpga_sc.h
* \brief This class implements a Parallel Code Phase Search Acquisition in the FPGA.
* This file is based on the file gps_pcps_acquisition_sc.h
*
* Acquisition strategy (Kay Borre book + CFAR threshold).
* <ol>
* <li> Compute the input signal power estimation
* <li> Doppler serial search loop
* <li> Perform the FFT-based circular convolution (parallel time search)
* <li> Record the maximum peak and the associated synchronization parameters
* <li> Compute the test statistics and compare to the threshold
* <li> Declare positive or negative acquisition using a message port
* </ol>
*
* Kay Borre book: K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* "A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach", Birkha user, 2007. pp 81-84
*
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_PCPS_ACQUISITION_FPGA_SC_H_
#define GNSS_SDR_PCPS_ACQUISITION_FPGA_SC_H_
#include <fstream>
#include <string>
#include <gnuradio/block.h>
#include <gnuradio/gr_complex.h>
#include <gnuradio/fft/fft.h>
#include "gnss_synchro.h"
#include "gps_fpga_acquisition_8sc.h"
class gps_pcps_acquisition_fpga_sc;
typedef boost::shared_ptr<gps_pcps_acquisition_fpga_sc> gps_pcps_acquisition_fpga_sc_sptr;
gps_pcps_acquisition_fpga_sc_sptr
gps_pcps_make_acquisition_fpga_sc(unsigned int sampled_ms, unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code, int vector_length_,
bool bit_transition_flag, bool use_CFAR_algorithm_flag,
unsigned int select_queue_Fpga,
bool dump,
std::string dump_filename);
/*!
* \brief This class implements a Parallel Code Phase Search Acquisition.
*
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation.
*/
class gps_pcps_acquisition_fpga_sc: public gr::block
{
private:
friend gps_pcps_acquisition_fpga_sc_sptr
gps_pcps_make_acquisition_fpga_sc(unsigned int sampled_ms, unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code, int vector_length,
bool bit_transition_flag, bool use_CFAR_algorithm_flag,
unsigned int select_queue_Fpga,
bool dump,
std::string dump_filename);
gps_pcps_acquisition_fpga_sc(unsigned int sampled_ms, unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code, int vector_length,
bool bit_transition_flag, bool use_CFAR_algorithm_flag,
unsigned int select_queue_Fpga,
bool dump,
std::string dump_filename);
void update_local_carrier(gr_complex* carrier_vector,
int correlator_length_samples,
float freq);
long d_fs_in;
long d_freq;
int d_samples_per_ms;
int d_samples_per_code;
float d_threshold;
std::string d_satellite_str;
unsigned int d_doppler_max;
unsigned int d_doppler_step;
unsigned int d_sampled_ms;
unsigned int d_max_dwells;
unsigned int d_well_count;
unsigned int d_fft_size;
unsigned int d_nsamples_total; // the closest power of two approximation to d_fft_size
unsigned long int d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_codes;
gr_complex* d_fft_codes_padded;
gr_complex* d_in_32fc;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
float d_input_power;
float d_test_statistics;
bool d_bit_transition_flag;
bool d_use_CFAR_algorithm_flag;
std::ofstream d_dump_file;
bool d_active;
int d_state;
bool d_dump;
unsigned int d_channel;
unsigned int d_select_queue_Fpga;
std::string d_dump_filename;
gps_fpga_acquisition_8sc acquisition_fpga_8sc;
public:
/*!
* \brief Default destructor.
*/
~gps_pcps_acquisition_fpga_sc();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_gnss_synchro = p_gnss_synchro;
}
/*!
* \brief Returns the maximum peak of grid search.
*/
unsigned int mag()
{
return d_mag;
}
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code(std::complex<float> * code);
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
void set_active(bool active);
/*!
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state);
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
void set_channel(unsigned int channel)
{
d_channel = channel;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
void set_threshold(float threshold)
{
d_threshold = threshold;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
void set_doppler_max(unsigned int doppler_max)
{
d_doppler_max = doppler_max;
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
void set_doppler_step(unsigned int doppler_step)
{
d_doppler_step = doppler_step;
}
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
};
#endif /* GNSS_SDR_PCPS_ACQUISITION_SC_H_*/

