mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2025-10-31 07:13:03 +00:00
Code Issues Releases Wiki Activity

front-end-cal code cleaning, documentation and tunning tasks

Browse Source 
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@400 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
2013-08-01 14:01:07 +00:00
parent 01dd425e58
commit b34a85c642
6 changed files with 128 additions and 80 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
conf/front-end-cal.conf
View File

@@ -1,6 +1,6 @@
; Default configuration file
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
; You can define your own front-end calibration tool configuration and invoke it by doing
; ./front-end-cal --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
@@ -20,12 +20,9 @@ GNSS-SDR.init_altitude_m=329.11968943169342
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
GNSS-SDR.internal_fs_hz=2000000
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SUPL RRLP GPS assistance configuration #####
GNSS-SDR.SUPL_gps_enabled=true
GNSS-SDR.SUPL_read_gps_assistance_xml=false
GNSS-SDR.SUPL_read_gps_assistance_xml=true
GNSS-SDR.SUPL_gps_ephemeris_server=supl.nokia.com
GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.nokia.com
@@ -44,7 +41,8 @@ SignalSource.AGC_enabled=false
;#filename: path to file with the captured GNSS signal samples to be processed
;SignalSource.filename=/media/DATALOGGER_/signals/RTL-SDR/cap_-90dBm_IF15_RF40_EzCap.dat
;SignalSource.filename=/media/DATALOGGER_/signals/Agilent GPS Generator/New York/2msps.dat
SignalSource.filename=/media/DATALOGGER_/signals/RTL-SDR/cap_ventana_CTTC_amplif_IF15_RF40usb_peq.dat
;SignalSource.filename=/media/DATALOGGER_/signals/RTL-SDR/cap_ventana_CTTC_amplif_IF15_RF40usb_peq.dat
SignalSource.filename=/media/DATALOGGER_/signals/RTL-SDR/cap_-90dBm_IF15_RF40_usb_peq.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
@@ -66,10 +64,10 @@ SignalSource.subdevice=B:0
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0
;#repeat: Repeat the processing file. Disable this option in this version
;#repeat: Repeat the processing file.
SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
;#dump: Dump the Signal source data to a file.
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
@@ -183,7 +181,7 @@ Acquisition.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition.sampled_ms=1
;#threshold: Acquisition threshold
Acquisition.threshold=0.009
Acquisition.threshold=0.015
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition.doppler_max=100000
;#doppler_max: Maximum expected Doppler shift [Hz]
@@ -191,5 +189,5 @@ Acquisition.doppler_min=-100000
;#doppler_step Doppler step in the grid search [Hz]
Acquisition.doppler_step=500
;#maximum dwells
Acquisition.max_dwells=20
Acquisition.max_dwells=15

9
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@@ -318,7 +318,7 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
{
// Direct FFT
int zero_padding_factor=8;
int zero_padding_factor=16;
int fft_size_extended=d_fft_size*zero_padding_factor;
gr::fft::fft_complex *fft_operator=new gr::fft::fft_complex(fft_size_extended,true);
//zero padding the entire vector
@@ -364,13 +364,13 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
for (int k=0;k<(fft_size_extended/2);k++)
{
fftFreqBins[counter]=((d_fs_in/2)*k)/(fft_size_extended/2);
fftFreqBins[counter]=(((float)d_fs_in/2.0)*(float)k)/((float)fft_size_extended/2.0);
counter++;
}
for (int k=fft_size_extended/2;k>0;k--)
{
fftFreqBins[counter]=((-d_fs_in/2)*k)/(fft_size_extended/2);
fftFreqBins[counter]=((-(float)d_fs_in/2)*(float)k)/((float)fft_size_extended/2.0);
counter++;
}
@@ -380,7 +380,8 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
d_gnss_synchro->Acq_doppler_hz=(double)fftFreqBins[tmp_index_freq];
//std::cout<<"FFT maximum present at "<<fftFreqBins[tmp_index_freq]<<" [Hz]"<<std::endl;
}else{
//std::cout<<"Error estimating fine frequency Doppler"<<std::endl;
DLOG(INFO)<<"Abs(Grid Doppler - FFT Doppler)="<<abs(fftFreqBins[tmp_index_freq]-d_gnss_synchro->Acq_doppler_hz)<<std::endl;
DLOG(INFO)<<std::endl<<"Error estimating fine frequency Doppler"<<std::endl;
//debug log
//
// std::cout<<"FFT maximum present at "<<fftFreqBins[tmp_index_freq]<<" [Hz]"<<std::endl;

