mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-13 11:40:33 +00:00
Work in progress for GPS L2C support:
- Patched GPS L2CM tracking pull-in code. - Workaround for ViterbiDecoder bug
This commit is contained in:
parent
24c75a19db
commit
adf73e0610
@ -26,11 +26,11 @@ GNSS-SDR.SUPL_CI=0x31b0
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;######### SIGNAL_SOURCE CONFIG ############
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SignalSource.implementation=UHD_Signal_Source
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SignalSource.device_address=192.168.40.2
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SignalSource.device_address=192.168.50.2
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SignalSource.item_type=cshort
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SignalSource.sampling_frequency=5000000
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SignalSource.freq=1227600000
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SignalSource.gain=40
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SignalSource.gain=60
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SignalSource.subdevice=A:0
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SignalSource.samples=0
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SignalSource.repeat=false
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@ -85,7 +85,7 @@ Resampler.sample_freq_out=5000000
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;######### CHANNELS GLOBAL CONFIG ############
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;#count: Number of available GPS satellite channels.
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Channels_2S.count=8
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Channels_2S.count=1
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;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
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Channels.in_acquisition=1
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@ -114,10 +114,10 @@ Acquisition_2S.item_type=gr_complex
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Acquisition_2S.if=0
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Acquisition_2S.coherent_integration_time_ms=1
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Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition
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Acquisition_2S.threshold=0.0005
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Acquisition_2S.threshold=0.0008
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;Acquisition_2S.pfa=0.00001
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Acquisition_2S.doppler_max=5000
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Acquisition_2S.doppler_step=100
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Acquisition_2S.doppler_step=30
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Acquisition_2S.bit_transition_flag=false
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Acquisition_2S.max_dwells=1
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@ -128,11 +128,11 @@ Acquisition_2S.max_dwells=1
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Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
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Tracking_2S.item_type=gr_complex
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Tracking_2S.if=0
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Tracking_2S.dump=false
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Tracking_2S.dump=true
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Tracking_2S.dump_filename=./tracking_ch_
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Tracking_2S.pll_bw_hz=2.0;
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Tracking_2S.dll_bw_hz=0.5;
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Tracking_2S.fll_bw_hz=10.0;
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Tracking_2S.pll_bw_hz=3.0;
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Tracking_2S.dll_bw_hz=1;
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Tracking_2S.fll_bw_hz=2.0;
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Tracking_2S.order=3;
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Tracking_2S.early_late_space_chips=0.5;
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@ -268,7 +268,7 @@ Resampler2.implementation=Pass_Through
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;######### CHANNELS GLOBAL CONFIG ############
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;#count: Number of available GPS satellite channels.
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Channels_1C.count=1
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Channels_2S.count=4
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Channels_2S.count=6
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;#count: Number of available Galileo satellite channels.
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;Channels_Galileo.count=0
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;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
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@ -298,14 +298,14 @@ Channel3.signal=2S
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Channel4.RF_channel_ID=1
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Channel4.signal=2S
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Channel5.RF_channel_ID=0
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Channel5.signal=1C
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Channel5.RF_channel_ID=1
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Channel5.signal=2S
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Channel6.RF_channel_ID=0
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Channel6.signal=1C
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Channel6.RF_channel_ID=1
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Channel6.signal=2S
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Channel7.RF_channel_ID=0
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Channel7.signal=1C
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Channel7.RF_channel_ID=1
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Channel7.signal=2S
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Channel8.RF_channel_ID=1
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@ -448,11 +448,11 @@ Acquisition_2S1.dump_filename=./acq_dump.dat
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Acquisition_2S1.item_type=gr_complex
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Acquisition_2S1.if=0
