mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-01-28 18:04:51 +00:00
updated the tracking module. Added some variables to adapt it to the new telemetry modules.
This commit is contained in:
Marc Majoral
parent
718fc03442
commit
ca9e8cd9b5
@ -76,6 +76,9 @@ namespace fs = boost::filesystem;
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#define MAX_INTEGR_TIME_PRN_SYMB 20
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const std::string GPS_CA_PREAMBLE_SYMBOLS_STR = {"1111111111111111111100000000000000000000000000000000000000000000000000000000000011111111111111111111000000000000000000001111111111111111111111111111111111111111"};
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dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_)
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{
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return dll_pll_veml_tracking_fpga_sptr(new dll_pll_veml_tracking_fpga(conf_));
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@ -104,6 +107,9 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
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d_code_chip_rate = 0.0;
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d_secondary_code_length = 0U;
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d_secondary_code_string = nullptr;
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d_data_secondary_code_length = 0U;
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d_data_secondary_code_string = nullptr;
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// used by the FPGA
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d_secondary_code_length_data = 0U;
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@ -182,6 +188,13 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
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d_symbol_history.set_capacity(GPS_CA_PREAMBLE_LENGTH_SYMBOLS); // Change fixed buffer size
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d_symbol_history.clear(); // Clear all the elements in the buffer
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// symbol integration: 20 trk symbols (20 ms) = 1 tlm bit
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// set the preamble in the secondary code acquisition to obtain tlm symbol synchronization
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d_secondary_code_length = static_cast<uint32_t>(GPS_CA_PREAMBLE_LENGTH_SYMBOLS);
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d_secondary_code_string = const_cast<std::string *>(&GPS_CA_PREAMBLE_SYMBOLS_STR);
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}
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else if (signal_type == "2S")
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{
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@ -200,6 +213,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
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d_signal_carrier_freq = GPS_L5_FREQ_HZ;
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d_code_period = GPS_L5I_PERIOD;
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d_code_chip_rate = GPS_L5I_CODE_RATE_HZ;
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// symbol integration: 10 trk symbols (10 ms) = 1 tlm bit
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d_symbols_per_bit = GPS_L5_SAMPLES_PER_SYMBOL;
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d_correlation_length_ms = 1;
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d_secondary = true;
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@ -217,8 +231,13 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
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if (trk_parameters.track_pilot)
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{
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// synchronize pilot secondary code
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d_secondary_code_length = static_cast<uint32_t>(GPS_L5Q_NH_CODE_LENGTH);
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d_secondary_code_string = const_cast<std::string *>(&GPS_L5Q_NH_CODE_STR);
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// remove data secondary code
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// remove Neuman-Hofman Code (see IS-GPS-705D)
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d_data_secondary_code_length = static_cast<uint32_t>(GPS_L5I_NH_CODE_LENGTH);
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d_data_secondary_code_string = const_cast<std::string *>(&GPS_L5I_NH_CODE_STR);
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signal_pretty_name = signal_pretty_name + "Q";
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interchange_iq = true;
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@ -235,7 +254,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
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}
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else
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{
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// synchronize and remove data secondary code
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// remove Neuman-Hofman Code (see IS-GPS-705D)
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d_secondary_code_length = static_cast<uint32_t>(GPS_L5I_NH_CODE_LENGTH);
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d_secondary_code_string = const_cast<std::string *>(&GPS_L5I_NH_CODE_STR);
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signal_pretty_name = signal_pretty_name + "I";
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@ -279,6 +299,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
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d_signal_carrier_freq = GALILEO_E1_FREQ_HZ;
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d_code_period = GALILEO_E1_CODE_PERIOD;
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d_code_chip_rate = GALILEO_E1_CODE_CHIP_RATE_HZ;
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// Galileo E1b has 1 trk symbol (4 ms) per tlm bit, no symbol integration required
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d_symbols_per_bit = 1;
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d_correlation_length_ms = 4;
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d_veml = true;
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@ -294,7 +315,9 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
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d_secondary = false;
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signal_pretty_name = signal_pretty_name + "B";
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}
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interchange_iq = false; // Note that E1-B and E1-C are in anti-phase, NOT IN QUADRATURE. See Galileo ICD.
