mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-04-19 17:23:16 +00:00
front-end-cal code cleaning, documentation and tunning tasks
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
parent
01dd425e58
commit
b34a85c642
conf
src
algorithms/acquisition/gnuradio_blocks
main
utils/front-end-cal
@ -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
|
||||
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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)
|
||||
|
||||
@ -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();
|
||||
};
|
||||
|
||||
@ -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;
|
||||
// }
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user