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bds: Add unified trk startegy to deliver 1 symbol per sample

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This works builds up upon J. Arribas work for unified symbol dec in tracking.
Fixes a couple of bugs with PVT code and adds new code for RINEX functions. Adds
 cosmetic fixes to the code with unused variables.
This commit is contained in:
Damian Miralles 2019-07-10 12:52:40 -05:00
parent c2f4b39bb2
commit b262c58aa8
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GPG Key ID: 8A92BA854ED245E1
13 changed files with 430 additions and 420 deletions
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2
conf/gnss-sdr_BDS_B1I_byte.conf
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@ -16,7 +16,7 @@ ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
SignalSource.filename=/home/dmiralles/Documents/gnss-metadata-standard/install/BdsB1IStr01.dat SignalSource.filename=/archive/BDS3_datasets/BdsB1IStr01.dat
SignalSource.item_type=byte SignalSource.item_type=byte
SignalSource.sampling_frequency=25000000 SignalSource.sampling_frequency=25000000
SignalSource.samples=0 SignalSource.samples=0

2
conf/gnss-sdr_BDS_B3I_byte.conf
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@ -16,7 +16,7 @@ ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
SignalSource.filename=/home/dmiralles/Documents/gnss-metadata-standard/install/BdsB3IStr01.dat SignalSource.filename=/archive/BDS3_datasets/BdsB3IStr01.dat
SignalSource.item_type=byte SignalSource.item_type=byte
SignalSource.sampling_frequency=50000000 SignalSource.sampling_frequency=50000000
SignalSource.samples=0 SignalSource.samples=0

5
src/algorithms/PVT/libs/rinex_printer.cc
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@ -29,8 +29,7 @@
*/ */
#include "rinex_printer.h" #include "rinex_printer.h"
#include "Beidou_B1I.h" #include "Beidou_DNAV.h"
#include "Beidou_B3I.h"
#include "GLONASS_L1_L2_CA.h" #include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "Galileo_E1.h" #include "Galileo_E1.h"
@ -11572,7 +11571,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int32_t>(ssi), 1); lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int32_t>(ssi), 1);
// CARRIER PHASE // CARRIER PHASE
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (BEIDOU_TWO_PI), 3), 14); lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (BEIDOU_DNAV_TWO_PI), 3), 14);
if (lli == 0) if (lli == 0)
{ {
lineObs += std::string(1, ' '); lineObs += std::string(1, ' ');

