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Carles Fernandez 2019-07-16 08:56:29 +02:00
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274
conf/gnss-sdr_BDS_B1I_GPS_L1_CA_byte.conf
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@ -1,274 +0,0 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
GNSS-SDR.internal_fs_sps=25000000
Receiver.sources_count=2
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############
;# Signal Source config for GPS, Galileo signals
SignalSource0.implementation=File_Signal_Source
SignalSource0.filename=/home/dmiralles/Documents/GNSS-Metadata-Standard/install/GPSL1-GalileoE1.dat
SignalSource0.item_type=byte
SignalSource0.sampling_frequency=25000000
SignalSource0.samples=0
SignalSource0.repeat=false
SignalSource0.dump=false
SignalSource0.enable_throttle_control=false
;# Signal Source config for BDS signals
SignalSource1.implementation=File_Signal_Source
SignalSource1.filename=/home/dmiralles/Documents/GNSS-Metadata-Standard/install/BdsB1IStr01.dat
SignalSource1.item_type=byte
SignalSource1.sampling_frequency=25000000
SignalSource1.samples=0
SignalSource1.repeat=false
SignalSource1.dump=false
SignalSource1.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
;# Signal Conditioner config for GPS, Galileo signals
SignalConditioner0.implementation=Signal_Conditioner
DataTypeAdapter0.implementation=Byte_To_Short
InputFilter0.implementation=Freq_Xlating_Fir_Filter
InputFilter0.input_item_type=short
InputFilter0.output_item_type=gr_complex
InputFilter0.taps_item_type=float
InputFilter0.number_of_taps=5
InputFilter0.number_of_bands=2
InputFilter0.band1_begin=0.0
InputFilter0.band1_end=0.70
InputFilter0.band2_begin=0.80
InputFilter0.band2_end=1.0
InputFilter0.ampl1_begin=1.0
InputFilter0.ampl1_end=1.0
InputFilter0.ampl2_begin=0.0
InputFilter0.ampl2_end=0.0
InputFilter0.band1_error=1.0
InputFilter0.band2_error=1.0
InputFilter0.filter_type=bandpass
InputFilter0.grid_density=16
InputFilter0.sampling_frequency=25000000
InputFilter0.IF=6250000
Resampler0.implementation=Pass_Through
Resampler0.sample_freq_in=25000000
Resampler0.sample_freq_out=25000000
Resampler0.item_type=gr_complex
;# Signal Conditioner config for BDS signals
SignalConditioner1.implementation=Signal_Conditioner
DataTypeAdapter1.implementation=Byte_To_Short
InputFilter1.implementation=Freq_Xlating_Fir_Filter
InputFilter1.input_item_type=short
InputFilter1.output_item_type=gr_complex
InputFilter1.taps_item_type=float
InputFilter1.number_of_taps=5
InputFilter1.number_of_bands=2
InputFilter1.band1_begin=0.0
InputFilter1.band1_end=0.70
InputFilter1.band2_begin=0.80
InputFilter1.band2_end=1.0
InputFilter1.ampl1_begin=1.0
InputFilter1.ampl1_end=1.0
InputFilter1.ampl2_begin=0.0
InputFilter1.ampl2_end=0.0
InputFilter1.band1_error=1.0
InputFilter1.band2_error=1.0
InputFilter1.filter_type=bandpass
InputFilter1.grid_density=16
InputFilter1.sampling_frequency=25000000
InputFilter1.IF=6250000
Resampler1.implementation=Pass_Through
Resampler1.sample_freq_in=25000000
Resampler1.sample_freq_out=25000000
Resampler1.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=7
Channels_1B.count=7
Channels_B1.count=10
Channels.in_acquisition=10
;# Preparing collection for GPS satellites
Channel0.RF_channel_ID=0
Channel1.RF_channel_ID=0
Channel2.RF_channel_ID=0
Channel3.RF_channel_ID=0
Channel4.RF_channel_ID=0
Channel5.RF_channel_ID=0
Channel6.RF_channel_ID=0
Channel0.signal=1C
Channel0.satellite = 2
Channel1.signal=1C
Channel1.satellite = 5
Channel2.signal=1C
Channel2.satellite = 6
Channel3.signal=1C
Channel3.satellite = 7
Channel4.signal=1C
Channel4.satellite = 13
Channel5.signal=1C
Channel5.satellite = 19
Channel6.signal=1C
Channel6.satellite = 29
;# Preparing collection for Galileo satellites
Channel7.RF_channel_ID=0
Channel8.RF_channel_ID=0
Channel9.RF_channel_ID=0
Channel10.RF_channel_ID=0
Channel11.RF_channel_ID=0
