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Carles Fernandez 2018-07-04 19:43:49 +02:00
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21 changed files with 1026 additions and 206 deletions
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2
src/algorithms/PVT/libs/gpx_printer.cc
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@ -1,6 +1,6 @@
/*!
* \file gpx_printer.cc
* \brief Interface of a class that prints PVT information to a gpx file
* \brief Implementation of a class that prints PVT information to a gpx file
* \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
*
*

17
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
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@ -38,6 +38,7 @@
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "acq_conf.h"
using google::LogMessage;
@ -49,29 +50,35 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
std::string default_dump_filename = "./data/acquisition.dat";
DLOG(INFO) << "role " << role;
Acq_Conf acq_parameters = Acq_Conf();
item_type_ = configuration->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
dump_ = configuration->property(role + ".dump", false);
acq_parameters.dump = dump_;
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
doppler_min_ = configuration->property(role + ".doppler_min", -doppler_max_);
acq_parameters.doppler_max = doppler_max_;
sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms_;
max_dwells_ = configuration->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
acq_parameters.blocking_on_standby = configuration->property(role + ".blocking_on_standby", false);
//--- Find number of samples per spreading code -------------------------
vector_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
acq_parameters.samples_per_ms = vector_length_;
code_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_make_acquisition_fine_doppler_cc(max_dwells_, sampled_ms_,
doppler_max_, doppler_min_, fs_in_, vector_length_,
dump_, dump_filename_);
acquisition_cc_ = pcps_make_acquisition_fine_doppler_cc(acq_parameters);
}
else
{

1
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h
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@ -131,7 +131,6 @@ private:
float threshold_;
int doppler_max_;
unsigned int doppler_step_;
int doppler_min_;
unsigned int sampled_ms_;
int max_dwells_;
long fs_in_;