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Acquisition_2S1.implementation=GPS_L2_M_PCPS_Acquisition
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Acquisition_2S1.threshold=0.0007
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Acquisition_2S1.threshold=0.0004
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;Acquisition_2S1.pfa=0.001
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Acquisition_2S1.doppler_max=5000
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Acquisition_2S1.doppler_min=-5000
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Acquisition_2S1.doppler_step=10
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Acquisition_2S1.doppler_step=30
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Acquisition_2S1.max_dwells=1
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Acquisition_2S2.dump=false
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@ -460,11 +460,11 @@ Acquisition_2S2.dump_filename=./acq_dump.dat
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Acquisition_2S2.item_type=gr_complex
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Acquisition_2S2.if=0
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Acquisition_2S2.implementation=GPS_L2_M_PCPS_Acquisition
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Acquisition_2S2.threshold=0.0005
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Acquisition_2S2.threshold=0.0004
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;Acquisition_2S2.pfa=0.001
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Acquisition_2S2.doppler_max=5000
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Acquisition_2S2.doppler_min=-5000
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Acquisition_2S2.doppler_step=100
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Acquisition_2S2.doppler_step=30
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Acquisition_2S2.max_dwells=1
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Acquisition_2S3.dump=false
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@ -472,11 +472,11 @@ Acquisition_2S3.dump_filename=./acq_dump.dat
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Acquisition_2S3.item_type=gr_complex
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Acquisition_2S3.if=0
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Acquisition_2S3.implementation=GPS_L2_M_PCPS_Acquisition
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Acquisition_2S3.threshold=0.0005
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Acquisition_2S3.threshold=0.0004
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;Acquisition_2S3.pfa=0.001
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Acquisition_2S3.doppler_max=5000
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Acquisition_2S3.doppler_min=-5000
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Acquisition_2S3.doppler_step=100
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Acquisition_2S3.doppler_step=30
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Acquisition_2S3.max_dwells=1
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Acquisition_2S4.dump=false
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@ -484,61 +484,48 @@ Acquisition_2S4.dump_filename=./acq_dump.dat
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Acquisition_2S4.item_type=gr_complex
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Acquisition_2S4.if=0
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Acquisition_2S4.implementation=GPS_L2_M_PCPS_Acquisition
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Acquisition_2S4.threshold=0.0005
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Acquisition_2S4.threshold=0.0004
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;Acquisition_2S4.pfa=0.001
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Acquisition_2S4.doppler_max=5000
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Acquisition_2S4.doppler_min=-5000
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Acquisition_2S4.doppler_step=100
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Acquisition_2S4.doppler_step=30
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Acquisition_2S4.max_dwells=1
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Acquisition_2S12.dump=false
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Acquisition_2S12.dump_filename=./acq_dump.dat
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Acquisition_2S12.item_type=gr_complex
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Acquisition_2S12.if=0
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Acquisition_2S12.implementation=GPS_L2_M_PCPS_Acquisition
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Acquisition_2S12.threshold=0.0005
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;Acquisition_2S12.pfa=0.001
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Acquisition_2S12.doppler_max=5000
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Acquisition_2S12.doppler_min=-5000
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Acquisition_2S12.doppler_step=100
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Acquisition_2S12.max_dwells=1
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Acquisition_2S5.dump=false
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Acquisition_2S5.dump_filename=./acq_dump.dat
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Acquisition_2S5.item_type=gr_complex
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Acquisition_2S5.if=0
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Acquisition_2S5.implementation=GPS_L2_M_PCPS_Acquisition
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Acquisition_2S5.threshold=0.0004
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;Acquisition_2S5.pfa=0.001
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Acquisition_2S5.doppler_max=5000
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Acquisition_2S5.doppler_min=-5000
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Acquisition_2S5.doppler_step=30
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Acquisition_2S5.max_dwells=1
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Acquisition_2S13.dump=false
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Acquisition_2S13.dump_filename=./acq_dump.dat
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Acquisition_2S13.item_type=gr_complex
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Acquisition_2S13.if=0
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Acquisition_2S13.implementation=GPS_L2_M_PCPS_Acquisition
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Acquisition_2S13.threshold=0.0005