Channel12.RF_channel_ID=0
Channel13.RF_channel_ID=0
Channel7.signal=1B
Channel7.satellite = 2
Channel8.signal=1B
Channel8.satellite = 5
Channel9.signal=1B
Channel9.satellite = 6
Channel10.signal=1B
Channel10.satellite = 7
Channel11.signal=1B
Channel11.satellite = 13
Channel12.signal=1B
Channel12.satellite = 19
Channel13.signal=1B
Channel13.satellite = 29
;# Preparing collection for BDS satellites
Channel14.RF_channel_ID=1
Channel15.RF_channel_ID=1
Channel16.RF_channel_ID=1
Channel17.RF_channel_ID=1
Channel18.RF_channel_ID=1
Channel19.RF_channel_ID=1
Channel20.RF_channel_ID=1
Channel21.RF_channel_ID=1
Channel22.RF_channel_ID=1
Channel23.RF_channel_ID=1
Channel14.signal=B1
Channel14.satellite = 6
Channel15.signal=B1
Channel15.satellite = 8
Channel16.signal=B1
Channel16.satellite = 9
Channel17.signal=B1
Channel17.satellite = 13
Channel18.signal=B1
Channel18.satellite = 17
Channel19.signal=B1
Channel19.satellite = 1
Channel20.signal=B1
Channel20.satellite = 2
Channel21.signal=B1
Channel21.satellite = 3
Channel22.signal=B1
Channel22.satellite = 4
Channel23.signal=B1
Channel23.satellite = 5
;######### ACQUISITION GLOBAL CONFIG ############
;# Acquisition config for BDS signals
Acquisition_B1.implementation=BEIDOU_B1I_PCPS_Acquisition
Acquisition_B1.item_type=gr_complex
Acquisition_B1.coherent_integration_time_ms=1
Acquisition_B1.threshold=0.0038
Acquisition_B1.doppler_max=15000
Acquisition_B1.doppler_step=100
Acquisition_B1.dump=true
Acquisition_B1.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/bds_b1i_acq
Acquisition_B1.blocking=false;
Acquisition_B1.use_CFAR_algorithm=true;
Acquisition_B1.bit_transition_flag = false;
;# Acquisition config for GPS signals
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.threshold=0.0038
Acquisition_1C.doppler_max=15000
Acquisition_1C.doppler_step=100
Acquisition_1C.dump=true
Acquisition_1C.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gps_l1ca_acq
Acquisition_1C.blocking=false;
Acquisition_1C.use_CFAR_algorithm=true;
Acquisition_1C.bit_transition_flag = false;
;# Acquisition config for Galileo signals
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.item_type=gr_complex
Acquisition_1B.coherent_integration_time_ms=4
Acquisition_1B.threshold=0.0038
Acquisition_1B.doppler_max=15000
Acquisition_1B.doppler_step=100
Acquisition_1B.dump=true
Acquisition_1B.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gal_e1b_acq
Acquisition_1B.blocking=false;
Acquisition_1B.use_CFAR_algorithm=true;
Acquisition_1B.bit_transition_flag = false;
;######### TRACKING GLOBAL CONFIG ############
Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
Tracking_B1.item_type=gr_complex
Tracking_B1.pll_bw_hz=25.0;
Tracking_B1.dll_bw_hz=2.50;
Tracking_B1.dump=true;
Tracking_B1.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/bds_b1i_trk_ch_
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.pll_bw_hz=25.0;
Tracking_1C.dll_bw_hz=2.50;
Tracking_1C.dump=true;
Tracking_1C.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gps_l1ca_trk_ch_
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
Tracking_1B.item_type=gr_complex
Tracking_1B.pll_bw_hz=25.0;
Tracking_1B.dll_bw_hz=2.50;
Tracking_1B.dump=true;
Tracking_1B.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gal_e1b_trk_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_B1.implementation=BEIDOU_B1I_Telemetry_Decoder
TelemetryDecoder_B1.dump=false
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=true
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=OFF ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump=true
PVT.dump_filename = /home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/pvt_l1
PVT.kml_output_enabled = false;
PVT.xml_output_enabled = false;
PVT.gpx_output_enabled = false;
PVT.rinex_output_enabled = false;
PVT.rtcm_output_enabled = false;
PVT.nmea_output_enabled = false;
PVT.geojson_output_enabled = false;