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interchange_iq = false;
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// Note that E1-B and E1-C are in anti-phase, NOT IN QUADRATURE. See Galileo ICD.
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}
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else if (signal_type == "5X")
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{
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@ -307,22 +330,37 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
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d_symbols_per_bit = 20;
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d_correlation_length_ms = 1;
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d_secondary = true;
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if (d_extended_correlation_in_fpga == true)
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{
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if (trk_parameters.extend_correlation_symbols > 1)
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{
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d_sc_demodulate_enabled = true;
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d_sc_remodulate_enabled = true;
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}
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}
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if (trk_parameters.track_pilot)
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{
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if (d_extended_correlation_in_fpga == true)
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{
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if (trk_parameters.extend_correlation_symbols > 1)
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{
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d_sc_demodulate_enabled = true;
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d_sc_remodulate_enabled = true;
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}
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}
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// if (d_extended_correlation_in_fpga == true)
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// {
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// if (trk_parameters.extend_correlation_symbols > 1)
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// {
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// d_sc_demodulate_enabled = true;
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// d_sc_remodulate_enabled = true;
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// }
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// }
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d_secondary = true;
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// d_secondary = true;
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d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_Q_SECONDARY_CODE_LENGTH);
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signal_pretty_name = signal_pretty_name + "Q";
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// remove data secondary code
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d_data_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
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d_data_secondary_code_string = const_cast<std::string *>(&GALILEO_E5A_I_SECONDARY_CODE);
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interchange_iq = true;
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// used by the FPGA
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@ -343,7 +381,15 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
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//Do not acquire secondary code in data component. It is done in telemetry decoder
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d_secondary = false;
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// d_secondary = false;
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// synchronize and remove data secondary code
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d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
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d_secondary_code_string = const_cast<std::string *>(&GALILEO_E5A_I_SECONDARY_CODE);
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d_secondary_code_string_post_apply = const_cast<std::string *>(&GALILEO_E5A_I_SECONDARY_CODE);
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d_secondary_code_post_apply_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
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signal_pretty_name = signal_pretty_name + "I";
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interchange_iq = false;
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@ -591,7 +637,7 @@ void dll_pll_veml_tracking_fpga::msg_handler_telemetry_to_trk(const pmt::pmt_t &
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{
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DLOG(INFO) << "Telemetry fault received in ch " << this->d_channel;
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gr::thread::scoped_lock lock(d_setlock);
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d_carrier_lock_fail_counter = 10000; //force loss-of-lock condition
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d_carrier_lock_fail_counter = 200000; //force loss-of-lock condition
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break;
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}
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default:
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@ -887,6 +933,7 @@ void dll_pll_veml_tracking_fpga::clear_tracking_vars()
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if (trk_parameters.track_pilot)
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{
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d_Prompt_Data[0] = gr_complex(0.0, 0.0);
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d_P_data_accu = gr_complex(0.0, 0.0);
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}
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d_P_accu_old = gr_complex(0.0, 0.0);
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d_carr_phase_error_hz = 0.0;
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@ -895,6 +942,7 @@ void dll_pll_veml_tracking_fpga::clear_tracking_vars()
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d_code_error_chips = 0.0;
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d_code_error_filt_chips = 0.0;
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d_current_symbol = 0;
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d_current_data_symbol = 0;
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d_Prompt_circular_buffer.clear();
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d_carrier_phase_rate_step_rad = 0.0;
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d_code_phase_rate_step_chips = 0.0;
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@ -1115,9 +1163,71 @@ void dll_pll_veml_tracking_fpga::save_correlation_results()
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d_E_accu += *d_Early;
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d_P_accu += *d_Prompt;
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d_L_accu += *d_Late;
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d_current_symbol++;
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d_current_symbol %= d_symbols_per_bit;
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}
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// data secondary code roll-up
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if (d_symbols_per_bit > 1)
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{
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if (d_data_secondary_code_length > 0)
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{
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if (trk_parameters.track_pilot)
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{
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if (d_data_secondary_code_string->at(d_current_data_symbol) == '0')
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{
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d_P_data_accu += *d_Prompt_Data;
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}
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else
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{
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d_P_data_accu -= *d_Prompt_Data;
