mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2025-10-26 04:57:40 +00:00
Code Issues Releases Wiki Activity

Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into fpga

Browse Source
This commit is contained in:
Marc Majoral
2018-11-30 11:10:38 +01:00
parent f48a91c413 6dd4733606
commit bd90563925
133 changed files with 4780 additions and 4320 deletions
Download Patch File Download Diff File Expand all files Collapse all files

144
src/algorithms/tracking/adapters/CMakeLists.txt
View File

@@ -16,81 +16,103 @@
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
if(ENABLE_CUDA)
set(OPT_TRACKING_ADAPTERS_SOURCES ${OPT_TRACKING_ADAPTERS_SOURCES} gps_l1_ca_dll_pll_tracking_gpu.cc)
set(OPT_TRACKING_ADAPTERS_HEADERS ${OPT_TRACKING_ADAPTERS_HEADERS} gps_l1_ca_dll_pll_tracking_gpu.h)
set(OPT_TRACKING_INCLUDE_DIRS ${OPT_TRACKING_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS})
endif(ENABLE_CUDA)
set(OPT_TRACKING_ADAPTERS_SOURCES
${OPT_TRACKING_ADAPTERS_SOURCES}
gps_l1_ca_dll_pll_tracking_gpu.cc
)
set(OPT_TRACKING_ADAPTERS_HEADERS
${OPT_TRACKING_ADAPTERS_HEADERS}
gps_l1_ca_dll_pll_tracking_gpu.h
)
set(OPT_TRACKING_INCLUDE_DIRS
${OPT_TRACKING_INCLUDE_DIRS}
${CUDA_INCLUDE_DIRS}
)
endif()
if(ENABLE_FPGA)
set(OPT_TRACKING_ADAPTERS_SOURCES ${OPT_TRACKING_ADAPTERS_SOURCES}
gps_l1_ca_dll_pll_tracking_fpga.cc
gps_l2_m_dll_pll_tracking_fpga.cc
galileo_e1_dll_pll_veml_tracking_fpga.cc
galileo_e5a_dll_pll_tracking_fpga.cc
gps_l5_dll_pll_tracking_fpga.cc)
set(OPT_TRACKING_ADAPTERS_HEADERS ${OPT_TRACKING_ADAPTERS_HEADERS}
gps_l1_ca_dll_pll_tracking_fpga.h
gps_l2_m_dll_pll_tracking_fpga.h
galileo_e1_dll_pll_veml_tracking_fpga.h
galileo_e5a_dll_pll_tracking_fpga.h
gps_l5_dll_pll_tracking_fpga.h)
endif(ENABLE_FPGA)
set(OPT_TRACKING_ADAPTERS_SOURCES
${OPT_TRACKING_ADAPTERS_SOURCES}
gps_l1_ca_dll_pll_tracking_fpga.cc
gps_l2_m_dll_pll_tracking_fpga.cc
galileo_e1_dll_pll_veml_tracking_fpga.cc
galileo_e5a_dll_pll_tracking_fpga.cc
gps_l5_dll_pll_tracking_fpga.cc
)
set(OPT_TRACKING_ADAPTERS_HEADERS
${OPT_TRACKING_ADAPTERS_HEADERS}
gps_l1_ca_dll_pll_tracking_fpga.h
gps_l2_m_dll_pll_tracking_fpga.h
galileo_e1_dll_pll_veml_tracking_fpga.h
galileo_e5a_dll_pll_tracking_fpga.h
gps_l5_dll_pll_tracking_fpga.h
)
endif()
set(TRACKING_ADAPTER_SOURCES
galileo_e1_dll_pll_veml_tracking.cc
galileo_e1_tcp_connector_tracking.cc
gps_l1_ca_dll_pll_tracking.cc
gps_l1_ca_dll_pll_c_aid_tracking.cc
gps_l1_ca_tcp_connector_tracking.cc
galileo_e5a_dll_pll_tracking.cc
gps_l2_m_dll_pll_tracking.cc
glonass_l1_ca_dll_pll_tracking.cc
glonass_l1_ca_dll_pll_c_aid_tracking.cc