11
conf/gnss-sdr_BDS_B1I_byte.conf
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@ -91,25 +91,25 @@ Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
Tracking_B1.item_type=gr_complex Tracking_B1.item_type=gr_complex
Tracking_B1.pll_bw_hz=25.0; Tracking_B1.pll_bw_hz=25.0;
Tracking_B1.dll_bw_hz=2.50; Tracking_B1.dll_bw_hz=2.50;
Tracking_B1.dump=true; Tracking_B1.dump=false;
Tracking_B1.dump_filename=./epl_tracking_ch_ Tracking_B1.dump_filename=./epl_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############ ;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_B1.implementation=BEIDOU_B1I_Telemetry_Decoder TelemetryDecoder_B1.implementation=BEIDOU_B1I_Telemetry_Decoder
TelemetryDecoder_B1.dump=true TelemetryDecoder_B1.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=true Observables.dump=false
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=OFF ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100 PVT.output_rate_ms=100
PVT.display_rate_ms=500 PVT.display_rate_ms=500
@ -121,3 +121,6 @@ PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=true PVT.dump=true
PVT.rinex_version=3
PVT.rinex_output_enabled=true
PVT.gpx_output_enabled=true

4
conf/gnss-sdr_BDS_B3I_byte.conf
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@ -100,14 +100,14 @@ TelemetryDecoder_B3.dump=false
;######### OBSERVABLES CONFIG ############ ;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables Observables.implementation=Hybrid_Observables
Observables.dump=true Observables.dump=false
Observables.dump_filename=./observables.dat Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=OFF ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100 PVT.output_rate_ms=100
PVT.display_rate_ms=500 PVT.display_rate_ms=500

26
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -443,8 +443,8 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
int glo_valid_obs = 0; // GLONASS L1/L2 valid observations counter int glo_valid_obs = 0; // GLONASS L1/L2 valid observations counter
std::array<obsd_t, MAXOBS> obs_data{}; std::array<obsd_t, MAXOBS> obs_data{};
std::array<eph_t, MAXOBS> eph_data{}; std::vector<eph_t> eph_data(MAXOBS);
std::array<geph_t, MAXOBS> geph_data{}; std::vector<geph_t> geph_data(MAXOBS);
// Workaround for NAV/CNAV clash problem // Workaround for NAV/CNAV clash problem
bool gps_dual_band = false; bool gps_dual_band = false;
@ -783,7 +783,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs], obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
1); // Band 3 (L2/G2/B3) 2); // Band 3 (L2/G2/B3)
found_B1I_obs = true; found_B1I_obs = true;
break; break;
} }
@ -801,7 +801,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs, obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second, gnss_observables_iter->second,
beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET, beidou_ephemeris_iter->second.i_BEIDOU_week + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
1); // Band 2 (L2/G2) 2); // Band 2 (L2/G2)
valid_obs++; valid_obs++;
} }
} }
@ -827,7 +827,6 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
if ((valid_obs + glo_valid_obs) > 3) if ((valid_obs + glo_valid_obs) > 3)
{ {
int result = 0; int result = 0;
int sat = 0;
nav_t nav_data{}; nav_t nav_data{};
nav_data.eph = eph_data.data(); nav_data.eph = eph_data.data();
nav_data.geph = geph_data.data(); nav_data.geph = geph_data.data();
@ -913,21 +912,8 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
nav_data.leaps = beidou_dnav_utc_model.d_DeltaT_LS; nav_data.leaps = beidou_dnav_utc_model.d_DeltaT_LS;
} }
for (auto &lambda_ : nav_data.lam) /* update carrier wave length using native function call in RTKlib */
{ uniqnav(&nav_data);
lambda_[0] = SPEED_OF_LIGHT / FREQ1; // L1/E1
lambda_[1] = SPEED_OF_LIGHT / FREQ2; // L2
lambda_[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
// Keep update on sat number
sat++;
if (sat > NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS and sat < NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS + NSYSBDS)
{
lambda_[0] = SPEED_OF_LIGHT / FREQ1_BDS; // B1I
lambda_[1] = SPEED_OF_LIGHT / FREQ3_BDS; // B3I
lambda_[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
}
}
result = rtkpos(&rtk_, obs_data.data(), valid_obs + glo_valid_obs, &nav_data); result = rtkpos(&rtk_, obs_data.data(), valid_obs + glo_valid_obs, &nav_data);

