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Enable extended correlation time in 16sc implementation

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This commit is contained in:
Carles Fernandez 2017-02-02 20:29:07 +01:00
parent 7ee864168d
commit beb7bc9ae1
4 changed files with 51 additions and 49 deletions
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2
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc
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@ -111,6 +111,7 @@ GpsL1CaDllPllCAidTracking::GpsL1CaDllPllCAidTracking(
dll_bw_hz,
pll_bw_narrow_hz,
dll_bw_narrow_hz,
extend_correlation_ms,
early_late_space_chips);
DLOG(INFO) << "tracking(" << tracking_sc->unique_id() << ")";
}
@ -226,4 +227,3 @@ gr::basic_block_sptr GpsL1CaDllPllCAidTracking::get_right_block()
return nullptr;
}
}

23
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -136,9 +136,9 @@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
d_dll_bw_narrow_hz = dll_bw_narrow_hz;
d_extend_correlation_ms = extend_correlation_ms;
d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz,2);
d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
//--- DLL variables --------------------------------------------------------
// --- DLL variables --------------------------------------------------------
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
// Initialization of local code replica
@ -170,10 +170,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
// sample synchronization
d_sample_counter = 0; //(from trk to tlm)
//d_sample_counter_seconds = 0;
d_acq_sample_stamp = 0;
d_enable_tracking = false;
d_pull_in = false;
@ -205,7 +202,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc(
d_carrier_phase_step_rad = 0.0;
d_enable_extended_integration = false;
d_preamble_synchronized = false;
d_rem_code_phase_integer_samples = 0.0;
d_rem_code_phase_integer_samples = 0;
d_code_error_chips_Ti = 0.0;
d_code_error_filt_chips_s = 0.0;
d_carr_phase_error_secs_Ti = 0.0;
@ -228,7 +225,7 @@ void gps_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
//doppler effect
// Doppler effect
// Fd=(C/(C+Vr))*F
double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
// new chip and prn sequence periods based on acq Doppler
@ -262,7 +259,7 @@ void gps_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); //The carrier loop filter implements the Doppler accumulator
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
d_code_loop_filter.initialize(); // initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
@ -343,13 +340,13 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __attri
acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
d_sample_counter += samples_offset; //count for the processed samples
d_sample_counter += samples_offset; // count for the processed samples
d_pull_in = false;
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GPS_TWO_PI;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GPS_TWO_PI;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
*out[0] = current_synchro_data;
consume_each(samples_offset); //shift input to perform alignment with local replica
consume_each(samples_offset); // shift input to perform alignment with local replica
return 1;
}
@ -400,8 +397,8 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __attri
d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz,2);
d_preamble_synchronized = true;
std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH "<< d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
<<" pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
<<" dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
<< " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
<< " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
}
// UPDATE INTEGRATION TIME
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GPS_L1_CA_CODE_PERIOD;
@ -623,7 +620,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __attri
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
// AUX vars (for debug purposes)
tmp_double = d_code_error_chips_Ti*CURRENT_INTEGRATION_TIME_S;
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));