348
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -40,46 +40,43 @@
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> // std::rotate, std::fill_n
#include <sstream>
#include <matio.h>
using google::LogMessage;
pcps_acquisition_fine_doppler_cc_sptr pcps_make_acquisition_fine_doppler_cc(
int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min,
long fs_in, int samples_per_ms, bool dump,
std::string dump_filename)
pcps_acquisition_fine_doppler_cc_sptr pcps_make_acquisition_fine_doppler_cc(const Acq_Conf &conf_)
{
return pcps_acquisition_fine_doppler_cc_sptr(
new pcps_acquisition_fine_doppler_cc(max_dwells, sampled_ms, doppler_max, doppler_min,
fs_in, samples_per_ms, dump, dump_filename));
new pcps_acquisition_fine_doppler_cc(conf_));
}
pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(
int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min,
long fs_in, int samples_per_ms, bool dump,
std::string dump_filename) : gr::block("pcps_acquisition_fine_doppler_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex)))
pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Conf &conf_)
: gr::block("pcps_acquisition_fine_doppler_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex)))
{
this->message_port_register_out(pmt::mp("events"));
acq_parameters = conf_;
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_fs_in = fs_in;
d_samples_per_ms = samples_per_ms;
d_sampled_ms = sampled_ms;
d_config_doppler_max = doppler_max;
d_config_doppler_min = doppler_min;
d_fs_in = conf_.fs_in;
d_samples_per_ms = conf_.samples_per_ms;
d_sampled_ms = conf_.sampled_ms;
d_config_doppler_max = conf_.doppler_max;
d_config_doppler_min = -conf_.doppler_max;
d_fft_size = d_sampled_ms * d_samples_per_ms;
// HS Acquisition
d_max_dwells = max_dwells;
d_max_dwells = conf_.max_dwells;
d_gnuradio_forecast_samples = d_fft_size;
d_input_power = 0.0;
d_state = 0;
d_carrier = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
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()));
d_10_ms_buffer = static_cast<gr_complex *>(volk_gnsssdr_malloc(10 * d_samples_per_ms * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
@ -87,10 +84,10 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
// For dumping samples into a file
d_dump = dump;
d_dump_filename = dump_filename;
d_dump = conf_.dump;
d_dump_filename = conf_.dump_filename;
d_doppler_resolution = 0;
d_n_samples_in_buffer = 0;
d_threshold = 0;
d_num_doppler_points = 0;
d_doppler_step = 0;
@ -102,9 +99,28 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(
d_test_statistics = 0;
d_well_count = 0;
d_channel = 0;
d_positive_acq = 0;
d_dump_number = 0;
d_dump_channel = 0; // this implementation can only produce dumps in channel 0
//todo: migrate config parameters to the unified acquisition config class
}
// Finds next power of two
// for n. If n itself is a
// power of two then returns n
unsigned int pcps_acquisition_fine_doppler_cc::nextPowerOf2(unsigned int n)
{
n--;
n |= n >> 1;
n |= n >> 2;
n |= n >> 4;
n |= n >> 8;
n |= n >> 16;
n++;
return n;
}
void pcps_acquisition_fine_doppler_cc::set_doppler_step(unsigned int doppler_step)
{
d_doppler_step = doppler_step;
@ -138,12 +154,9 @@ pcps_acquisition_fine_doppler_cc::~pcps_acquisition_fine_doppler_cc()
volk_gnsssdr_free(d_carrier);
volk_gnsssdr_free(d_fft_codes);
volk_gnsssdr_free(d_magnitude);
volk_gnsssdr_free(d_10_ms_buffer);
delete d_ifft;
delete d_fft_if;
if (d_dump)
{
d_dump_file.close();
}
free_grid_memory();
}
@ -167,8 +180,12 @@ void pcps_acquisition_fine_doppler_cc::init()
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_input_power = 0.0;
d_state = 0;
if (d_dump)
{
grid_ = arma::fmat(d_fft_size, d_num_doppler_points, arma::fill::zeros);
}
}
@ -187,6 +204,7 @@ void pcps_acquisition_fine_doppler_cc::reset_grid()
d_well_count = 0;
for (int i = 0; i < d_num_doppler_points; i++)
{
//todo: use memset here
for (unsigned int j = 0; j < d_fft_size; j++)
{
d_grid_data[i][j] = 0.0;
@ -215,52 +233,71 @@ void pcps_acquisition_fine_doppler_cc::update_carrier_wipeoff()
}
double pcps_acquisition_fine_doppler_cc::search_maximum()
double pcps_acquisition_fine_doppler_cc::compute_CAF()
{
float magt = 0.0;
float fft_normalization_factor;
float firstPeak = 0.0;
int index_doppler = 0;
uint32_t tmp_intex_t = 0;
uint32_t index_time = 0;
// Look for correlation peaks in the results ==============================
// Find the highest peak and compare it to the second highest peak
// The second peak is chosen not closer than 1 chip to the highest peak
//--- Find the correlation peak and the carrier frequency --------------
for (int i = 0; i < d_num_doppler_points; i++)
{
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i], d_fft_size);
if (d_grid_data[i][tmp_intex_t] > magt)
if (d_grid_data[i][tmp_intex_t] > firstPeak)
{
magt = d_grid_data[i][tmp_intex_t];
//std::cout<<magt<<std::endl;
firstPeak = d_grid_data[i][tmp_intex_t];
index_doppler = i;
index_time = tmp_intex_t;
}
// Record results to file if required
if (d_dump and d_channel == d_dump_channel)
{
memcpy(grid_.colptr(i), d_grid_data[i], sizeof(float) * d_fft_size);
}
}
// Normalize the maximum value to correct the scale factor introduced by FFTW
fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
magt = magt / (fft_normalization_factor * fft_normalization_factor);
// -- - Find 1 chip wide code phase exclude range around the peak
uint32_t samplesPerChip = ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(this->d_fs_in));
int32_t excludeRangeIndex1 = index_time - samplesPerChip;
int32_t excludeRangeIndex2 = index_time + samplesPerChip;
// -- - Correct code phase exclude range if the range includes array boundaries
if (excludeRangeIndex1 < 0)
{
excludeRangeIndex1 = d_fft_size + excludeRangeIndex1;
}
else if (excludeRangeIndex2 >= static_cast<int>(d_fft_size))
{
excludeRangeIndex2 = excludeRangeIndex2 - d_fft_size;
}
int32_t idx = excludeRangeIndex1;
do
{
d_grid_data[index_doppler][idx] = 0.0;
idx++;
if (idx == static_cast<int>(d_fft_size)) idx = 0;
}
while (idx != excludeRangeIndex2);
//--- Find the second highest correlation peak in the same freq. bin ---
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[index_doppler], d_fft_size);
float secondPeak = d_grid_data[index_doppler][tmp_intex_t];
// 5- Compute the test statistics and compare to the threshold
d_test_statistics = magt / (d_input_power * std::sqrt(d_well_count));
d_test_statistics = firstPeak / secondPeak;
// 4- record the maximum peak and the associated synchronization parameters
d_gnss_synchro->Acq_delay_samples = static_cast<double>(index_time);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(index_doppler * d_doppler_step + d_config_doppler_min);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
// Record results to file if required
if (d_dump)
{
std::stringstream filename;
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System
<< "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char *>(d_grid_data[index_doppler]), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close();
}
return d_test_statistics;
}
@ -308,10 +345,9 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
d_ifft->execute();
// save the grid matrix delay file
volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size);
const float *old_vector = d_grid_data[doppler_index];
volk_32f_x2_add_32f(d_grid_data[doppler_index], old_vector, p_tmp_vector, d_fft_size);
//accumulate grid values
volk_32f_x2_add_32f(d_grid_data[doppler_index], d_grid_data[doppler_index], p_tmp_vector, d_fft_size);
}
volk_gnsssdr_free(p_tmp_vector);
@ -319,18 +355,21 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
}
int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star &input_items)
int pcps_acquisition_fine_doppler_cc::estimate_Doppler()
{
// Direct FFT
int zero_padding_factor = 2;
int fft_size_extended = d_fft_size * zero_padding_factor;
int zero_padding_factor = 8;
int prn_replicas = 10;
int signal_samples = prn_replicas * d_fft_size;
//int fft_size_extended = nextPowerOf2(signal_samples * zero_padding_factor);
int fft_size_extended = signal_samples * zero_padding_factor;
gr::fft::fft_complex *fft_operator = new gr::fft::fft_complex(fft_size_extended, true);
//zero padding the entire vector
std::fill_n(fft_operator->get_inbuf(), fft_size_extended, gr_complex(0.0, 0.0));
//1. generate local code aligned with the acquisition code phase estimation
gr_complex *code_replica = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
gr_complex *code_replica = static_cast<gr_complex *>(volk_gnsssdr_malloc(signal_samples * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
gps_l1_ca_code_gen_complex_sampled(code_replica, d_gnss_synchro->PRN, d_fs_in, 0);
@ -342,10 +381,13 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
std::rotate(code_replica, code_replica + (d_fft_size - shift_index), code_replica + d_fft_size - 1);
}
for (int n = 0; n < prn_replicas - 1; n++)
{
memcpy(&code_replica[(n + 1) * d_fft_size], code_replica, d_fft_size * sizeof(gr_complex));
}
//2. Perform code wipe-off
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
volk_32fc_x2_multiply_32fc(fft_operator->get_inbuf(), in, code_replica, d_fft_size);
volk_32fc_x2_multiply_32fc(fft_operator->get_inbuf(), d_10_ms_buffer, code_replica, signal_samples);
// 3. Perform the FFT (zero padded!)
fft_operator->execute();
@ -380,40 +422,12 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
if (std::abs(fftFreqBins[tmp_index_freq] - d_gnss_synchro->Acq_doppler_hz) < 1000)
{
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(fftFreqBins[tmp_index_freq]);
//std::cout<<"FFT maximum present at "<<fftFreqBins[tmp_index_freq]<<" [Hz]"<<std::endl;
//std::cout << "FFT maximum present at " << fftFreqBins[tmp_index_freq] << " [Hz]" << std::endl;
}
else
{
DLOG(INFO) << "Abs(Grid Doppler - FFT Doppler)=" << std::abs(fftFreqBins[tmp_index_freq] - d_gnss_synchro->Acq_doppler_hz);
DLOG(INFO) << "Error estimating fine frequency Doppler";
//debug log
//
// std::cout<<"FFT maximum present at "<<fftFreqBins[tmp_index_freq]<<" [Hz]"<<std::endl;
// std::stringstream filename;
// std::streamsize n = sizeof(gr_complex) * (d_fft_size);
//
// filename.str("");
// filename << "../data/code_prn_" << d_gnss_synchro->PRN << ".dat";
// d_dump_file.open(filename.str().c_str(), std::ios::out
// | std::ios::binary);
// d_dump_file.write(reinterpret_cast<char*>(code_replica), n); //write directly |abs(x)|^2 in this Doppler bin?
// d_dump_file.close();
//
// filename.str("");
// filename << "../data/signal_prn_" << d_gnss_synchro->PRN << ".dat";
// d_dump_file.open(filename.str().c_str(), std::ios::out
// | std::ios::binary);
// d_dump_file.write(reinterpret_cast<char*>(in), n); //write directly |abs(x)|^2 in this Doppler bin?
// d_dump_file.close();
//
//
// n = sizeof(float) * (fft_size_extended);
// filename.str("");
// filename << "../data/fft_prn_" << d_gnss_synchro->PRN << ".dat";
// d_dump_file.open(filename.str().c_str(), std::ios::out
// | std::ios::binary);
// d_dump_file.write(reinterpret_cast<char*>(p_tmp_vector), n); //write directly |abs(x)|^2 in this Doppler bin?
// d_dump_file.close();
}
// free memory!!
@ -423,6 +437,12 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler(gr_vector_const_void_star
return d_fft_size;
}
// Called by gnuradio to enable drivers, etc for i/o devices.
bool pcps_acquisition_fine_doppler_cc::start()
{
d_sample_counter = 0;
return true;
}
int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items,
@ -442,29 +462,33 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
* S5. Negative_Acq: Send message and stop acq -> S0
*/
int samples_remaining;
switch (d_state)
{
case 0: // S0. StandBy
//DLOG(INFO) <<"S0"<<std::endl;
if (d_active == true)
{
reset_grid();
d_state = 1;
}
if (!acq_parameters.blocking_on_standby)
{
d_sample_counter += d_fft_size; // sample counter
consume_each(d_fft_size);
}
break;
case 1: // S1. ComputeGrid
//DLOG(INFO) <<"S1"<<std::endl;
compute_and_accumulate_grid(input_items);
d_well_count++;
if (d_well_count >= d_max_dwells)
{
d_state = 2;
}
d_sample_counter += d_fft_size; // sample counter
consume_each(d_fft_size);
break;
case 2: // Compute test statistics and decide
//DLOG(INFO) <<"S2"<<std::endl;
d_input_power = estimate_input_power(input_items);
d_test_statistics = search_maximum();
d_test_statistics = compute_CAF();
if (d_test_statistics > d_threshold)
{
d_state = 3; //perform fine doppler estimation
@ -473,15 +497,35 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
{
d_state = 5; //negative acquisition
}
d_n_samples_in_buffer = 0;
// Record results to file if required
if (d_dump and d_channel == d_dump_channel)
{
dump_results(d_fft_size);
}
d_sample_counter += d_fft_size; // sample counter
consume_each(d_fft_size);
break;
case 3: // Fine doppler estimation
//DLOG(INFO) <<"S3"<<std::endl;
DLOG(INFO) << "Performing fine Doppler estimation";
estimate_Doppler(input_items); //disabled in repo
d_state = 4;
samples_remaining = 10 * d_samples_per_ms - d_n_samples_in_buffer;
if (samples_remaining > noutput_items)
{
memcpy(&d_10_ms_buffer[d_n_samples_in_buffer], reinterpret_cast<const gr_complex *>(input_items[0]), noutput_items * sizeof(gr_complex));
d_n_samples_in_buffer += noutput_items;
d_sample_counter += noutput_items; // sample counter
consume_each(noutput_items);
}
else
{
memcpy(&d_10_ms_buffer[d_n_samples_in_buffer], reinterpret_cast<const gr_complex *>(input_items[0]), samples_remaining * sizeof(gr_complex));
estimate_Doppler(); //disabled in repo
d_sample_counter += samples_remaining; // sample counter
consume_each(samples_remaining);
d_state = 4;
}
break;
case 4: // Positive_Acq
//DLOG(INFO) <<"S4"<<std::endl;
DLOG(INFO) << "positive acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
@ -489,15 +533,18 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "input signal power " << d_input_power;
d_positive_acq = 1;
d_active = false;
// Send message to channel port //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
this->message_port_pub(pmt::mp("events"), pmt::from_long(1));
d_state = 0;
if (!acq_parameters.blocking_on_standby)
{
d_sample_counter += noutput_items; // sample counter
consume_each(noutput_items);
}
break;
case 5: // Negative_Acq
//DLOG(INFO) <<"S5"<<std::endl;
DLOG(INFO) << "negative acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
@ -505,20 +552,103 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "input signal power " << d_input_power;
d_positive_acq = 0;
d_active = false;
// Send message to channel port //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
d_state = 0;
if (!acq_parameters.blocking_on_standby)
{
d_sample_counter += noutput_items; // sample counter
consume_each(noutput_items);
}
break;
default:
d_state = 0;
if (!acq_parameters.blocking_on_standby)
{
d_sample_counter += noutput_items; // sample counter
consume_each(noutput_items);
}
break;
}
//DLOG(INFO)<<"d_sample_counter="<<d_sample_counter<<std::endl;
d_sample_counter += d_fft_size; // sample counter
consume_each(d_fft_size);
return noutput_items;
return 0;
}
void pcps_acquisition_fine_doppler_cc::dump_results(int effective_fft_size)
{
d_dump_number++;
std::string filename = d_dump_filename;
filename.append("_");
filename.append(1, d_gnss_synchro->System);
filename.append("_");
filename.append(1, d_gnss_synchro->Signal[0]);
filename.append(1, d_gnss_synchro->Signal[1]);
filename.append("_ch_");
filename.append(std::to_string(d_channel));
filename.append("_");
filename.append(std::to_string(d_dump_number));
filename.append("_sat_");
filename.append(std::to_string(d_gnss_synchro->PRN));
filename.append(".mat");
mat_t *matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if (matfp == NULL)
{
std::cout << "Unable to create or open Acquisition dump file" << std::endl;
d_dump = false;
}
else
{
size_t dims[2] = {static_cast<size_t>(effective_fft_size), static_cast<size_t>(d_num_doppler_points)};
matvar_t *matvar = Mat_VarCreate("acq_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_UINT32, MAT_T_UINT32, 1, dims, &d_config_doppler_max, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("doppler_step", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_doppler_step, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("d_positive_acq", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_positive_acq, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
float aux = static_cast<float>(d_gnss_synchro->Acq_doppler_hz);
matvar = Mat_VarCreate("acq_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
aux = static_cast<float>(d_gnss_synchro->Acq_delay_samples);
matvar = Mat_VarCreate("acq_delay_samples", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("test_statistic", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &d_test_statistics, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("threshold", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &d_threshold, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
aux = 0.0;
matvar = Mat_VarCreate("input_power", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("sample_counter", MAT_C_UINT64, MAT_T_UINT64, 1, dims, &d_sample_counter, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_gnss_synchro->PRN, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
Mat_Close(matfp);
}
}