11
src/algorithms/libs/beidou_b1i_signal_processing.cc
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@ -32,17 +32,20 @@
#include "beidou_b1i_signal_processing.h" #include "beidou_b1i_signal_processing.h"
#include <array> #include <array>
#include <bitset>
#include <string>
auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); }; auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void beidou_b1i_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift) void beidou_b1i_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift)
{ {
const uint32_t _code_length = 2046; const uint32_t _code_length = 2046;
std::array<bool, _code_length> G1{}; std::bitset<_code_length> G1{};
std::array<bool, _code_length> G2{}; std::bitset<_code_length> G2{};
std::bitset<11> G1_register(std::string("01010101010"));
std::bitset<11> G2_register(std::string("01010101010"));
std::array<bool, 11> G1_register{false, true, false, true, false, true, false, true, false, true, false};
std::array<bool, 11> G2_register{false, true, false, true, false, true, false, true, false, true, false};
bool feedback1, feedback2; bool feedback1, feedback2;
bool aux; bool aux;
uint32_t lcv, lcv2; uint32_t lcv, lcv2;

147
src/algorithms/libs/beidou_b3i_signal_processing.cc
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@ -32,85 +32,90 @@
#include "beidou_b3i_signal_processing.h" #include "beidou_b3i_signal_processing.h"
#include <array> #include <array>
#include <bitset>
#include <string>
auto auxCeil = [](float x) { return static_cast<int>(static_cast<long>((x) + 1)); }; auto auxCeil = [](float x) { return static_cast<int>(static_cast<long>((x) + 1)); };
void beidou_b3i_code_gen_int(gsl::span<int> _dest, signed int _prn, unsigned int _chip_shift) void beidou_b3i_code_gen_int(gsl::span<int> _dest, signed int _prn, unsigned int _chip_shift)
{ {
const unsigned int _code_length = 10230; const unsigned int _code_length = 10230;
std::array<bool, _code_length> G1{}; std::bitset<_code_length> G1{};
std::array<bool, _code_length> G2{}; std::bitset<_code_length> G2{};
std::array<bool, 13> G1_register = {{true, true, true, true, true, true, true, true, true, true, true, true, true}}; auto G1_register = std::move(std::bitset<13>{}.set()); // All true
std::array<bool, 13> G2_register = {{true, true, true, true, true, true, true, true, true, true, true, true, true}}; auto G2_register = std::move(std::bitset<13>{}.set()); // All true
std::array<bool, 13> G1_register_reset = {{false, false, true, true, true, true, true, true, true, true, true, true, true}}; auto G1_register_reset = std::move(std::bitset<13>{}.set());
G1_register_reset.reset(0);
G1_register_reset.reset(1); // {false, false, true, true, true, true, true, true, true, true, true, true, true};
bool feedback1, feedback2, aux; bool feedback1, feedback2, aux;
uint32_t lcv, lcv2, delay; uint32_t lcv, lcv2, delay;
int32_t prn_idx = _prn - 1; int32_t prn_idx = _prn - 1;
std::array<std::array<bool, 13>, 63> G2_register_shifted = const std::array<std::bitset<13>, 63> G2_register_shifted =
{{{{true, false, true, false, true, true, true, true, true, true, true, true, true}}, {std::bitset<13>(std::string("1010111111111")),
{{true, true, true, true, false, false, false, true, false, true, false, true, true}}, std::bitset<13>(std::string("1111000101011")),
{{true, false, true, true, true, true, false, false, false, true, false, true, false}}, std::bitset<13>(std::string("1011110001010")),
{{true, true, true, true, true, true, true, true, true, true, false, true, true}}, std::bitset<13>(std::string("1111111111011")),
{{true, true, false, false, true, false, false, false, true, true, true, true, true}}, std::bitset<13>(std::string("1100100011111")),
{{true, false, false, true, false, false, true, true, false, false, true, false, false}}, std::bitset<13>(std::string("1001001100100")),
{{true, true, true, true, true, true, true, false, true, false, false, true, false}}, std::bitset<13>(std::string("1111111010010")),
{{true, true, true, false, true, true, true, true, true, true, true, false, true}}, std::bitset<13>(std::string("1110111111101")),
{{true, false, true, false, false, false, false, false, false, false, false, true, false}}, std::bitset<13>(std::string("1010000000010")),
{{false, false, true, false, false, false, false, false, true, true, false, true, true}}, std::bitset<13>(std::string("0010000011011")),
{{true, true, true, false, true, false, true, true, true, false, false, false, false}}, std::bitset<13>(std::string("1110101110000")),