gps_l1_ca_kf_tracking.cc
gps_l5_dll_pll_tracking.cc
glonass_l2_ca_dll_pll_tracking.cc
glonass_l2_ca_dll_pll_c_aid_tracking.cc
${OPT_TRACKING_ADAPTERS_SOURCES}
galileo_e1_dll_pll_veml_tracking.cc
galileo_e1_tcp_connector_tracking.cc
gps_l1_ca_dll_pll_tracking.cc
gps_l1_ca_dll_pll_c_aid_tracking.cc
gps_l1_ca_tcp_connector_tracking.cc
galileo_e5a_dll_pll_tracking.cc
gps_l2_m_dll_pll_tracking.cc
glonass_l1_ca_dll_pll_tracking.cc
glonass_l1_ca_dll_pll_c_aid_tracking.cc
gps_l1_ca_kf_tracking.cc
gps_l5_dll_pll_tracking.cc
glonass_l2_ca_dll_pll_tracking.cc
glonass_l2_ca_dll_pll_c_aid_tracking.cc
${OPT_TRACKING_ADAPTERS_SOURCES}
)
set(TRACKING_ADAPTER_HEADERS
galileo_e1_dll_pll_veml_tracking.h
galileo_e1_tcp_connector_tracking.h
gps_l1_ca_dll_pll_tracking.h
gps_l1_ca_dll_pll_c_aid_tracking.h
gps_l1_ca_tcp_connector_tracking.h
galileo_e5a_dll_pll_tracking.h
gps_l2_m_dll_pll_tracking.h
glonass_l1_ca_dll_pll_tracking.h
glonass_l1_ca_dll_pll_c_aid_tracking.h
gps_l1_ca_kf_tracking.h
gps_l5_dll_pll_tracking.h
glonass_l2_ca_dll_pll_tracking.h
glonass_l2_ca_dll_pll_c_aid_tracking.h
${OPT_TRACKING_ADAPTERS_HEADERS}
galileo_e1_dll_pll_veml_tracking.h
galileo_e1_tcp_connector_tracking.h
gps_l1_ca_dll_pll_tracking.h
gps_l1_ca_dll_pll_c_aid_tracking.h
gps_l1_ca_tcp_connector_tracking.h
galileo_e5a_dll_pll_tracking.h
gps_l2_m_dll_pll_tracking.h
glonass_l1_ca_dll_pll_tracking.h
glonass_l1_ca_dll_pll_c_aid_tracking.h
gps_l1_ca_kf_tracking.h
gps_l5_dll_pll_tracking.h
glonass_l2_ca_dll_pll_tracking.h
glonass_l2_ca_dll_pll_c_aid_tracking.h
${OPT_TRACKING_ADAPTERS_HEADERS}
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/tracking/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/tracking/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${ARMADILLO_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
${OPT_TRACKING_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/tracking/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/tracking/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${ARMADILLO_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
${OPT_TRACKING_INCLUDE_DIRS}
)
list(SORT TRACKING_ADAPTER_HEADERS)
list(SORT TRACKING_ADAPTER_SOURCES)
add_library(tracking_adapters ${TRACKING_ADAPTER_SOURCES} ${TRACKING_ADAPTER_HEADERS})
add_library(tracking_adapters
${TRACKING_ADAPTER_SOURCES}
${TRACKING_ADAPTER_HEADERS}
)
source_group(Headers FILES ${TRACKING_ADAPTER_HEADERS})
target_link_libraries(tracking_adapters tracking_gr_blocks gnss_sp_libs gnss_sdr_flags)
target_link_libraries(tracking_adapters
tracking_gr_blocks
