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Consolidating unified dll pll veml tracking to synchronize symbols for GPS L1, L5, Galileo E1, E5 and Beidou B1, B3. Beidou bug fixes in acquisition. Adapting all telemetry decoders to use 1 sample per symbol

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This commit is contained in:
Javier Arribas 2019-07-03 18:57:26 +02:00
parent 844b87d96f
commit cf967be252
17 changed files with 543 additions and 454 deletions
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89
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
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@ -51,48 +51,37 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat";
std::string default_dump_filename = "./acquisition.mat";
DLOG(INFO) << "role " << role;
LOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t 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_;
acq_parameters_.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
acq_parameters_.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters_.doppler_max = doppler_max_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<uint32_t>(std::round(static_cast<double>(fs_in_) / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_ * sampled_ms_;
if (bit_transition_flag_)
{
vector_length_ *= 2;
}
code_ = std::vector<std::complex<float>>(vector_length_);
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
if (item_type_ == "cshort")
{
@ -102,18 +91,28 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
{
item_size_ = sizeof(gr_complex);
}
acq_parameters.it_size = item_size_;
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters.samples_per_ms = code_length_;
acq_parameters.samples_per_code = code_length_;
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
acq_parameters_.ms_per_code = 1;
acq_parameters_.it_size = item_size_;
num_codes_ = acq_parameters_.sampled_ms;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
acq_parameters_.resampled_fs = fs_in_;
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / BEIDOU_B1I_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(BEIDOU_B1I_CODE_PERIOD * 1000.0);
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = std::vector<std::complex<float>>(vector_length_);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_ == "cbyte")
{
@ -208,7 +207,7 @@ void BeidouB1iPcpsAcquisition::set_local_code()
beidou_b1i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
for (unsigned int i = 0; i < num_codes_; i++)
{
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
@ -233,15 +232,7 @@ float BeidouB1iPcpsAcquisition::calculate_threshold(float pfa)
{
//Calculate the threshold
uint32_t frequency_bins = 0;
/*
for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
{
frequency_bins++;
}
*/
frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
uint32_t ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
@ -266,9 +257,11 @@ void BeidouB1iPcpsAcquisition::connect(gr::top_block_sptr top_block)
}
else if (item_type_ == "cbyte")
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -289,11 +282,9 @@ void BeidouB1iPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
}
else if (item_type_ == "cbyte")
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(float_to_complex_, 0, acquisition_, 0);
}
else
{

20
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
View File

@ -163,22 +163,21 @@ public:
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
Acq_Conf acq_parameters_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;
std::string item_type_;
uint32_t vector_length_;
uint32_t code_length_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
uint32_t channel_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
float threshold_;
uint32_t doppler_max_;
uint32_t doppler_step_;
uint32_t sampled_ms_;
uint32_t max_dwells_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int max_dwells_;
int64_t fs_in_;
bool dump_;
bool blocking_;
@ -186,8 +185,9 @@ private:
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
uint32_t in_streams_;
uint32_t out_streams_;
unsigned int num_codes_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