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;Acquisition_2S13.pfa=0.001
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Acquisition_2S13.doppler_max=5000
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Acquisition_2S13.doppler_min=-5000
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Acquisition_2S13.doppler_step=100
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Acquisition_2S13.max_dwells=1
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Acquisition_2S14.dump=false
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Acquisition_2S14.dump_filename=./acq_dump.dat
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Acquisition_2S14.item_type=gr_complex
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Acquisition_2S14.if=0
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Acquisition_2S14.implementation=GPS_L2_M_PCPS_Acquisition
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Acquisition_2S14.threshold=0.0005
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;Acquisition_2S14.pfa=0.001
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Acquisition_2S14.doppler_max=5000
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Acquisition_2S14.doppler_min=-5000
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Acquisition_2S14.doppler_step=100
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Acquisition_2S14.max_dwells=1
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Acquisition_2S15.dump=false
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Acquisition_2S15.dump_filename=./acq_dump.dat
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Acquisition_2S15.item_type=gr_complex
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Acquisition_2S15.if=0
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Acquisition_2S15.implementation=GPS_L2_M_PCPS_Acquisition
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Acquisition_2S15.threshold=0.0005
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;Acquisition_2S15.pfa=0.001
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Acquisition_2S15.doppler_max=5000
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Acquisition_2S15.doppler_min=-5000
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Acquisition_2S15.doppler_step=100
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Acquisition_2S15.max_dwells=1
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Acquisition_2S6.dump=false
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Acquisition_2S6.dump_filename=./acq_dump.dat
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Acquisition_2S6.item_type=gr_complex
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Acquisition_2S6.if=0
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Acquisition_2S6.implementation=GPS_L2_M_PCPS_Acquisition
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Acquisition_2S6.threshold=0.0004
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;Acquisition_2S6.pfa=0.001
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Acquisition_2S6.doppler_max=5000
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Acquisition_2S6.doppler_min=-5000
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Acquisition_2S6.doppler_step=30
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Acquisition_2S6.max_dwells=1
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Acquisition_2S7.dump=false
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Acquisition_2S7.dump_filename=./acq_dump.dat
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Acquisition_2S7.item_type=gr_complex
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Acquisition_2S7.if=0
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Acquisition_2S7.implementation=GPS_L2_M_PCPS_Acquisition
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Acquisition_2S7.threshold=0.0004
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;Acquisition_2S7.pfa=0.001
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Acquisition_2S7.doppler_max=5000
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Acquisition_2S7.doppler_min=-5000
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Acquisition_2S7.doppler_step=100
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Acquisition_2S7.max_dwells=1
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;######### ACQUISITION CHANNELS CONFIG ######
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@ -681,51 +668,38 @@ Tracking_2S4.order=3;
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Tracking_2S4.early_late_space_chips=0.5;
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;######### TRACKING CHANNEL 12 CONFIG ############
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Tracking_2S12.implementation=GPS_L2_M_DLL_PLL_Tracking
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Tracking_2S12.item_type=gr_complex
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Tracking_2S12.if=0
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Tracking_2S12.dump=false
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Tracking_2S12.dump_filename=./tracking_ch_
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Tracking_2S12.pll_bw_hz=2.0;
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Tracking_2S12.dll_bw_hz=0.5;
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Tracking_2S12.fll_bw_hz=2.0;
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Tracking_2S12.order=2;
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Tracking_2S12.early_late_space_chips=0.5;
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Tracking_2S5.implementation=GPS_L2_M_DLL_PLL_Tracking
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Tracking_2S5.item_type=gr_complex
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Tracking_2S5.if=0
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Tracking_2S5.dump=true
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Tracking_2S5.dump_filename=./tracking_ch_
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Tracking_2S5.pll_bw_hz=3.0;
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Tracking_2S5.dll_bw_hz=1;
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Tracking_2S5.fll_bw_hz=2.0;
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Tracking_2S5.order=3;
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Tracking_2S5.early_late_space_chips=0.5;
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;######### TRACKING CHANNEL 13 CONFIG ############
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Tracking_2S13.implementation=GPS_L2_M_DLL_PLL_Tracking