gnss_sp_libs
gnss_sdr_flags
)

154
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
View File

@@ -17,86 +17,120 @@
#
if(ENABLE_CUDA)
set(OPT_TRACKING_BLOCKS_SOURCES ${OPT_TRACKING_BLOCKS_SOURCES} gps_l1_ca_dll_pll_tracking_gpu_cc.cc)
set(OPT_TRACKING_BLOCKS_HEADERS ${OPT_TRACKING_BLOCKS_HEADERS} gps_l1_ca_dll_pll_tracking_gpu_cc.h)
set(OPT_TRACKING_INCLUDES ${OPT_TRACKING_INCLUDES} ${CUDA_INCLUDE_DIRS})
set(OPT_TRACKING_LIBRARIES ${OPT_TRACKING_LIBRARIES} ${CUDA_LIBRARIES})
endif(ENABLE_CUDA)
set(OPT_TRACKING_BLOCKS_SOURCES
${OPT_TRACKING_BLOCKS_SOURCES}
gps_l1_ca_dll_pll_tracking_gpu_cc.cc
)
set(OPT_TRACKING_BLOCKS_HEADERS
${OPT_TRACKING_BLOCKS_HEADERS}
gps_l1_ca_dll_pll_tracking_gpu_cc.h
)
set(OPT_TRACKING_INCLUDES
${OPT_TRACKING_INCLUDES}
${CUDA_INCLUDE_DIRS}
)
set(OPT_TRACKING_LIBRARIES
${OPT_TRACKING_LIBRARIES}
${CUDA_LIBRARIES}
)
endif()
if(ENABLE_FPGA)
set(OPT_TRACKING_BLOCKS_SOURCES ${OPT_TRACKING_BLOCKS_SOURCES} dll_pll_veml_tracking_fpga.cc)
set(OPT_TRACKING_BLOCKS_HEADERS ${OPT_TRACKING_BLOCKS_HEADERS} dll_pll_veml_tracking_fpga.h)
endif(ENABLE_FPGA)
set(OPT_TRACKING_BLOCKS_SOURCES
${OPT_TRACKING_BLOCKS_SOURCES}
dll_pll_veml_tracking_fpga.cc
)
set(OPT_TRACKING_BLOCKS_HEADERS
${OPT_TRACKING_BLOCKS_HEADERS}
dll_pll_veml_tracking_fpga.h
)
endif()
set(TRACKING_GR_BLOCKS_SOURCES
galileo_e1_tcp_connector_tracking_cc.cc
gps_l1_ca_tcp_connector_tracking_cc.cc
gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
glonass_l1_ca_dll_pll_tracking_cc.cc
glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
gps_l1_ca_kf_tracking_cc.cc
glonass_l2_ca_dll_pll_tracking_cc.cc
glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
dll_pll_veml_tracking.cc
${OPT_TRACKING_BLOCKS_SOURCES}
galileo_e1_tcp_connector_tracking_cc.cc
gps_l1_ca_tcp_connector_tracking_cc.cc
gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
glonass_l1_ca_dll_pll_tracking_cc.cc
glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
gps_l1_ca_kf_tracking_cc.cc
glonass_l2_ca_dll_pll_tracking_cc.cc
glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
dll_pll_veml_tracking.cc
${OPT_TRACKING_BLOCKS_SOURCES}
)
set(TRACKING_GR_BLOCKS_HEADERS
galileo_e1_tcp_connector_tracking_cc.h
gps_l1_ca_tcp_connector_tracking_cc.h
gps_l1_ca_dll_pll_c_aid_tracking_cc.h
gps_l1_ca_dll_pll_c_aid_tracking_sc.h
glonass_l1_ca_dll_pll_tracking_cc.h
glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
gps_l1_ca_kf_tracking_cc.h
glonass_l2_ca_dll_pll_tracking_cc.h
glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
dll_pll_veml_tracking.h
${OPT_TRACKING_BLOCKS_HEADERS}