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}
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}
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else
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{
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if (d_data_secondary_code_string->at(d_current_data_symbol) == '0')
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{
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d_P_data_accu += *d_Prompt;
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}
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else
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{
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d_P_data_accu -= *d_Prompt;
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}
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}
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d_current_data_symbol++;
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// data secondary code roll-up
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d_current_data_symbol %= d_data_secondary_code_length;
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}
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else
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{
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if (trk_parameters.track_pilot)
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{
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d_P_data_accu += *d_Prompt_Data;
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}
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else
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{
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d_P_data_accu += *d_Prompt;
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//std::cout << "s[" << d_current_data_symbol << "]=" << (int)((*d_Prompt).real() > 0) << std::endl;
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}
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d_current_data_symbol++;
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d_current_data_symbol %= d_symbols_per_bit;
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}
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}
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else
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{
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if (trk_parameters.track_pilot)
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{
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d_P_data_accu = *d_Prompt_Data;
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}
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else
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{
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d_P_data_accu = *d_Prompt;
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}
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}
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// If tracking pilot, disable Costas loop
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if (trk_parameters.track_pilot)
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{
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@ -1870,6 +1980,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
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{
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auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
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Gnss_Synchro current_synchro_data = Gnss_Synchro();
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current_synchro_data.Flag_valid_symbol_output = false;
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d_current_integration_length_samples = d_next_integration_length_samples;
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@ -1989,8 +2100,8 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
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{
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d_sample_counter = d_sample_counter_next;
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d_sample_counter_next = d_sample_counter + static_cast<uint64_t>(d_current_integration_length_samples);
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uint64_t d_sample_counter_tmp = d_sample_counter;
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uint64_t d_sample_counter_next_tmp = d_sample_counter_next;
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//uint64_t d_sample_counter_tmp = d_sample_counter;
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//uint64_t d_sample_counter_next_tmp = d_sample_counter_next;
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do_correlation_step();
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@ -2034,72 +2145,94 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
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// enable write dump file this cycle (valid DLL/PLL cycle)
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log_data();
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if (d_secondary)
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if (!d_pull_in_transitory)
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{
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// ####### SECONDARY CODE LOCK #####
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d_Prompt_circular_buffer.push_back(*d_Prompt);
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if (d_secondary)
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{
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// ####### SECONDARY CODE LOCK #####
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d_Prompt_circular_buffer.push_back(*d_Prompt);
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if (d_Prompt_circular_buffer.size() == d_secondary_code_length)
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{
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next_state = acquire_secondary();
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if (d_Prompt_circular_buffer.size() == d_secondary_code_length)
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{
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next_state = acquire_secondary();
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if (next_state)
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{
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LOG(INFO) << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
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<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
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std::cout << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
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<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
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}
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}
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}
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else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
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{
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float current_tracking_time_s = static_cast<float>(d_sample_counter - d_absolute_samples_offset) / trk_parameters.fs_in;
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if (current_tracking_time_s > 10)
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{
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d_symbol_history.push_back(d_Prompt->real());
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//******* preamble correlation ********
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int32_t corr_value = 0;
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if ((static_cast<int32_t>(d_symbol_history.size()) == d_preamble_length_symbols)) // and (d_make_correlation or !d_flag_frame_sync))
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{
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int i = 0;
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for (const auto &iter : d_symbol_history)
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{
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if (iter < 0.0) // symbols clipping
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{
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corr_value -= d_preambles_symbols[i];
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}