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Tracking_2S13.item_type=gr_complex
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Tracking_2S13.if=0
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Tracking_2S13.dump=false
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Tracking_2S13.dump_filename=./tracking_ch_
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Tracking_2S13.pll_bw_hz=2.0;
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Tracking_2S13.dll_bw_hz=0.5;
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Tracking_2S13.fll_bw_hz=2.0;
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Tracking_2S13.order=2;
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Tracking_2S13.early_late_space_chips=0.5;
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Tracking_2S6.implementation=GPS_L2_M_DLL_PLL_Tracking
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Tracking_2S6.item_type=gr_complex
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Tracking_2S6.if=0
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Tracking_2S6.dump=true
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Tracking_2S6.dump_filename=./tracking_ch_
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Tracking_2S6.pll_bw_hz=3.0;
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Tracking_2S6.dll_bw_hz=1;
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Tracking_2S6.fll_bw_hz=2.0;
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Tracking_2S6.order=3;
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Tracking_2S6.early_late_space_chips=0.5;
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;######### TRACKING CHANNEL 14 CONFIG ############
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Tracking_2S14.implementation=GPS_L2_M_DLL_PLL_Tracking
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Tracking_2S14.item_type=gr_complex
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Tracking_2S14.if=0
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Tracking_2S14.dump=false
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Tracking_2S14.dump_filename=./tracking_ch_
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Tracking_2S14.pll_bw_hz=2.0;
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Tracking_2S14.dll_bw_hz=0.5;
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Tracking_2S14.fll_bw_hz=2.0;
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Tracking_2S14.order=2;
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Tracking_2S14.early_late_space_chips=0.5;
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;######### TRACKING CHANNEL 15 CONFIG ############
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Tracking_2S15.implementation=GPS_L2_M_DLL_PLL_Tracking
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Tracking_2S15.item_type=gr_complex
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Tracking_2S15.if=0
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Tracking_2S15.dump=false
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Tracking_2S15.dump_filename=./tracking_ch_
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Tracking_2S15.pll_bw_hz=2.0;
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Tracking_2S15.dll_bw_hz=0.5;
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Tracking_2S15.fll_bw_hz=2.0;
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Tracking_2S15.order=2;
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Tracking_2S15.early_late_space_chips=0.5;
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Tracking_2S7.implementation=GPS_L2_M_DLL_PLL_Tracking
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Tracking_2S7.item_type=gr_complex
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Tracking_2S7.if=0
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Tracking_2S7.dump=true
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Tracking_2S7.dump_filename=./tracking_ch_
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Tracking_2S7.pll_bw_hz=3.0;
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Tracking_2S7.dll_bw_hz=1;
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Tracking_2S7.fll_bw_hz=2.0;
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Tracking_2S7.order=3;
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Tracking_2S7.early_late_space_chips=0.5;
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;######### TELEMETRY DECODER GPS CONFIG ############
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@ -180,6 +180,8 @@ void GpsL2MPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
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}
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// 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)
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// Doppler bin minimum size= 33 Hz
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void GpsL2MPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
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{
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doppler_step_ = doppler_step;
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@ -194,7 +194,7 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_in
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{
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tmp_msg = valid_msgs.at(i).second;
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d_CNAV_Message.decode_page(tmp_msg);
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std::cout << "Valid CNAV frame with relative preamble start at " << valid_msgs.at(i).first << std::endl;
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//std::cout << "Valid CNAV frame with relative preamble start at " << valid_msgs.at(i).first << std::endl;
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flag_new_cnav_frame = true;
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d_flag_valid_word = true;
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last_frame_preamble_start = valid_msgs.at(i).first;
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@ -311,7 +311,6 @@ int Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decodi
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int n_im = 0;
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VLOG(FLOW) << "do_tb_and_decode(): requested_decoding_length=" << requested_decoding_length;
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// decode only decode_length bits -> overstep newer bits which are too much
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decoding_length_mismatch = d_trellis_paths.size() - (traceback_length + requested_decoding_length);