galileo_e1_tcp_connector_tracking_cc.h
gps_l1_ca_tcp_connector_tracking_cc.h
gps_l1_ca_dll_pll_c_aid_tracking_cc.h
gps_l1_ca_dll_pll_c_aid_tracking_sc.h
glonass_l1_ca_dll_pll_tracking_cc.h
glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
gps_l1_ca_kf_tracking_cc.h
glonass_l2_ca_dll_pll_tracking_cc.h
glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
dll_pll_veml_tracking.h
${OPT_TRACKING_BLOCKS_HEADERS}
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/tracking/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${ARMADILLO_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
${OPT_TRACKING_INCLUDES}
${MATIO_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/tracking/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${ARMADILLO_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
${OPT_TRACKING_INCLUDES}
${MATIO_INCLUDE_DIRS}
)
if(ENABLE_GENERIC_ARCH)
add_definitions( -DGENERIC_ARCH=1 )
endif(ENABLE_GENERIC_ARCH)
add_definitions(-DGENERIC_ARCH=1)
endif()
list(SORT TRACKING_GR_BLOCKS_HEADERS)
list(SORT TRACKING_GR_BLOCKS_SOURCES)
add_library(tracking_gr_blocks ${TRACKING_GR_BLOCKS_SOURCES} ${TRACKING_GR_BLOCKS_HEADERS})
add_library(tracking_gr_blocks
${TRACKING_GR_BLOCKS_SOURCES}
${TRACKING_GR_BLOCKS_HEADERS}
)
source_group(Headers FILES ${TRACKING_GR_BLOCKS_HEADERS})
target_link_libraries(tracking_gr_blocks tracking_lib ${GNURADIO_RUNTIME_LIBRARIES} gnss_sdr_flags gnss_sp_libs ${Boost_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${MATIO_LIBRARIES} ${OPT_TRACKING_LIBRARIES})
target_link_libraries(tracking_gr_blocks
tracking_lib
${GNURADIO_RUNTIME_LIBRARIES}
gnss_sdr_flags gnss_sp_libs
${Boost_LIBRARIES}
${VOLK_GNSSSDR_LIBRARIES}
${MATIO_LIBRARIES}
${OPT_TRACKING_LIBRARIES}
)
if(NOT VOLK_GNSSSDR_FOUND)
if(NOT VOLKGNSSSDR_FOUND)
if(MATIO_FOUND)
add_dependencies(tracking_gr_blocks volk_gnsssdr_module)
else(MATIO_FOUND)
add_dependencies(tracking_gr_blocks volk_gnsssdr_module matio-${GNSSSDR_MATIO_LOCAL_VERSION})
endif(MATIO_FOUND)
else(NOT VOLK_GNSSSDR_FOUND)
else()
add_dependencies(tracking_gr_blocks volk_gnsssdr_module
matio-${GNSSSDR_MATIO_LOCAL_VERSION}
)
endif()
else()
if(NOT MATIO_FOUND)
add_dependencies(tracking_gr_blocks matio-${GNSSSDR_MATIO_LOCAL_VERSION})
endif(NOT MATIO_FOUND)
endif(NOT VOLK_GNSSSDR_FOUND)
add_dependencies(tracking_gr_blocks
matio-${GNSSSDR_MATIO_LOCAL_VERSION}
)
endif()
endif()

76
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@@ -1,8 +1,8 @@
/*!
* \file dll_pll_veml_tracking.cc
* \brief Implementation of a code DLL + carrier PLL tracking block.