52
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
View File

@ -1,8 +1,9 @@
/*!
* \file pcps_acquisition_fine_doppler_acquisition_cc.h
* \brief This class implements a Parallel Code Phase Search Acquisition with multi-dwells and fine Doppler estimation
* for GPS L1 C/A signal
*
* Acquisition strategy (Kay Borre book + CFAR threshold).
* Acquisition strategy (Kay Borre book).
* <ol>
* <li> Compute the input signal power estimation
* <li> Doppler serial search loop
@ -49,11 +50,13 @@
#define GNSS_SDR_PCPS_ACQUISITION_FINE_DOPPLER_CC_H_
#include "gnss_synchro.h"
#include "acq_conf.h"
#include <gnuradio/block.h>
#include <gnuradio/gr_complex.h>
#include <gnuradio/fft/fft.h>
#include <fstream>
#include <string>
#include <armadillo>
class pcps_acquisition_fine_doppler_cc;
@ -61,46 +64,33 @@ typedef boost::shared_ptr<pcps_acquisition_fine_doppler_cc>
pcps_acquisition_fine_doppler_cc_sptr;
pcps_acquisition_fine_doppler_cc_sptr
pcps_make_acquisition_fine_doppler_cc(int max_dwells, unsigned int sampled_ms,
int doppler_max, int doppler_min, long fs_in, int samples_per_ms,
bool dump, std::string dump_filename);
pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
/*!
* \brief This class implements a Parallel Code Phase Search Acquisition.
*
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation.
*/
class pcps_acquisition_fine_doppler_cc : public gr::block
{
private:
friend pcps_acquisition_fine_doppler_cc_sptr
pcps_make_acquisition_fine_doppler_cc(int max_dwells, unsigned int sampled_ms,
int doppler_max, int doppler_min, long fs_in,
int samples_per_ms, bool dump,
std::string dump_filename);
pcps_acquisition_fine_doppler_cc(int max_dwells, unsigned int sampled_ms,
int doppler_max, int doppler_min, long fs_in,
int samples_per_ms, bool dump,
std::string dump_filename);
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset);
pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
pcps_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
int compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
int estimate_Doppler(gr_vector_const_void_star& input_items);
int estimate_Doppler();
float estimate_input_power(gr_vector_const_void_star& input_items);
double search_maximum();
double compute_CAF();
void reset_grid();
void update_carrier_wipeoff();
void free_grid_memory();
bool start();
Acq_Conf acq_parameters;
long d_fs_in;
int d_samples_per_ms;
int d_max_dwells;
unsigned int d_doppler_resolution;
int d_gnuradio_forecast_samples;
float d_threshold;
std::string d_satellite_str;
@ -114,6 +104,7 @@ private:
unsigned long int d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
gr_complex* d_10_ms_buffer;
float* d_magnitude;
float** d_grid_data;
@ -124,17 +115,23 @@ private:
Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
int d_positive_acq;
int d_state;
bool d_active;
int d_well_count;
int d_n_samples_in_buffer;
bool d_dump;
unsigned int d_channel;
std::string d_dump_filename;
arma::fmat grid_;
long int d_dump_number;
unsigned int d_dump_channel;
public:
/*!
* \brief Default destructor.
@ -187,6 +184,7 @@ public:
inline void set_channel(unsigned int channel)
{
d_channel = channel;
d_dump_channel = d_channel;
}
/*!
@ -222,6 +220,14 @@ public:
gr_vector_void_star& output_items);
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
/*!
* \brief Obtains the next power of 2 greater or equal to the input parameter
* \param n - Integer value to obtain the next power of 2.
*/
unsigned int nextPowerOf2(unsigned int n);
void dump_results(int effective_fft_size);
};
#endif /* pcps_acquisition_fine_doppler_cc*/

