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TCP connector for Galileo tracking improved. Code cleaning in Galileo tracking 

git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@259 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas 2012-10-27 11:50:35 +00:00
parent 16c4f4c919
commit b86d611314
4 changed files with 118 additions and 155 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
View File

@ -99,7 +99,6 @@ galileo_e1_dll_pll_veml_tracking_cc::galileo_e1_dll_pll_veml_tracking_cc(
gr_block ("galileo_e1_dll_pll_veml_tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
gr_make_io_signature(1, 1, sizeof(Gnss_Synchro)))
{
d_debug_counter = 0;
this->set_relative_rate(1.0/vector_length);
// initialize internal vars
d_queue = queue;
@ -316,7 +315,6 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
d_pull_in = false;
d_debug_counter++;
consume_each(samples_offset); //shift input to perform alignment with local replica
return 1;
}

3
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h
View File

@ -172,7 +172,6 @@ private:
//PRN period in samples
int d_current_prn_length_samples;
//double d_sample_counter_seconds;
//processing samples counters
unsigned long int d_sample_counter;
@ -197,8 +196,6 @@ private:
std::map<std::string, std::string> systemName;
std::string sys;
//debug
int d_debug_counter;
};
#endif //GNSS_SDR_GALILEO_E1_DLL_PLL_VEML_TRACKING_CC_H