101
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
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@ -49,49 +49,37 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat";
std::string default_dump_filename = "./acquisition.mat";
DLOG(INFO) << "role " << role;
LOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t 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_;
acq_parameters_.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
acq_parameters_.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters_.doppler_max = doppler_max_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_ * sampled_ms_;
if (bit_transition_flag_)
{
vector_length_ *= 2;
}
code_ = std::vector<std::complex<float>>(vector_length_);
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
if (item_type_ == "cshort")
{
@ -101,18 +89,28 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
{
item_size_ = sizeof(gr_complex);
}
acq_parameters.it_size = item_size_;
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters.samples_per_ms = code_length_;
acq_parameters.samples_per_code = code_length_;
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
acq_parameters_.ms_per_code = 1;
acq_parameters_.it_size = item_size_;
num_codes_ = acq_parameters_.sampled_ms;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
acq_parameters_.resampled_fs = fs_in_;
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / BEIDOU_B3I_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(BEIDOU_B3I_CODE_PERIOD * 1000.0);
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = std::vector<std::complex<float>>(vector_length_);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_ == "cbyte")
{
@ -146,8 +144,12 @@ void BeidouB3iPcpsAcquisition::stop_acquisition()
void BeidouB3iPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0)
{
pfa = configuration_->property(role_ + ".pfa", 0.0);
}
if (pfa == 0.0)
{
threshold_ = threshold;
@ -196,7 +198,6 @@ signed int BeidouB3iPcpsAcquisition::mag()
void BeidouB3iPcpsAcquisition::init()
{
acquisition_->init();
set_local_code();
}
@ -207,7 +208,7 @@ void BeidouB3iPcpsAcquisition::set_local_code()
beidou_b3i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
for (unsigned int i = 0; i < num_codes_; i++)
{
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
@ -232,20 +233,12 @@ float BeidouB3iPcpsAcquisition::calculate_threshold(float pfa)
{
//Calculate the threshold
unsigned int frequency_bins = 0;
/*
for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
{
frequency_bins++;
}
*/
frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
auto lambda = static_cast<double>(vector_length_);
auto lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
auto threshold = static_cast<float>(quantile(mydist, val));
@ -265,9 +258,11 @@ void BeidouB3iPcpsAcquisition::connect(gr::top_block_sptr top_block)
}
else if (item_type_ == "cbyte")
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -288,11 +283,9 @@ void BeidouB3iPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
}
else if (item_type_ == "cbyte")
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -307,7 +300,7 @@ gr::basic_block_sptr BeidouB3iPcpsAcquisition::get_left_block()
{
return acquisition_;
}
else if (item_type_ == "cshort")
if (item_type_ == "cshort")
{
return acquisition_;
}

4
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h
View File

@ -162,7 +162,7 @@ public:
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
Acq_Conf acq_parameters_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;
@ -176,7 +176,6 @@ private:
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
int64_t fs_in_;
bool dump_;
@ -185,6 +184,7 @@ private:
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int num_codes_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);

2
src/algorithms/libs/gnss_sdr_flags.cc
View File

@ -67,7 +67,7 @@ DEFINE_int32(cn0_samples, 20, "Number of correlator outputs used for CN0 estimat
DEFINE_int32(cn0_min, 25, "Minimum valid CN0 (in dB-Hz).");
DEFINE_int32(max_carrier_lock_fail, 10000, "Maximum number of carrier lock failures before dropping a satellite.");
DEFINE_int32(max_carrier_lock_fail, 5000, "Maximum number of carrier lock failures before dropping a satellite.");
DEFINE_int32(max_lock_fail, 50, "Maximum number of code lock failures before dropping a satellite.");