2
src/core/CMakeLists.txt
View File

@ -19,4 +19,4 @@
add_subdirectory(system_parameters)
add_subdirectory(libs)
add_subdirectory(receiver)
add_subdirectory(monitor)

37
src/core/monitor/CMakeLists.txt Normal file
View File

@ -0,0 +1,37 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
#
# 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 <https://www.gnu.org/licenses/>.
#
set(CORE_MONITOR_LIBS_SOURCES
gnss_synchro_monitor.cc
gnss_synchro_udp_sink.cc
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
file(GLOB CORE_MONITOR_LIBS_HEADERS "*.h")
list(SORT CORE_MONITOR_LIBS_HEADERS)
add_library(core_monitor_lib ${CORE_MONITOR_LIBS_SOURCES} ${CORE_MONITOR_LIBS_HEADERS})
source_group(Headers FILES ${CORE_MONITOR_LIBS_HEADERS})
target_link_libraries(core_monitor_lib ${Boost_LIBRARIES})

92
src/core/monitor/gnss_synchro_monitor.cc Normal file
View File

@ -0,0 +1,92 @@
/*!
* \file gnss_synchro_monitor.cc
* \brief Interface of a Position Velocity and Time computation block
* \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gnss_synchro_monitor.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <algorithm>
#include <iostream>
using google::LogMessage;
gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
int output_rate_ms,
int udp_port,
std::vector<std::string> udp_addresses)
{
return gnss_synchro_monitor_sptr(new gnss_synchro_monitor(n_channels,
output_rate_ms,
udp_port,
udp_addresses));
}
gnss_synchro_monitor::gnss_synchro_monitor(unsigned int n_channels,
int output_rate_ms,
int udp_port,
std::vector<std::string> udp_addresses) : gr::sync_block("gnss_synchro_monitor",
gr::io_signature::make(n_channels, n_channels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
{
d_output_rate_ms = output_rate_ms;
d_nchannels = n_channels;
udp_sink_ptr = std::unique_ptr<Gnss_Synchro_Udp_Sink>(new Gnss_Synchro_Udp_Sink(udp_addresses, udp_port));
}
gnss_synchro_monitor::~gnss_synchro_monitor()
{
}
int gnss_synchro_monitor::work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items __attribute__((unused)))
{
const Gnss_Synchro** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer
for (int epoch = 0; epoch < noutput_items; epoch++)
{
// ############ 1. READ PSEUDORANGES ####
for (unsigned int i = 0; i < d_nchannels; i++)
{
//if (in[i][epoch].Flag_valid_pseudorange)
// {
// }
//todo: send the gnss_synchro objects
std::vector<Gnss_Synchro> stocks;
stocks.push_back(in[i][epoch]);
udp_sink_ptr->write_gnss_synchro(stocks);
}
}
return noutput_items;
}

81
src/core/monitor/gnss_synchro_monitor.h Normal file
View File

@ -0,0 +1,81 @@
/*!
* \file gnss_synchro_monitor.h
* \brief Interface of a Position Velocity and Time computation block
* \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GNSS_SYNCHRO_MONITOR_H
#define GNSS_SDR_GNSS_SYNCHRO_MONITOR_H
#include "gnss_synchro_udp_sink.h"
#include <gnuradio/sync_block.h>
#include <fstream>
#include <utility>
#include <string>
class gnss_synchro_monitor;
typedef boost::shared_ptr<gnss_synchro_monitor> gnss_synchro_monitor_sptr;
gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
int output_rate_ms,
int udp_port,
std::vector<std::string> udp_addresses);
/*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
*/
class gnss_synchro_monitor : public gr::sync_block
{
private:
friend gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int nchannels,
int output_rate_ms,
int udp_port,
std::vector<std::string> udp_addresses);
unsigned int d_nchannels;
int d_output_rate_ms;
std::unique_ptr<Gnss_Synchro_Udp_Sink> udp_sink_ptr;
public:
gnss_synchro_monitor(unsigned int nchannels,
int output_rate_ms,
int udp_port,
std::vector<std::string> udp_addresses);
~gnss_synchro_monitor(); //!< Default destructor
int work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
};
#endif

69
src/core/monitor/gnss_synchro_udp_sink.cc Normal file
View File

@ -0,0 +1,69 @@
/*!
* \file gnss_synchro_udp_sink.cc
* \brief Implementation of a class that sends serialized Gnss_Synchro
* objects over udp to one or multiple endponits
* \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gnss_synchro_udp_sink.h"
#include <boost/archive/binary_oarchive.hpp>
#include <boost/serialization/vector.hpp>
#include <sstream>
#include <iostream>
Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const unsigned short& port) : socket{io_service}
{
for (auto address : addresses)
{
boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port);
endpoints.push_back(endpoint);
}
}
bool Gnss_Synchro_Udp_Sink::write_gnss_synchro(std::vector<Gnss_Synchro> stocks)
{
std::ostringstream archive_stream;
boost::archive::binary_oarchive oa{archive_stream};
oa << stocks;
std::string outbound_data = archive_stream.str();
for (auto endpoint : endpoints)
{
socket.open(endpoint.protocol(), error);
socket.connect(endpoint, error);
try
{
socket.send(boost::asio::buffer(outbound_data));
}
catch (boost::system::system_error const& e)
{
return false;
}
}
return true;
}

53
src/core/monitor/gnss_synchro_udp_sink.h Normal file
View File

@ -0,0 +1,53 @@
/*!
* \file gnss_synchro_udp_sink.h
* \brief Interface of a class that sends serialized Gnss_Synchro objects
* over udp to one or multiple endponits
* \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SYNCHRO_UDP_SINK_H_
#define GNSS_SYNCHRO_UDP_SINK_H_
#include <boost/asio.hpp>
#include "gnss_synchro.h"
class Gnss_Synchro_Udp_Sink
{
public:
Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const unsigned short &port);
bool write_gnss_synchro(std::vector<Gnss_Synchro> stocks);
private:
boost::asio::io_service io_service;
boost::asio::ip::udp::socket socket;
boost::system::error_code error;
std::vector<boost::asio::ip::udp::endpoint> endpoints;
std::vector<Gnss_Synchro> stocks;
};
#endif /* GNSS_SYNCHRO_UDP_SINK_H_ */