{{false, false, true, false, true, true, false, false, true, true, true, true, false}}, std::bitset<13>(std::string("0010110011110")),
{{false, true, true, false, false, true, false, false, true, false, true, false, true}}, std::bitset<13>(std::string("0110010010101")),
{{false, true, true, true, false, false, false, true, false, false, true, true, false}}, std::bitset<13>(std::string("0111000100110")),
{{true, false, false, false, true, true, false, false, false, true, false, false, true}}, std::bitset<13>(std::string("1000110001001")),
{{true, true, true, false, false, false, true, true, true, true, true, false, false}}, std::bitset<13>(std::string("1110001111100")),
{{false, false, true, false, false, true, true, false, false, false, true, false, true}}, std::bitset<13>(std::string("0010011000101")),
{{false, false, false, false, false, true, true, true, false, true, true, false, false}}, std::bitset<13>(std::string("0000011101100")),
{{true, false, false, false, true, false, true, false, true, false, true, true, true}}, std::bitset<13>(std::string("1000101010111")),
{{false, false, false, true, false, true, true, false, true, true, true, true, false}}, std::bitset<13>(std::string("0001011011110")),
{{false, false, true, false, false, false, false, true, false, true, true, false, true}}, std::bitset<13>(std::string("0010000101101")),
{{false, false, true, false, true, true, false, false, false, true, false, true, false}}, std::bitset<13>(std::string("0010110001010")),
{{false, false, false, true, false, true, true, false, false, true, true, true, true}}, std::bitset<13>(std::string("0001011001111")),
{{false, false, true, true, false, false, true, true, false, false, false, true, false}}, std::bitset<13>(std::string("0011001100010")),
{{false, false, true, true, true, false, true, false, false, true, false, false, false}}, std::bitset<13>(std::string("0011101001000")),
{{false, true, false, false, true, false, false, true, false, true, false, false, true}}, std::bitset<13>(std::string("0100100101001")),
{{true, false, true, true, false, true, true, false, true, false, false, true, true}}, std::bitset<13>(std::string("1011011010011")),
{{true, false, true, false, true, true, true, true, false, false, false, true, false}}, std::bitset<13>(std::string("1010111100010")),
{{false, false, false, true, false, true, true, true, true, false, true, false, true}}, std::bitset<13>(std::string("0001011110101")),
{{false, true, true, true, true, true, true, true, true, true, true, true, true}}, std::bitset<13>(std::string("0111111111111")),
{{false, true, true, false, true, true, false, false, false, true, true, true, true}}, std::bitset<13>(std::string("0110110001111")),
{{true, false, true, false, true, true, false, false, false, true, false, false, true}}, std::bitset<13>(std::string("1010110001001")),
{{true, false, false, true, false, true, false, true, false, true, false, true, true}}, std::bitset<13>(std::string("1001010101011")),
{{true, true, false, false, true, true, false, true, false, false, true, false, true}}, std::bitset<13>(std::string("1100110100101")),
{{true, true, false, true, false, false, true, false, true, true, true, false, true}}, std::bitset<13>(std::string("1101001011101")),
{{true, true, true, true, true, false, true, true, true, false, true, false, false}}, std::bitset<13>(std::string("1111101110100")),
{{false, false, true, false, true, false, true, true, false, false, true, true, true}}, std::bitset<13>(std::string("0010101100111")),
{{true, true, true, false, true, false, false, false, true, false, false, false, false}}, std::bitset<13>(std::string("1110100010000")),
{{true, true, false, true, true, true, false, false, true, false, false, false, false}}, std::bitset<13>(std::string("1101110010000")),
{{true, true, false, true, false, true, true, false, false, true, true, true, false}}, std::bitset<13>(std::string("1101011001110")),
{{true, false, false, false, false, false, false, true, true, false, true, false, false}}, std::bitset<13>(std::string("1000000110100")),
{{false, true, false, true, true, true, true, false, true, true, false, false, true}}, std::bitset<13>(std::string("0101111011001")),
{{false, true, true, false, true, true, false, true, true, true, true, false, false}}, std::bitset<13>(std::string("0110110111100")),
{{true, true, false, true, false, false, true, true, true, false, false, false, true}}, std::bitset<13>(std::string("1101001110001")),