116
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
View File

@ -162,6 +162,7 @@ void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
// Here we want to create a buffer that looks like this:
// [ 0 0 0 ... 0 c_0 c_1 ... c_L]
// where c_i is the local code and there are L zeros and L chips
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
if( d_bit_transition_flag )
{
int offset = d_fft_size/2;
@ -193,7 +194,6 @@ void pcps_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Flag_preamble = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
@ -217,6 +217,7 @@ void pcps_acquisition_cc::init()
void pcps_acquisition_cc::set_state(int state)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_state = state;
if (d_state == 1)
{
@ -237,6 +238,42 @@ void pcps_acquisition_cc::set_state(int state)
}
void pcps_acquisition_cc::send_positive_acquisition()
{
// 6.1- Declare positive acquisition using a message port
//0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
DLOG(INFO) << "positive acquisition"
<< "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< "sample_stamp " << d_sample_counter
<< "test statistics value " << d_test_statistics
<< "test statistics threshold " << d_threshold
<< "code phase " << d_gnss_synchro->Acq_delay_samples
<< "doppler " << d_gnss_synchro->Acq_doppler_hz
<< "magnitude " << d_mag
<< "input signal power " << d_input_power;
this->message_port_pub(pmt::mp("events"), pmt::from_long(1));
}
void pcps_acquisition_cc::send_negative_acquisition()
{
// 6.2- Declare negative acquisition using a message port
//0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
DLOG(INFO) << "negative acquisition"
<< "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< "sample_stamp " << d_sample_counter
<< "test statistics value " << d_test_statistics
<< "test statistics threshold " << d_threshold
<< "code phase " << d_gnss_synchro->Acq_delay_samples
<< "doppler " << d_gnss_synchro->Acq_doppler_hz
<< "magnitude " << d_mag
<< "input signal power " << d_input_power;
this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
}
int pcps_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused)))
@ -252,8 +289,6 @@ int pcps_acquisition_cc::general_work(int noutput_items,
* 6. Declare positive or negative acquisition using a message port
*/
int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
switch (d_state)
{
case 0:
@ -268,15 +303,12 @@ int pcps_acquisition_cc::general_work(int noutput_items,
d_mag = 0.0;
d_input_power = 0.0;
d_test_statistics = 0.0;
d_state = 1;
}
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
//DLOG(INFO) << "Consumed " << ninput_items[0] << " items";
break;
}
@ -294,16 +326,14 @@ int pcps_acquisition_cc::general_work(int noutput_items,
d_input_power = 0.0;
d_mag = 0.0;
d_sample_counter += d_fft_size; // sample counter
d_well_count++;
DLOG(INFO) << "Channel: " << d_channel
DLOG(INFO)<< "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step;
<< ", doppler_step: " << d_doppler_step<<std::endl;
if (d_use_CFAR_algorithm_flag == true)
{
@ -405,11 +435,15 @@ int pcps_acquisition_cc::general_work(int noutput_items,
{
if (d_test_statistics > d_threshold)
{
d_state = 2; // Positive acquisition
d_state = 0; // Positive acquisition
d_active = false;
send_positive_acquisition();
}
else if (d_well_count == d_max_dwells)
{
d_state = 3; // Negative acquisition
d_state = 0;
d_active = false;
send_negative_acquisition();
}
}
else
@ -418,69 +452,23 @@ int pcps_acquisition_cc::general_work(int noutput_items,
{
if (d_test_statistics > d_threshold)
{
d_state = 2; // Positive acquisition
d_state = 0; // Positive acquisition
d_active = false;
send_positive_acquisition();
}
else
{
d_state = 3; // Negative acquisition
d_state = 0; // Negative acquisition
d_active = false;
send_negative_acquisition();
}
}
}
consume_each(1);
DLOG(INFO) << "Done. Consumed 1 item.";
break;
}
case 2:
{
// 6.1- Declare positive acquisition using a message port
DLOG(INFO) << "positive acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << d_test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "magnitude " << d_mag;
DLOG(INFO) << "input signal power " << d_input_power;
d_active = false;
d_state = 0;
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 1;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
break;
}
case 3:
{
// 6.2- Declare negative acquisition using a message port
DLOG(INFO) << "negative acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << d_test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "magnitude " << d_mag;
DLOG(INFO) << "input signal power " << d_input_power;
d_active = false;
d_state = 0;
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 2;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
break;
}
}
return noutput_items;