2
src/core/receiver/CMakeLists.txt
View File

@ -111,6 +111,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/libs/supl
${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-rrlp
${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-supl
${CMAKE_SOURCE_DIR}/src/core/monitor
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/libs
${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/adapters
@ -178,4 +179,5 @@ target_link_libraries(gnss_rx ${Boost_LIBRARIES}
pvt_adapters
pvt_lib
rx_core_lib
core_monitor_lib
)

39
src/core/receiver/gnss_flowgraph.cc
View File

@ -4,6 +4,7 @@
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Luis Esteve, 2012. luis(at)epsilon-formacion.com
* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
*
* -------------------------------------------------------------------------
*
@ -496,6 +497,25 @@ void GNSSFlowgraph::connect()
return;
}
// GNSS SYNCHRO MONITOR
if (enable_monitor_)
{
try
{
for (unsigned int i = 0; i < channels_count_; i++)
{
top_block_->connect(observables_->get_right_block(), i, GnssSynchroMonitor_, i);
}
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect observables to Monitor block";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
// Activate acquisition in enabled channels
for (unsigned int i = 0; i < channels_count_; i++)
{
@ -1091,6 +1111,25 @@ void GNSSFlowgraph::init()
set_channels_state();
applied_actions_ = 0;
DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels.";
/*
* Instantiate the receiver monitor block, if required
*/
enable_monitor_ = configuration_->property("Monitor.enable_monitor", false);
std::vector<std::string> udp_addr_vec;
std::string address_string = configuration_->property("Monitor.client_addresses", std::string("127.0.0.1"));
//todo: split the string in substrings using the separator and fill the address vector.
udp_addr_vec.push_back(address_string);
if (enable_monitor_)
{
GnssSynchroMonitor_ = gr::basic_block_sptr(new gnss_synchro_monitor(channels_count_,
configuration_->property("Monitor.output_rate_ms", 1),
configuration_->property("Monitor.udp_port", 1234),
udp_addr_vec));
}
}

5
src/core/receiver/gnss_flowgraph.h
View File

@ -4,6 +4,7 @@
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Luis Esteve, 2011. luis(at)epsilon-formacion.com
* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
*
* It contains a signal source,
* a signal conditioner, a set of channels, an observables block and a pvt.
@ -39,6 +40,7 @@
#include "GPS_L1_CA.h"
#include "gnss_signal.h"
#include "gnss_sdr_sample_counter.h"
#include "gnss_synchro_monitor.h"
#include <gnuradio/top_block.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_source.h>
@ -185,6 +187,9 @@ private:
std::vector<unsigned int> channels_state_;
std::mutex signal_list_mutex;
bool enable_monitor_;
gr::basic_block_sptr GnssSynchroMonitor_;
};
#endif /*GNSS_SDR_GNSS_FLOWGRAPH_H_*/

39
src/core/system_parameters/gnss_synchro.h
View File

@ -4,6 +4,7 @@
* \author
* Luis Esteve, 2012. luis(at)epsilon-formacion.com
* Javier Arribas, 2012. jarribas(at)cttc.es
* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
@ -73,6 +74,44 @@ public:
double RX_time; //!< Set by Observables processing block
bool Flag_valid_pseudorange; //!< Set by Observables processing block
double interp_TOW_ms; //!< Set by Observables processing block
/*!
* \brief This member function is necessary to serialize and restore
* Gnss_Synchro objects from a byte stream.
*/
template <class Archive>
void serialize(Archive& ar, const unsigned int version)
{
// Satellite and signal info
ar& System;
ar& Signal;
ar& PRN;
ar& Channel_ID;
ar& Acq_delay_samples;
ar& Acq_doppler_hz;
ar& Acq_samplestamp_samples;
ar& Flag_valid_acquisition;
//Tracking
ar& fs;
ar& Prompt_I;
ar& Prompt_Q;
ar& CN0_dB_hz;
ar& Carrier_Doppler_hz;
ar& Carrier_phase_rads;
ar& Code_phase_samples;
ar& Tracking_sample_counter;
ar& Flag_valid_symbol_output;
ar& correlation_length_ms;
//Telemetry Decoder
ar& Flag_valid_word;
ar& TOW_at_current_symbol_ms;
// Observables
ar& Pseudorange_m;
ar& RX_time;
ar& Flag_valid_pseudorange;
ar& interp_TOW_ms;
}
};
#endif

1
src/tests/CMakeLists.txt
View File

@ -307,6 +307,7 @@ set(LIST_INCLUDE_DIRS
${CMAKE_SOURCE_DIR}/src/core/libs/supl
${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-rrlp
${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-supl
${CMAKE_SOURCE_DIR}/src/core/monitor
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${CMAKE_SOURCE_DIR}/src/algorithms/data_type_adapter/adapters

39
src/tests/common-files/gnuplot_i.h
View File

@ -218,6 +218,7 @@ public:
const std::string &labely = "y",
const std::string &labelz = "z");
/// destructor: needed to delete temporary files
~Gnuplot();
@ -246,6 +247,9 @@ public:
/// sets terminal type to terminal_std
Gnuplot &showonscreen(); // window output is set by default (win/x11/aqua)
/// sets terminal type to unknown (disable the screen output)
Gnuplot &disablescreen();
/// saves a gnuplot session to a postscript file, filename without extension
Gnuplot &savetops(const std::string &filename = "gnuplot_output");
@ -1195,6 +1199,17 @@ Gnuplot &Gnuplot::set_smooth(const std::string &stylestr)
}
//------------------------------------------------------------------------------
//
// Disable screen output
//
Gnuplot &Gnuplot::disablescreen()
{
cmd("set output");
cmd("set terminal unknown");
return *this;
}
//------------------------------------------------------------------------------
//
// sets terminal type to windows / x11
@ -2090,19 +2105,19 @@ std::string Gnuplot::create_tmpfile(std::ofstream &tmp)
throw GnuplotException(except.str());
}
// int mkstemp(char *name);
// shall replace the contents of the string pointed to by "name" by a unique
// filename, and return a file descriptor for the file open for reading and
// writing. Otherwise, -1 shall be returned if no suitable file could be
// created. The string in template should look like a filename with six
// trailing 'X' s; mkstemp() replaces each 'X' with a character from the
// portable filename character set. The characters are chosen such that the
// resulting name does not duplicate the name of an existing file at the
// time of a call to mkstemp()
// int mkstemp(char *name);
// shall replace the contents of the string pointed to by "name" by a unique
// filename, and return a file descriptor for the file open for reading and
// writing. Otherwise, -1 shall be returned if no suitable file could be
// created. The string in template should look like a filename with six
// trailing 'X' s; mkstemp() replaces each 'X' with a character from the
// portable filename character set. The characters are chosen such that the
// resulting name does not duplicate the name of an existing file at the
// time of a call to mkstemp()
//
// open temporary files for output
//
//
// open temporary files for output
//
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__TOS_WIN__)
if (_mktemp(name) == NULL)