226
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
View File

@ -29,10 +29,10 @@
*
* -------------------------------------------------------------------------
*/
#include "beidou_b1i_telemetry_decoder_gs.h"
#include "Beidou_B1I.h"
#include "Beidou_DNAV.h"
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h"
@ -56,7 +56,6 @@ beidou_b1i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump)
return beidou_b1i_telemetry_decoder_gs_sptr(new beidou_b1i_telemetry_decoder_gs(satellite, dump));
}
beidou_b1i_telemetry_decoder_gs::beidou_b1i_telemetry_decoder_gs(
const Gnss_Satellite &satellite,
bool dump) : gr::block("beidou_b1i_telemetry_decoder_gs",
@ -72,6 +71,7 @@ beidou_b1i_telemetry_decoder_gs::beidou_b1i_telemetry_decoder_gs(
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "Initializing BeiDou B1I Telemetry Decoding for satellite " << this->d_satellite;
d_symbol_duration_ms = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
@ -94,12 +94,15 @@ beidou_b1i_telemetry_decoder_gs::beidou_b1i_telemetry_decoder_gs(
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols);
d_last_valid_preamble = 0;
d_sent_tlm_failed_msg = false;
d_flag_valid_word = false;
// Generic settings
d_sample_counter = 0;
d_stat = 0;
d_preamble_index = 0;
d_flag_frame_sync = false;
d_TOW_at_current_symbol_ms = 0;
d_TOW_at_current_symbol_ms = 0U;
d_TOW_at_Preamble_ms = 0U;
Flag_valid_word = false;
d_CRC_error_counter = 0;
@ -150,7 +153,7 @@ void beidou_b1i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits, in
err = errind[reg[0] + reg[1] * 2 + reg[2] * 4 + reg[3] * 8];
if (err > 0)
if (err > 0 and err < 16)
{
decbits[err - 1] *= -1;
}
@ -230,11 +233,13 @@ void beidou_b1i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
// 3. Check operation executed correctly
if (d_nav.flag_crc_test == true)
{
LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite;
DLOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel
<< " from satellite " << d_satellite;
}
else
{
LOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel << " from satellite " << d_satellite;
DLOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel
<< " from satellite " << d_satellite;
}
// 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true)
@ -296,6 +301,36 @@ void beidou_b1i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satell
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of preamble code
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
d_preamble_samples[i] = 1;
}
else
{
d_preamble_samples[i] = -1;
}
}
d_symbol_duration_ms = BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols);
}
else
{
// Clear values from previous declaration
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_subframe_symbols);
//back to normal satellites
d_symbol_duration_ms = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of preamble code
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
@ -342,6 +377,15 @@ void beidou_b1i_telemetry_decoder_gs::set_channel(int32_t channel)
}
}
void beidou_b1i_telemetry_decoder_gs::reset()
{
d_last_valid_preamble = d_sample_counter;
d_TOW_at_current_symbol_ms = 0;
d_sent_tlm_failed_msg = false;
d_flag_valid_word = false;
DLOG(INFO) << "Beidou B1I Telemetry decoder reset for satellite " << d_satellite;
return;
}
int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
@ -358,10 +402,8 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
d_symbol_history.push_back(current_symbol.Prompt_I); // add new symbol to the symbol queue
d_sample_counter++; // count for the processed samples
consume_each(1);
d_flag_preamble = false;
//std::cout << "size: " << d_symbol_history.size() << " in " << current_symbol.Prompt_I << std::endl;
if (d_symbol_history.size() >= d_required_symbols)
{
//******* preamble correlation ********
@ -375,14 +417,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
{
corr_value += d_preamble_samples[i];
}
//std::cout << "corr: " << corr_value << ",";
}
//std::cout << " final corr: " << corr_value << std::endl;
}
if (abs(corr_value) >= d_samples_per_preamble)
{
std::cout << " preamble corr: " << corr_value << std::endl;
}
//******* frame sync ******************
if (d_stat == 0) // no preamble information