70
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -33,8 +33,10 @@
#include <iostream>
#include <memory>
#include <sstream>
#include <boost/bind.hpp>
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <pmt/pmt.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <glog/logging.h>
#include "gnss_synchro.h"
@ -67,10 +69,11 @@ gps_l1_ca_dll_pll_c_aid_make_tracking_sc(
float dll_bw_hz,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
int extend_correlation_ms,
float early_late_space_chips)
{
return gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr(new gps_l1_ca_dll_pll_c_aid_tracking_sc(if_freq,
fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, early_late_space_chips));
fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
}
@ -85,6 +88,17 @@ void gps_l1_ca_dll_pll_c_aid_tracking_sc::forecast (int noutput_items,
}
void gps_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(pmt::pmt_t msg)
{
//pmt::print(msg);
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
{
d_preamble_timestamp_s = pmt::to_double(msg);
d_enable_extended_integration = true;
d_preamble_synchronized = false;
}
}
gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc(
long if_freq,
@ -96,6 +110,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc(
float dll_bw_hz,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
int extend_correlation_ms,
float early_late_space_chips) :
gr::block("gps_l1_ca_dll_pll_c_aid_tracking_sc", gr::io_signature::make(1, 1, sizeof(lv_16sc_t)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
@ -118,11 +133,11 @@ gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc(
d_dll_bw_hz = dll_bw_hz;
d_pll_bw_narrow_hz = pll_bw_narrow_hz;
d_dll_bw_narrow_hz = dll_bw_narrow_hz;
d_code_loop_filter.set_DLL_BW(dll_bw_hz);
d_carrier_loop_filter.set_params(10.0, pll_bw_hz,2);
d_extend_correlation_ms = 1; // TODO!
d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
d_extend_correlation_ms = extend_correlation_ms;
//--- DLL variables --------------------------------------------------------
// --- DLL variables --------------------------------------------------------
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
// Initialization of local code replica
@ -136,7 +151,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc(
d_correlator_outs_16sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs_16sc[n] = lv_16sc_t(0,0);
d_correlator_outs_16sc[n] = lv_cmake(0,0);
}
d_local_code_shift_chips = static_cast<float*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(float), volk_gnsssdr_get_alignment()));
@ -157,10 +172,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc(
// sample synchronization
d_sample_counter = 0; //(from trk to tlm)
//d_sample_counter_seconds = 0;
d_acq_sample_stamp = 0;
d_enable_tracking = false;
d_pull_in = false;
@ -175,7 +187,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc(
systemName["G"] = std::string("GPS");
systemName["S"] = std::string("SBAS");
set_relative_rate(1.0 / (static_cast<double>(d_vector_length) * 2.0));
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
d_acquisition_gnss_synchro = 0;
d_channel = 0;
@ -184,8 +196,10 @@ gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc(
d_carrier_doppler_hz = 0.0;
d_acc_carrier_phase_cycles = 0.0;
d_code_phase_samples = 0.0;
d_enable_extended_integration = false;
d_preamble_synchronized = false;
d_rem_code_phase_integer_samples = 0;
d_code_error_chips_Ti = 0.0;
d_pll_to_dll_assist_secs_Ti = 0.0;
d_rem_code_phase_chips = 0.0;
d_code_phase_step_chips = 0.0;
@ -193,6 +207,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc(
d_code_error_filt_chips_s = 0.0;
d_code_error_filt_chips_Ti = 0.0;
d_preamble_timestamp_s = 0.0;
d_carr_phase_error_secs_Ti = 0.0;
//set_min_output_buffer((long int)300);
}
@ -211,7 +226,7 @@ void gps_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
//doppler effect
// Doppler effect
// Fd=(C/(C+Vr))*F
double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
// new chip and prn sequence periods based on acq Doppler
@ -220,7 +235,7 @@ void gps_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
double T_prn_mod_samples;
d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
T_chip_mod_seconds = 1/d_code_freq_chips;
T_chip_mod_seconds = 1.0 / d_code_freq_chips;
T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
@ -245,7 +260,7 @@ void gps_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); //The carrier loop filter implements the Doppler accumulator
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
d_code_loop_filter.initialize(); // initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
@ -284,17 +299,6 @@ void gps_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
}
void gps_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(pmt::pmt_t msg)
{
//pmt::print(msg);
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
{
d_preamble_timestamp_s = pmt::to_double(msg);
d_enable_extended_integration = true;
d_preamble_synchronized = false;
}
}
gps_l1_ca_dll_pll_c_aid_tracking_sc::~gps_l1_ca_dll_pll_c_aid_tracking_sc()
{
@ -322,14 +326,10 @@ int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __attri
Gnss_Synchro current_synchro_data = Gnss_Synchro();
// process vars
double d_code_error_chips_Ti = 0.0;
double code_error_filt_chips = 0.0;
double code_error_filt_secs_Ti = 0.0;
double CURRENT_INTEGRATION_TIME_S;
double CORRECTED_INTEGRATION_TIME_S;
double dll_code_error_secs_Ti = 0.0;
double d_carr_phase_error_secs_Ti = 0.0;
double old_d_rem_code_phase_samples;
double CURRENT_INTEGRATION_TIME_S = 0.0;
double CORRECTED_INTEGRATION_TIME_S = 0.0;
if (d_enable_tracking == true)
{
// Fill the acquisition data
@ -516,7 +516,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __attri
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator( d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
// Loss of lock detection
@ -617,14 +617,14 @@ int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __attri
//DLL commands
d_dump_file.write(reinterpret_cast<char*>(&d_code_error_chips_Ti), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&d_code_error_filt_chips_Ti), sizeof(double));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
// AUX vars (for debug purposes)
tmp_double = d_rem_code_phase_samples;
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));

5
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.h
View File

@ -65,6 +65,7 @@ gps_l1_ca_dll_pll_c_aid_make_tracking_sc(long if_freq,
float dll_bw_hz,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
int extend_correlation_ms,
float early_late_space_chips);
@ -97,6 +98,7 @@ private:
float dll_bw_hz,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
int extend_correlation_ms,
float early_late_space_chips);
gps_l1_ca_dll_pll_c_aid_tracking_sc(long if_freq,
@ -108,6 +110,7 @@ private:
float dll_bw_hz,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
int extend_correlation_ms,
float early_late_space_chips);
// tracking configuration vars
@ -157,6 +160,8 @@ private:
double d_acc_carrier_phase_cycles;
double d_code_phase_samples;
double d_pll_to_dll_assist_secs_Ti;
double d_carr_phase_error_secs_Ti;
double d_code_error_chips_Ti;
double d_preamble_timestamp_s;
int d_extend_correlation_ms;
bool d_enable_extended_integration;