308
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
View File

@ -29,11 +29,10 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include "beidou_b1i_telemetry_decoder_gs.h" #include "beidou_b1i_telemetry_decoder_gs.h"
#include "Beidou_B1I.h" #include "Beidou_B1I.h"
#include "Beidou_DNAV.h" #include "Beidou_DNAV.h"
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h" #include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h" #include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h" #include "beidou_dnav_utc_model.h"
@ -58,7 +57,6 @@ beidou_b1i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump)
return beidou_b1i_telemetry_decoder_gs_sptr(new beidou_b1i_telemetry_decoder_gs(satellite, dump)); return beidou_b1i_telemetry_decoder_gs_sptr(new beidou_b1i_telemetry_decoder_gs(satellite, dump));
} }
beidou_b1i_telemetry_decoder_gs::beidou_b1i_telemetry_decoder_gs( beidou_b1i_telemetry_decoder_gs::beidou_b1i_telemetry_decoder_gs(
const Gnss_Satellite &satellite, const Gnss_Satellite &satellite,
bool dump) : gr::block("beidou_b1i_telemetry_decoder_gs", bool dump) : gr::block("beidou_b1i_telemetry_decoder_gs",
@ -76,63 +74,38 @@ beidou_b1i_telemetry_decoder_gs::beidou_b1i_telemetry_decoder_gs(
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "Initializing BeiDou B1I Telemetry Decoding for satellite " << this->d_satellite; LOG(INFO) << "Initializing BeiDou B1I Telemetry Decoding for satellite " << this->d_satellite;
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D1NAV_SYMBOL_RATE_SPS; d_symbol_duration_ms = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS; d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol; d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_secondary_code_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment())); d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol; d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of secondary code
for (int32_t i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++)
{
if (BEIDOU_B1I_SECONDARY_CODE.at(i) == '1')
{
d_secondary_code_symbols[i] = 1;
}
else
{
d_secondary_code_symbols[i] = -1;
}
}
// Setting samples of preamble code // Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++) for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{ {
int32_t m = 0;
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{ {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) d_preamble_samples[i] = 1;
{
d_preamble_samples[n] = d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
} }
else else
{ {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) d_preamble_samples[i] = -1;
{
d_preamble_samples[n] = -d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
} }
} }
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment())); d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble; d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols + 1); d_symbol_history.set_capacity(d_required_symbols);
d_last_valid_preamble = 0;
d_sent_tlm_failed_msg = false;
d_flag_valid_word = false;
// Generic settings // Generic settings
d_sample_counter = 0; d_sample_counter = 0;
d_stat = 0; d_stat = 0;
d_preamble_index = 0; d_preamble_index = 0;
d_flag_frame_sync = false; d_flag_frame_sync = false;
d_TOW_at_current_symbol_ms = 0; d_TOW_at_current_symbol_ms = 0U;
d_TOW_at_Preamble_ms = 0U; d_TOW_at_Preamble_ms = 0U;
Flag_valid_word = false; Flag_valid_word = false;
d_CRC_error_counter = 0; d_CRC_error_counter = 0;
@ -145,7 +118,6 @@ beidou_b1i_telemetry_decoder_gs::beidou_b1i_telemetry_decoder_gs(
beidou_b1i_telemetry_decoder_gs::~beidou_b1i_telemetry_decoder_gs() beidou_b1i_telemetry_decoder_gs::~beidou_b1i_telemetry_decoder_gs()
{ {
volk_gnsssdr_free(d_preamble_samples); volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols); volk_gnsssdr_free(d_subframe_symbols);
if (d_dump_file.is_open() == true) if (d_dump_file.is_open() == true)
@ -193,7 +165,7 @@ void beidou_b1i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits, in
void beidou_b1i_telemetry_decoder_gs::decode_word( void beidou_b1i_telemetry_decoder_gs::decode_word(
int32_t word_counter, int32_t word_counter,
const double *enc_word_symbols, const float *enc_word_symbols,
int32_t *dec_word_symbols) int32_t *dec_word_symbols)
{ {
int32_t bitsbch[30], first_branch[15], second_branch[15]; int32_t bitsbch[30], first_branch[15], second_branch[15];
@ -233,7 +205,7 @@ void beidou_b1i_telemetry_decoder_gs::decode_word(
} }
void beidou_b1i_telemetry_decoder_gs::decode_subframe(double *frame_symbols) void beidou_b1i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
{ {
// 1. Transform from symbols to bits // 1. Transform from symbols to bits
std::string data_bits; std::string data_bits;
@ -264,11 +236,13 @@ void beidou_b1i_telemetry_decoder_gs::decode_subframe(double *frame_symbols)
// 3. Check operation executed correctly // 3. Check operation executed correctly
if (d_nav.flag_crc_test == true) if (d_nav.flag_crc_test == true)
{ {
DLOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite; DLOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel
<< " from satellite " << d_satellite;
} }
else else
{ {
DLOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel << " from satellite " << d_satellite; DLOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel
<< " from satellite " << d_satellite;
} }
// 4. Push the new navigation data to the queues // 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true) if (d_nav.have_new_ephemeris() == true)
@ -323,41 +297,59 @@ void beidou_b1i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satell
{ {
// Clear values from previous declaration // Clear values from previous declaration
volk_gnsssdr_free(d_preamble_samples); volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols); volk_gnsssdr_free(d_subframe_symbols);
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D2NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS; d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol; d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_secondary_code_symbols = nullptr;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment())); d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol; d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of preamble code // Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++) for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{ {
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{ {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) d_preamble_samples[i] = 1;
{
d_preamble_samples[n] = 1;
n++;
}
} }
else else
{ {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) d_preamble_samples[i] = -1;
{
d_preamble_samples[n] = -1;
n++;
}
} }
} }
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment())); d_symbol_duration_ms = BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble; d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float), volk_gnsssdr_get_alignment()));
d_symbol_history.set_capacity(d_required_symbols + 1); d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols);
}
else
{
// Clear values from previous declaration
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_subframe_symbols);
//back to normal satellites
d_symbol_duration_ms = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of preamble code
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
d_preamble_samples[i] = 1;
}
else
{
d_preamble_samples[i] = -1;
}
}
d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols);
} }
} }
@ -388,6 +380,15 @@ void beidou_b1i_telemetry_decoder_gs::set_channel(int32_t channel)
} }
} }
void beidou_b1i_telemetry_decoder_gs::reset()
{
d_last_valid_preamble = d_sample_counter;
d_TOW_at_current_symbol_ms = 0;
d_sent_tlm_failed_msg = false;
d_flag_valid_word = false;
DLOG(INFO) << "Beidou B1I Telemetry decoder reset for satellite " << d_satellite;
return;
}
int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), int beidou_b1i_telemetry_decoder_gs::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) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
@ -404,10 +405,9 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
d_symbol_history.push_back(current_symbol.Prompt_I); // add new symbol to the symbol queue d_symbol_history.push_back(current_symbol.Prompt_I); // add new symbol to the symbol queue
d_sample_counter++; // count for the processed samples d_sample_counter++; // count for the processed samples
consume_each(1); consume_each(1);
d_flag_preamble = false; d_flag_preamble = false;
if (d_symbol_history.size() > d_required_symbols) if (d_symbol_history.size() >= d_required_symbols)
{ {
//******* preamble correlation ******** //******* preamble correlation ********
for (int32_t i = 0; i < d_samples_per_preamble; i++) for (int32_t i = 0; i < d_samples_per_preamble; i++)
@ -422,7 +422,6 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
} }
} }
} }
//******* frame sync ****************** //******* frame sync ******************
if (d_stat == 0) // no preamble information if (d_stat == 0) // no preamble information
{ {
@ -430,7 +429,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
{ {
// Record the preamble sample stamp // Record the preamble sample stamp
d_preamble_index = d_sample_counter; d_preamble_index = d_sample_counter;
LOG(INFO) << "Preamble detection for BEIDOU B1I SAT " << this->d_satellite; DLOG(INFO) << "Preamble detection for BEIDOU B1I SAT " << this->d_satellite;
// Enter into frame pre-detection status // Enter into frame pre-detection status
d_stat = 1; d_stat = 1;
} }
@ -444,9 +443,54 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
if (abs(preamble_diff - d_preamble_period_samples) == 0) if (abs(preamble_diff - d_preamble_period_samples) == 0)
{ {
// try to decode frame // try to decode frame
LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B1I SAT " << this->d_satellite; DLOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B1I SAT " << this->d_satellite;
d_preamble_index = d_sample_counter; //record the preamble sample stamp d_preamble_index = d_sample_counter; //record the preamble sample stamp
d_stat = 2; d_stat = 2;
// ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = d_symbol_history.at(i);
}
}
else // 180 deg. inverted carrier phase PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = -d_symbol_history.at(i);
}
}
// call the decoder
decode_subframe(d_subframe_symbols);
if (d_nav.flag_crc_test == true)
{
d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
DLOG(INFO) << "BeiDou DNAV frame sync found for SAT " << this->d_satellite;
}
}
else
{
d_CRC_error_counter++;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{
DLOG(INFO) << "BeiDou DNAV frame sync lost for SAT " << this->d_satellite;
d_flag_frame_sync = false;
d_stat = 0;
flag_SOW_set = false;
}
}
} }
else else
{ {
@ -465,50 +509,16 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
// ******* SAMPLES TO SYMBOLS ******* // ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock if (corr_value > 0) //normal PLL lock
{ {
int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++) for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{ {
d_subframe_symbols[i] = 0; d_subframe_symbols[i] = d_symbol_history.at(i);
// integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
}
} }
} }
else // 180 deg. inverted carrier phase PLL lock else // 180 deg. inverted carrier phase PLL lock
{ {
int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++) for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{ {
d_subframe_symbols[i] = 0; d_subframe_symbols[i] = -d_symbol_history.at(i);
// integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
}
} }
} }
@ -532,7 +542,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
d_preamble_index = d_sample_counter; // record the preamble sample stamp d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT) if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{ {
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT " << this->d_satellite; DLOG(INFO) << "BeiDou DNAV frame sync lost for SAT " << this->d_satellite;
d_flag_frame_sync = false; d_flag_frame_sync = false;
d_stat = 0; d_stat = 0;
flag_SOW_set = false; flag_SOW_set = false;
@ -540,7 +550,6 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
} }
} }
} }
// UPDATE GNSS SYNCHRO DATA // UPDATE GNSS SYNCHRO DATA
// 2. Add the telemetry decoder information // 2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true) if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true)
@ -548,52 +557,67 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
{ {
// Reporting sow as gps time of week // Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + BEIDOU_DNAV_BDT2GPST_LEAP_SEC_OFFSET) * 1000.0); d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + BEIDOU_DNAV_BDT2GPST_LEAP_SEC_OFFSET) * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * BEIDOU_B1I_CODE_PERIOD_MS); //check TOW update consistency
uint32_t last_d_TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
//compute new TOW
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + d_required_symbols * d_symbol_duration_ms;
flag_SOW_set = true; flag_SOW_set = true;
d_nav.flag_new_SOW_available = false; d_nav.flag_new_SOW_available = false;
}
else // if there is not a new preamble, we define the TOW of the current symbol
{
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(BEIDOU_B1I_CODE_PERIOD_MS);
}
if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > d_symbol_duration_ms)
{
LOG(INFO) << "Warning: BEIDOU B1I TOW update in ch " << d_channel
<< " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms) << " ms \n";
if (d_flag_frame_sync == true and flag_SOW_set == true) d_TOW_at_current_symbol_ms = 0;
{ d_flag_valid_word = false;
current_symbol.Flag_valid_word = true; }
else
{
d_last_valid_preamble = d_sample_counter;
d_flag_valid_word = true;
}
} }
else else
{ {
current_symbol.Flag_valid_word = false; if (d_flag_valid_word)
{
d_TOW_at_current_symbol_ms += d_symbol_duration_ms;
if (current_symbol.Flag_valid_symbol_output == false)
{
d_flag_valid_word = false;
}
}
} }
current_symbol.PRN = this->d_satellite.get_PRN(); if (d_flag_valid_word == true)
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
if (d_dump == true)
{ {
// MULTIPLEXED FILE RECORDING - Record results to file current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
try current_symbol.Flag_valid_word = d_flag_valid_word;
if (d_dump == true)
{ {
double tmp_double; // MULTIPLEXED FILE RECORDING - Record results to file
uint64_t tmp_ulong_int; try
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms); {
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); double tmp_double;
tmp_ulong_int = current_symbol.Tracking_sample_counter; uint64_t tmp_ulong_int;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t)); tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
tmp_double = d_nav.d_SOW; d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); tmp_ulong_int = current_symbol.Tracking_sample_counter;
tmp_ulong_int = static_cast<uint64_t>(d_required_symbols); d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t)); tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
} d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
catch (const std::ifstream::failure &e) }
{ catch (const std::ifstream::failure &e)
LOG(WARNING) << "Exception writing observables dump file " << e.what(); {
LOG(WARNING) << "Exception writing Telemetry GPS L5 dump file " << e.what();
}
} }
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;
} }
return 0;
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;
} }