15
src/main/main.cc
View File

@@ -35,6 +35,9 @@
#endif
#include <boost/filesystem.hpp>
#include <boost/exception/diagnostic_information.hpp>
#include <boost/exception_ptr.hpp>
#include <gflags/gflags.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
@@ -150,8 +153,16 @@ int main(int argc, char** argv)
gettimeofday(&tv, NULL);
long long int begin = tv.tv_sec * 1000000 + tv.tv_usec;
control_thread->run();
try{
control_thread->run();
}catch( boost::exception & e )
{
DLOG(FATAL) << "Boost exception: " << boost::diagnostic_information(e);
}
catch(std::exception const& ex)
{
DLOG(FATAL) <<"STD exception: "<<ex.what();
}
// report the elapsed time
gettimeofday(&tv, NULL);
long long int end = tv.tv_sec * 1000000 + tv.tv_usec;

49
src/utils/front-end-cal/front_end_cal.cc
View File

@@ -226,13 +226,6 @@ bool FrontEndCal::get_ephemeris()
arma::vec FrontEndCal::lla2ecef(arma::vec lla)
{
// % LLA2ECEF Convert geodetic coordinates to Earth-centered Earth-fixed
// % (ECEF) coordinates.
// % P = LLA2ECEF( LLA ) converts an M-by-3 array of geodetic coordinates
// % (latitude, longitude and altitude), LLA, to an M-by-3 array of ECEF
// % coordinates, P. LLA is in [degrees degrees meters]. P is in meters.
// % The default ellipsoid planet is WGS84.
// WGS84 flattening
double f;
@@ -258,36 +251,6 @@ arma::vec FrontEndCal::lla2ecef(arma::vec lla)
arma::vec FrontEndCal::geodetic2ecef(double phi, double lambda, double h, arma::vec ellipsoid)
{
//%GEODETIC2ECEF Convert geodetic to geocentric (ECEF) coordinates
//%
//% [X, Y, Z] = GEODETIC2ECEF(PHI, LAMBDA, H, ELLIPSOID) converts geodetic
//% point locations specified by the coordinate arrays PHI (geodetic
//% latitude in radians), LAMBDA (longitude in radians), and H (ellipsoidal
//% height) to geocentric Cartesian coordinates X, Y, and Z. The geodetic
//% coordinates refer to the reference ellipsoid specified by ELLIPSOID (a
//% row vector with the form [semimajor axis, eccentricity]). H must use
//% the same units as the semimajor axis; X, Y, and Z will be expressed in
//% these units also.
//%
//% The geocentric Cartesian coordinate system is fixed with respect to the
//% Earth, with its origin at the center of the ellipsoid and its X-, Y-,
//% and Z-axes intersecting the surface at the following points:
//%
//% PHI LAMBDA
//% X-axis: 0 0 (Equator at the Prime Meridian)
//% Y-axis: 0 pi/2 (Equator at 90-degrees East)
//% Z-axis: pi/2 0 (North Pole)
//%
//% A common synonym is Earth-Centered, Earth-Fixed coordinates, or ECEF.
//%
//% See also ECEF2GEODETIC, ECEF2LV, GEODETIC2GEOCENTRICLAT, LV2ECEF.
//% Copyright 2004-2009 The MathWorks, Inc.
//% $Revision: 1.1.6.4 $ $Date: 2009/04/15 23:34:46 $
//% Reference
//% ---------
//% Paul R. Wolf and Bon A. Dewitt, "Elements of Photogrammetry with
//% Applications in GIS," 3rd Ed., McGraw-Hill, 2000 (Appendix F-3).
double a;
a = ellipsoid(0);
@@ -380,18 +343,8 @@ double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double TOW, doub
void FrontEndCal::GPS_L1_front_end_model_E4000(double f_bb_true_Hz,double f_bb_meas_Hz,double fs_nominal_hz, double *estimated_fs_Hz, double *estimated_f_if_Hz, double *f_osc_err_ppm )
{
// % Inputs:
// % f_bb_true_Hz - Ideal output frequency in baseband [Hz]
// % f_in_bb_meas_Hz - measured output frequency in baseband [Hz]
// %
// % Outputs:
// % estimated_fs_Hz - Sampling frequency estimation based on the
// % measurements and the front-end model
// % estimated_f_if_bb_Hz - Equivalent bb if frequency estimation based on the
// % measurements and the front-end model
// Front-end TUNNER Elonics E4000 + RTL2832 sampler
//For GPS L1 1575.42 MHz
double f_osc_n=28.8e6;
//PLL registers settings (according to E4000 datasheet)