{{false, false, true, true, true, false, false, true, false, false, false, true, false}}, std::bitset<13>(std::string("0011100100010")),
{{false, true, false, true, false, true, true, false, false, false, true, false, true}}, std::bitset<13>(std::string("0101011000101")),
{{true, false, false, true, true, true, true, true, false, false, true, true, false}}, std::bitset<13>(std::string("1001111100110")),
{{true, true, true, true, true, false, true, false, false, true, false, false, false}}, std::bitset<13>(std::string("1111101001000")),
{{false, false, false, false, true, false, true, false, false, true, false, false, true}}, std::bitset<13>(std::string("0000101001001")),
{{true, false, false, false, false, true, false, true, false, true, true, false, false}}, std::bitset<13>(std::string("1000010101100")),
{{true, true, true, true, false, false, true, false, false, true, true, false, false}}, std::bitset<13>(std::string("1111001001100")),
{{false, true, false, false, true, true, false, false, false, true, true, true, true}}, std::bitset<13>(std::string("0100110001111")),
{{false, false, false, false, false, false, false, false, true, true, false, false, false}}, std::bitset<13>(std::string("0000000011000")),
{{true, false, false, false, false, false, false, false, false, false, true, false, false}}, std::bitset<13>(std::string("1000000000100")),
{{false, false, true, true, false, true, false, true, false, false, true, true, false}}, std::bitset<13>(std::string("0011010100110")),
{{true, false, true, true, false, false, true, false, false, false, true, true, false}}, std::bitset<13>(std::string("1011001000110")),
{{false, true, true, true, false, false, true, true, true, true, false, false, false}}, std::bitset<13>(std::string("0111001111000")),
{{false, false, true, false, true, true, true, false, false, true, false, true, false}}, std::bitset<13>(std::string("0010111001010")),
{{true, true, false, false, true, true, true, true, true, false, true, true, false}}, std::bitset<13>(std::string("1100111110110")),
{{true, false, false, true, false, false, true, false, false, false, true, false, true}}, std::bitset<13>(std::string("1001001000101")),
{{false, true, true, true, false, false, false, true, false, false, false, false, false}}, std::bitset<13>(std::string("0111000100000")),
{{false, false, true, true, false, false, true, false, false, false, false, true, false}}, std::bitset<13>(std::string("0011001000010")),
{{false, false, true, false, false, false, true, false, false, true, true, true, false}}}}; std::bitset<13>(std::string("0010001001110"))};
// A simple error check // A simple error check
if ((prn_idx < 0) || (prn_idx > 63)) if ((prn_idx < 0) || (prn_idx > 63))
@ -120,7 +125,6 @@ void beidou_b3i_code_gen_int(gsl::span<int> _dest, signed int _prn, unsigned int
// Assign shifted G2 register based on prn number // Assign shifted G2 register based on prn number
G2_register = G2_register_shifted[prn_idx]; G2_register = G2_register_shifted[prn_idx];
std::reverse(G2_register.begin(), G2_register.end());
// Generate G1 and G2 Register // Generate G1 and G2 Register
for (lcv = 0; lcv < _code_length; lcv++) for (lcv = 0; lcv < _code_length; lcv++)
@ -128,7 +132,6 @@ void beidou_b3i_code_gen_int(gsl::span<int> _dest, signed int _prn, unsigned int
G1[lcv] = G1_register[0]; G1[lcv] = G1_register[0];
G2[lcv] = G2_register[0]; G2[lcv] = G2_register[0];
//feedback1 = (test_G1_register[0]+test_G1_register[2]+test_G1_register[3]+test_G1_register[12]) & 0x1;
feedback1 = G1_register[0] xor G1_register[9] xor G1_register[10] xor G1_register[12]; feedback1 = G1_register[0] xor G1_register[9] xor G1_register[10] xor G1_register[12];
feedback2 = G2_register[0] xor G2_register[1] xor G2_register[3] xor G2_register[4] xor feedback2 = G2_register[0] xor G2_register[1] xor G2_register[3] xor G2_register[4] xor
G2_register[6] xor G2_register[7] xor G2_register[8] xor G2_register[12]; G2_register[6] xor G2_register[7] xor G2_register[8] xor G2_register[12];
@ -145,7 +148,7 @@ void beidou_b3i_code_gen_int(gsl::span<int> _dest, signed int _prn, unsigned int
// Reset G1 register if sequence found // Reset G1 register if sequence found
if (G1_register == G1_register_reset) if (G1_register == G1_register_reset)
{ {
G1_register = {{true, true, true, true, true, true, true, true, true, true, true, true, true}}; G1_register = std::move(std::bitset<13>{}.set()); // All true
} }
} }