8
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
View File

@ -95,6 +95,8 @@ private:
void update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq);
void send_negative_acquisition();
void send_positive_acquisition();
long d_fs_in;
long d_freq;
int d_samples_per_ms;
@ -143,6 +145,7 @@ public:
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_gnss_synchro = p_gnss_synchro;
}
@ -172,6 +175,7 @@ public:
*/
void set_active(bool active)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_active = active;
}
@ -188,6 +192,7 @@ public:
*/
void set_channel(unsigned int channel)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_channel = channel;
}
@ -198,6 +203,7 @@ public:
*/
void set_threshold(float threshold)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_threshold = threshold;
}
@ -207,6 +213,7 @@ public:
*/
void set_doppler_max(unsigned int doppler_max)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_doppler_max = doppler_max;
}
@ -216,6 +223,7 @@ public:
*/
void set_doppler_step(unsigned int doppler_step)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_doppler_step = doppler_step;
}

1
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -165,7 +165,6 @@ void pcps_acquisition_fine_doppler_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Flag_preamble = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_sc.cc
View File

@ -190,7 +190,6 @@ void pcps_acquisition_sc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Flag_preamble = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@ -158,7 +158,6 @@ void pcps_assisted_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Flag_preamble = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc
View File

@ -166,7 +166,6 @@ void pcps_cccwsr_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Flag_preamble = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_multithread_acquisition_cc.cc
View File

@ -156,7 +156,6 @@ void pcps_multithread_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Flag_preamble = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc
View File

@ -293,7 +293,6 @@ void pcps_opencl_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Flag_preamble = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
View File

@ -197,7 +197,6 @@ void pcps_quicksync_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Flag_preamble = false;
//DLOG(INFO) << "START init";
d_gnss_synchro->Acq_delay_samples = 0.0;

1
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc
View File

@ -167,7 +167,6 @@ void pcps_tong_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Flag_preamble = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;