@ -391,7 +426,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
{
// Record the preamble sample stamp
d_preamble_index = d_sample_counter;
LOG(INFO) << "Preamble detection for BEIDOU B1I SAT " << this->d_satellite;
DLOG(INFO) << "Preamble detection for BEIDOU B1I SAT " << this->d_satellite;
// Enter into frame pre-detection status
d_stat = 1;
}
@ -405,9 +440,54 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
if (abs(preamble_diff - d_preamble_period_samples) == 0)
{
// try to decode frame
LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B1I SAT " << this->d_satellite;
DLOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B1I SAT " << this->d_satellite;
d_preamble_index = d_sample_counter; //record the preamble sample stamp
d_stat = 2;
// ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = d_symbol_history.at(i);
}
}
else // 180 deg. inverted carrier phase PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = -d_symbol_history.at(i);
}
}
// call the decoder
decode_subframe(d_subframe_symbols);
if (d_nav.flag_crc_test == true)
{
d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
DLOG(INFO) << "BeiDou DNAV frame sync found for SAT " << this->d_satellite;
}
}
else
{
d_CRC_error_counter++;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{
DLOG(INFO) << "BeiDou DNAV frame sync lost for SAT " << this->d_satellite;
d_flag_frame_sync = false;
d_stat = 0;
flag_SOW_set = false;
}
}
}
else
{
@ -428,36 +508,17 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] = d_symbol_history.at(i);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] = d_symbol_history.at(i);
}
d_subframe_symbols[i] = d_symbol_history.at(i);
}
}
else // 180 deg. inverted carrier phase PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] = -d_symbol_history.at(i);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] = -d_symbol_history.at(i);
}
d_subframe_symbols[i] = -d_symbol_history.at(i);
}
}
// call the decoder
decode_subframe(d_subframe_symbols);
@ -478,7 +539,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT " << this->d_satellite;
DLOG(INFO) << "BeiDou DNAV frame sync lost for SAT " << this->d_satellite;
d_flag_frame_sync = false;
d_stat = 0;
flag_SOW_set = false;
@ -493,52 +554,67 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
{
// Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * BEIDOU_B1I_CODE_PERIOD_MS);
//check TOW update consistency
uint32_t last_d_TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
//compute new TOW
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + d_required_symbols * d_symbol_duration_ms;
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;
}
else // if there is not a new preamble, we define the TOW of the current symbol
{
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(BEIDOU_B1I_CODE_PERIOD_MS);
}
if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > d_symbol_duration_ms)
{
LOG(INFO) << "Warning: BEIDOU B1I TOW update in ch " << d_channel
<< " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms) << " ms \n";
if (d_flag_frame_sync == true and flag_SOW_set == true)
{
current_symbol.Flag_valid_word = true;
d_TOW_at_current_symbol_ms = 0;
d_flag_valid_word = false;
}
else
{
d_last_valid_preamble = d_sample_counter;
d_flag_valid_word = true;
}
}
else
{
current_symbol.Flag_valid_word = false;
if (d_flag_valid_word)
{
d_TOW_at_current_symbol_ms += d_symbol_duration_ms;
if (current_symbol.Flag_valid_symbol_output == false)
{
d_flag_valid_word = false;
}
}
}
current_symbol.PRN = this->d_satellite.get_PRN();
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
if (d_dump == true)
if (d_flag_valid_word == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
current_symbol.Flag_valid_word = d_flag_valid_word;
if (d_dump == true)
{
double tmp_double;
uint64_t tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
tmp_double = d_nav.d_SOW;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = static_cast<uint64_t>(d_required_symbols);
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
uint64_t tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing Telemetry GPS L5 dump file " << e.what();
}
}
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;
}
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;
return 0;
}