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else
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{
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corr_value += d_preambles_symbols[i];
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}
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i++;
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}
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}
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if (corr_value == d_preamble_length_symbols)
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{
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LOG(INFO) << systemName << " " << signal_pretty_name << " tracking preamble detected in channel " << d_channel
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<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
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next_state = true;
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}
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else
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{
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next_state = false;
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}
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}
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else
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{
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next_state = false;
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}
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}
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else
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{
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next_state = true;
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if (next_state)
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{
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LOG(INFO) << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
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<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
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std::cout << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
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<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
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}
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}
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}
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else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
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{
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// float current_tracking_time_s = static_cast<float>(d_sample_counter - d_absolute_samples_offset) / trk_parameters.fs_in;
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//
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// if (current_tracking_time_s > 10)
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// {
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// d_symbol_history.push_back(d_Prompt->real());
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//
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// //******* preamble correlation ********
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//
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// int32_t corr_value = 0;
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// if ((static_cast<int32_t>(d_symbol_history.size()) == d_preamble_length_symbols)) // and (d_make_correlation or !d_flag_frame_sync))
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// {
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// int i = 0;
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// for (const auto &iter : d_symbol_history)
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// {
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// if (iter < 0.0) // symbols clipping
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// {
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// corr_value -= d_preambles_symbols[i];
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// }
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// else
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// {
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// corr_value += d_preambles_symbols[i];
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// }
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// i++;
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// }
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// }
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//
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// if (corr_value == d_preamble_length_symbols)
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// {
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// LOG(INFO) << systemName << " " << signal_pretty_name << " tracking preamble detected in channel " << d_channel
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// << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
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// next_state = true;
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// }
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// else
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// {
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// next_state = false;
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// }
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// }
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// else
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// {
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// next_state = false;
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// }
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//******* preamble correlation ********
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d_Prompt_circular_buffer.push_back(*d_Prompt);
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if (d_Prompt_circular_buffer.size() == d_secondary_code_length)
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{
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next_state = acquire_secondary();
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if (next_state)
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{
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LOG(INFO) << systemName << " " << signal_pretty_name << " tracking bit synchronization locked in channel " << d_channel
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<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
|
||||
std::cout << systemName << " " << signal_pretty_name << " tracking bit synchronization locked in channel " << d_channel
|
||||
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
next_state = true;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
next_state = false; //keep in state 2 during pull-in transitory
|
||||
}
|
||||
|
||||
// ########### Output the tracking results to Telemetry block ##########
|
||||
if (interchange_iq)
|
||||
@ -2144,10 +2277,12 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
|
||||
d_VE_accu = gr_complex(0.0, 0.0);
|
||||
d_E_accu = gr_complex(0.0, 0.0);
|
||||
d_P_accu = gr_complex(0.0, 0.0);
|
||||
d_P_data_accu = gr_complex(0.0, 0.0);
|
||||
d_L_accu = gr_complex(0.0, 0.0);
|
||||
d_VL_accu = gr_complex(0.0, 0.0);
|
||||
d_Prompt_circular_buffer.clear();
|
||||
d_current_symbol = 0;
|
||||
d_current_data_symbol = 0;
|
||||
|
||||
if (d_enable_extended_integration)
|
||||
{
|
||||
@ -2232,8 +2367,9 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
|
||||
|
||||
// perform a correlation step
|
||||
do_correlation_step();
|
||||
update_tracking_vars();
|
||||
//update_tracking_vars();
|
||||
save_correlation_results();
|
||||
update_tracking_vars();
|
||||
|
||||
// ########### Output the tracking results to Telemetry block ##########
|
||||
if (interchange_iq)
|
||||
@ -2380,8 +2516,9 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
|
||||
|
||||
// perform a correlation step
|
||||
do_correlation_step();
|
||||
update_tracking_vars_extend_integration_in_FPGA();
|
||||
//update_tracking_vars_extend_integration_in_FPGA();
|
||||
save_correlation_results_extended_integration_in_FPGA();
|
||||
update_tracking_vars_extend_integration_in_FPGA();
|
||||
|
||||
// ########### Output the tracking results to Telemetry block ##########
|
||||
if (interchange_iq)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user