9
src/algorithms/libs/gps_sdr_signal_processing.cc
View File

@ -32,16 +32,17 @@
#include "gps_sdr_signal_processing.h" #include "gps_sdr_signal_processing.h"
#include <array> #include <array>
#include <bitset>
auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); }; auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void gps_l1_ca_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift) void gps_l1_ca_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift)
{ {
const uint32_t _code_length = 1023; const uint32_t _code_length = 1023;
std::array<bool, _code_length> G1{}; std::bitset<_code_length> G1{};
std::array<bool, _code_length> G2{}; std::bitset<_code_length> G2{};
std::array<bool, 10> G1_register{}; std::bitset<10> G1_register{};
std::array<bool, 10> G2_register{}; std::bitset<10> G2_register{};
bool feedback1, feedback2; bool feedback1, feedback2;
bool aux; bool aux;
uint32_t lcv, lcv2; uint32_t lcv, lcv2;

7
src/algorithms/libs/rtklib/rtklib_pntpos.cc
View File

@ -166,9 +166,8 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
return 0.0; return 0.0;
} }
/* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS/BDS */
/* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */ if (sys == SYS_GAL or sys == SYS_SBS or sys == SYS_BDS)
if (sys == SYS_GAL or sys == SYS_SBS)
{ {
j = 2; j = 2;
} }
@ -285,7 +284,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
if (sys == SYS_BDS) if (sys == SYS_BDS)
{ {
P2 += P2_C2; /* C2->P2 */ P2 += P2_C2; /* C2->P2 */
PC = P2; // no tgd corrections for B3I PC = P2; // no tgd corrections for B3I
} }
else if (sys == SYS_GAL or sys == SYS_GLO or sys == SYS_BDS) // Gal. E5a single freq. else if (sys == SYS_GAL or sys == SYS_GLO or sys == SYS_BDS) // Gal. E5a single freq.
{ {

2
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
View File

@ -271,7 +271,7 @@ void beidou_b1i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
std::shared_ptr<Beidou_Dnav_Iono> tmp_obj = std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono()); std::shared_ptr<Beidou_Dnav_Iono> tmp_obj = std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Iono have been received in channel" << d_channel << " from satellite " << d_satellite; LOG(INFO) << "BEIDOU DNAV Iono have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << "New BEIDOU B1I DNAV Iono message received in channel " << d_channel << ": Iono model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; std::cout << TEXT_YELLOW << "New BEIDOU B1I DNAV Iono message received in channel " << d_channel << ": Iono model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
} }
if (d_nav.have_new_almanac() == true) if (d_nav.have_new_almanac() == true)
{ {

6
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -181,9 +181,9 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_symbol_history.set_capacity(d_required_symbols + 1); d_symbol_history.set_capacity(d_required_symbols + 1);
// vars for Viterbi decoder // vars for Viterbi decoder
int32_t max_states = 1 << mm; // 2^mm int32_t max_states = 1U << static_cast<uint32_t>(mm); // 2^mm
g_encoder[0] = 121; // Polynomial G1 g_encoder[0] = 121; // Polynomial G1
g_encoder[1] = 91; // Polynomial G2 g_encoder[1] = 91; // Polynomial G2
out0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment())); out0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
out1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment())); out1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
state0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment())); state0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));