83
src/utils/front-end-cal/front_end_cal.h
View File

@@ -5,16 +5,95 @@ class FrontEndCal
{
private:
ConfigurationInterface *configuration_;
/*!
* \brief LLA2ECEF Convert geodetic coordinates to Earth-centered Earth-fixed
* (ECEF) coordinates. P = LLA2ECEF( LLA ) converts an M-by-3 array of geodetic coordinates
* (latitude, longitude and altitude), LLA, to an M-by-3 array of ECEF
* coordinates, P. LLA is in [degrees degrees meters]. P is in meters.
* The default ellipsoid planet is WGS84. Original copyright (c) by Kai Borre.
*/
arma::vec lla2ecef(arma::vec lla);
/*!
* GEODETIC2ECEF Convert geodetic to geocentric (ECEF) coordinates
* [X, Y, Z] = GEODETIC2ECEF(PHI, LAMBDA, H, ELLIPSOID) converts geodetic
* point locations specified by the coordinate arrays PHI (geodetic
* latitude in radians), LAMBDA (longitude in radians), and H (ellipsoidal
* height) to geocentric Cartesian coordinates X, Y, and Z. The geodetic
* coordinates refer to the reference ellipsoid specified by ELLIPSOID (a
* row vector with the form [semimajor axis, eccentricity]). H must use
* the same units as the semimajor axis; X, Y, and Z will be expressed in
* these units also.
*
* The geocentric Cartesian coordinate system is fixed with respect to the
* Earth, with its origin at the center of the ellipsoid and its X-, Y-,
* and Z-axes intersecting the surface at the following points:
* PHI LAMBDA
* X-axis: 0 0 (Equator at the Prime Meridian)
* Y-axis: 0 pi/2 (Equator at 90-degrees East
* Z-axis: pi/2 0 (North Pole)
*
* A common synonym is Earth-Centered, Earth-Fixed coordinates, or ECEF.
*
* See also ECEF2GEODETIC, ECEF2LV, GEODETIC2GEOCENTRICLAT, LV2ECEF.
*
* Copyright 2004-2009 The MathWorks, Inc.
* $Revision: 1.1.6.4 $ $Date: 2009/04/15 23:34:46 $
* Reference
* ---------
* Paul R. Wolf and Bon A. Dewitt, "Elements of Photogrammetry with
* Applications in GIS," 3rd Ed., McGraw-Hill, 2000 (Appendix F-3).
*/
arma::vec geodetic2ecef(double phi, double lambda, double h, arma::vec ellipsoid);
/*!
* \brief Reads the ephemeris data from an external XML file
*
*/
bool read_assistance_from_XML();
/*!
* \brief Connects to Secure User Location Protocol (SUPL) server to obtain
* the current GPS ephemeris and GPS assistance data.
*
*/
int Get_SUPL_Assist();
public:
bool read_assistance_from_XML();
int Get_SUPL_Assist();
/*!
* \brief Sets the configuration data required by get_ephemeris function
*
*/
void set_configuration(ConfigurationInterface *configuration);
/*!
* \brief This function connects to a Secure User Location Protocol (SUPL) server to obtain
* the current GPS ephemeris and GPS assistance data. It requires the configuration parameters set by
* set_configuration function.
*
*/
bool get_ephemeris();
/*!
* \brief This function estimates the GPS L1 satellite Doppler frequency [Hz] using the following data:
* 1- Orbital model from the ephemeris
* 2- Approximate GPS Time of Week (TOW)
* 3- Approximate receiver Latitude and Longitude (WGS-84)
*
*/
double estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height);
/*!
* \brief This function models the Elonics E4000 + RTL2832 front-end
* Inputs:
* f_bb_true_Hz - Ideal output frequency in baseband [Hz]
* f_in_bb_meas_Hz - measured output frequency in baseband [Hz]
* Outputs:
* estimated_fs_Hz - Sampling frequency estimation based on the
* measurements and the front-end model
* estimated_f_if_bb_Hz - Equivalent bb if frequency estimation based on the
* measurements and the front-end model
* Front-end TUNNER Elonics E4000 + RTL2832 sampler For GPS L1 1575.42 MHz
*
*/
void GPS_L1_front_end_model_E4000(double f_bb_true_Hz,double f_bb_meas_Hz,double fs_nominal_hz, double *estimated_fs_Hz, double *estimated_f_if_Hz, double *f_osc_err_ppm );
FrontEndCal();
~FrontEndCal();
};