257
src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc
View File

@ -86,15 +86,12 @@ galileo_e1_tcp_connector_make_tracking_cc(
}
void Galileo_E1_Tcp_Connector_Tracking_cc::forecast (int noutput_items,
gr_vector_int &ninput_items_required)
{
ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call
}
Galileo_E1_Tcp_Connector_Tracking_cc::Galileo_E1_Tcp_Connector_Tracking_cc(
long if_freq,
long fs_in,
@ -118,14 +115,8 @@ Galileo_E1_Tcp_Connector_Tracking_cc::Galileo_E1_Tcp_Connector_Tracking_cc(
d_fs_in = fs_in;
d_vector_length = vector_length;
d_dump_filename = dump_filename;
d_code_loop_filter=Tracking_2nd_DLL_filter(0.004);
d_carrier_loop_filter=Tracking_2nd_PLL_filter(0.004);
// Initialize tracking ==========================================
d_code_loop_filter.set_DLL_BW(dll_bw_hz);
d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
//--- DLL variables --------------------------------------------------------
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
d_very_early_late_spc_chips = very_early_late_space_chips; // Define very-early-late offset (in chips)
@ -138,11 +129,8 @@ Galileo_E1_Tcp_Connector_Tracking_cc::Galileo_E1_Tcp_Connector_Tracking_cc(
// Initialization of local code replica
// Get space for a vector with the sinboc(1,1) replica sampled 2x/chip
// int d_ca_code_size = (int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 4);
d_ca_code = new gr_complex[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 4)];
// std::cout << "d_ca_code_size = " << d_ca_code_size << std::endl;
/* If an array is partitioned for more than one thread to operate on,
* having the sub-array boundaries unaligned to cache lines could lead
* to performance degradation. Here we allocate memory
@ -167,17 +155,14 @@ Galileo_E1_Tcp_Connector_Tracking_cc::Galileo_E1_Tcp_Connector_Tracking_cc(
//--- Perform initializations ------------------------------
// define initial code frequency basis of NCO
d_code_freq_hz = Galileo_E1_CODE_CHIP_RATE_HZ;
d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ;
// define residual code phase (in chips)
d_rem_code_phase_samples = 0.0;
// define residual carrier phase
d_rem_carr_phase_rad = 0.0;
// define phase step
d_code_phase_step_chips = d_code_freq_hz / (float)d_fs_in; //[chips]
// sample synchronization
d_sample_counter = 0;
//d_sample_counter_seconds = 0;
d_acq_sample_stamp = 0;
d_enable_tracking = false;
@ -203,33 +188,27 @@ Galileo_E1_Tcp_Connector_Tracking_cc::Galileo_E1_Tcp_Connector_Tracking_cc(
void Galileo_E1_Tcp_Connector_Tracking_cc::start_tracking()
{
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); //initialize the carrier filter
d_code_loop_filter.initialize(); //initialize the code filter
// generate local reference ALWAYS starting at chip 2 (2 samples per chip)
galileo_e1_code_gen_complex_sampled(&d_ca_code[2],d_acquisition_gnss_synchro->Signal, false, d_acquisition_gnss_synchro->PRN, 2*Galileo_E1_CODE_CHIP_RATE_HZ, 0);
// Fill head and tail
d_ca_code[0] = d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS)];
d_ca_code[1] = d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS+1)];
d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS+2)] = d_ca_code[2];
d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS+3)] = d_ca_code[3];
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0.0;
d_rem_carr_phase_rad = 0;
d_next_rem_code_phase_samples = 0;
d_acc_carrier_phase_rad = 0;
d_code_phase_samples = d_acq_code_phase_samples;
d_acc_code_phase_secs = 0;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_next_prn_length_samples = d_vector_length;
d_current_prn_length_samples = d_vector_length;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0,1);
@ -249,7 +228,6 @@ void Galileo_E1_Tcp_Connector_Tracking_cc::start_tracking()
void Galileo_E1_Tcp_Connector_Tracking_cc::update_local_code()
{
double tcode_half_chips;
float rem_code_phase_half_chips;
int associated_chip_index;
@ -260,18 +238,17 @@ void Galileo_E1_Tcp_Connector_Tracking_cc::update_local_code()
int very_early_late_spc_samples;
int epl_loop_length_samples;
// unified loop for E, P, L code vectors
code_phase_step_chips = ((double)d_code_freq_hz) / ((double)d_fs_in);
code_phase_step_half_chips = (2.0*(double)d_code_freq_hz) / ((double)d_fs_in);
// unified loop for VE, E, P, L, VL code vectors
code_phase_step_chips = ((double)d_code_freq_chips) / ((double)d_fs_in);
code_phase_step_half_chips = (2.0*(double)d_code_freq_chips) / ((double)d_fs_in);
rem_code_phase_half_chips = d_rem_code_phase_samples * (2*d_code_freq_hz / d_fs_in);
rem_code_phase_half_chips = d_rem_code_phase_samples * (2*d_code_freq_chips / d_fs_in);
tcode_half_chips = -(double)rem_code_phase_half_chips;
early_late_spc_samples=round(d_early_late_spc_chips/code_phase_step_chips);
very_early_late_spc_samples=round(d_very_early_late_spc_chips/code_phase_step_chips);
epl_loop_length_samples=d_current_prn_length_samples+very_early_late_spc_samples*2;
early_late_spc_samples = round(d_early_late_spc_chips / code_phase_step_chips);
very_early_late_spc_samples = round(d_very_early_late_spc_chips / code_phase_step_chips);
epl_loop_length_samples = d_current_prn_length_samples + very_early_late_spc_samples*2;
