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Modify dump file pcps acquisition

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This commit is contained in:
Antonio Ramos 2018-01-23 12:28:29 +01:00
parent 08abbc6752
commit ba38f8286d
3 changed files with 175 additions and 99 deletions
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78
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
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@ -42,6 +42,7 @@
#include <volk_gnsssdr/volk_gnsssdr.h>
#include "control_message_factory.h"
#include "GPS_L1_CA.h" //GPS_TWO_PI
#include <matio.h>
using google::LogMessage;
@ -95,9 +96,6 @@ pcps_acquisition_cc::pcps_acquisition_cc(
d_code_phase = 0;
d_test_statistics = 0.0;
d_channel = 0;
d_doppler_freq = 0.0;
//set_relative_rate( 1.0/d_fft_size );
// COD:
// Experimenting with the overlap/save technique for handling bit trannsitions
@ -110,10 +108,10 @@ pcps_acquisition_cc::pcps_acquisition_cc(
// We can avoid this by doing linear correlation, effectively doubling the
// size of the input buffer and padding the code with zeros.
if( d_bit_transition_flag )
{
d_fft_size *= 2;
d_max_dwells = 1; //Activation of d_bit_transition_flag invalidates the value of d_max_dwells
}
{
d_fft_size *= 2;
d_max_dwells = 1; //Activation of d_bit_transition_flag invalidates the value of d_max_dwells
}
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
@ -132,6 +130,7 @@ pcps_acquisition_cc::pcps_acquisition_cc(
d_blocking = blocking;
d_worker_active = false;
d_data_buffer = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
grid_ = arma::fmat();
}
@ -145,18 +144,11 @@ pcps_acquisition_cc::~pcps_acquisition_cc()
}
delete[] d_grid_doppler_wipeoffs;
}
volk_gnsssdr_free(d_fft_codes);
volk_gnsssdr_free(d_magnitude);
delete d_ifft;
delete d_fft_if;
if (d_dump)
{
d_dump_file.close();
}
volk_gnsssdr_free( d_data_buffer );
volk_gnsssdr_free(d_data_buffer);
}
@ -217,6 +209,12 @@ void pcps_acquisition_cc::init()
update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_freq + doppler);
}
d_worker_active = false;
if(d_dump)
{
unsigned int effective_fft_size = (d_bit_transition_flag ? (d_fft_size / 2) : d_fft_size);
grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins, arma::fill::zeros);
}
}
@ -348,6 +346,9 @@ void pcps_acquisition_cc::acquisition_core( unsigned long int samp_count )
{
gr::thread::scoped_lock lk(d_setlock);
mat_t* matfp = NULL;
matvar_t* matvar = NULL;
// initialize acquisition algorithm
int doppler;
uint32_t indext = 0;
@ -440,26 +441,39 @@ void pcps_acquisition_cc::acquisition_core( unsigned long int samp_count )
}
// Record results to file if required
if (d_dump)
{
if(doppler_index == 0)
{
std::stringstream filename;
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
boost::filesystem::path p = d_dump_filename;
filename << p.parent_path().string()
<< boost::filesystem::path::preferred_separator
<< p.stem().string()
<< "_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_"
<< doppler
<< p.extension().string();
std::string filename = d_dump_filename;
filename.append("_");
filename.append(1, d_gnss_synchro->System);
filename.append("_sat_");
filename.append(std::to_string(d_gnss_synchro->PRN));
filename.append(".mat");
DLOG(INFO) << "Writing ACQ out to " << filename.str();
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close();
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
}
memcpy(grid_.colptr(doppler_index), d_magnitude, sizeof(float) * effective_fft_size);
if(doppler_index == (d_num_doppler_bins - 1))
{
size_t dims[2] = {static_cast<size_t>(effective_fft_size), static_cast<size_t>(d_num_doppler_bins)};
matvar = Mat_VarCreate("grid", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, grid_.memptr(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
dims[0] = static_cast<size_t>(1);
dims[1] = static_cast<size_t>(1);
matvar = Mat_VarCreate("doppler_max", MAT_C_SINGLE, MAT_T_UINT32, 1, dims, &d_doppler_max, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("doppler_step", MAT_C_SINGLE, MAT_T_UINT32, 1, dims, &d_doppler_step, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
Mat_Close(matfp);
}
}
}
lk.lock();
if (!d_bit_transition_flag)

