mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-18 11:09:56 +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
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@ -1,6 +1,6 @@
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; Default configuration file
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; You can define your own receiver and invoke it by doing
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; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
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; You can define your own front-end calibration tool configuration and invoke it by doing
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; ./front-end-cal --config_file=my_GNSS_SDR_configuration.conf
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;
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[GNSS-SDR]
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@ -20,12 +20,9 @@ GNSS-SDR.init_altitude_m=329.11968943169342
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;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
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GNSS-SDR.internal_fs_hz=2000000
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;######### CONTROL_THREAD CONFIG ############
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ControlThread.wait_for_flowgraph=false
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;######### SUPL RRLP GPS assistance configuration #####
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GNSS-SDR.SUPL_gps_enabled=true
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GNSS-SDR.SUPL_read_gps_assistance_xml=false
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GNSS-SDR.SUPL_read_gps_assistance_xml=true
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GNSS-SDR.SUPL_gps_ephemeris_server=supl.nokia.com
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GNSS-SDR.SUPL_gps_ephemeris_port=7275
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GNSS-SDR.SUPL_gps_acquisition_server=supl.nokia.com
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@ -44,7 +41,8 @@ SignalSource.AGC_enabled=false
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;#filename: path to file with the captured GNSS signal samples to be processed
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;SignalSource.filename=/media/DATALOGGER_/signals/RTL-SDR/cap_-90dBm_IF15_RF40_EzCap.dat
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;SignalSource.filename=/media/DATALOGGER_/signals/Agilent GPS Generator/New York/2msps.dat
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SignalSource.filename=/media/DATALOGGER_/signals/RTL-SDR/cap_ventana_CTTC_amplif_IF15_RF40usb_peq.dat
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;SignalSource.filename=/media/DATALOGGER_/signals/RTL-SDR/cap_ventana_CTTC_amplif_IF15_RF40usb_peq.dat
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SignalSource.filename=/media/DATALOGGER_/signals/RTL-SDR/cap_-90dBm_IF15_RF40_usb_peq.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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SignalSource.item_type=gr_complex
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@ -66,10 +64,10 @@ SignalSource.subdevice=B:0
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;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
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SignalSource.samples=0
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;#repeat: Repeat the processing file. Disable this option in this version
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;#repeat: Repeat the processing file.
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SignalSource.repeat=false
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;#dump: Dump the Signal source data to a file. Disable this option in this version
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;#dump: Dump the Signal source data to a file.
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SignalSource.dump=false
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SignalSource.dump_filename=../data/signal_source.dat
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@ -183,7 +181,7 @@ Acquisition.if=0
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;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
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Acquisition.sampled_ms=1
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;#threshold: Acquisition threshold
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Acquisition.threshold=0.009
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Acquisition.threshold=0.015
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;#doppler_max: Maximum expected Doppler shift [Hz]
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Acquisition.doppler_max=100000
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;#doppler_max: Maximum expected Doppler shift [Hz]
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@ -191,5 +189,5 @@ Acquisition.doppler_min=-100000
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;#doppler_step Doppler step in the grid search [Hz]
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Acquisition.doppler_step=500
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;#maximum dwells
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Acquisition.max_dwells=20
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Acquisition.max_dwells=15
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@ -318,7 +318,7 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
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{
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// Direct FFT
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int zero_padding_factor=8;
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int zero_padding_factor=16;
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int fft_size_extended=d_fft_size*zero_padding_factor;
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gr::fft::fft_complex *fft_operator=new gr::fft::fft_complex(fft_size_extended,true);
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//zero padding the entire vector
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@ -364,13 +364,13 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
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for (int k=0;k<(fft_size_extended/2);k++)
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{
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fftFreqBins[counter]=((d_fs_in/2)*k)/(fft_size_extended/2);
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fftFreqBins[counter]=(((float)d_fs_in/2.0)*(float)k)/((float)fft_size_extended/2.0);
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counter++;
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}
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for (int k=fft_size_extended/2;k>0;k--)
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{
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fftFreqBins[counter]=((-d_fs_in/2)*k)/(fft_size_extended/2);
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fftFreqBins[counter]=((-(float)d_fs_in/2)*(float)k)/((float)fft_size_extended/2.0);
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counter++;
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}