* \author Javier Arribas, 2018. jarribas(at)cttc.es
* \author Antonio Ramos, 2018 antonio.ramosdet(at)gmail.com
* Javier Arribas, 2018. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
@@ -402,7 +402,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_carrier_phase_step_rad = 0.0;
d_carrier_phase_rate_step_rad = 0.0;
d_rem_code_phase_chips = 0.0;
d_code_phase_samples = 0.0;
d_last_prompt = gr_complex(0.0, 0.0);
d_state = 0; // initial state: standby
clear_tracking_vars();
@@ -464,36 +463,6 @@ void dll_pll_veml_tracking::start_tracking()
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
int64_t acq_trk_diff_samples = static_cast<int64_t>(d_sample_counter) - static_cast<int64_t>(d_acq_sample_stamp);
double acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / trk_parameters.fs_in;
DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples;
DLOG(INFO) << "Number of seconds between Acquisition and Tracking = " << acq_trk_diff_seconds;
// Doppler effect Fd = (C / (C + Vr)) * F
double radial_velocity = (d_signal_carrier_freq + d_acq_carrier_doppler_hz) / d_signal_carrier_freq;
// new chip and PRN sequence periods based on acq Doppler
d_code_freq_chips = radial_velocity * d_code_chip_rate;
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
d_code_phase_rate_step_chips = 0.0;
double T_chip_mod_seconds = 1.0 / d_code_freq_chips;
double T_prn_mod_seconds = T_chip_mod_seconds * static_cast<double>(d_code_length_chips);
double T_prn_mod_samples = T_prn_mod_seconds * trk_parameters.fs_in;
//d_current_prn_length_samples = std::round(T_prn_mod_samples);
d_current_prn_length_samples = std::floor(T_prn_mod_samples);
double T_prn_true_seconds = static_cast<double>(d_code_length_chips) / d_code_chip_rate;
double T_prn_true_samples = T_prn_true_seconds * trk_parameters.fs_in;
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
double corrected_acq_phase_samples = std::fmod(d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * trk_parameters.fs_in, T_prn_true_samples);
if (corrected_acq_phase_samples < 0.0)
{
corrected_acq_phase_samples += T_prn_mod_samples;
}
double delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
d_acq_code_phase_samples = corrected_acq_phase_samples;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
d_carrier_phase_rate_step_rad = 0.0;
@@ -590,7 +559,6 @@ void dll_pll_veml_tracking::start_tracking()
d_local_code_shift_chips[2] = trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
}
d_code_phase_samples = d_acq_code_phase_samples;
d_code_loop_filter.set_DLL_BW(trk_parameters.dll_bw_hz);
d_carrier_loop_filter.set_PLL_BW(trk_parameters.pll_bw_hz);
d_carrier_loop_filter.set_pdi(static_cast<float>(d_code_period));
@@ -598,16 +566,13 @@ void dll_pll_veml_tracking::start_tracking()
// DEBUG OUTPUT
std::cout << "Tracking of " << systemName << " " << signal_pretty_name << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
DLOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
// enable tracking pull-in
d_state = 1;
d_cloop = true;
d_Prompt_buffer_deque.clear();
d_last_prompt = gr_complex(0.0, 0.0);
LOG(INFO) << "PULL-IN Doppler [Hz] = " << d_carrier_doppler_hz
<< ". Code Phase correction [samples] = " << delay_correction_samples
<< ". PULL-IN Code Phase [samples] = " << d_acq_code_phase_samples;
}
@@ -1391,17 +1356,34 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
case 1: // Pull-in
{
