diff --git a/conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf b/conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf index d314335f6..33cec6f13 100644 --- a/conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf +++ b/conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf @@ -26,11 +26,11 @@ GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ SignalSource.implementation=UHD_Signal_Source -SignalSource.device_address=192.168.40.2 +SignalSource.device_address=192.168.50.2 SignalSource.item_type=cshort SignalSource.sampling_frequency=5000000 SignalSource.freq=1227600000 -SignalSource.gain=40 +SignalSource.gain=60 SignalSource.subdevice=A:0 SignalSource.samples=0 SignalSource.repeat=false @@ -85,7 +85,7 @@ Resampler.sample_freq_out=5000000 ;######### CHANNELS GLOBAL CONFIG ############ ;#count: Number of available GPS satellite channels. -Channels_2S.count=8 +Channels_2S.count=1 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 @@ -114,10 +114,10 @@ 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=0.0008 ;Acquisition_2S.pfa=0.00001 Acquisition_2S.doppler_max=5000 -Acquisition_2S.doppler_step=100 +Acquisition_2S.doppler_step=30 Acquisition_2S.bit_transition_flag=false Acquisition_2S.max_dwells=1 @@ -128,11 +128,11 @@ Acquisition_2S.max_dwells=1 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=true Tracking_2S.dump_filename=./tracking_ch_ -Tracking_2S.pll_bw_hz=2.0; -Tracking_2S.dll_bw_hz=0.5; -Tracking_2S.fll_bw_hz=10.0; +Tracking_2S.pll_bw_hz=3.0; +Tracking_2S.dll_bw_hz=1; +Tracking_2S.fll_bw_hz=2.0; Tracking_2S.order=3; Tracking_2S.early_late_space_chips=0.5; diff --git a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf index 1be430897..0e9504dbb 100644 --- a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf +++ b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf @@ -268,7 +268,7 @@ Resampler2.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ ;#count: Number of available GPS satellite channels. Channels_1C.count=1 -Channels_2S.count=4 +Channels_2S.count=6 ;#count: Number of available Galileo satellite channels. ;Channels_Galileo.count=0 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver @@ -298,14 +298,14 @@ Channel3.signal=2S Channel4.RF_channel_ID=1 Channel4.signal=2S -Channel5.RF_channel_ID=0 -Channel5.signal=1C +Channel5.RF_channel_ID=1 +Channel5.signal=2S -Channel6.RF_channel_ID=0 -Channel6.signal=1C +Channel6.RF_channel_ID=1 +Channel6.signal=2S -Channel7.RF_channel_ID=0 -Channel7.signal=1C +Channel7.RF_channel_ID=1 +Channel7.signal=2S Channel8.RF_channel_ID=1 @@ -448,11 +448,11 @@ Acquisition_2S1.dump_filename=./acq_dump.dat Acquisition_2S1.item_type=gr_complex Acquisition_2S1.if=0 Acquisition_2S1.implementation=GPS_L2_M_PCPS_Acquisition -Acquisition_2S1.threshold=0.0007 +Acquisition_2S1.threshold=0.0004 ;Acquisition_2S1.pfa=0.001 Acquisition_2S1.doppler_max=5000 Acquisition_2S1.doppler_min=-5000 -Acquisition_2S1.doppler_step=10 +Acquisition_2S1.doppler_step=30 Acquisition_2S1.max_dwells=1 Acquisition_2S2.dump=false @@ -460,11 +460,11 @@ Acquisition_2S2.dump_filename=./acq_dump.dat Acquisition_2S2.item_type=gr_complex Acquisition_2S2.if=0 Acquisition_2S2.implementation=GPS_L2_M_PCPS_Acquisition -Acquisition_2S2.threshold=0.0005 +Acquisition_2S2.threshold=0.0004 ;Acquisition_2S2.pfa=0.001 Acquisition_2S2.doppler_max=5000 Acquisition_2S2.doppler_min=-5000 -Acquisition_2S2.doppler_step=100 +Acquisition_2S2.doppler_step=30 Acquisition_2S2.max_dwells=1 Acquisition_2S3.dump=false @@ -472,11 +472,11 @@ Acquisition_2S3.dump_filename=./acq_dump.dat Acquisition_2S3.item_type=gr_complex Acquisition_2S3.if=0 Acquisition_2S3.implementation=GPS_L2_M_PCPS_Acquisition -Acquisition_2S3.threshold=0.0005 +Acquisition_2S3.threshold=0.0004 ;Acquisition_2S3.pfa=0.001 