24
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.h
View File

@ -39,7 +39,7 @@
#include <boost/circular_buffer.hpp> #include <boost/circular_buffer.hpp>
#include <boost/shared_ptr.hpp> // for boost::shared_ptr #include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <gnuradio/block.h> // for block #include <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_const_void_star #include <gnuradio/types.h> // for gr_vector_const_void_star
#include <cstdint> #include <cstdint>
#include <fstream> #include <fstream>
#include <string> #include <string>
@ -62,10 +62,8 @@ public:
~beidou_b1i_telemetry_decoder_gs(); //!< Class destructor ~beidou_b1i_telemetry_decoder_gs(); //!< Class destructor
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel void set_channel(int channel); //!< Set receiver's channel
inline void reset() void reset();
{
return;
}
/*! /*!
* \brief This is where all signal processing takes place * \brief This is where all signal processing takes place
*/ */
@ -77,19 +75,17 @@ private:
beidou_b1i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump); beidou_b1i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
beidou_b1i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump); beidou_b1i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
void decode_subframe(double *symbols); void decode_subframe(float *symbols);
void decode_word(int32_t word_counter, const double *enc_word_symbols, int32_t *dec_word_symbols); void decode_word(int32_t word_counter, const float *enc_word_symbols, int32_t *dec_word_symbols);
void decode_bch15_11_01(const int32_t *bits, int32_t *decbits); void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
// Preamble decoding // Preamble decoding
int32_t *d_preamble_samples; int32_t *d_preamble_samples;
int32_t *d_secondary_code_symbols;
uint32_t d_samples_per_symbol;
int32_t d_symbols_per_preamble; int32_t d_symbols_per_preamble;
int32_t d_samples_per_preamble; int32_t d_samples_per_preamble;
int32_t d_preamble_period_samples; int32_t d_preamble_period_samples;
double *d_subframe_symbols; float *d_subframe_symbols;
uint32_t d_required_symbols; uint32_t d_required_symbols;
// Storage for incoming data // Storage for incoming data
@ -107,12 +103,16 @@ private:
//!< Navigation Message variable //!< Navigation Message variable
Beidou_Dnav_Navigation_Message d_nav; Beidou_Dnav_Navigation_Message d_nav;
//!< Values to populate gnss synchronization structure // Values to populate gnss synchronization structure
uint32_t d_symbol_duration_ms;
uint32_t d_TOW_at_Preamble_ms; uint32_t d_TOW_at_Preamble_ms;
uint32_t d_TOW_at_current_symbol_ms; uint32_t d_TOW_at_current_symbol_ms;
uint64_t d_last_valid_preamble;
bool d_flag_valid_word;
bool d_sent_tlm_failed_msg;
bool Flag_valid_word; bool Flag_valid_word;
//!< Satellite Information and logging capacity // Satellite Information and logging capacity
Gnss_Satellite d_satellite; Gnss_Satellite d_satellite;
int32_t d_channel; int32_t d_channel;
bool d_dump; bool d_dump;