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@ -380,7 +380,8 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
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d_gnss_synchro->Acq_doppler_hz=(double)fftFreqBins[tmp_index_freq];
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//std::cout<<"FFT maximum present at "<<fftFreqBins[tmp_index_freq]<<" [Hz]"<<std::endl;
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}else{
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//std::cout<<"Error estimating fine frequency Doppler"<<std::endl;
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DLOG(INFO)<<"Abs(Grid Doppler - FFT Doppler)="<<abs(fftFreqBins[tmp_index_freq]-d_gnss_synchro->Acq_doppler_hz)<<std::endl;
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DLOG(INFO)<<std::endl<<"Error estimating fine frequency Doppler"<<std::endl;
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//debug log
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//
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// std::cout<<"FFT maximum present at "<<fftFreqBins[tmp_index_freq]<<" [Hz]"<<std::endl;
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@ -35,6 +35,9 @@
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#endif
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#include <boost/filesystem.hpp>
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#include <boost/exception/diagnostic_information.hpp>
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#include <boost/exception_ptr.hpp>
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#include <gflags/gflags.h>
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#include <glog/log_severity.h>
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#include <glog/logging.h>
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@ -150,8 +153,16 @@ int main(int argc, char** argv)
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gettimeofday(&tv, NULL);
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long long int begin = tv.tv_sec * 1000000 + tv.tv_usec;
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control_thread->run();
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try{
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control_thread->run();
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}catch( boost::exception & e )
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{
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DLOG(FATAL) << "Boost exception: " << boost::diagnostic_information(e);
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}
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catch(std::exception const& ex)
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{
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DLOG(FATAL) <<"STD exception: "<<ex.what();
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}
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// report the elapsed time
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gettimeofday(&tv, NULL);
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long long int end = tv.tv_sec * 1000000 + tv.tv_usec;
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@ -226,13 +226,6 @@ bool FrontEndCal::get_ephemeris()
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arma::vec FrontEndCal::lla2ecef(arma::vec lla)
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{
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// % LLA2ECEF Convert geodetic coordinates to Earth-centered Earth-fixed
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// % (ECEF) coordinates.
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// % P = LLA2ECEF( LLA ) converts an M-by-3 array of geodetic coordinates
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// % (latitude, longitude and altitude), LLA, to an M-by-3 array of ECEF
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// % coordinates, P. LLA is in [degrees degrees meters]. P is in meters.
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// % The default ellipsoid planet is WGS84.
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// WGS84 flattening
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double f;
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@ -258,36 +251,6 @@ arma::vec FrontEndCal::lla2ecef(arma::vec lla)
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arma::vec FrontEndCal::geodetic2ecef(double phi, double lambda, double h, arma::vec ellipsoid)
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{
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//%GEODETIC2ECEF Convert geodetic to geocentric (ECEF) coordinates
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//%
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//% [X, Y, Z] = GEODETIC2ECEF(PHI, LAMBDA, H, ELLIPSOID) converts geodetic
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//% point locations specified by the coordinate arrays PHI (geodetic
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//% latitude in radians), LAMBDA (longitude in radians), and H (ellipsoidal
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//% height) to geocentric Cartesian coordinates X, Y, and Z. The geodetic
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//% coordinates refer to the reference ellipsoid specified by ELLIPSOID (a
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//% row vector with the form [semimajor axis, eccentricity]). H must use
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//% the same units as the semimajor axis; X, Y, and Z will be expressed in
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//% these units also.
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//%
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//% The geocentric Cartesian coordinate system is fixed with respect to the
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//% Earth, with its origin at the center of the ellipsoid and its X-, Y-,
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//% and Z-axes intersecting the surface at the following points:
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//%
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//% PHI LAMBDA
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//% X-axis: 0 0 (Equator at the Prime Meridian)
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//% Y-axis: 0 pi/2 (Equator at 90-degrees East)
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//% Z-axis: pi/2 0 (North Pole)
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//%
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//% A common synonym is Earth-Centered, Earth-Fixed coordinates, or ECEF.
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//%
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//% See also ECEF2GEODETIC, ECEF2LV, GEODETIC2GEOCENTRICLAT, LV2ECEF.
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//% Copyright 2004-2009 The MathWorks, Inc.
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//% $Revision: 1.1.6.4 $ $Date: 2009/04/15 23:34:46 $
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//% Reference
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//% ---------
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//% Paul R. Wolf and Bon A. Dewitt, "Elements of Photogrammetry with
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//% Applications in GIS," 3rd Ed., McGraw-Hill, 2000 (Appendix F-3).