for (int i=0; i<epl_loop_length_samples; i++)
{
@ -279,34 +256,27 @@ void Galileo_E1_Tcp_Connector_Tracking_cc::update_local_code()
d_very_early_code[i] = d_ca_code[associated_chip_index];
tcode_half_chips = tcode_half_chips + code_phase_step_half_chips;
}
memcpy(d_early_code,&d_very_early_code[very_early_late_spc_samples-early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_prompt_code,&d_very_early_code[very_early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_late_code,&d_very_early_code[2*very_early_late_spc_samples-early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_very_late_code,&d_very_early_code[2*very_early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_early_code, &d_very_early_code[very_early_late_spc_samples - early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_prompt_code, &d_very_early_code[very_early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_late_code, &d_very_early_code[2*very_early_late_spc_samples - early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_very_late_code, &d_very_early_code[2*very_early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
}
void Galileo_E1_Tcp_Connector_Tracking_cc::update_local_carrier()
{
float phase_rad, phase_step_rad;
// Compute the carrier phase step for the K-1 carrier doppler estimation
phase_step_rad = (float)GPS_TWO_PI*d_carrier_doppler_hz / (float)d_fs_in;
// Initialize the carrier phase with the remanent carrier phase of the K-2 loop
phase_rad = d_rem_carr_phase_rad;
for(int i = 0; i < d_current_prn_length_samples; i++)
{
d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
phase_rad += phase_step_rad;
}
d_rem_carr_phase_rad = fmod(phase_rad, GPS_TWO_PI);
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + d_rem_carr_phase_rad;
}
Galileo_E1_Tcp_Connector_Tracking_cc::~Galileo_E1_Tcp_Connector_Tracking_cc()
{
d_dump_file.close();
@ -335,45 +305,40 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_ve
{
// process vars
float carr_nco_hz;
float code_nco_chips;
float carr_error_filt_hz;
float code_error_filt_chips;
tcp_packet_data tcp_data;
if (d_enable_tracking == true)
{
/*
* Receiver signal alignment
*/
if (d_pull_in == true)
{
int samples_offset;
float acq_trk_shif_correction_samples;
int acq_to_trk_delay_samples;
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
acq_trk_shif_correction_samples = d_next_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_next_prn_length_samples);
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
//d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / (double)d_fs_in);
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
d_pull_in = false;
consume_each(samples_offset); //shift input to perform alignement with local replica
return 1;
}
if (d_pull_in == true)
{
/*
* Signal alignment (skip samples until the incoming signal is aligned with local replica)
*/
int samples_offset;
float acq_trk_shif_correction_samples;
int acq_to_trk_delay_samples;
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_current_prn_length_samples);
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
d_pull_in = false;
consume_each(samples_offset); //shift input to perform alignment with local replica
return 1;
}
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data;
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data;
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignement
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
// Update the prn length based on code freq (variable) and
// sampling frequency (fixed)
// variable code PRN sample block size
d_current_prn_length_samples = d_next_prn_length_samples;
// Block input data and block output stream pointers
const gr_complex* in = (gr_complex*) input_items[0];
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
// Generate local code and carrier replicas (using \hat{f}_d(k-1))
update_local_code();
update_local_carrier();
@ -393,7 +358,7 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_ve
d_Very_Late,
is_unaligned());
// ################## TCP CONNECTOR ##########################################################
//! Variable used for control
d_control_id++;
@ -401,71 +366,81 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_ve
boost::array<float, NUM_TX_VARIABLES_GALILEO_E1> tx_variables_array = {{d_control_id,(*d_Very_Early).real(),(*d_Very_Early).imag(),(*d_Early).real(),(*d_Early).imag(),(*d_Late).real(),(*d_Late).imag(),(*d_Very_Late).real(),(*d_Very_Late).imag(),(*d_Prompt).real(),(*d_Prompt).imag(),d_acq_carrier_doppler_hz,1}};
d_tcp_com.send_receive_tcp_packet_galileo_e1(tx_variables_array, &tcp_data);
// ################## PLL ##########################################################
// PLL discriminator, carrier loop filter implementation and NCO command generation (TCP_connector)
carr_nco_hz = tcp_data.proc_pack_carr_error;
// Modify carrier freq based on NCO command (TCP_connector)
d_carrier_doppler_hz = tcp_data.proc_pack_carrier_doppler_hz;
carr_error_filt_hz = tcp_data.proc_pack_carr_error;
// New carrier Doppler frequency estimation
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
// New code Doppler frequency estimation
d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ);