32
src/utils/front-end-cal/main.cc
View File

@@ -265,7 +265,6 @@ int main(int argc, char** argv)
std::cout<<"Failure connecting to SUPL server"<<std::endl;
}
// 3. Capture some front-end samples to hard disk
if (front_end_capture(configuration))
@@ -357,7 +356,6 @@ int main(int argc, char** argv)
for (std::vector<Gnss_Synchro>::iterator it = gnss_sync_vector.begin() ; it != gnss_sync_vector.end(); ++it)
{
doppler_measurement_hz+=(*it).Acq_doppler_hz;
//std::cout << "Doppler (SV=" << (*it).PRN<<")="<<(*it).Acq_doppler_hz<<"[Hz]"<<std::endl;
}
doppler_measurement_hz=doppler_measurement_hz/gnss_sync_vector.size();
doppler_measurements_map.insert(std::pair<int,double>(PRN,doppler_measurement_hz));
@@ -474,12 +472,30 @@ int main(int argc, char** argv)
mean_fs_Hz/=n_elements;
mean_osc_err_ppm/=n_elements;
std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<"FE parameters estimation for Elonics E4000 Front-End:"<<std::endl;
std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<"Parameters estimation for Elonics E4000 Front-End:"<<std::endl;
std::cout<<"Sampling frequency ="<<mean_fs_Hz<<" [Hz]"<<std::endl;
std::cout<<"IF bias present in baseband="<<mean_f_if_Hz<<" [Hz]"<<std::endl;
std::cout<<"Reference oscillator error ="<<mean_osc_err_ppm<<" [ppm]"<<std::endl;
std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<
"Corrected Doppler vs. Predicted"<<std::endl;
std::cout << "SV ID Corrected [Hz] Predicted [Hz]" <<std::endl;
for (std::map<int,double>::iterator it = doppler_measurements_map.begin() ; it != doppler_measurements_map.end(); ++it)
{
try{
double doppler_estimated_hz;
doppler_estimated_hz=front_end_cal.estimate_doppler_from_eph(it->first,current_TOW,lat_deg,lon_deg,altitude_m);
std::cout << " "<<it->first<<" "<<it->second -mean_f_if_Hz<<" "<<doppler_estimated_hz<<std::endl;
}catch(int ex)
{
std::cout << " "<<it->first<<" "<<it->second-mean_f_if_Hz<<" (Eph not found)"<<std::endl;
}
}
// 8. Generate GNSS-SDR config file.
delete configuration;
@@ -488,14 +504,4 @@ int main(int argc, char** argv)
google::ShutDownCommandLineFlags();
std::cout << "GNSS-SDR Front-end calibration program ended." << std::endl;
// if (global_gps_acq_assist_map.size()>0)
// {
// std::map<int,Gps_Acq_Assist> Acq_Assist_map;
// Acq_Assist_map=global_gps_acq_assist_map.get_map_copy();
// current_TOW=Acq_Assist_map.begin()->second.d_TOW;
// std::cout<<"Current TOW obtained from acquisition assistance = "<<current_TOW<<std::endl;
// }else{
// std::cout<<"Unable to get acquisition assistance information. TOW is unknown!"<<std::endl;
// }
}