91
src/algorithms/acquisition/libs/CMakeLists.txt Normal file
View File

@ -0,0 +1,91 @@
# Copyright (C) 2012-2015 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
# GNSS-SDR is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# GNSS-SDR is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
#
#if(ENABLE_CUDA)
# # Append current NVCC flags by something, eg comput capability
# # set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} --gpu-architecture sm_30)
# list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_30,code=sm_30; -std=c++11;-O3; -use_fast_math -default-stream per-thread")
# set(CUDA_PROPAGATE_HOST_FLAGS OFF)
# CUDA_INCLUDE_DIRECTORIES( ${CMAKE_CURRENT_SOURCE_DIR})
# set(LIB_TYPE STATIC) #set the lib type
# CUDA_ADD_LIBRARY(CUDA_CORRELATOR_LIB ${LIB_TYPE} cuda_multicorrelator.h cuda_multicorrelator.cu)
# set(OPT_TRACKING_LIBRARIES ${OPT_TRACKING_LIBRARIES} CUDA_CORRELATOR_LIB)
# set(OPT_TRACKING_INCLUDES ${OPT_TRACKING_INCLUDES} ${CUDA_INCLUDE_DIRS} )
#endif(ENABLE_CUDA)
#set(TRACKING_LIB_SOURCES
set(ACQUISITION_LIB_SOURCES
gps_fpga_acquisition_8sc.cc
# cpu_multicorrelator.cc
# cpu_multicorrelator_16sc.cc
# lock_detectors.cc
# tcp_communication.cc
# tcp_packet_data.cc
# tracking_2nd_DLL_filter.cc
# tracking_2nd_PLL_filter.cc
# tracking_discriminators.cc
# tracking_FLL_PLL_filter.cc
# tracking_loop_filter.cc
)
#if(ENABLE_FPGA)
# SET(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} fpga_acquisition_8sc.cc)
#endif(ENABLE_FPGA)
include_directories(
$(CMAKE_CURRENT_SOURCE_DIR)
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${VOLK_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${OPT_TRACKING_INCLUDES}
${VOLK_GNSSSDR_INCLUDE_DIRS}
)
if(ENABLE_GENERIC_ARCH)
add_definitions( -DGENERIC_ARCH=1 )
endif(ENABLE_GENERIC_ARCH)
if (SSE3_AVAILABLE)
add_definitions( -DHAVE_SSE3=1 )
endif(SSE3_AVAILABLE)
#file(GLOB TRACKING_LIB_HEADERS "*.h")
file(GLOB ACQUISITION_LIB_HEADERS "*.h")
#list(SORT TRACKING_LIB_HEADERS)
list(SORT ACQUISITION_LIB_HEADERS)
#add_library(tracking_lib ${TRACKING_LIB_SOURCES} ${TRACKING_LIB_HEADERS})
add_library(acquisition_lib ${ACQUISITION_LIB_SOURCES} ${ACQUISITION_LIB_HEADERS})
#source_group(Headers FILES ${TRACKING_LIB_HEADERS})
source_group(Headers FILES ${ACQUISITION_LIB_HEADERS})
#target_link_libraries(tracking_lib ${OPT_TRACKING_LIBRARIES} ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})
target_link_libraries(acquisition_lib ${OPT_ACQUISITION_LIBRARIES} ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})
if(VOLK_GNSSSDR_FOUND)
# add_dependencies(tracking_lib glog-${glog_RELEASE})
add_dependencies(acquisition_lib glog-${glog_RELEASE})
else(VOLK_GNSSSDR_FOUND)
# add_dependencies(tracking_lib glog-${glog_RELEASE} volk_gnsssdr_module)
add_dependencies(acquisition_lib glog-${glog_RELEASE} volk_gnsssdr_module)
endif()

297
src/algorithms/acquisition/libs/gps_fpga_acquisition_8sc.cc Normal file
View File