//carrier phase accumulator for (K) doppler estimation
d_acc_carrier_phase_rad=d_acc_carrier_phase_rad+GPS_TWO_PI*d_carrier_doppler_hz*Galileo_E1_CODE_PERIOD;
//remanent carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad=d_rem_carr_phase_rad+GPS_TWO_PI*d_carrier_doppler_hz*Galileo_E1_CODE_PERIOD;
d_rem_carr_phase_rad=fmod(d_rem_carr_phase_rad,GPS_TWO_PI);
// ################## DLL ##########################################################
// DLL discriminator, carrier loop filter implementation and NCO command generation (TCP_connector)
code_nco_chips = tcp_data.proc_pack_code_error;
// Modify code freq based on NCO command
d_code_freq_hz = Galileo_E1_CODE_CHIP_RATE_HZ + (d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ - code_nco_chips;
// Update the phase step based on code freq (variable) and sampling frequency (fixed)
d_code_phase_step_chips = d_code_freq_hz / (float)d_fs_in; //[chips]
code_error_filt_chips = tcp_data.proc_pack_code_error;
//Code phase accumulator
float code_error_filt_secs;
code_error_filt_secs=(Galileo_E1_CODE_PERIOD*code_error_filt_chips)/Galileo_E1_CODE_CHIP_RATE_HZ; //[seconds]
d_acc_code_phase_secs=d_acc_code_phase_secs+code_error_filt_secs;
// keep alignment parameters for the next input buffer
float T_chip_seconds;
float T_prn_seconds;
float T_prn_samples;
float K_blk_samples;
T_chip_seconds = 1 / d_code_freq_hz;
T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
T_prn_samples = T_prn_seconds * d_fs_in;
d_rem_code_phase_samples = d_next_rem_code_phase_samples;
K_blk_samples = T_prn_samples + d_rem_code_phase_samples;
d_next_prn_length_samples = round(K_blk_samples); //round to a discrete samples
d_next_rem_code_phase_samples = K_blk_samples - d_next_prn_length_samples; //rounding error
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
// keep alignment parameters for the next input buffer
float T_chip_seconds;
float T_prn_seconds;
float T_prn_samples;
float K_blk_samples;
// Compute the next buffer lenght based in the new period of the PRN sequence and the code phase error estimation
T_chip_seconds = 1 / d_code_freq_chips;
T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
T_prn_samples = T_prn_seconds * (float)d_fs_in;
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs*(float)d_fs_in;
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
/*!
* \todo Improve the lock detection algorithm!
*/
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
d_cn0_estimation_counter++;
}
else
{
d_cn0_estimation_counter = 0;
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS);
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
d_cn0_estimation_counter++;
}
else
{
d_cn0_estimation_counter = 0;
// ###### TRACKING UNLOCK NOTIFICATION #####
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Channel " << d_channel << " loss of lock!" << std::endl ;
//tracking_message = 3; //loss of lock
//d_channel_internal_queue->push(tracking_message);
ControlMessageFactory* cmf = new ControlMessageFactory();
if (d_queue != gr_msg_queue_sptr()) {
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
delete cmf;
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Channel " << d_channel << " loss of lock!" << std::endl ;
ControlMessageFactory* cmf = new ControlMessageFactory();
if (d_queue != gr_msg_queue_sptr())
{
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
delete cmf;
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}
}
}
}
// ########### Output the tracking data to navigation and PVT ##########
@ -554,15 +529,15 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_ve
// carrier and code frequency
d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
d_dump_file.write((char*)&d_code_freq_hz, sizeof(float));
d_dump_file.write((char*)&d_code_freq_chips, sizeof(float));
//PLL commands
d_dump_file.write((char*)&tmp_float, sizeof(float));
d_dump_file.write((char*)&carr_nco_hz, sizeof(float));
d_dump_file.write((char*)&carr_error_filt_hz, sizeof(float));
//DLL commands
d_dump_file.write((char*)&tmp_float, sizeof(float));
d_dump_file.write((char*)&code_nco_chips, sizeof(float));
d_dump_file.write((char*)&code_error_filt_chips, sizeof(float));
// CN0 and carrier lock test
d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));

11
src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.h
View File

@ -47,8 +47,6 @@
#include "concurrent_queue.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include "correlator.h"
#include "tcp_communication.h"
@ -139,8 +137,6 @@ private:
float d_early_late_spc_chips;
float d_very_early_late_spc_chips;
float d_code_phase_step_chips;
gr_complex* d_ca_code;
gr_complex* d_very_early_code;
@ -161,10 +157,6 @@ private:
float d_next_rem_code_phase_samples;
float d_rem_carr_phase_rad;
// PLL and DLL filter library
Tracking_2nd_DLL_filter d_code_loop_filter;
Tracking_2nd_PLL_filter d_carrier_loop_filter;
// acquisition
float d_acq_code_phase_samples;
float d_acq_carrier_doppler_hz;
@ -173,9 +165,10 @@ private:
Correlator d_correlator;
// tracking vars
float d_code_freq_hz;
float d_code_freq_chips;
float d_carrier_doppler_hz;
float d_acc_carrier_phase_rad;
float d_acc_code_phase_secs;
float d_code_phase_samples;
size_t d_port_ch0;
size_t d_port;