// Signal alignment (skip samples until the incoming signal is aligned with local replica)
uint64_t acq_to_trk_delay_samples = static_cast<uint64_t>(d_sample_counter - d_acq_sample_stamp);
double acq_trk_shif_correction_samples = static_cast<double>(d_current_prn_length_samples) - std::fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_current_prn_length_samples));
int32_t samples_offset = std::round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
if (samples_offset < 0)
{
samples_offset = 0;
}
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_acq_code_phase_samples;
int64_t acq_trk_diff_samples = static_cast<int64_t>(d_sample_counter) - static_cast<int64_t>(d_acq_sample_stamp);
double acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / trk_parameters.fs_in;
double delta_trk_to_acq_prn_start_samples = static_cast<double>(acq_trk_diff_samples) - d_acq_code_phase_samples;
// Doppler effect Fd = (C / (C + Vr)) * F
double radial_velocity = (d_signal_carrier_freq + d_acq_carrier_doppler_hz) / d_signal_carrier_freq;
// new chip and PRN sequence periods based on acq Doppler
d_code_freq_chips = radial_velocity * d_code_chip_rate;
d_code_freq_chips = d_code_chip_rate;
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
d_code_phase_rate_step_chips = 0.0;
double T_chip_mod_seconds = 1.0 / d_code_freq_chips;
double T_prn_mod_seconds = T_chip_mod_seconds * static_cast<double>(d_code_length_chips);
double T_prn_mod_samples = T_prn_mod_seconds * trk_parameters.fs_in;
d_acq_code_phase_samples = T_prn_mod_samples - std::fmod(delta_trk_to_acq_prn_start_samples, T_prn_mod_samples);
d_current_prn_length_samples = round(T_prn_mod_samples);
int32_t samples_offset = round(d_acq_code_phase_samples);
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * static_cast<double>(samples_offset);
d_state = 2;
d_sample_counter += static_cast<uint64_t>(samples_offset); // count for the processed samples
consume_each(samples_offset); // shift input to perform alignment with local replica
d_sample_counter += samples_offset; // count for the processed samples
DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)";
DLOG(INFO) << "PULL-IN Doppler [Hz] = " << d_carrier_doppler_hz
<< ". PULL-IN Code Phase [samples] = " << d_acq_code_phase_samples;
consume_each(samples_offset); // shift input to perform alignment with local replica
return 0;
}
case 2: // Wide tracking and symbol synchronization

2
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
View File

@@ -1,6 +1,7 @@
/*!
* \file dll_pll_veml_tracking.h
* \brief Implementation of a code DLL + carrier PLL tracking block.
* \author Javier Arribas, 2018. jarribas(at)cttc.es
* \author Antonio Ramos, 2018 antonio.ramosdet(at)gmail.com
*
* -------------------------------------------------------------------------
@@ -173,7 +174,6 @@ private:
double d_carrier_doppler_hz;
double d_acc_carrier_phase_rad;
double d_rem_code_phase_chips;
double d_code_phase_samples;
double T_chip_seconds;
double T_prn_seconds;
double T_prn_samples;

112
src/algorithms/tracking/libs/CMakeLists.txt
View File

@@ -22,83 +22,89 @@ if(ENABLE_CUDA)
# set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} --gpu-architecture sm_30)
list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_30,code=sm_30; -std=c++11;-O3; -use_fast_math -default-stream per-thread")
set(CUDA_PROPAGATE_HOST_FLAGS OFF)
CUDA_INCLUDE_DIRECTORIES( ${CMAKE_CURRENT_SOURCE_DIR})