@ -0,0 +1,297 @@
/*!
* \file gps_fpga_acquisition_8sc.cc
* \brief High optimized FPGA vector correlator class
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* </ul>
*
* Class that controls and executes a high optimized vector correlator
* class in the FPGA
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_fpga_acquisition_8sc.h"
#include <cmath>
// allocate memory dynamically
#include <new>
// libraries used by DMA test code and GIPO test code
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <errno.h>
// libraries used by DMA test code
#include <sys/stat.h>
#include <stdint.h>
#include <unistd.h>
#include <assert.h>
// libraries used by GPIO test code
#include <stdlib.h>
#include <signal.h>
#include <sys/mman.h>
// logging
#include <glog/logging.h>
#include "GPS_L1_CA.h"
#define PAGE_SIZE 0x10000
#define CODE_RESAMPLER_NUM_BITS_PRECISION 20
#define CODE_PHASE_STEP_CHIPS_NUM_NBITS CODE_RESAMPLER_NUM_BITS_PRECISION
#define pwrtwo(x) (1 << (x))
#define MAX_CODE_RESAMPLER_COUNTER pwrtwo(CODE_PHASE_STEP_CHIPS_NUM_NBITS) // 2^CODE_PHASE_STEP_CHIPS_NUM_NBITS
#define PHASE_CARR_NBITS 32
#define PHASE_CARR_NBITS_INT 1
#define PHASE_CARR_NBITS_FRAC PHASE_CARR_NBITS - PHASE_CARR_NBITS_INT
#define MAX_PHASE_STEP_RAD 0.999999999534339 // 1 - pow(2,-31);
bool gps_fpga_acquisition_8sc::init(unsigned int fft_size, unsigned int nsamples_total, long freq, unsigned int doppler_max, unsigned int doppler_step, int num_doppler_bins, long fs_in, unsigned select_queue)
{
float phase_step_rad_fpga;
d_phase_step_rad_vector = new float[num_doppler_bins];
for (int doppler_index = 0; doppler_index < num_doppler_bins; doppler_index++)
{
int doppler = -static_cast<int>(doppler_max) + doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * (freq + doppler) / static_cast<float>(fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
// while the gnss-sdr software (volk_gnsssdr_s32f_sincos_32fc) generates cos(x) + j*sin(x)
phase_step_rad_fpga = phase_step_rad / (GPS_TWO_PI / 2);
// avoid saturation of the fixed point representation in the fpga
// (only the positive value can saturate due to the 2's complement representation)
if (phase_step_rad_fpga == 1.0)
{
phase_step_rad_fpga = MAX_PHASE_STEP_RAD;
}
d_phase_step_rad_vector[doppler_index] = phase_step_rad_fpga;
}
// sanity check : check test register
unsigned writeval = 0x55AA;
unsigned readval;
readval = gps_fpga_acquisition_8sc::fpga_acquisition_test_register(writeval);
if (writeval != readval)
{
printf("test register fail\n");
LOG(WARNING) << "Acquisition test register sanity check failed";
}
else
{
printf("test register success\n");
LOG(INFO) << "Acquisition test register sanity check success !";
}
d_nsamples = fft_size;
d_nsamples_total = nsamples_total;
d_select_queue = select_queue;
gps_fpga_acquisition_8sc::configure_acquisition();
return true;
}
bool gps_fpga_acquisition_8sc::set_local_code(gr_complex* fft_codes)
{
unsigned int i;
float max = 0;
d_fft_codes = new lv_16sc_t[d_nsamples_total];
for (i=0;i<d_nsamples_total;i++)
{
if(std::abs(fft_codes[i].real()) > max)
{
max = std::abs(fft_codes[i].real());
}
if(std::abs(fft_codes[i].imag()) > max)
{
max = std::abs(fft_codes[i].imag());
}
}
for (i=0;i<d_nsamples_total;i++)
{
d_fft_codes[i] = lv_16sc_t((int) (fft_codes[i].real()*(pow(2,7) - 1)/max), (int) (fft_codes[i].imag()*(pow(2,7) - 1)/max));
}
gps_fpga_acquisition_8sc::fpga_configure_acquisition_local_code(d_fft_codes);
return true;
}
gps_fpga_acquisition_8sc::gps_fpga_acquisition_8sc()
{
if ((d_fd = open(d_device_io_name, O_RDWR | O_SYNC )) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << d_device_io_name;
}
d_map_base = (volatile unsigned *)mmap(NULL, PAGE_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, d_fd,0);
if (d_map_base == (void *) -1)
{
LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory";
}
}
gps_fpga_acquisition_8sc::~gps_fpga_acquisition_8sc()
{
if (munmap((void*)d_map_base, PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");
}
close(d_fd);
}
bool gps_fpga_acquisition_8sc::free()
{
if (d_fft_codes != nullptr)
{
delete [] d_fft_codes;
d_fft_codes = nullptr;
}
if (d_phase_step_rad_vector != nullptr)
{
delete [] d_phase_step_rad_vector;
d_phase_step_rad_vector = nullptr;
}
return true;
}
unsigned gps_fpga_acquisition_8sc::fpga_acquisition_test_register(unsigned writeval)
{
unsigned readval;
// write value to test register
d_map_base[15] = writeval;
// read value from test register
readval = d_map_base[15];
// return read value
return readval;
}
void gps_fpga_acquisition_8sc::fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[])
{
short int local_code;
unsigned int k, tmp, tmp2;
// clear memory address counter
d_map_base[4] = 0x10000000;
for (k = 0; k < d_nsamples_total; k++)
{
tmp = fft_local_code[k].real();
tmp2 = fft_local_code[k].imag();
local_code = (tmp & 0xFF) | ((tmp2*256) & 0xFF00); // put together the real part and the imaginary part
d_map_base[4] = 0x0C000000 | (local_code & 0xFFFF);
}
}
void gps_fpga_acquisition_8sc::run_acquisition(void)
{
// enable interrupts
int reenable = 1;
write(d_fd, (void *)&reenable, sizeof(int));
d_map_base[5] = 0; // writing anything to reg 4 launches the acquisition process
int irq_count;
ssize_t nb;
// wait for interrupt
nb=read(d_fd, &irq_count, sizeof(irq_count));
if (nb != sizeof(irq_count))
{
printf("Tracking_module Read failed to retrieve 4 bytes!\n");
printf("Tracking_module Interrupt number %d\n", irq_count);
}
}
void gps_fpga_acquisition_8sc::configure_acquisition()
{
d_map_base[0] = d_select_queue;
d_map_base[1] = d_nsamples_total;
d_map_base[2] = d_nsamples;
}
void gps_fpga_acquisition_8sc::set_phase_step(unsigned int doppler_index)
{
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
phase_step_rad_real = d_phase_step_rad_vector[doppler_index];
phase_step_rad_int_temp = phase_step_rad_real*4; // * 2^2
phase_step_rad_int = (int32_t) (phase_step_rad_int_temp*(536870912)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
d_map_base[3] = phase_step_rad_int;
}
void gps_fpga_acquisition_8sc::read_acquisition_results(uint32_t* max_index, float* max_magnitude, unsigned *initial_sample, float *power_sum)
{
unsigned readval = 0;
readval = d_map_base[0];
readval = d_map_base[1];
*initial_sample = readval;
readval = d_map_base[2];
*max_magnitude = (float) readval;
readval = d_map_base[4];
*power_sum = (float) readval;
readval = d_map_base[3];
*max_index = readval;
}
void gps_fpga_acquisition_8sc::block_samples()
{
d_map_base[14] = 1; // block the samples
}
void gps_fpga_acquisition_8sc::unblock_samples()
{
d_map_base[14] = 0; // unblock the samples
}