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double a;
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a = ellipsoid(0);
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@ -380,18 +343,8 @@ double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double TOW, doub
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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 )
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{
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// % Inputs:
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// % f_bb_true_Hz - Ideal output frequency in baseband [Hz]
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// % f_in_bb_meas_Hz - measured output frequency in baseband [Hz]
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// %
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// % Outputs:
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// % estimated_fs_Hz - Sampling frequency estimation based on the
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// % measurements and the front-end model
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// % estimated_f_if_bb_Hz - Equivalent bb if frequency estimation based on the
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// % measurements and the front-end model
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// Front-end TUNNER Elonics E4000 + RTL2832 sampler
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//For GPS L1 1575.42 MHz
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double f_osc_n=28.8e6;
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//PLL registers settings (according to E4000 datasheet)
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@ -5,16 +5,95 @@ class FrontEndCal
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{
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private:
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ConfigurationInterface *configuration_;
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/*!
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* \brief LLA2ECEF Convert geodetic coordinates to Earth-centered Earth-fixed
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* (ECEF) coordinates. P = LLA2ECEF( LLA ) converts an M-by-3 array of geodetic coordinates
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* (latitude, longitude and altitude), LLA, to an M-by-3 array of ECEF
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* coordinates, P. LLA is in [degrees degrees meters]. P is in meters.
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* The default ellipsoid planet is WGS84. Original copyright (c) by Kai Borre.
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*/
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arma::vec lla2ecef(arma::vec lla);
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/*!
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* GEODETIC2ECEF Convert geodetic to geocentric (ECEF) coordinates
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* [X, Y, Z] = GEODETIC2ECEF(PHI, LAMBDA, H, ELLIPSOID) converts geodetic
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* point locations specified by the coordinate arrays PHI (geodetic
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* latitude in radians), LAMBDA (longitude in radians), and H (ellipsoidal
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* height) to geocentric Cartesian coordinates X, Y, and Z. The geodetic
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* coordinates refer to the reference ellipsoid specified by ELLIPSOID (a
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* row vector with the form [semimajor axis, eccentricity]). H must use
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* the same units as the semimajor axis; X, Y, and Z will be expressed in
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* these units also.
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*
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* The geocentric Cartesian coordinate system is fixed with respect to the
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* Earth, with its origin at the center of the ellipsoid and its X-, Y-,
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* and Z-axes intersecting the surface at the following points:
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* PHI LAMBDA
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* X-axis: 0 0 (Equator at the Prime Meridian)
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* Y-axis: 0 pi/2 (Equator at 90-degrees East
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* Z-axis: pi/2 0 (North Pole)
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*
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* A common synonym is Earth-Centered, Earth-Fixed coordinates, or ECEF.
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*
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* See also ECEF2GEODETIC, ECEF2LV, GEODETIC2GEOCENTRICLAT, LV2ECEF.
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*
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* Copyright 2004-2009 The MathWorks, Inc.
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* $Revision: 1.1.6.4 $ $Date: 2009/04/15 23:34:46 $
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* Reference
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* ---------
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* Paul R. Wolf and Bon A. Dewitt, "Elements of Photogrammetry with
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* Applications in GIS," 3rd Ed., McGraw-Hill, 2000 (Appendix F-3).
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*/
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arma::vec geodetic2ecef(double phi, double lambda, double h, arma::vec ellipsoid);
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/*!
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* \brief Reads the ephemeris data from an external XML file
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*
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*/
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bool read_assistance_from_XML();
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/*!
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* \brief Connects to Secure User Location Protocol (SUPL) server to obtain
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* the current GPS ephemeris and GPS assistance data.
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*
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*/
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int Get_SUPL_Assist();
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public:
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bool read_assistance_from_XML();
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int Get_SUPL_Assist();
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/*!
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* \brief Sets the configuration data required by get_ephemeris function
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*
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*/
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void set_configuration(ConfigurationInterface *configuration);
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/*!
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* \brief This function connects to a Secure User Location Protocol (SUPL) server to obtain
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* the current GPS ephemeris and GPS assistance data. It requires the configuration parameters set by
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* set_configuration function.
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*
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*/
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bool get_ephemeris();
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/*!