Acquisition_2S3.doppler_max=5000 Acquisition_2S3.doppler_min=-5000 -Acquisition_2S3.doppler_step=100 +Acquisition_2S3.doppler_step=30 Acquisition_2S3.max_dwells=1 Acquisition_2S4.dump=false @@ -484,61 +484,48 @@ Acquisition_2S4.dump_filename=./acq_dump.dat Acquisition_2S4.item_type=gr_complex Acquisition_2S4.if=0 Acquisition_2S4.implementation=GPS_L2_M_PCPS_Acquisition -Acquisition_2S4.threshold=0.0005 +Acquisition_2S4.threshold=0.0004 ;Acquisition_2S4.pfa=0.001 Acquisition_2S4.doppler_max=5000 Acquisition_2S4.doppler_min=-5000 -Acquisition_2S4.doppler_step=100 +Acquisition_2S4.doppler_step=30 Acquisition_2S4.max_dwells=1 -Acquisition_2S12.dump=false -Acquisition_2S12.dump_filename=./acq_dump.dat -Acquisition_2S12.item_type=gr_complex -Acquisition_2S12.if=0 -Acquisition_2S12.implementation=GPS_L2_M_PCPS_Acquisition -Acquisition_2S12.threshold=0.0005 -;Acquisition_2S12.pfa=0.001 -Acquisition_2S12.doppler_max=5000 -Acquisition_2S12.doppler_min=-5000 -Acquisition_2S12.doppler_step=100 -Acquisition_2S12.max_dwells=1 +Acquisition_2S5.dump=false +Acquisition_2S5.dump_filename=./acq_dump.dat +Acquisition_2S5.item_type=gr_complex +Acquisition_2S5.if=0 +Acquisition_2S5.implementation=GPS_L2_M_PCPS_Acquisition +Acquisition_2S5.threshold=0.0004 +;Acquisition_2S5.pfa=0.001 +Acquisition_2S5.doppler_max=5000 +Acquisition_2S5.doppler_min=-5000 +Acquisition_2S5.doppler_step=30 +Acquisition_2S5.max_dwells=1 -Acquisition_2S13.dump=false -Acquisition_2S13.dump_filename=./acq_dump.dat -Acquisition_2S13.item_type=gr_complex -Acquisition_2S13.if=0 -Acquisition_2S13.implementation=GPS_L2_M_PCPS_Acquisition -Acquisition_2S13.threshold=0.0005 -;Acquisition_2S13.pfa=0.001 -Acquisition_2S13.doppler_max=5000 -Acquisition_2S13.doppler_min=-5000 -Acquisition_2S13.doppler_step=100 -Acquisition_2S13.max_dwells=1 - -Acquisition_2S14.dump=false -Acquisition_2S14.dump_filename=./acq_dump.dat -Acquisition_2S14.item_type=gr_complex -Acquisition_2S14.if=0 -Acquisition_2S14.implementation=GPS_L2_M_PCPS_Acquisition -Acquisition_2S14.threshold=0.0005 -;Acquisition_2S14.pfa=0.001 -Acquisition_2S14.doppler_max=5000 -Acquisition_2S14.doppler_min=-5000 -Acquisition_2S14.doppler_step=100 -Acquisition_2S14.max_dwells=1 - -Acquisition_2S15.dump=false -Acquisition_2S15.dump_filename=./acq_dump.dat -Acquisition_2S15.item_type=gr_complex -Acquisition_2S15.if=0 -Acquisition_2S15.implementation=GPS_L2_M_PCPS_Acquisition -Acquisition_2S15.threshold=0.0005 -;Acquisition_2S15.pfa=0.001 -Acquisition_2S15.doppler_max=5000 -Acquisition_2S15.doppler_min=-5000 -Acquisition_2S15.doppler_step=100 -Acquisition_2S15.max_dwells=1 +Acquisition_2S6.dump=false +Acquisition_2S6.dump_filename=./acq_dump.dat +Acquisition_2S6.item_type=gr_complex +Acquisition_2S6.if=0 +Acquisition_2S6.implementation=GPS_L2_M_PCPS_Acquisition +Acquisition_2S6.threshold=0.0004 +;Acquisition_2S6.pfa=0.001 +Acquisition_2S6.doppler_max=5000 +Acquisition_2S6.doppler_min=-5000 +Acquisition_2S6.doppler_step=30 +Acquisition_2S6.max_dwells=1 +Acquisition_2S7.dump=false +Acquisition_2S7.dump_filename=./acq_dump.dat +Acquisition_2S7.item_type=gr_complex +Acquisition_2S7.if=0 +Acquisition_2S7.implementation=GPS_L2_M_PCPS_Acquisition +Acquisition_2S7.threshold=0.0004 +;Acquisition_2S7.pfa=0.001 +Acquisition_2S7.doppler_max=5000 +Acquisition_2S7.doppler_min=-5000 +Acquisition_2S7.doppler_step=100 +Acquisition_2S7.max_dwells=1 ;######### ACQUISITION CHANNELS CONFIG ###### @@ -681,51 +668,38 @@ Tracking_2S4.order=3; Tracking_2S4.early_late_space_chips=0.5; ;######### TRACKING CHANNEL 12 CONFIG ############ -Tracking_2S12.implementation=GPS_L2_M_DLL_PLL_Tracking -Tracking_2S12.item_type=gr_complex -Tracking_2S12.if=0 -Tracking_2S12.dump=false -Tracking_2S12.dump_filename=./tracking_ch_ -Tracking_2S12.pll_bw_hz=2.0; -Tracking_2S12.dll_bw_hz=0.5; -Tracking_2S12.fll_bw_hz=2.0; -Tracking_2S12.order=2; -Tracking_2S12.early_late_space_chips=0.5; +Tracking_2S5.implementation=GPS_L2_M_DLL_PLL_Tracking +Tracking_2S5.item_type=gr_complex +Tracking_2S5.if=0 +Tracking_2S5.dump=true +Tracking_2S5.dump_filename=./tracking_ch_ +Tracking_2S5.pll_bw_hz=3.0; +Tracking_2S5.dll_bw_hz=1; +Tracking_2S5.fll_bw_hz=2.0; +Tracking_2S5.order=3; +Tracking_2S5.early_late_space_chips=0.5; ;######### TRACKING CHANNEL 13 CONFIG ############ -Tracking_2S13.implementation=GPS_L2_M_DLL_PLL_Tracking -Tracking_2S13.item_type=gr_complex -Tracking_2S13.if=0 -Tracking_2S13.dump=false -Tracking_2S13.dump_filename=./tracking_ch_ -Tracking_2S13.pll_bw_hz=2.0; -Tracking_2S13.dll_bw_hz=0.5; -Tracking_2S13.fll_bw_hz=2.0; -Tracking_2S13.order=2; -Tracking_2S13.early_late_space_chips=0.5; +Tracking_2S6.implementation=GPS_L2_M_DLL_PLL_Tracking +Tracking_2S6.item_type=gr_complex +Tracking_2S6.if=0 +Tracking_2S6.dump=true +Tracking_2S6.dump_filename=./tracking_ch_ +Tracking_2S6.pll_bw_hz=3.0; +Tracking_2S6.dll_bw_hz=1; +Tracking_2S6.fll_bw_hz=2.0; +Tracking_2S6.order=3; +Tracking_2S6.early_late_space_chips=0.5; ;######### TRACKING CHANNEL 14 CONFIG ############ -Tracking_2S14.implementation=GPS_L2_M_DLL_PLL_Tracking -Tracking_2S14.item_type=gr_complex -Tracking_2S14.if=0 -Tracking_2S14.dump=false -Tracking_2S14.dump_filename=./tracking_ch_ -Tracking_2S14.pll_bw_hz=2.0; -Tracking_2S14.dll_bw_hz=0.5; -Tracking_2S14.fll_bw_hz=2.0; -Tracking_2S14.order=2; -Tracking_2S14.early_late_space_chips=0.5; -;######### TRACKING CHANNEL 15 CONFIG ############ -Tracking_2S15.implementation=GPS_L2_M_DLL_PLL_Tracking -Tracking_2S15.item_type=gr_complex -Tracking_2S15.if=0 -Tracking_2S15.dump=false -Tracking_2S15.dump_filename=./tracking_ch_ -Tracking_2S15.pll_bw_hz=2.0; -Tracking_2S15.dll_bw_hz=0.5; -Tracking_2S15.fll_bw_hz=2.0; -Tracking_2S15.order=2; -Tracking_2S15.early_late_space_chips=0.5; - - +Tracking_2S7.implementation=GPS_L2_M_DLL_PLL_Tracking +Tracking_2S7.item_type=gr_complex +Tracking_2S7.if=0 +Tracking_2S7.dump=true +Tracking_2S7.dump_filename=./tracking_ch_ +Tracking_2S7.pll_bw_hz=3.0; +Tracking_2S7.dll_bw_hz=1; +Tracking_2S7.fll_bw_hz=2.0; +Tracking_2S7.order=3; +Tracking_2S7.early_late_space_chips=0.5; ;######### TELEMETRY DECODER GPS CONFIG ############ diff --git a/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc index 10257fb9d..adb05c32f 100644 --- a/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc +++ b/src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc @@ -180,6 +180,8 @@ void GpsL2MPcpsAcquisition::set_doppler_max(unsigned int doppler_max) } +// Be aware that Doppler step should be set to 2/(3T) Hz, where T is the coherent integration time (GPS L2 period is 0.02s) +// Doppler bin minimum size= 33 Hz void GpsL2MPcpsAcquisition::set_doppler_step(unsigned int doppler_step) { doppler_step_ = doppler_step; diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc index 5804ce859..2d7432574 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc @@ -194,7 +194,7 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_in { tmp_msg = valid_msgs.at(i).second; d_CNAV_Message.decode_page(tmp_msg); - std::cout << "Valid CNAV frame with relative preamble start at " << valid_msgs.at(i).first << std::endl; + //std::cout << "Valid CNAV frame with relative preamble start at " << valid_msgs.at(i).first << std::endl; flag_new_cnav_frame = true; d_flag_valid_word = true; last_frame_preamble_start = valid_msgs.at(i).first; diff --git a/src/algorithms/telemetry_decoder/libs/viterbi_decoder.cc b/src/algorithms/telemetry_decoder/libs/viterbi_decoder.cc index 3a90ab140..91c912119 100644 --- a/src/algorithms/telemetry_decoder/libs/viterbi_decoder.cc +++ b/src/algorithms/telemetry_decoder/libs/viterbi_decoder.cc @@ -311,7 +311,6 @@ int Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decodi int n_im = 0; VLOG(FLOW) << "do_tb_and_decode(): requested_decoding_length=" << requested_decoding_length; - // decode only decode_length bits -> overstep newer bits which are too much decoding_length_mismatch = d_trellis_paths.size() - (traceback_length + requested_decoding_length); VLOG(BLOCK) << "decoding_length_mismatch=" << decoding_length_mismatch; @@ -323,7 +322,6 @@ int Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decodi { state = it->get_anchestor_state_of_current_state(state); } - t_out = d_trellis_paths.end() - (d_trellis_paths.begin() + traceback_length + overstep_length) - 1;//requested_decoding_length-1; indicator_metric = 0; for (it = d_trellis_paths.begin() + traceback_length + overstep_length; it < d_trellis_paths.end(); ++it) @@ -347,6 +345,7 @@ int Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decodi // remove old states if (d_trellis_paths.begin() + traceback_length + overstep_length <= d_trellis_paths.end()) { + d_trellis_paths.erase(d_trellis_paths.begin() + traceback_length+overstep_length, d_trellis_paths.end()); } return decoding_length_mismatch; @@ -479,6 +478,7 @@ Viterbi_Decoder::Prev::Prev(int states, int t) { this->t = t; state = new int[states]; + num_states=states; bit = new int[states]; metric = new float[states]; refcount = new int; @@ -494,6 +494,7 @@ Viterbi_Decoder::Prev::Prev(const Prev& prev) (*refcount)++; t = prev.t; state = prev.state; + num_states=prev.num_states; bit = prev.bit; metric = prev.metric; VLOG(LMORE) << "Prev(" << "?" << ", " << t << ")" << " copy, new refcount = " << *refcount; @@ -562,7 +563,14 @@ Viterbi_Decoder::Prev::~Prev() int Viterbi_Decoder::Prev::get_anchestor_state_of_current_state(int current_state) { //std::cout << "get prev state: for state " << current_state << " at time " << t << ", the prev state at time " << t-1 << " is " << state[current_state] << std::endl; - return state[current_state]; + if (num_states>current_state) + { + return state[current_state]; + }else{ + //std::cout<<"alarm "<<"num_states="<PRN) << std::endl; + std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) <<" whith Doppler="<PRN) << " on channel " << d_channel; @@ -336,10 +337,10 @@ int gps_l2_m_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_int gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { // process vars - float carr_error_hz; - float carr_error_filt_hz; - float code_error_chips; - float code_error_filt_chips; + float carr_error_hz=0; + float carr_error_filt_hz=0; + float code_error_chips=0; + float code_error_filt_chips=0; // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder Gnss_Synchro current_synchro_data = Gnss_Synchro(); @@ -358,12 +359,15 @@ int gps_l2_m_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_int int acq_to_trk_delay_samples; acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp; acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast(acq_to_trk_delay_samples), static_cast(d_current_prn_length_samples)); - samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); + samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples+(1.5*(d_fs_in/GPS_L2_M_CODE_RATE_HZ))); // /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE //d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / static_cast(d_fs_in)); d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples d_pull_in = false; - //std::cout<<" samples_offset="<PRN) << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]"<< std::endl; + << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz] "<<"Doppler="<PRN) - << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]"<