368
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
View File

@ -53,8 +53,7 @@ beidou_b3i_telemetry_decoder_gs_sptr
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
bool dump) bool dump)
{ {
return beidou_b3i_telemetry_decoder_gs_sptr( return beidou_b3i_telemetry_decoder_gs_sptr(new beidou_b3i_telemetry_decoder_gs(satellite, dump));
new beidou_b3i_telemetry_decoder_gs(satellite, dump));
} }
@ -70,74 +69,37 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
this->message_port_register_out(pmt::mp("telemetry")); this->message_port_register_out(pmt::mp("telemetry"));
// Control messages to tracking block // Control messages to tracking block
this->message_port_register_out(pmt::mp("telemetry_to_trk")); this->message_port_register_out(pmt::mp("telemetry_to_trk"));
// initialize internal vars // initialize internal vars
d_dump = dump; d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "Initializing BeiDou B3I Telemetry Decoding for satellite " LOG(INFO) << "Initializing BeiDou B3I Telemetry Decoding for satellite " << this->d_satellite;
<< this->d_satellite;
d_samples_per_symbol = d_symbol_duration_ms = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B3I_CODE_PERIOD_MS;
(BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) /
BEIDOU_D1NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS; d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol; d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_secondary_code_symbols = static_cast<int32_t *>( d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
volk_gnsssdr_malloc(BEIDOU_B3I_SECONDARY_CODE_LENGTH * sizeof(int32_t),
volk_gnsssdr_get_alignment()));
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(
d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples =
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
// Setting samples of secondary code
for (int32_t i = 0; i < BEIDOU_B3I_SECONDARY_CODE_LENGTH; i++)
{
if (BEIDOU_B3I_SECONDARY_CODE.at(i) == '1')
{
d_secondary_code_symbols[i] = 1;
}
else
{
d_secondary_code_symbols[i] = -1;
}
}
// Setting samples of preamble code // Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++) for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{ {
int32_t m = 0;
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{ {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) d_preamble_samples[i] = 1;
{
d_preamble_samples[n] = d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
}
} }
else else
{ {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) d_preamble_samples[i] = -1;
{
d_preamble_samples[n] = -d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
}
} }
} }
d_subframe_symbols = static_cast<double *>( d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float), volk_gnsssdr_get_alignment()));
volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
volk_gnsssdr_get_alignment())); d_symbol_history.set_capacity(d_required_symbols);
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol +
d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols + 1);
d_last_valid_preamble = 0;
d_sent_tlm_failed_msg = false;
d_flag_valid_word = false;
// Generic settings // Generic settings
d_sample_counter = 0; d_sample_counter = 0;
d_stat = 0; d_stat = 0;
@ -156,7 +118,6 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs() beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs()
{ {
volk_gnsssdr_free(d_preamble_samples); volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols); volk_gnsssdr_free(d_subframe_symbols);
if (d_dump_file.is_open() == true) if (d_dump_file.is_open() == true)
@ -167,8 +128,7 @@ beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs()
} }
catch (const std::exception &ex) catch (const std::exception &ex)
{ {
LOG(WARNING) << "Exception in destructor closing the dump file " LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
<< ex.what();
} }
} }
} }
@ -205,7 +165,8 @@ void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits,
void beidou_b3i_telemetry_decoder_gs::decode_word( void beidou_b3i_telemetry_decoder_gs::decode_word(
int32_t word_counter, const double *enc_word_symbols, int32_t word_counter,
const float *enc_word_symbols,
int32_t *dec_word_symbols) int32_t *dec_word_symbols)
{ {
int32_t bitsbch[30], first_branch[15], second_branch[15]; int32_t bitsbch[30], first_branch[15], second_branch[15];
@ -214,8 +175,7 @@ void beidou_b3i_telemetry_decoder_gs::decode_word(
{ {
for (uint32_t j = 0; j < 30; j++) for (uint32_t j = 0; j < 30; j++)
{ {
dec_word_symbols[j] = dec_word_symbols[j] = static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
} }
} }
else else
@ -224,8 +184,7 @@ void beidou_b3i_telemetry_decoder_gs::decode_word(
{ {
for (uint32_t c = 0; c < 15; c++) for (uint32_t c = 0; c < 15; c++)
{ {
bitsbch[r * 15 + c] = bitsbch[r * 15 + c] = static_cast<int32_t>(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1);
static_cast<int32_t>(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1);
} }
} }
@ -247,7 +206,7 @@ void beidou_b3i_telemetry_decoder_gs::decode_word(
} }
void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols) void beidou_b3i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
{ {
// 1. Transform from symbols to bits // 1. Transform from symbols to bits
std::string data_bits; std::string data_bits;
@ -356,50 +315,62 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(
{ {
// Clear values from previous declaration // Clear values from previous declaration
volk_gnsssdr_free(d_preamble_samples); volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols); volk_gnsssdr_free(d_subframe_symbols);
d_samples_per_symbol =
(BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) /
BEIDOU_D2NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS; d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol; d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t),
d_secondary_code_symbols = nullptr; volk_gnsssdr_get_alignment()));
d_preamble_samples = static_cast<int32_t *>( d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t),
volk_gnsssdr_get_alignment()));
d_preamble_period_samples =
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
// Setting samples of preamble code // Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++) for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{ {
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{ {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) d_preamble_samples[i] = 1;
{
d_preamble_samples[n] = 1;
n++;
}
} }
else else
{ {
for (uint32_t j = 0; j < d_samples_per_symbol; j++) d_preamble_samples[i] = -1;
{ }
d_preamble_samples[n] = -1; }
n++; d_symbol_duration_ms = BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B3I_CODE_PERIOD_MS;
} d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float),
volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols);
}
else
{
// Clear values from previous declaration
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_subframe_symbols);
//back to normal satellites
d_symbol_duration_ms = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B3I_CODE_PERIOD_MS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of preamble code
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
d_preamble_samples[i] = 1;
}
else
{
d_preamble_samples[i] = -1;
} }
} }
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc( d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float), volk_gnsssdr_get_alignment()));
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
volk_gnsssdr_get_alignment())); d_symbol_history.set_capacity(d_required_symbols);
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol +
d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols + 1);
} }
} }
@ -434,6 +405,15 @@ void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel)
} }
} }
void beidou_b3i_telemetry_decoder_gs::reset()
{
d_last_valid_preamble = d_sample_counter;
d_TOW_at_current_symbol_ms = 0;
d_sent_tlm_failed_msg = false;
d_flag_valid_word = false;
DLOG(INFO) << "Beidou B3I Telemetry decoder reset for satellite " << d_satellite;
return;
}
int beidou_b3i_telemetry_decoder_gs::general_work( int beidou_b3i_telemetry_decoder_gs::general_work(
int noutput_items __attribute__((unused)), int noutput_items __attribute__((unused)),
@ -454,10 +434,9 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
d_symbol_history.push_back(current_symbol.Prompt_I); // add new symbol to the symbol queue d_symbol_history.push_back(current_symbol.Prompt_I); // add new symbol to the symbol queue
d_sample_counter++; // count for the processed samples d_sample_counter++; // count for the processed samples
consume_each(1); consume_each(1);
d_flag_preamble = false; d_flag_preamble = false;
if (d_symbol_history.size() > d_required_symbols) if (d_symbol_history.size() >= d_required_symbols)
{ {
//******* preamble correlation ******** //******* preamble correlation ********
for (int32_t i = 0; i < d_samples_per_preamble; i++) for (int32_t i = 0; i < d_samples_per_preamble; i++)
@ -472,7 +451,6 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
} }
} }
} }
//******* frame sync ****************** //******* frame sync ******************
if (d_stat == 0) // no preamble information if (d_stat == 0) // no preamble information
{ {
@ -480,8 +458,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
{ {
// Record the preamble sample stamp // Record the preamble sample stamp
d_preamble_index = d_sample_counter; d_preamble_index = d_sample_counter;
LOG(INFO) << "Preamble detection for BEIDOU B3I SAT " DLOG(INFO) << "Preamble detection for BEIDOU B3I SAT " << this->d_satellite;
<< this->d_satellite;
// Enter into frame pre-detection status // Enter into frame pre-detection status
d_stat = 1; d_stat = 1;
} }
@ -495,10 +472,55 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
if (abs(preamble_diff - d_preamble_period_samples) == 0) if (abs(preamble_diff - d_preamble_period_samples) == 0)
{ {
// try to decode frame // try to decode frame
LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT " DLOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT "
<< this->d_satellite; << this->d_satellite;
d_preamble_index = d_sample_counter; // record the preamble sample stamp d_preamble_index = d_sample_counter; // record the preamble sample stamp
d_stat = 2; d_stat = 2;
// ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = d_symbol_history.at(i);
}
}
else // 180 deg. inverted carrier phase PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = -d_symbol_history.at(i);
}
}
// call the decoder
decode_subframe(d_subframe_symbols);
if (d_nav.flag_crc_test == true)
{
d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
DLOG(INFO) << "BeiDou DNAV frame sync found for SAT "
<< this->d_satellite;
}
}
else
{
d_CRC_error_counter++;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{
DLOG(INFO) << "BeiDou DNAV frame sync lost for SAT "
<< this->d_satellite;
d_flag_frame_sync = false;
d_stat = 0;
flag_SOW_set = false;
}
}
} }
else else
{ {
@ -513,62 +535,21 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
} }
else if (d_stat == 2) // preamble acquired else if (d_stat == 2) // preamble acquired
{ {
if (d_sample_counter == if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
{ {
//******* SAMPLES TO SYMBOLS ******* // ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) // normal PLL lock if (corr_value > 0) //normal PLL lock
{ {
int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++) for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{ {
d_subframe_symbols[i] = 0; d_subframe_symbols[i] = d_symbol_history.at(i);
// integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] +=
d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] +=
static_cast<float>(d_secondary_code_symbols[k]) *
d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
}
}
} }
} }
else // 180 deg. inverted carrier phase PLL lock else // 180 deg. inverted carrier phase PLL lock
{ {
int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++) for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{ {
d_subframe_symbols[i] = 0; d_subframe_symbols[i] = -d_symbol_history.at(i);
// integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -=
d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -=
static_cast<float>(d_secondary_code_symbols[k]) *
d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
}
}
} }
} }
@ -578,10 +559,8 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
if (d_nav.flag_crc_test == true) if (d_nav.flag_crc_test == true)
{ {
d_CRC_error_counter = 0; d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
// false every work()) d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
d_preamble_index =
d_sample_counter; // record the preamble sample stamp (t_P)
if (!d_flag_frame_sync) if (!d_flag_frame_sync)
{ {
d_flag_frame_sync = true; d_flag_frame_sync = true;
@ -595,8 +574,8 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
d_preamble_index = d_sample_counter; // record the preamble sample stamp d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT) if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{ {
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT " DLOG(INFO) << "BeiDou DNAV frame sync lost for SAT "
<< this->d_satellite; << this->d_satellite;
d_flag_frame_sync = false; d_flag_frame_sync = false;
d_stat = 0; d_stat = 0;
flag_SOW_set = false; flag_SOW_set = false;
@ -604,7 +583,6 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
} }
} }
} }
// UPDATE GNSS SYNCHRO DATA // UPDATE GNSS SYNCHRO DATA
// 2. Add the telemetry decoder information // 2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true) if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true)
@ -612,55 +590,67 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
{ {
// Reporting sow as gps time of week // Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + BEIDOU_DNAV_BDT2GPST_LEAP_SEC_OFFSET) * 1000.0); d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + BEIDOU_DNAV_BDT2GPST_LEAP_SEC_OFFSET) * 1000.0);
d_TOW_at_current_symbol_ms = //check TOW update consistency
d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * uint32_t last_d_TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
BEIDOU_B3I_CODE_PERIOD_MS); //compute new TOW
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + d_required_symbols * d_symbol_duration_ms;
flag_SOW_set = true; flag_SOW_set = true;
d_nav.flag_new_SOW_available = false; d_nav.flag_new_SOW_available = false;
}
else // if there is not a new preamble, we define the TOW of the current
// symbol
{
d_TOW_at_current_symbol_ms +=
static_cast<uint32_t>(BEIDOU_B3I_CODE_PERIOD_MS);
}
if (d_flag_frame_sync == true and flag_SOW_set == true) if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > d_symbol_duration_ms)
{ {
current_symbol.Flag_valid_word = true; LOG(INFO) << "Warning: BEIDOU B3I TOW update in ch " << d_channel
<< " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms) << " ms \n";
d_TOW_at_current_symbol_ms = 0;
d_flag_valid_word = false;
}
else
{
d_last_valid_preamble = d_sample_counter;
d_flag_valid_word = true;
}
} }
else else
{ {
current_symbol.Flag_valid_word = false; if (d_flag_valid_word)
{
d_TOW_at_current_symbol_ms += d_symbol_duration_ms;
if (current_symbol.Flag_valid_symbol_output == false)
{
d_flag_valid_word = false;
}
}
} }
current_symbol.PRN = this->d_satellite.get_PRN(); if (d_flag_valid_word == true)
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
if (d_dump == true)
{ {
// MULTIPLEXED FILE RECORDING - Record results to file current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
try current_symbol.Flag_valid_word = d_flag_valid_word;
if (d_dump == true)
{ {
double tmp_double; // MULTIPLEXED FILE RECORDING - Record results to file
uint64_t tmp_ulong_int; try
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms); {
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); double tmp_double;
tmp_ulong_int = current_symbol.Tracking_sample_counter; uint64_t tmp_ulong_int;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t)); tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
tmp_double = d_nav.d_SOW; d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double)); tmp_ulong_int = current_symbol.Tracking_sample_counter;
tmp_ulong_int = static_cast<uint64_t>(d_required_symbols); d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t)); tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
} d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
catch (const std::ifstream::failure &e) }
{ catch (const std::ifstream::failure &e)
LOG(WARNING) << "Exception writing observables dump file " << e.what(); {
LOG(WARNING) << "Exception writing Telemetry GPS L5 dump file " << e.what();
}
} }
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;
} }
return 0;
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;
} }