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* \brief This function estimates the GPS L1 satellite Doppler frequency [Hz] using the following data:
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* 1- Orbital model from the ephemeris
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* 2- Approximate GPS Time of Week (TOW)
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* 3- Approximate receiver Latitude and Longitude (WGS-84)
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*
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*/
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double estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height);
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/*!
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* \brief This function models the Elonics E4000 + RTL2832 front-end
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* Inputs:
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* f_bb_true_Hz - Ideal output frequency in baseband [Hz]
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* f_in_bb_meas_Hz - measured output frequency in baseband [Hz]
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* Outputs:
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* estimated_fs_Hz - Sampling frequency estimation based on the
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* measurements and the front-end model
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* estimated_f_if_bb_Hz - Equivalent bb if frequency estimation based on the
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* measurements and the front-end model
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* Front-end TUNNER Elonics E4000 + RTL2832 sampler For GPS L1 1575.42 MHz
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*
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*/
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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 );
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FrontEndCal();
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~FrontEndCal();
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};
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@ -265,7 +265,6 @@ int main(int argc, char** argv)
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std::cout<<"Failure connecting to SUPL server"<<std::endl;
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}
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// 3. Capture some front-end samples to hard disk
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if (front_end_capture(configuration))
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@ -357,7 +356,6 @@ int main(int argc, char** argv)
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for (std::vector<Gnss_Synchro>::iterator it = gnss_sync_vector.begin() ; it != gnss_sync_vector.end(); ++it)
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{
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doppler_measurement_hz+=(*it).Acq_doppler_hz;
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//std::cout << "Doppler (SV=" << (*it).PRN<<")="<<(*it).Acq_doppler_hz<<"[Hz]"<<std::endl;
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}
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doppler_measurement_hz=doppler_measurement_hz/gnss_sync_vector.size();
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doppler_measurements_map.insert(std::pair<int,double>(PRN,doppler_measurement_hz));
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@ -474,12 +472,30 @@ int main(int argc, char** argv)
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mean_fs_Hz/=n_elements;
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mean_osc_err_ppm/=n_elements;
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std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<"FE parameters estimation for Elonics E4000 Front-End:"<<std::endl;
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std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<"Parameters estimation for Elonics E4000 Front-End:"<<std::endl;
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std::cout<<"Sampling frequency ="<<mean_fs_Hz<<" [Hz]"<<std::endl;
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std::cout<<"IF bias present in baseband="<<mean_f_if_Hz<<" [Hz]"<<std::endl;
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std::cout<<"Reference oscillator error ="<<mean_osc_err_ppm<<" [ppm]"<<std::endl;
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std::cout <<std::setiosflags(std::ios::fixed)<<std::setprecision(2)<<
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"Corrected Doppler vs. Predicted"<<std::endl;
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std::cout << "SV ID Corrected [Hz] Predicted [Hz]" <<std::endl;
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for (std::map<int,double>::iterator it = doppler_measurements_map.begin() ; it != doppler_measurements_map.end(); ++it)
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{
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try{
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double doppler_estimated_hz;
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doppler_estimated_hz=front_end_cal.estimate_doppler_from_eph(it->first,current_TOW,lat_deg,lon_deg,altitude_m);
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std::cout << " "<<it->first<<" "<<it->second -mean_f_if_Hz<<" "<<doppler_estimated_hz<<std::endl;
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}catch(int ex)
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{
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std::cout << " "<<it->first<<" "<<it->second-mean_f_if_Hz<<" (Eph not found)"<<std::endl;
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}
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}
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// 8. Generate GNSS-SDR config file.
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delete configuration;
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@ -488,14 +504,4 @@ int main(int argc, char** argv)
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google::ShutDownCommandLineFlags();
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std::cout << "GNSS-SDR Front-end calibration program ended." << std::endl;
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// if (global_gps_acq_assist_map.size()>0)
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// {
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// std::map<int,Gps_Acq_Assist> Acq_Assist_map;
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// Acq_Assist_map=global_gps_acq_assist_map.get_map_copy();
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// current_TOW=Acq_Assist_map.begin()->second.d_TOW;
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// std::cout<<"Current TOW obtained from acquisition assistance = "<<current_TOW<<std::endl;
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// }else{
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// std::cout<<"Unable to get acquisition assistance information. TOW is unknown!"<<std::endl;
|
||||
// }
|
||||
}
|
||||
|
|
|
|||
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Reference in New Issue
Block a user