15
src/tests/common-files/tracking_tests_flags.h
View File

@ -36,7 +36,8 @@
// Input signal configuration
DEFINE_bool(enable_external_signal_file, false, "Use an external signal file capture instead of the software-defined signal generator");
DEFINE_string(signal_file, std::string("gps_l1_capture.dat"), "Path of the external signal capture file");
DEFINE_int32(external_signal_acquisition_threshold, 2.0, "Threshold for satellite acquisition when external file is used");
DEFINE_string(signal_file, std::string("signal_out.bin"), "Path of the external signal capture file");
DEFINE_double(CN0_dBHz_start, std::numeric_limits<double>::infinity(), "Enable noise generator and set the CN0 start sweep value [dB-Hz]");
DEFINE_double(CN0_dBHz_stop, std::numeric_limits<double>::infinity(), "Enable noise generator and set the CN0 stop sweep value [dB-Hz]");
DEFINE_double(CN0_dB_step, 3.0, "Noise generator CN0 sweep step value [dB]");
@ -52,13 +53,13 @@ DEFINE_double(DLL_bw_hz_step, 0.25, "DLL Wide configuration sweep step value [Hz
DEFINE_double(PLL_narrow_bw_hz, 5.0, "PLL Narrow configuration value [Hz]");
DEFINE_double(DLL_narrow_bw_hz, 0.75, "DLL Narrow configuration value [Hz]");
DEFINE_double(Acq_Doppler_error_hz_start, 500.0, "Acquisition Doppler error start sweep value [Hz]");
DEFINE_double(Acq_Doppler_error_hz_stop, -500.0, "Acquisition Doppler error stop sweep value [Hz]");
DEFINE_double(Acq_Doppler_error_hz_step, -50.0, "Acquisition Doppler error sweep step value [Hz]");
DEFINE_double(acq_Doppler_error_hz_start, 1000.0, "Acquisition Doppler error start sweep value [Hz]");
DEFINE_double(acq_Doppler_error_hz_stop, -1000.0, "Acquisition Doppler error stop sweep value [Hz]");
DEFINE_double(acq_Doppler_error_hz_step, -50.0, "Acquisition Doppler error sweep step value [Hz]");
DEFINE_double(Acq_Delay_error_chips_start, 2.0, "Acquisition Code Delay error start sweep value [Hz]");
DEFINE_double(Acq_Delay_error_chips_stop, -2.0, "Acquisition Code Delay error stop sweep value [Hz]");
DEFINE_double(Acq_Delay_error_chips_step, -0.1, "Acquisition Code Delay error sweep step value [Hz]");
DEFINE_double(acq_Delay_error_chips_start, 2.0, "Acquisition Code Delay error start sweep value [Chips]");
DEFINE_double(acq_Delay_error_chips_stop, -2.0, "Acquisition Code Delay error stop sweep value [Chips]");
DEFINE_double(acq_Delay_error_chips_step, -0.1, "Acquisition Code Delay error sweep step value [Chips]");
DEFINE_int32(plot_detail_level, 0, "Specify the desired plot detail (0,1,2): 0 - Minimum plots (default) 2 - Plot all tracking parameters");

332
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_pull-in_test.cc
View File