88
src/algorithms/acquisition/libs/gps_fpga_acquisition_8sc.h Normal file
View File

@ -0,0 +1,88 @@
/*!
* \file fpga_acquisition_8sc.h
* \brief High optimized FPGA vector correlator class for lv_16sc_t (short int complex).
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* </ul>
*
* Class that controls and executes a high optimized vector correlator
* class in the FPGA
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_FPGA_ACQUISITION_8SC_H_
#define GNSS_SDR_FPGA_ACQUISITION_8SC_H_
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <gnuradio/block.h>
/*!
* \brief Class that implements carrier wipe-off and correlators.
*/
class gps_fpga_acquisition_8sc
{
public:
gps_fpga_acquisition_8sc();
~gps_fpga_acquisition_8sc();
bool init(unsigned int fft_size, unsigned int nsamples_total, long d_freq, unsigned int doppler_max, unsigned int doppler_step, int num_doppler_bins, long fs_in, unsigned select_queue);
bool set_local_code(gr_complex* fft_codes); //int code_length_chips, const lv_16sc_t* local_code_in, float *shifts_chips);
bool free();
void run_acquisition(void);
void set_phase_step(unsigned int doppler_index);
void read_acquisition_results(uint32_t* max_index, float* max_magnitude, unsigned *initial_sample, float *power_sum);
void block_samples();
void unblock_samples();
private:
const lv_16sc_t *d_local_code_in;
lv_16sc_t *d_corr_out;
float *d_shifts_chips;
int d_code_length_chips;
int d_n_correlators;
// data related to the hardware module and the driver
char d_device_io_name[11] = "/dev/uio13"; // driver io name
int d_fd; // driver descriptor
volatile unsigned *d_map_base; // driver memory map
// configuration data received from the interface
lv_16sc_t *d_fft_codes = nullptr;
float *d_phase_step_rad_vector = nullptr;
unsigned int d_nsamples_total; // total number of samples in the fft including padding
unsigned int d_nsamples; // number of samples not including padding
unsigned int d_select_queue; // queue selection
// FPGA private functions
unsigned fpga_acquisition_test_register(unsigned writeval);
void fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]);
void configure_acquisition();
};
#endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */

31
src/algorithms/channel/adapters/channel.cc
View File

@ -56,6 +56,7 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
channel_ = channel;
queue_ = queue;
flag_enable_fpga=configuration->property("Channel.enable_FPGA", false);
acq_->set_channel(channel_);
trk_->set_channel(channel_);
nav_->set_channel(channel_);
@ -108,16 +109,22 @@ void Channel::connect(gr::top_block_sptr top_block)
LOG(WARNING) << "channel already connected internally";
return;
}
pass_through_->connect(top_block);
if (flag_enable_fpga==false)
{
pass_through_->connect(top_block);
}
acq_->connect(top_block);
trk_->connect(top_block);
nav_->connect(top_block);
//Synchronous ports
top_block->connect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
DLOG(INFO) << "pass_through_ -> acquisition";
top_block->connect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
DLOG(INFO) << "pass_through_ -> tracking";
if (flag_enable_fpga==false)
{
top_block->connect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
DLOG(INFO) << "pass_through_ -> acquisition";
top_block->connect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
DLOG(INFO) << "pass_through_ -> tracking";
}
top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
DLOG(INFO) << "tracking -> telemetry_decoder";
@ -140,10 +147,18 @@ void Channel::disconnect(gr::top_block_sptr top_block)
LOG(WARNING) << "Channel already disconnected internally";
return;
}
top_block->disconnect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
top_block->disconnect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
if (flag_enable_fpga==false)
{
top_block->disconnect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
top_block->disconnect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
}
top_block->disconnect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
pass_through_->disconnect(top_block);
if (flag_enable_fpga==false)
{
pass_through_->disconnect(top_block);
}
acq_->disconnect(top_block);
trk_->disconnect(top_block);
nav_->disconnect(top_block);

1
src/algorithms/channel/adapters/channel.h
View File

@ -94,6 +94,7 @@ private:
std::shared_ptr<TelemetryDecoderInterface> nav_;
std::string role_;
std::string implementation_;
bool flag_enable_fpga;
unsigned int channel_;
Gnss_Synchro gnss_synchro_;
Gnss_Signal gnss_signal_;

3
src/algorithms/input_filter/gnuradio_blocks/CMakeLists.txt
View File

@ -33,7 +33,8 @@ file(GLOB INPUT_FILTER_GR_BLOCKS_HEADERS "*.h")
list(SORT INPUT_FILTER_GR_BLOCKS_HEADERS)
add_library(input_filter_gr_blocks ${INPUT_FILTER_GR_BLOCKS_SOURCES} ${INPUT_FILTER_GR_BLOCKS_HEADERS})
source_group(Headers FILES ${INPUT_FILTER_GR_BLOCKS_HEADERS})
target_link_libraries(input_filter_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES})
target_link_libraries(input_filter_gr_blocks ${GNURADIO_FILTER_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${LOG4CPP_LIBRARIES})
if(NOT VOLK_GNSSSDR_FOUND)
add_dependencies(input_filter_gr_blocks volk_gnsssdr_module)

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