cuda_include_directories(${CMAKE_CURRENT_SOURCE_DIR})
set(LIB_TYPE STATIC) #set the lib type
CUDA_ADD_LIBRARY(CUDA_CORRELATOR_LIB ${LIB_TYPE} cuda_multicorrelator.h cuda_multicorrelator.cu)
cuda_add_library(CUDA_CORRELATOR_LIB ${LIB_TYPE} cuda_multicorrelator.h cuda_multicorrelator.cu)
set(OPT_TRACKING_LIBRARIES ${OPT_TRACKING_LIBRARIES} CUDA_CORRELATOR_LIB)
set(OPT_TRACKING_INCLUDES ${OPT_TRACKING_INCLUDES} ${CUDA_INCLUDE_DIRS} )
endif(ENABLE_CUDA)
set(OPT_TRACKING_INCLUDES ${OPT_TRACKING_INCLUDES} ${CUDA_INCLUDE_DIRS})
endif()
set(TRACKING_LIB_SOURCES
cpu_multicorrelator.cc
cpu_multicorrelator_real_codes.cc
cpu_multicorrelator_16sc.cc
lock_detectors.cc
tcp_communication.cc
tcp_packet_data.cc
tracking_2nd_DLL_filter.cc
tracking_2nd_PLL_filter.cc
tracking_discriminators.cc
tracking_FLL_PLL_filter.cc
tracking_loop_filter.cc
dll_pll_conf.cc
bayesian_estimation.cc
cpu_multicorrelator.cc
cpu_multicorrelator_real_codes.cc
cpu_multicorrelator_16sc.cc
lock_detectors.cc
tcp_communication.cc
tcp_packet_data.cc
tracking_2nd_DLL_filter.cc
tracking_2nd_PLL_filter.cc
tracking_discriminators.cc
tracking_FLL_PLL_filter.cc
tracking_loop_filter.cc
dll_pll_conf.cc
bayesian_estimation.cc
)
set(TRACKING_LIB_HEADERS
cpu_multicorrelator.h
cpu_multicorrelator_real_codes.h
cpu_multicorrelator_16sc.h
lock_detectors.h
tcp_communication.h
tcp_packet_data.h
tracking_2nd_DLL_filter.h
tracking_2nd_PLL_filter.h
tracking_discriminators.h
tracking_FLL_PLL_filter.h
tracking_loop_filter.h
dll_pll_conf.h
bayesian_estimation.h
cpu_multicorrelator.h
cpu_multicorrelator_real_codes.h
cpu_multicorrelator_16sc.h
lock_detectors.h
tcp_communication.h
tcp_packet_data.h
tracking_2nd_DLL_filter.h
tracking_2nd_PLL_filter.h
tracking_discriminators.h
tracking_FLL_PLL_filter.h
tracking_loop_filter.h
dll_pll_conf.h
bayesian_estimation.h
)
if(ENABLE_FPGA)
set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc dll_pll_conf_fpga.cc)
set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} fpga_multicorrelator.h dll_pll_conf_fpga.h)
endif(ENABLE_FPGA)
endif()
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${ARMADILLO_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${OPT_TRACKING_INCLUDES}
${VOLK_GNSSSDR_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${ARMADILLO_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${OPT_TRACKING_INCLUDES}
${VOLK_GNSSSDR_INCLUDE_DIRS}
)
if(ENABLE_GENERIC_ARCH)
add_definitions( -DGENERIC_ARCH=1 )
endif(ENABLE_GENERIC_ARCH)
if (SSE3_AVAILABLE)
add_definitions( -DHAVE_SSE3=1 )
endif(SSE3_AVAILABLE)
add_definitions(-DGENERIC_ARCH=1)
endif()
if(SSE3_AVAILABLE)
add_definitions(-DHAVE_SSE3=1)
endif()
list(SORT TRACKING_LIB_HEADERS)
list(SORT TRACKING_LIB_SOURCES)
add_library(tracking_lib ${TRACKING_LIB_SOURCES} ${TRACKING_LIB_HEADERS})
source_group(Headers FILES ${TRACKING_LIB_HEADERS})
target_link_libraries(tracking_lib ${OPT_TRACKING_LIBRARIES} ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})
if(VOLK_GNSSSDR_FOUND)
source_group(Headers FILES ${TRACKING_LIB_HEADERS})
target_link_libraries(tracking_lib
${OPT_TRACKING_LIBRARIES}
${VOLK_LIBRARIES}
${VOLK_GNSSSDR_LIBRARIES}
${Boost_LIBRARIES}
${GNURADIO_RUNTIME_LIBRARIES}
)
if(VOLKGNSSSDR_FOUND)
add_dependencies(tracking_lib glog-${glog_RELEASE})
else(VOLK_GNSSSDR_FOUND)
else()
add_dependencies(tracking_lib glog-${glog_RELEASE} volk_gnsssdr_module)
endif()