@ -44,6 +44,7 @@
#include "GPS_L1_CA.h"
#include "gnss_block_factory.h"
#include "tracking_interface.h"
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
#include "in_memory_configuration.h"
#include "tracking_true_obs_reader.h"
#include "tracking_dump_reader.h"
@ -52,7 +53,59 @@
#include "test_flags.h"
#include "tracking_tests_flags.h"
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
// ######## GNURADIO ACQUISITION BLOCK MESSAGE RECEVER #########
class Acquisition_msg_rx;
typedef boost::shared_ptr<Acquisition_msg_rx> Acquisition_msg_rx_sptr;
Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
class Acquisition_msg_rx : public gr::block
{
private:
friend Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
Acquisition_msg_rx();
public:
int rx_message;
~Acquisition_msg_rx(); //!< Default destructor
};
Acquisition_msg_rx_sptr Acquisition_msg_rx_make()
{
return Acquisition_msg_rx_sptr(new Acquisition_msg_rx());
}
void Acquisition_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
long int message = pmt::to_long(msg);
rx_message = message;
}
catch (boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_acquisition Bad cast!\n";
rx_message = 0;
}
}
Acquisition_msg_rx::Acquisition_msg_rx() : gr::block("Acquisition_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&Acquisition_msg_rx::msg_handler_events, this, _1));
rx_message = 0;
}
Acquisition_msg_rx::~Acquisition_msg_rx() {}
// ######## GNURADIO TRACKING BLOCK MESSAGE RECEVER #########
class GpsL1CADllPllTrackingPullInTest_msg_rx;
typedef boost::shared_ptr<GpsL1CADllPllTrackingPullInTest_msg_rx> GpsL1CADllPllTrackingPullInTest_msg_rx_sptr;
@ -88,7 +141,7 @@ void GpsL1CADllPllTrackingPullInTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
}
catch (boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
LOG(WARNING) << "msg_handler_tracking Bad cast!";
rx_message = 0;
}
}
@ -124,7 +177,11 @@ public:
const int baseband_sampling_freq = FLAGS_fs_gen_sps;
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
std::string filename_raw_data = FLAGS_filename_raw_data;
std::string filename_raw_data = FLAGS_signal_file;
std::map<int, double> doppler_measurements_map;
std::map<int, double> code_delay_measurements_map;
std::map<int, unsigned long int> acq_samplestamp_map;
int configure_generator(double CN0_dBHz, int file_idx);
int generate_signal();
@ -165,6 +222,7 @@ public:
double DLL_narrow_bw_hz,
int extend_correlation_symbols);
bool acquire_GPS_L1CA_signal(int SV_ID);
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
@ -187,10 +245,10 @@ int GpsL1CADllPllTrackingPullInTest::configure_generator(double CN0_dBHz, int fi
{
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
}
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data + std::to_string(file_idx); // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
p6 = std::string("-CN0_dBHz=") + std::to_string(CN0_dBHz); // Signal generator CN0
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
p4 = std::string("-sig_out_file=") + FLAGS_signal_file + std::to_string(file_idx); // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
p6 = std::string("-CN0_dBHz=") + std::to_string(CN0_dBHz); // Signal generator CN0
return 0;
}
@ -259,20 +317,130 @@ void GpsL1CADllPllTrackingPullInTest::configure_receiver(
}
bool GpsL1CADllPllTrackingPullInTest::acquire_GPS_L1CA_signal(int SV_ID)
{
// 1. Setup GNU Radio flowgraph (file_source -> Acquisition_10m)
gr::top_block_sptr top_block;
top_block = gr::make_top_block("Acquisition test");
// Satellite signal definition
Gnss_Synchro tmp_gnss_synchro;
tmp_gnss_synchro.Channel_ID = 0;
tmp_gnss_synchro.System = 'G';
std::string signal = "1C";
signal.copy(tmp_gnss_synchro.Signal, 2, 0);
tmp_gnss_synchro.PRN = SV_ID;
config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
config->set_property("Acquisition.max_dwells", "10");
config->set_property("Acquisition.dump", "true");
GNSSBlockFactory block_factory;
GpsL1CaPcpsAcquisitionFineDoppler* acquisition;
acquisition = new GpsL1CaPcpsAcquisitionFineDoppler(config.get(), "Acquisition", 1, 1);
acquisition->set_channel(1);
acquisition->set_gnss_synchro(&tmp_gnss_synchro);
acquisition->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
boost::shared_ptr<Acquisition_msg_rx> msg_rx;
try
{
msg_rx = Acquisition_msg_rx_make();
}
catch (const std::exception& e)
{
std::cout << "Failure connecting the message port system: " << e.what() << std::endl;
exit(0);
}
gr::blocks::file_source::sptr file_source;
std::string file = FLAGS_signal_file;
const char* file_name = file.c_str();
file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
top_block->msg_connect(acquisition->get_left_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
// 5. Run the flowgraph
// Get visible GPS satellites (positive acquisitions with Doppler measurements)
// record startup time
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds;
start = std::chrono::system_clock::now();
bool start_msg = true;
doppler_measurements_map.clear();
code_delay_measurements_map.clear();
acq_samplestamp_map.clear();
for (unsigned int PRN = 1; PRN < 33; PRN++)
{
tmp_gnss_synchro.PRN = PRN;
acquisition->set_gnss_synchro(&tmp_gnss_synchro);
acquisition->init();
acquisition->set_local_code();
acquisition->reset();
msg_rx->rx_message = 0;
top_block->run();
if (start_msg == true)
{
std::cout << "Reading external signal file: " << FLAGS_signal_file << std::endl;
std::cout << "Searching for GPS Satellites in L1 band..." << std::endl;
std::cout << "[";
start_msg = false;
}
while (msg_rx->rx_message == 0)
{
usleep(100000);
}
if (msg_rx->rx_message == 1)
{
std::cout << " " << PRN << " ";
doppler_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_doppler_hz));
code_delay_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_delay_samples));
acq_samplestamp_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_samplestamp_samples));
}
else
{
std::cout << " . ";
}
top_block->stop();
file_source->seek(0, 0);
std::cout.flush();
}
std::cout << "]" << std::endl;
// report the elapsed time
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
std::cout << "Total signal acquisition run time "
<< elapsed_seconds.count()
<< " [seconds]" << std::endl;
return true;
}
TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
{
//*************************************************
//***** STEP 2: Prepare the parameters sweep ******
//***** STEP 1: Prepare the parameters sweep ******
//*************************************************
std::vector<double> acq_doppler_error_hz_values;
std::vector<double>
acq_doppler_error_hz_values;
std::vector<std::vector<double>> acq_delay_error_chips_values; //vector of vector
for (double doppler_hz = FLAGS_Acq_Doppler_error_hz_start; doppler_hz >= FLAGS_Acq_Doppler_error_hz_stop; doppler_hz = doppler_hz + FLAGS_Acq_Doppler_error_hz_step)
for (double doppler_hz = FLAGS_acq_Doppler_error_hz_start; doppler_hz >= FLAGS_acq_Doppler_error_hz_stop; doppler_hz = doppler_hz + FLAGS_acq_Doppler_error_hz_step)
{
acq_doppler_error_hz_values.push_back(doppler_hz);
std::vector<double> tmp_vector;
//Code Delay Sweep
for (double code_delay_chips = FLAGS_Acq_Delay_error_chips_start; code_delay_chips >= FLAGS_Acq_Delay_error_chips_stop; code_delay_chips = code_delay_chips + FLAGS_Acq_Delay_error_chips_step)
for (double code_delay_chips = FLAGS_acq_Delay_error_chips_start; code_delay_chips >= FLAGS_acq_Delay_error_chips_stop; code_delay_chips = code_delay_chips + FLAGS_acq_Delay_error_chips_step)
{
tmp_vector.push_back(code_delay_chips);
}
@ -280,26 +448,37 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
}
//*********************************************
//***** STEP 3: Generate the input signal *****
//*********************************************
//***********************************************************
//***** STEP 2: Generate the input signal (if required) *****
//***********************************************************
std::vector<double> generator_CN0_values;
if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop)
if (FLAGS_enable_external_signal_file)
{
generator_CN0_values.push_back(FLAGS_CN0_dBHz_start);
generator_CN0_values.push_back(999); // an external input signal capture is selected, no CN0 information available
}
else
{
for (double cn0 = FLAGS_CN0_dBHz_start; cn0 > FLAGS_CN0_dBHz_stop; cn0 = cn0 - FLAGS_CN0_dB_step)
if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop)
{
generator_CN0_values.push_back(cn0);
generator_CN0_values.push_back(FLAGS_CN0_dBHz_start);
}
else
{
for (double cn0 = FLAGS_CN0_dBHz_start; cn0 > FLAGS_CN0_dBHz_stop; cn0 = cn0 - FLAGS_CN0_dB_step)
{
generator_CN0_values.push_back(cn0);
}
}
}
// use generator or use an external capture file
if (FLAGS_enable_external_signal_file)
{
//todo: create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
//create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
ASSERT_EQ(acquire_GPS_L1CA_signal(FLAGS_test_satellite_PRN), true);
bool found_satellite = doppler_measurements_map.find(FLAGS_test_satellite_PRN) != doppler_measurements_map.end();
EXPECT_TRUE(found_satellite) << "Error: satellite SV: " << FLAGS_test_satellite_PRN << " is not acquired";
if (!found_satellite) return;
}
else
{
@ -326,6 +505,10 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
//***** Obtain the initial signal sinchronization parameters (emulating an acquisition) ****
//******************************************************************************************
int test_satellite_PRN = 0;
double true_acq_doppler_hz = 0.0;
double true_acq_delay_samples = 0.0;
unsigned long int acq_samplestamp_samples = 0;
tracking_true_obs_reader true_obs_data;
if (!FLAGS_enable_external_signal_file)
{
@ -341,14 +524,23 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
<< "Maybe sat PRN #" + std::to_string(FLAGS_test_satellite_PRN) +
" is not available?";
std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
std::cout << "True Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " rue Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
std::cout << "True Initial Doppler " << true_obs_data.doppler_l1_hz << " [Hz], true Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << "[Chips]" << std::endl;
true_acq_doppler_hz = true_obs_data.doppler_l1_hz;
true_acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * static_cast<double>(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD;
acq_samplestamp_samples = 0;
}
else
{
//todo: Simulate a perfect acquisition for the external capture file
true_acq_doppler_hz = doppler_measurements_map.find(FLAGS_test_satellite_PRN)->second;
true_acq_delay_samples = code_delay_measurements_map.find(FLAGS_test_satellite_PRN)->second;
acq_samplestamp_samples = 0;
std::cout << "Estimated Initial Doppler " << true_acq_doppler_hz
<< " [Hz], estimated Initial code delay " << true_acq_delay_samples << " [Samples]"
<< " Acquisition SampleStamp is " << acq_samplestamp_map.find(FLAGS_test_satellite_PRN)->second << std::endl;
}
//CN0 LOOP
std::vector<std::vector<double>> pull_in_results_v_v;
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{
std::vector<double> pull_in_results_v;
@ -356,23 +548,18 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
{
for (unsigned int current_acq_code_error_idx = 0; current_acq_code_error_idx < acq_delay_error_chips_values.at(current_acq_doppler_error_idx).size(); current_acq_code_error_idx++)
{
gnss_synchro.Acq_samplestamp_samples = acq_samplestamp_samples;
//simulate a Doppler error in acquisition
double acq_doppler_hz = true_obs_data.doppler_l1_hz + acq_doppler_error_hz_values.at(current_acq_doppler_error_idx);
gnss_synchro.Acq_doppler_hz = true_acq_doppler_hz + acq_doppler_error_hz_values.at(current_acq_doppler_error_idx);
//simulate Code Delay error in acquisition
double acq_delay_samples;
acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * static_cast<double>(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD;
acq_delay_samples += (acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx) / GPS_L1_CA_CODE_RATE_HZ) * static_cast<double>(baseband_sampling_freq);
gnss_synchro.Acq_delay_samples = true_acq_delay_samples + (acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx) / GPS_L1_CA_CODE_RATE_HZ) * static_cast<double>(baseband_sampling_freq);
//create flowgraph
top_block = gr::make_top_block("Tracking test");
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking_1C", implementation, 1, 1);
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);
boost::shared_ptr<GpsL1CADllPllTrackingPullInTest_msg_rx> msg_rx = GpsL1CADllPllTrackingPullInTest_msg_rx_make();
gnss_synchro.Acq_delay_samples = acq_delay_samples;
gnss_synchro.Acq_doppler_hz = acq_doppler_hz;
gnss_synchro.Acq_samplestamp_samples = 0;
ASSERT_NO_THROW({
tracking->set_channel(gnss_synchro.Channel_ID);
@ -386,8 +573,16 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
tracking->connect(top_block);
}) << "Failure connecting tracking to the top_block.";
std::string file;
ASSERT_NO_THROW({
std::string file = "./" + filename_raw_data + std::to_string(current_cn0_idx);
if (!FLAGS_enable_external_signal_file)
{
file = "./" + filename_raw_data + std::to_string(current_cn0_idx);
}
else
{
file = FLAGS_signal_file;
}
const char* file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
@ -396,6 +591,8 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
top_block->connect(gr_interleaved_char_to_complex, 0, tracking->get_left_block(), 0);
top_block->connect(tracking->get_right_block(), 0, sink, 0);
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
file_source->seek(acq_samplestamp_samples, 0);
}) << "Failure connecting the blocks of tracking test.";
@ -420,7 +617,7 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
//********************************
//***** STEP 7: Plot results *****
//********************************
if (FLAGS_plot_gps_l1_tracking_test == true)
if (FLAGS_plot_detail_level >= 2 and FLAGS_show_plots)
{
//load the measured values
tracking_dump_reader trk_dump;
@ -465,7 +662,7 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if (gnuplot_executable.empty())
{
std::cout << "WARNING: Although the flag plot_gps_l1_tracking_test has been set to TRUE," << std::endl;
std::cout << "WARNING: Although the flag show_plots has been set to TRUE," << std::endl;
std::cout << "gnuplot has not been found in your system." << std::endl;
std::cout << "Test results will not be plotted." << std::endl;
}
@ -479,11 +676,19 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
Gnuplot::set_GNUPlotPath(gnuplot_path);
unsigned int decimate = static_cast<unsigned int>(FLAGS_plot_decimate);
if (FLAGS_plot_detail_level >= 2)
if (FLAGS_plot_detail_level >= 2 and FLAGS_show_plots)
{
Gnuplot g1("linespoints");
if (FLAGS_show_plots) g1.showonscreen(); // window output
g1.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, " + "PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " Hz" + "GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g1.showonscreen(); // window output
if (!FLAGS_enable_external_signal_file)
{
g1.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, " + "PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
else
{
g1.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
g1.set_grid();
g1.set_xlabel("Time [s]");
g1.set_ylabel("Correlators' output");
@ -496,8 +701,16 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
//g1.savetopdf("Correlators_outputs" + std::to_string(generator_CN0_values.at(current_cn0_idx)), 18);
Gnuplot g2("points");
if (FLAGS_show_plots) g2.showonscreen(); // window output
g2.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz Constellation " + "PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " Hz" + "GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
g2.showonscreen(); // window output
if (!FLAGS_enable_external_signal_file)
{
g2.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz Constellation " + "PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
else
{
g2.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
g2.set_grid();
g2.set_xlabel("Inphase");
g2.set_ylabel("Quadrature");
@ -507,7 +720,14 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
//g2.savetopdf("Constellation", 18);
Gnuplot g3("linespoints");
g3.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, GPS L1 C/A tracking CN0 output (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
if (!FLAGS_enable_external_signal_file)
{
g3.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, GPS L1 C/A tracking CN0 output (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
else
{
g3.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips] PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
g3.set_grid();
g3.set_xlabel("Time [s]");
g3.set_ylabel("Reported CN0 [dB-Hz]");
@ -519,7 +739,7 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
g3.set_legend();
//g3.savetops("CN0_output");
//g3.savetopdf("CN0_output", 18);
if (FLAGS_show_plots) g3.showonscreen(); // window output
g3.showonscreen(); // window output
}
}
catch (const GnuplotException& ge)
@ -553,21 +773,45 @@ TEST_F(GpsL1CADllPllTrackingPullInTest, ValidationOfResults)
pull_in_result_mesh = pull_in_results_v_v.at(current_cn0_idx);
//plot grid
Gnuplot g4("points palette pointsize 2 pointtype 7");
if (FLAGS_show_plots)
{
g4.showonscreen(); // window output
}
else
{
g4.disablescreen();
}
g4.cmd("set palette defined ( 0 \"black\", 1 \"green\" )");
g4.cmd("set key off");
g4.cmd("set view map");
std::string title("Tracking Pull-in result grid at CN0:" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + " dB-Hz, PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " Hz.");
std::string title;
if (!FLAGS_enable_external_signal_file)
{
title = std::string("Tracking Pull-in result grid at CN0:" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + " [dB-Hz], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz].");
}
else
{
title = std::string("Tracking Pull-in result grid, PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
g4.set_title(title);
g4.set_grid();
g4.set_xlabel("Acquisition Doppler error [Hz]");
g4.set_ylabel("Acquisition Code Delay error [Chips]");
g4.cmd("set cbrange[0:1]");
g4.plot_xyz(doppler_error_mesh,
code_delay_error_mesh,
pull_in_result_mesh);
g4.set_legend();
g4.savetops("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))));
g4.savetopdf("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))), 12);
if (FLAGS_show_plots) g4.showonscreen(); // window output
if (!FLAGS_enable_external_signal_file)
{
g4.savetops("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))));
g4.savetopdf("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))), 12);
}
else
{
g4.savetops("trk_pull_in_grid_external_file");
g4.savetopdf("trk_pull_in_grid_external_file", 12);
}
}
}