21
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.h
View File

@ -60,10 +60,8 @@ public:
~beidou_b3i_telemetry_decoder_gs(); //!< Class destructor ~beidou_b3i_telemetry_decoder_gs(); //!< Class destructor
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel void set_channel(int channel); //!< Set receiver's channel
inline void reset() void reset();
{
return;
}
/*! /*!
* \brief This is where all signal processing takes place * \brief This is where all signal processing takes place
*/ */
@ -77,27 +75,24 @@ private:
bool dump); bool dump);
beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump); beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
void decode_subframe(double *symbols); void decode_subframe(float *symbols);
void decode_word(int32_t word_counter, const double *enc_word_symbols, void decode_word(int32_t word_counter, const float *enc_word_symbols,
int32_t *dec_word_symbols); int32_t *dec_word_symbols);
void decode_bch15_11_01(const int32_t *bits, int32_t *decbits); void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
// Preamble decoding // Preamble decoding
int32_t *d_preamble_samples; int32_t *d_preamble_samples;
int32_t *d_secondary_code_symbols;
uint32_t d_samples_per_symbol;
int32_t d_symbols_per_preamble; int32_t d_symbols_per_preamble;
int32_t d_samples_per_preamble; int32_t d_samples_per_preamble;
int32_t d_preamble_period_samples; int32_t d_preamble_period_samples;
double *d_subframe_symbols; float *d_subframe_symbols;
uint32_t d_required_symbols; uint32_t d_required_symbols;
// Storage for incoming data // Storage for incoming data
boost::circular_buffer<float> d_symbol_history; boost::circular_buffer<float> d_symbol_history;
// Variables for internal functionality // Variables for internal functionality
uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc) uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc) indicating number of samples processed
// indicating number of samples processed
uint64_t d_preamble_index; // Index of sample number where preamble was found uint64_t d_preamble_index; // Index of sample number where preamble was found
uint32_t d_stat; // Status of decoder uint32_t d_stat; // Status of decoder
bool d_flag_frame_sync; // Indicate when a frame sync is achieved bool d_flag_frame_sync; // Indicate when a frame sync is achieved
@ -109,8 +104,12 @@ private:
Beidou_Dnav_Navigation_Message d_nav; Beidou_Dnav_Navigation_Message d_nav;
// Values to populate gnss synchronization structure // Values to populate gnss synchronization structure
uint32_t d_symbol_duration_ms;
uint32_t d_TOW_at_Preamble_ms; uint32_t d_TOW_at_Preamble_ms;
uint32_t d_TOW_at_current_symbol_ms; uint32_t d_TOW_at_current_symbol_ms;
uint64_t d_last_valid_preamble;
bool d_flag_valid_word;
bool d_sent_tlm_failed_msg;
bool Flag_valid_word; bool Flag_valid_word;
// Satellite Information and logging capacity // Satellite Information and logging capacity