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VLOG(BLOCK) << "decoding_length_mismatch=" << decoding_length_mismatch;
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@ -323,7 +322,6 @@ int Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decodi
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{
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state = it->get_anchestor_state_of_current_state(state);
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}
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t_out = d_trellis_paths.end() - (d_trellis_paths.begin() + traceback_length + overstep_length) - 1;//requested_decoding_length-1;
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indicator_metric = 0;
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for (it = d_trellis_paths.begin() + traceback_length + overstep_length; it < d_trellis_paths.end(); ++it)
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@ -347,6 +345,7 @@ int Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decodi
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// remove old states
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if (d_trellis_paths.begin() + traceback_length + overstep_length <= d_trellis_paths.end())
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{
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d_trellis_paths.erase(d_trellis_paths.begin() + traceback_length+overstep_length, d_trellis_paths.end());
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}
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return decoding_length_mismatch;
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@ -479,6 +478,7 @@ Viterbi_Decoder::Prev::Prev(int states, int t)
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{
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this->t = t;
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state = new int[states];
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num_states=states;
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bit = new int[states];
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metric = new float[states];
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refcount = new int;
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@ -494,6 +494,7 @@ Viterbi_Decoder::Prev::Prev(const Prev& prev)
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(*refcount)++;
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t = prev.t;
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state = prev.state;
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num_states=prev.num_states;
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bit = prev.bit;
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metric = prev.metric;
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VLOG(LMORE) << "Prev(" << "?" << ", " << t << ")" << " copy, new refcount = " << *refcount;
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@ -562,7 +563,14 @@ Viterbi_Decoder::Prev::~Prev()
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int Viterbi_Decoder::Prev::get_anchestor_state_of_current_state(int current_state)
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{
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//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;
|
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if (num_states>current_state)
|
||||
{
|
||||
return state[current_state];
|
||||
}else{
|
||||
//std::cout<<"alarm "<<"num_states="<<num_states<<" current_state="<<current_state<<std::endl;
|
||||
//return state[current_state];
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
@ -63,6 +63,7 @@ private:
|
||||
class Prev
|
||||
{
|
||||
public:
|
||||
int num_states;
|
||||
Prev(int states, int t);
|
||||
Prev(const Prev& prev);
|
||||
Prev& operator=(const Prev& other);
|
||||
|
@ -222,7 +222,8 @@ void gps_l2_m_dll_pll_tracking_cc::start_tracking()
|
||||
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
|
||||
}
|
||||
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
|
||||
d_acq_code_phase_samples = corrected_acq_phase_samples;
|
||||
//TODO: debug the algorithm implementation and enable correction
|
||||
//d_acq_code_phase_samples = corrected_acq_phase_samples;
|
||||
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
||||
|
||||
@ -247,7 +248,7 @@ void gps_l2_m_dll_pll_tracking_cc::start_tracking()
|
||||
sys = sys_.substr(0,1);
|
||||
|
||||
// DEBUG OUTPUT
|
||||
std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
|
||||
std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) <<" whith Doppler="<<d_acq_carrier_doppler_hz<<" [Hz]"<< std::endl;
|
||||
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->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<float>(acq_to_trk_delay_samples), static_cast<float>(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<double>(d_fs_in));
|
||||
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
|
||||
d_pull_in = false;
|
||||
//std::cout<<" samples_offset="<<samples_offset<<"\r\n";
|
||||
//std::cout<<" d_acq_code_phase_samples="<<d_acq_code_phase_samples<<std::endl;
|
||||
//std::cout<<" acq_trk_shif_correction_samples="<<acq_trk_shif_correction_samples<<std::endl;
|
||||
//std::cout<<" d_current_prn_length_samples="<<d_current_prn_length_samples<<std::endl;
|
||||
//std::cout<<" samples_offset="<<samples_offset<<std::endl;
|
||||
// Fill the acquisition data
|
||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||
current_synchro_data.Flag_valid_tracking = false;
|
||||
@ -522,7 +526,7 @@ int gps_l2_m_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_int
|
||||
d_last_seg = floor(d_sample_counter / d_fs_in);
|
||||
std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
|
||||
std::cout << "GPS L2C M Tracking CH " << d_channel << ": Satellite "
|
||||
<< Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->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="<<d_carrier_doppler_hz<<" [Hz]"<< std::endl;
|
||||
//if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
|
||||
}
|
||||
}
|
||||
@ -533,7 +537,7 @@ int gps_l2_m_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_int
|
||||
d_last_seg = floor(d_sample_counter / d_fs_in);
|
||||
std::cout << "GPS L2C M Tracking CH " << d_channel << ": Satellite "
|
||||
<< Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]"<<std::endl;
|
||||
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz] "<<"Doppler="<<d_carrier_doppler_hz<<" [Hz]"<< std::endl;
|
||||
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
|
||||
}
|
||||
}
|
||||
|
Loading…
Reference in New Issue
Block a user