1
src/utils/front-end-cal/CMakeLists.txt
View File

@ -33,6 +33,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-supl
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}

5
src/utils/front-end-cal/main.cc
View File

@ -144,8 +144,6 @@ FrontEndCal_msg_rx::FrontEndCal_msg_rx() : gr::block("FrontEndCal_msg_rx", gr::i
FrontEndCal_msg_rx::~FrontEndCal_msg_rx() {}
void wait_message()
{
while (!stop)
@ -353,13 +351,14 @@ int main(int argc, char** argv)
gnss_synchro->PRN = 1;
long fs_in_ = configuration->property("GNSS-SDR.internal_fs_sps", 2048000);
configuration->set_property("Acquisition.max_dwells", "10");
GNSSBlockFactory block_factory;
acquisition = new GpsL1CaPcpsAcquisitionFineDoppler(configuration.get(), "Acquisition", 1, 1);
acquisition->set_channel(1);
acquisition->set_gnss_synchro(gnss_synchro);
acquisition->set_threshold(configuration->property("Acquisition.threshold", 0.0));
acquisition->set_threshold(configuration->property("Acquisition.threshold", 2.0));
acquisition->set_doppler_max(configuration->property("Acquisition.doppler_max", 10000));
acquisition->set_doppler_step(configuration->property("Acquisition.doppler_step", 250));