40
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -286,17 +286,16 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_period = BEIDOU_B1I_CODE_PERIOD; d_code_period = BEIDOU_B1I_CODE_PERIOD;
d_code_chip_rate = BEIDOU_B1I_CODE_RATE_HZ; d_code_chip_rate = BEIDOU_B1I_CODE_RATE_HZ;
d_code_length_chips = static_cast<uint32_t>(BEIDOU_B1I_CODE_LENGTH_CHIPS); d_code_length_chips = static_cast<uint32_t>(BEIDOU_B1I_CODE_LENGTH_CHIPS);
//d_symbols_per_bit = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; //todo: enable after fixing beidou symbol synchronization d_symbols_per_bit = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; //todo: enable after fixing beidou symbol synchronization
d_symbols_per_bit = 1;
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
d_secondary = false; d_secondary = true;
trk_parameters.track_pilot = false; trk_parameters.track_pilot = false;
// synchronize and remove data secondary code // synchronize and remove data secondary code
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH); d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR); d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
//d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH); d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
//d_data_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR); d_data_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
} }
else if (signal_type == "B3") else if (signal_type == "B3")
{ {
@ -305,16 +304,15 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_period = BEIDOU_B3I_CODE_PERIOD; d_code_period = BEIDOU_B3I_CODE_PERIOD;
d_code_chip_rate = BEIDOU_B3I_CODE_RATE_HZ; d_code_chip_rate = BEIDOU_B3I_CODE_RATE_HZ;
d_code_length_chips = static_cast<uint32_t>(BEIDOU_B3I_CODE_LENGTH_CHIPS); d_code_length_chips = static_cast<uint32_t>(BEIDOU_B3I_CODE_LENGTH_CHIPS);
//d_symbols_per_bit = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; //todo: enable after fixing beidou symbol synchronization d_symbols_per_bit = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; //todo: enable after fixing beidou symbol synchronization
d_symbols_per_bit = 1;
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
d_secondary = false; d_secondary = false;
trk_parameters.track_pilot = false; trk_parameters.track_pilot = false;
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH); d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR); d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR);
//d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH); d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
//d_data_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR); d_data_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR);
} }
else else
{ {
@ -651,8 +649,7 @@ void dll_pll_veml_tracking::start_tracking()
// GEO Satellites use different secondary code // GEO Satellites use different secondary code
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6) if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
{ {
//d_symbols_per_bit = BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT;//todo: enable after fixing beidou symbol synchronization d_symbols_per_bit = BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT; //todo: enable after fixing beidou symbol synchronization
d_symbols_per_bit = 1;
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
d_secondary = false; d_secondary = false;
@ -665,8 +662,7 @@ void dll_pll_veml_tracking::start_tracking()
} }
else else
{ {
//d_symbols_per_bit = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT;//todo: enable after fixing beidou symbol synchronization d_symbols_per_bit = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; //todo: enable after fixing beidou symbol synchronization
d_symbols_per_bit = 1;
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
d_secondary = false; d_secondary = false;
@ -674,8 +670,8 @@ void dll_pll_veml_tracking::start_tracking()
// synchronize and remove data secondary code // synchronize and remove data secondary code
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH); d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR); d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
//d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH); d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
//d_data_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR); d_data_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length); d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
} }
} }
@ -686,11 +682,10 @@ void dll_pll_veml_tracking::start_tracking()
// Update secondary code settings for geo satellites // Update secondary code settings for geo satellites
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6) if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
{ {
//d_symbols_per_bit = BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT;//todo: enable after fixing beidou symbol synchronization d_symbols_per_bit = BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT; //todo: enable after fixing beidou symbol synchronization
d_symbols_per_bit = 1;
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
d_secondary = false; d_secondary = true;
trk_parameters.track_pilot = false; trk_parameters.track_pilot = false;
// set the preamble in the secondary code acquisition // set the preamble in the secondary code acquisition
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_GEO_PREAMBLE_LENGTH_SYMBOLS); d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_GEO_PREAMBLE_LENGTH_SYMBOLS);
@ -700,17 +695,16 @@ void dll_pll_veml_tracking::start_tracking()
} }
else else
{ {
//d_symbols_per_bit = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; //todo: enable after fixing beidou symbol synchronization d_symbols_per_bit = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; //todo: enable after fixing beidou symbol synchronization
d_symbols_per_bit = 1;
d_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
d_secondary = false; d_secondary = true;
trk_parameters.track_pilot = false; trk_parameters.track_pilot = false;
// synchronize and remove data secondary code // synchronize and remove data secondary code
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH); d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR); d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR);
//d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH); d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
//d_data_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR); d_data_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR);
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length); d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
} }
} }

18
src/core/system_parameters/Beidou_B1I.h
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@ -42,22 +42,20 @@ const double BEIDOU_B1I_CODE_RATE_HZ = 2.046e6; //!< Beidou B1I code rate [
const double BEIDOU_B1I_CODE_LENGTH_CHIPS = 2046.0; //!< Beidou B1I code length [chips] const double BEIDOU_B1I_CODE_LENGTH_CHIPS = 2046.0; //!< Beidou B1I code length [chips]
const double BEIDOU_B1I_CODE_PERIOD = 0.001; //!< Beidou B1I code period [seconds] const double BEIDOU_B1I_CODE_PERIOD = 0.001; //!< Beidou B1I code period [seconds]
const uint32_t BEIDOU_B1I_CODE_PERIOD_MS = 1; //!< Beidou B1I code period [ms] const uint32_t BEIDOU_B1I_CODE_PERIOD_MS = 1; //!< Beidou B1I code period [ms]
const double BEIDOU_B1I_CHIP_PERIOD = 4.8875e-07; //!< Beidou B1I chip period [seconds]
const int32_t BEIDOU_B1I_SECONDARY_CODE_LENGTH = 20; const int32_t BEIDOU_B1I_SECONDARY_CODE_LENGTH = 20;
const std::string BEIDOU_B1I_SECONDARY_CODE_STR = "00000100110101001110"; const std::string BEIDOU_B1I_SECONDARY_CODE_STR = "00000100110101001110";
const std::string BEIDOU_B1I_GEO_PREAMBLE_SYMBOLS_STR = {"1111110000001100001100"}; const std::string BEIDOU_B1I_GEO_PREAMBLE_SYMBOLS_STR = {"1111110000001100001100"};
const int32_t BEIDOU_B1I_GEO_PREAMBLE_LENGTH_SYMBOLS = 22; const int32_t BEIDOU_B1I_GEO_PREAMBLE_LENGTH_SYMBOLS = 22;
const std::string BEIDOU_B1I_D2_SECONDARY_CODE_STR = "00"; const std::string BEIDOU_B1I_D2_SECONDARY_CODE_STR = "00";
const int BEIDOU_B1I_PREAMBLE_LENGTH_BITS = 11; const uint32_t BEIDOU_B1I_PREAMBLE_LENGTH_BITS = 11;
const int BEIDOU_B1I_PREAMBLE_LENGTH_SYMBOLS = 220; const uint32_t BEIDOU_B1I_PREAMBLE_LENGTH_SYMBOLS = 220;
const double BEIDOU_B1I_PREAMBLE_DURATION_S = 0.220; const double BEIDOU_B1I_PREAMBLE_DURATION_S = 0.220;
const int BEIDOU_B1I_PREAMBLE_DURATION_MS = 220; const int32_t BEIDOU_B1I_PREAMBLE_DURATION_MS = 220;
const int BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND = 50; const int32_t BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND = 50;
const int BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20; const int32_t BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20;
const int BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT = 2; const int32_t BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT = 2;
const int BEIDOU_B1I_TELEMETRY_SYMBOL_PERIOD_MS = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS; const int32_t BEIDOU_B1I_TELEMETRY_SYMBOL_PERIOD_MS = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
const int BEIDOU_B1I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; const int32_t BEIDOU_B1I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT;
#endif /* GNSS_SDR_BEIDOU_B1I_H_ */ #endif /* GNSS_SDR_BEIDOU_B1I_H_ */

6
src/core/system_parameters/Beidou_B3I.h
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@ -52,7 +52,9 @@ const double BEIDOU_B3I_PREAMBLE_DURATION_S = 0.220;
const int32_t BEIDOU_B3I_PREAMBLE_DURATION_MS = 220; const int32_t BEIDOU_B3I_PREAMBLE_DURATION_MS = 220;
const int32_t BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s] const int32_t BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s]
const int32_t BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT = 20; const int32_t BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT = 20;
const int32_t BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT = 2; // ************* const int32_t BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT = 2; // *************
const int32_t BEIDOU_B3I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; //************!< NAV message bit rate [symbols/s] const int32_t BEIDOU_B3I_TELEMETRY_SYMBOL_PERIOD_MS = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B3I_CODE_PERIOD_MS;
const int32_t BEIDOU_B3I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT;
#endif /* GNSS_SDR_BEIDOU_B3I_H_ */ #endif /* GNSS_SDR_BEIDOU_B3I_H_ */