34
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
View File

@ -145,18 +145,18 @@ bool gps_l1_ca_telemetry_decoder_gs::gps_word_parityCheck(uint32_t gpsword)
// up bits which are to be XOR'ed together to implement the GPS parity // up bits which are to be XOR'ed together to implement the GPS parity
// check algorithm described in IS-GPS-200E. This avoids lengthy shift- // check algorithm described in IS-GPS-200E. This avoids lengthy shift-
// and-xor loops. // and-xor loops.
d1 = gpsword & 0xFBFFBF00; d1 = gpsword & 0xFBFFBF00U;
d2 = _rotl(gpsword, 1) & 0x07FFBF01; d2 = _rotl(gpsword, 1U) & 0x07FFBF01U;
d3 = _rotl(gpsword, 2) & 0xFC0F8100; d3 = _rotl(gpsword, 2U) & 0xFC0F8100U;
d4 = _rotl(gpsword, 3) & 0xF81FFE02; d4 = _rotl(gpsword, 3U) & 0xF81FFE02U;
d5 = _rotl(gpsword, 4) & 0xFC00000E; d5 = _rotl(gpsword, 4U) & 0xFC00000EU;
d6 = _rotl(gpsword, 5) & 0x07F00001; d6 = _rotl(gpsword, 5U) & 0x07F00001U;
d7 = _rotl(gpsword, 6) & 0x00003000; d7 = _rotl(gpsword, 6U) & 0x00003000U;
t = d1 ^ d2 ^ d3 ^ d4 ^ d5 ^ d6 ^ d7; t = d1 ^ d2 ^ d3 ^ d4 ^ d5 ^ d6 ^ d7;
// Now XOR the 5 6-bit fields together to produce the 6-bit final result. // Now XOR the 5 6-bit fields together to produce the 6-bit final result.
parity = t ^ _rotl(t, 6) ^ _rotl(t, 12) ^ _rotl(t, 18) ^ _rotl(t, 24); parity = t ^ _rotl(t, 6U) ^ _rotl(t, 12U) ^ _rotl(t, 18U) ^ _rotl(t, 24U);
parity = parity & 0x3F; parity = parity & 0x3FU;
if (parity == (gpsword & 0x3F)) if (parity == (gpsword & 0x3FU))
{ {
return true; return true;
} }
@ -230,19 +230,19 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
// Bits 0 to 29 = the GPS data word // Bits 0 to 29 = the GPS data word
// Bits 30 to 31 = 2 LSBs of the GPS word ahead. // Bits 30 to 31 = 2 LSBs of the GPS word ahead.
// prepare the extended frame [-2 -1 0 ... 30] // prepare the extended frame [-2 -1 0 ... 30]
if (d_prev_GPS_frame_4bytes & 0x00000001) if (d_prev_GPS_frame_4bytes & 0x00000001U)
{ {
GPS_frame_4bytes = GPS_frame_4bytes | 0x40000000; GPS_frame_4bytes = GPS_frame_4bytes | 0x40000000U;
} }
if (d_prev_GPS_frame_4bytes & 0x00000002) if (d_prev_GPS_frame_4bytes & 0x00000002U)
{ {
GPS_frame_4bytes = GPS_frame_4bytes | 0x80000000; GPS_frame_4bytes = GPS_frame_4bytes | 0x80000000U;
} }
// Check that the 2 most recently logged words pass parity. Have to first // Check that the 2 most recently logged words pass parity. Have to first
// invert the data bits according to bit 30 of the previous word. // invert the data bits according to bit 30 of the previous word.
if (GPS_frame_4bytes & 0x40000000) if (GPS_frame_4bytes & 0x40000000U)
{ {
GPS_frame_4bytes ^= 0x3FFFFFC0; // invert the data bits (using XOR) GPS_frame_4bytes ^= 0x3FFFFFC0U; // invert the data bits (using XOR)
} }
// check parity. If ANY word inside the subframe fails the parity, set subframe_synchro_confirmation = false // check parity. If ANY word inside the subframe fails the parity, set subframe_synchro_confirmation = false
if (not gps_l1_ca_telemetry_decoder_gs::gps_word_parityCheck(GPS_frame_4bytes)) if (not gps_l1_ca_telemetry_decoder_gs::gps_word_parityCheck(GPS_frame_4bytes))
@ -258,7 +258,7 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
} }
else else
{ {
GPS_frame_4bytes <<= 1; // shift 1 bit left the telemetry word GPS_frame_4bytes <<= 1U; // shift 1 bit left the telemetry word
} }
} }

4
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -667,7 +667,7 @@ void dll_pll_veml_tracking::start_tracking()
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_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);
@ -687,7 +687,7 @@ void dll_pll_veml_tracking::start_tracking()
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_correlation_length_ms = 1; d_correlation_length_ms = 1;
d_code_samples_per_chip = 1; d_code_samples_per_chip = 1;
d_secondary = true; d_secondary = false;
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);