134
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
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@ -59,6 +59,7 @@
#include <gnuradio/fft/fft.h>
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <armadillo>
class pcps_acquisition_cc;
@ -81,6 +82,7 @@ pcps_make_acquisition_cc(unsigned int sampled_ms, unsigned int max_dwells,
class pcps_acquisition_cc: public gr::block
{
private:
friend pcps_acquisition_cc_sptr
pcps_make_acquisition_cc(unsigned int sampled_ms, unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in,
@ -101,145 +103,143 @@ private:
void acquisition_core( unsigned long int samp_count );
void send_negative_acquisition();
void send_positive_acquisition();
bool d_bit_transition_flag;
bool d_use_CFAR_algorithm_flag;
bool d_active;
bool d_dump;
bool d_worker_active;
bool d_blocking;
float d_threshold;
float d_mag;
float d_input_power;
float d_test_statistics;
float* d_magnitude;
long d_fs_in;
long d_freq;
int d_samples_per_ms;
int d_samples_per_code;
//unsigned int d_doppler_resolution;
float d_threshold;
int d_state;
unsigned int d_channel;
unsigned int d_doppler_max;
unsigned int d_doppler_step;
unsigned int d_sampled_ms;
unsigned int d_max_dwells;
unsigned int d_well_count;
unsigned int d_fft_size;
unsigned int d_num_doppler_bins;
unsigned int d_code_phase;
unsigned long int d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_codes;
gr_complex* d_data_buffer;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
float d_input_power;
float d_test_statistics;
bool d_bit_transition_flag;
bool d_use_CFAR_algorithm_flag;
std::ofstream d_dump_file;
bool d_active;
int d_state;
bool d_dump;
unsigned int d_channel;
Gnss_Synchro* d_gnss_synchro;
std::string d_dump_filename;
bool d_worker_active;
bool d_blocking;
gr_complex *d_data_buffer;
arma::fmat grid_;
public:
/*!
* \brief Default destructor.
*/
~pcps_acquisition_cc();
~pcps_acquisition_cc();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
inline void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_gnss_synchro = p_gnss_synchro;
}
inline void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_gnss_synchro = p_gnss_synchro;
}
/*!
* \brief Returns the maximum peak of grid search.
*/
inline unsigned int mag() const
{
return d_mag;
}
/*!
* \brief Returns the maximum peak of grid search.
*/
inline unsigned int mag() const
{
return d_mag;
}
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
void init();
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code(std::complex<float> * code);
void set_local_code(std::complex<float> * code);
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
inline void set_active(bool active)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_active = active;
}
inline void set_active(bool active)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_active = active;
}
/*!
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state);
void set_state(int state);
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
inline void set_channel(unsigned int channel)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_channel = channel;
}
inline void set_channel(unsigned int channel)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_channel = channel;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
inline void set_threshold(float threshold)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_threshold = threshold;
}
inline void set_threshold(float threshold)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_threshold = threshold;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
inline void set_doppler_max(unsigned int doppler_max)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_doppler_max = doppler_max;
}
inline void set_doppler_max(unsigned int doppler_max)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_doppler_max = doppler_max;
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
inline void set_doppler_step(unsigned int doppler_step)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_doppler_step = doppler_step;
}
inline void set_doppler_step(unsigned int doppler_step)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_doppler_step = doppler_step;
}
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
};

62
src/utils/matlab/plot_acq_grid.m Normal file
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@ -0,0 +1,62 @@
% /*!
% * \file plot_acq_grid.m
% * \brief Read GNSS-SDR Acquisition dump .mat file using the provided
% function and plot acquisition grid of acquisition statistic of PRN sat
%
%
% * \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
%%%%%%%%% ¡¡¡ CONFIGURE !!! %%%%%%%%%%%%%
sat = 27;
n_chips = 1023;
system = 'G'; % GPS = 'G', Galileo = 'E'
%%% True for light grid representation
lite_view = true;
%%% If lite_view, it sets the number of samples per chip in the graphical representation
n_samples_per_chip = 4;
path='/home/aramos/signals/';
file=['acq_' system '_sat_' num2str(sat) '.mat'];
load([path file]);
[n_fft n_dop_bins] = size(grid);
freq = (0 : n_dop_bins - 1) * doppler_step - doppler_max;
delay = (0 : n_fft - 1) / n_fft * n_chips;
figure(1)
if(lite_view == false)
mesh(freq, delay, grid)
else
delay_interp = (0 : n_samples_per_chip * n_chips - 1) / n_samples_per_chip;
grid_interp = spline(delay, grid', delay_interp)';
mesh(freq, delay_interp, grid_interp)
end
xlabel('Doppler shift / Hz')
ylabel('Code delay / chips')
zlabel('Test statistics')