14
src/core/system_parameters/Beidou_DNAV.h
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@ -36,15 +36,19 @@
#include <utility> #include <utility>
#include <vector> #include <vector>
const double BEIDOU_DNAV_C_M_S = 299792458.0; //!< The speed of light, [m/s] const double BEIDOU_DNAV_C_M_S = 299792458.0; //!< The speed of light, [m/s]
const double BEIDOU_DNAV_C_M_MS = 299792.4580; //!< The speed of light, [m/ms] const double BEIDOU_DNAV_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
const double BEIDOU_DNAV_PI = 3.1415926535898; //!< Pi const double BEIDOU_DNAV_PI = 3.1415926535898; //!< BeiDou DNAV Pi
const double BEIDOU_DNAV_TWO_PI = 6.283185307179586; //!< 2Pi const double BEIDOU_DNAV_TWO_PI = 6.2831853071796; //!< BeiDou DNAV 2Pi
const double BEIDOU_DNAV_OMEGA_EARTH_DOT = 7.2921150e-5; //!< Earth rotation rate, [rad/s] as defined in CGCS2000
const double BEIDOU_DNAV_GM = 3.986004418e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2] as defined in CGCS2000
const double BEIDOU_DNAV_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)] F=-2(GM)^.5/C^2
const int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_BITS = 11; const int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_BITS = 11;
const int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS = 11; // ************** const int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS = 11; // **************
const double BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS = 300; const double BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS = 300;
const double BEIDOU_DNAV_SUBFRAME_SYMBOLS = 300; const double BEIDOU_DNAV_SUBFRAME_SYMBOLS = 300;
const double BEIDOU_DNAV_DATA_BITS = 300; const int32_t BEIDOU_DNAV_SUBFRAME_DATA_BITS = 300; //!< Number of bits per subframe in the NAV message [bits]
const double BEIDOU_DNAV_WORDS_SUBFRAME = 10; const double BEIDOU_DNAV_WORDS_SUBFRAME = 10;
const double BEIDOU_DNAV_WORD_LENGTH_BITS = 30; const double BEIDOU_DNAV_WORD_LENGTH_BITS = 30;
const double BEIDOU_D1NAV_SYMBOL_RATE_SPS = 50; const double BEIDOU_D1NAV_SYMBOL_RATE_SPS = 50;

26
src/core/system_parameters/beidou_dnav_ephemeris.cc
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@ -29,7 +29,7 @@
*/ */
#include "beidou_dnav_ephemeris.h" #include "beidou_dnav_ephemeris.h"
#include "Beidou_B1I.h" #include "Beidou_DNAV.h"
#include "gnss_satellite.h" #include "gnss_satellite.h"
#include <cmath> #include <cmath>
@ -148,14 +148,14 @@ double Beidou_Dnav_Ephemeris::sv_clock_relativistic_term(double transmitTime)
tk = check_t(transmitTime - d_Toe); tk = check_t(transmitTime - d_Toe);
// Computed mean motion // Computed mean motion
n0 = sqrt(BEIDOU_GM / (a * a * a)); n0 = sqrt(BEIDOU_DNAV_GM / (a * a * a));
// Corrected mean motion // Corrected mean motion
n = n0 + d_Delta_n; n = n0 + d_Delta_n;
// Mean anomaly // Mean anomaly
M = d_M_0 + n * tk; M = d_M_0 + n * tk;
// Reduce mean anomaly to between 0 and 2pi // Reduce mean anomaly to between 0 and 2pi
M = fmod((M + 2.0 * BEIDOU_PI), (2.0 * BEIDOU_PI)); M = fmod((M + 2.0 * BEIDOU_DNAV_PI), (2.0 * BEIDOU_DNAV_PI));
// Initial guess of eccentric anomaly // Initial guess of eccentric anomaly
E = M; E = M;
@ -165,7 +165,7 @@ double Beidou_Dnav_Ephemeris::sv_clock_relativistic_term(double transmitTime)
{ {
E_old = E; E_old = E;
E = M + d_eccentricity * sin(E); E = M + d_eccentricity * sin(E);
dE = fmod(E - E_old, 2.0 * BEIDOU_PI); dE = fmod(E - E_old, 2.0 * BEIDOU_DNAV_PI);
if (fabs(dE) < 1e-12) if (fabs(dE) < 1e-12)
{ {
//Necessary precision is reached, exit from the loop //Necessary precision is reached, exit from the loop
@ -174,7 +174,7 @@ double Beidou_Dnav_Ephemeris::sv_clock_relativistic_term(double transmitTime)
} }
// Compute relativistic correction term // Compute relativistic correction term
d_dtr = BEIDOU_F * d_eccentricity * d_sqrt_A * sin(E); d_dtr = BEIDOU_DNAV_F * d_eccentricity * d_sqrt_A * sin(E);
return d_dtr; return d_dtr;
} }
@ -205,7 +205,7 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime)
tk = check_t(transmitTime - d_Toe); tk = check_t(transmitTime - d_Toe);
// Computed mean motion // Computed mean motion
n0 = sqrt(BEIDOU_GM / (a * a * a)); n0 = sqrt(BEIDOU_DNAV_GM / (a * a * a));
// Corrected mean motion // Corrected mean motion
n = n0 + d_Delta_n; n = n0 + d_Delta_n;
@ -214,7 +214,7 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime)
M = d_M_0 + n * tk; M = d_M_0 + n * tk;
// Reduce mean anomaly to between 0 and 2pi // Reduce mean anomaly to between 0 and 2pi
M = fmod((M + 2.0 * BEIDOU_PI), (2.0 * BEIDOU_PI)); M = fmod((M + 2.0 * BEIDOU_DNAV_PI), (2.0 * BEIDOU_DNAV_PI));
// Initial guess of eccentric anomaly // Initial guess of eccentric anomaly
E = M; E = M;
@ -224,7 +224,7 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime)
{ {
E_old = E; E_old = E;
E = M + d_eccentricity * sin(E); E = M + d_eccentricity * sin(E);
dE = fmod(E - E_old, 2.0 * BEIDOU_PI); dE = fmod(E - E_old, 2.0 * BEIDOU_DNAV_PI);
if (fabs(dE) < 1e-12) if (fabs(dE) < 1e-12)
{ {
//Necessary precision is reached, exit from the loop //Necessary precision is reached, exit from the loop
@ -241,7 +241,7 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime)
phi = nu + d_OMEGA; phi = nu + d_OMEGA;
// Reduce phi to between 0 and 2*pi rad // Reduce phi to between 0 and 2*pi rad
phi = fmod((phi), (2.0 * BEIDOU_PI)); phi = fmod((phi), (2.0 * BEIDOU_DNAV_PI));
// Correct argument of latitude // Correct argument of latitude
u = phi + d_Cuc * cos(2.0 * phi) + d_Cus * sin(2.0 * phi); u = phi + d_Cuc * cos(2.0 * phi) + d_Cus * sin(2.0 * phi);
@ -253,10 +253,10 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime)
i = d_i_0 + d_IDOT * tk + d_Cic * cos(2.0 * phi) + d_Cis * sin(2.0 * phi); i = d_i_0 + d_IDOT * tk + d_Cic * cos(2.0 * phi) + d_Cis * sin(2.0 * phi);
// Compute the angle between the ascending node and the Greenwich meridian // Compute the angle between the ascending node and the Greenwich meridian
Omega = d_OMEGA0 + (d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT) * tk - BEIDOU_OMEGA_EARTH_DOT * d_Toe; Omega = d_OMEGA0 + (d_OMEGA_DOT - BEIDOU_DNAV_OMEGA_EARTH_DOT) * tk - BEIDOU_DNAV_OMEGA_EARTH_DOT * d_Toe;
// Reduce to between 0 and 2*pi rad // Reduce to between 0 and 2*pi rad
Omega = fmod((Omega + 2.0 * BEIDOU_PI), (2.0 * BEIDOU_PI)); Omega = fmod((Omega + 2.0 * BEIDOU_DNAV_PI), (2.0 * BEIDOU_DNAV_PI));
// --- Compute satellite coordinates in Earth-fixed coordinates // --- Compute satellite coordinates in Earth-fixed coordinates
d_satpos_X = cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega); d_satpos_X = cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega);
@ -264,7 +264,7 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime)
d_satpos_Z = sin(u) * r * sin(i); d_satpos_Z = sin(u) * r * sin(i);
// Satellite's velocity. Can be useful for Vector Tracking loops // Satellite's velocity. Can be useful for Vector Tracking loops
double Omega_dot = d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT; double Omega_dot = d_OMEGA_DOT - BEIDOU_DNAV_OMEGA_EARTH_DOT;
d_satvel_X = -Omega_dot * (cos(u) * r + sin(u) * r * cos(i)) + d_satpos_X * cos(Omega) - d_satpos_Y * cos(i) * sin(Omega); d_satvel_X = -Omega_dot * (cos(u) * r + sin(u) * r * cos(i)) + d_satpos_X * cos(Omega) - d_satpos_Y * cos(i) * sin(Omega);
d_satvel_Y = Omega_dot * (cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega)) + d_satpos_X * sin(Omega) + d_satpos_Y * cos(i) * cos(Omega); d_satvel_Y = Omega_dot * (cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega)) + d_satpos_X * sin(Omega) + d_satpos_Y * cos(i) * cos(Omega);
d_satvel_Z = d_satpos_Y * sin(i); d_satvel_Z = d_satpos_Y * sin(i);
@ -275,7 +275,7 @@ double Beidou_Dnav_Ephemeris::satellitePosition(double transmitTime)
double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk; double dtr_s = d_A_f0 + d_A_f1 * tk + d_A_f2 * tk * tk;
/* relativity correction */ /* relativity correction */
dtr_s -= 2.0 * sqrt(BEIDOU_GM * a) * d_eccentricity * sin(E) / (BEIDOU_C_M_S * BEIDOU_C_M_S); dtr_s -= 2.0 * sqrt(BEIDOU_DNAV_GM * a) * d_eccentricity * sin(E) / (BEIDOU_DNAV_C_M_S * BEIDOU_DNAV_C_M_S);
return dtr_s; return dtr_s;
} }

16
src/core/system_parameters/beidou_dnav_navigation_message.cc
View File

@ -382,7 +382,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
tk = check_t(transmitTime - d_Toe_sf2); tk = check_t(transmitTime - d_Toe_sf2);
// Computed mean motion // Computed mean motion
n0 = sqrt(BEIDOU_GM / (a * a * a)); n0 = sqrt(BEIDOU_DNAV_GM / (a * a * a));
// Corrected mean motion // Corrected mean motion
n = n0 + d_Delta_n; n = n0 + d_Delta_n;
@ -391,7 +391,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
M = d_M_0 + n * tk; M = d_M_0 + n * tk;
// Reduce mean anomaly to between 0 and 2pi // Reduce mean anomaly to between 0 and 2pi
M = fmod((M + 2 * BEIDOU_PI), (2 * BEIDOU_PI)); M = fmod((M + 2 * BEIDOU_DNAV_PI), (2 * BEIDOU_DNAV_PI));
// Initial guess of eccentric anomaly // Initial guess of eccentric anomaly
E = M; E = M;
@ -401,7 +401,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
{ {
E_old = E; E_old = E;
E = M + d_eccentricity * sin(E); E = M + d_eccentricity * sin(E);
dE = fmod(E - E_old, 2 * BEIDOU_PI); dE = fmod(E - E_old, 2 * BEIDOU_DNAV_PI);
if (fabs(dE) < 1e-12) if (fabs(dE) < 1e-12)
{ {
//Necessary precision is reached, exit from the loop //Necessary precision is reached, exit from the loop
@ -410,7 +410,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
} }
// Compute relativistic correction term // Compute relativistic correction term
d_dtr = BEIDOU_F * d_eccentricity * d_sqrt_A * sin(E); d_dtr = BEIDOU_DNAV_F * d_eccentricity * d_sqrt_A * sin(E);
// Compute the true anomaly // Compute the true anomaly
double tmp_Y = sqrt(1.0 - d_eccentricity * d_eccentricity) * sin(E); double tmp_Y = sqrt(1.0 - d_eccentricity * d_eccentricity) * sin(E);
@ -421,7 +421,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
phi = nu + d_OMEGA; phi = nu + d_OMEGA;
// Reduce phi to between 0 and 2*pi rad // Reduce phi to between 0 and 2*pi rad
phi = fmod((phi), (2 * BEIDOU_PI)); phi = fmod((phi), (2 * BEIDOU_DNAV_PI));
// Correct argument of latitude // Correct argument of latitude
u = phi + d_Cuc * cos(2 * phi) + d_Cus * sin(2 * phi); u = phi + d_Cuc * cos(2 * phi) + d_Cus * sin(2 * phi);
@ -433,10 +433,10 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
i = d_i_0 + d_IDOT * tk + d_Cic * cos(2 * phi) + d_Cis * sin(2 * phi); i = d_i_0 + d_IDOT * tk + d_Cic * cos(2 * phi) + d_Cis * sin(2 * phi);
// Compute the angle between the ascending node and the Greenwich meridian // Compute the angle between the ascending node and the Greenwich meridian
Omega = d_OMEGA0 + (d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT) * tk - BEIDOU_OMEGA_EARTH_DOT * d_Toe_sf2; Omega = d_OMEGA0 + (d_OMEGA_DOT - BEIDOU_DNAV_OMEGA_EARTH_DOT) * tk - BEIDOU_DNAV_OMEGA_EARTH_DOT * d_Toe_sf2;
// Reduce to between 0 and 2*pi rad // Reduce to between 0 and 2*pi rad
Omega = fmod((Omega + 2 * BEIDOU_PI), (2 * BEIDOU_PI)); Omega = fmod((Omega + 2 * BEIDOU_DNAV_PI), (2 * BEIDOU_DNAV_PI));
// --- Compute satellite coordinates in Earth-fixed coordinates // --- Compute satellite coordinates in Earth-fixed coordinates
d_satpos_X = cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega); d_satpos_X = cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega);
@ -444,7 +444,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
d_satpos_Z = sin(u) * r * sin(i); d_satpos_Z = sin(u) * r * sin(i);
// Satellite's velocity. Can be useful for Vector Tracking loops // Satellite's velocity. Can be useful for Vector Tracking loops
double Omega_dot = d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT; double Omega_dot = d_OMEGA_DOT - BEIDOU_DNAV_OMEGA_EARTH_DOT;
d_satvel_X = -Omega_dot * (cos(u) * r + sin(u) * r * cos(i)) + d_satpos_X * cos(Omega) - d_satpos_Y * cos(i) * sin(Omega); d_satvel_X = -Omega_dot * (cos(u) * r + sin(u) * r * cos(i)) + d_satpos_X * cos(Omega) - d_satpos_Y * cos(i) * sin(Omega);
d_satvel_Y = Omega_dot * (cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega)) + d_satpos_X * sin(Omega) + d_satpos_Y * cos(i) * cos(Omega); d_satvel_Y = Omega_dot * (cos(u) * r * cos(Omega) - sin(u) * r * cos(i) * sin(Omega)) + d_satpos_X * sin(Omega) + d_satpos_Y * cos(i) * cos(Omega);
d_satvel_Z = d_satpos_Y * sin(i); d_satvel_Z = d_satpos_Y * sin(i);