14
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.h
View File

@ -62,10 +62,8 @@ public:
~beidou_b1i_telemetry_decoder_gs(); //!< Class destructor
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel
inline void reset()
{
return;
}
void reset();
/*!
* \brief This is where all signal processing takes place
*/
@ -105,12 +103,16 @@ private:
//!< Navigation Message variable
Beidou_Dnav_Navigation_Message d_nav;
//!< Values to populate gnss synchronization structure
// Values to populate gnss synchronization structure
uint32_t d_symbol_duration_ms;
uint32_t d_TOW_at_Preamble_ms;
uint32_t d_TOW_at_current_symbol_ms;
uint64_t d_last_valid_preamble;
bool d_flag_valid_word;
bool d_sent_tlm_failed_msg;
bool Flag_valid_word;
//!< Satellite Information and logging capacity
// Satellite Information and logging capacity
Gnss_Satellite d_satellite;
int32_t d_channel;
bool d_dump;

378
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
View File

@ -52,8 +52,7 @@ beidou_b3i_telemetry_decoder_gs_sptr
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
bool dump)
{
return beidou_b3i_telemetry_decoder_gs_sptr(
new beidou_b3i_telemetry_decoder_gs(satellite, dump));
return beidou_b3i_telemetry_decoder_gs_sptr(new beidou_b3i_telemetry_decoder_gs(satellite, dump));
}
@ -67,74 +66,37 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
this->message_port_register_out(pmt::mp("telemetry"));
// Control messages to tracking block
this->message_port_register_out(pmt::mp("telemetry_to_trk"));
// initialize internal vars
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "Initializing BeiDou B3I Telemetry Decoding for satellite "
<< this->d_satellite;
LOG(INFO) << "Initializing BeiDou B3I Telemetry Decoding for satellite " << this->d_satellite;
d_samples_per_symbol =
(BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) /
BEIDOU_D1NAV_SYMBOL_RATE_SPS;
d_symbol_duration_ms = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B3I_CODE_PERIOD_MS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble =
BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
d_secondary_code_symbols = static_cast<int32_t *>(
volk_gnsssdr_malloc(BEIDOU_B3I_SECONDARY_CODE_LENGTH * sizeof(int32_t),
volk_gnsssdr_get_alignment()));
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(
d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples =
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
// Setting samples of secondary code
for (int32_t i = 0; i < BEIDOU_B3I_SECONDARY_CODE_LENGTH; i++)
{
if (BEIDOU_B3I_SECONDARY_CODE.at(i) == '1')
{
d_secondary_code_symbols[i] = 1;
}
else
{
d_secondary_code_symbols[i] = -1;
}
}
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
int32_t m = 0;
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
}
d_preamble_samples[i] = 1;
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
}
d_preamble_samples[i] = -1;
}
}
d_subframe_symbols = static_cast<double *>(
volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double),
volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol +
d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols + 1);
d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols);
d_last_valid_preamble = 0;
d_sent_tlm_failed_msg = false;
d_flag_valid_word = false;
// Generic settings
d_sample_counter = 0;
d_stat = 0;
@ -153,7 +115,6 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs()
{
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols);
if (d_dump_file.is_open() == true)
@ -164,8 +125,7 @@ beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs()
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file "
<< ex.what();
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
}
}
@ -194,7 +154,7 @@ void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits,
err = errind[reg[0] + reg[1] * 2 + reg[2] * 4 + reg[3] * 8];
if (err > 0)
if (err > 0 and err < 16)
{
decbits[err - 1] *= -1;
}
@ -202,7 +162,8 @@ void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits,
void beidou_b3i_telemetry_decoder_gs::decode_word(
int32_t word_counter, const double *enc_word_symbols,
int32_t word_counter,
const float *enc_word_symbols,
int32_t *dec_word_symbols)
{
int32_t bitsbch[30], first_branch[15], second_branch[15];
@ -211,8 +172,7 @@ void beidou_b3i_telemetry_decoder_gs::decode_word(
{
for (uint32_t j = 0; j < 30; j++)
{
dec_word_symbols[j] =
static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
dec_word_symbols[j] = static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
}
}
else
@ -221,8 +181,7 @@ void beidou_b3i_telemetry_decoder_gs::decode_word(
{
for (uint32_t c = 0; c < 15; c++)
{
bitsbch[r * 15 + c] =
static_cast<int32_t>(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1);
bitsbch[r * 15 + c] = static_cast<int32_t>(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1);
}
}
@ -244,7 +203,7 @@ void beidou_b3i_telemetry_decoder_gs::decode_word(
}
void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols)
void beidou_b3i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
{
// 1. Transform from symbols to bits
std::string data_bits;
@ -275,13 +234,13 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols)
// 3. Check operation executed correctly
if (d_nav.flag_crc_test == true)
{
LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel
<< " from satellite " << d_satellite;
DLOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel
<< " from satellite " << d_satellite;
}
else
{
LOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel
<< " from satellite " << d_satellite;
DLOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel
<< " from satellite " << d_satellite;
}
// 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true)
@ -353,50 +312,62 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(
{
// Clear values from previous declaration
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols);
d_samples_per_symbol =
(BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) /
BEIDOU_D2NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble =
BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
d_secondary_code_symbols = nullptr;
d_preamble_samples = static_cast<int32_t *>(
volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t),
volk_gnsssdr_get_alignment()));
d_preamble_period_samples =
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t),
volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = 1;
n++;
}
d_preamble_samples[i] = 1;
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -1;
n++;
}
d_preamble_samples[i] = -1;
}
}
d_symbol_duration_ms = BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B3I_CODE_PERIOD_MS;
d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float),
volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols);
}
else
{
// Clear values from previous declaration
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_subframe_symbols);
//back to normal satellites
d_symbol_duration_ms = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B3I_CODE_PERIOD_MS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of preamble code
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
d_preamble_samples[i] = 1;
}
else
{
d_preamble_samples[i] = -1;
}
}
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double),
volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol +
d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols + 1);
d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols);
}
}
@ -431,6 +402,15 @@ void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel)
}
}
void beidou_b3i_telemetry_decoder_gs::reset()
{
d_last_valid_preamble = d_sample_counter;
d_TOW_at_current_symbol_ms = 0;
d_sent_tlm_failed_msg = false;
d_flag_valid_word = false;
DLOG(INFO) << "Beidou B3I Telemetry decoder reset for satellite " << d_satellite;
return;
}
int beidou_b3i_telemetry_decoder_gs::general_work(
int noutput_items __attribute__((unused)),
@ -451,10 +431,9 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
d_symbol_history.push_back(current_symbol.Prompt_I); // add new symbol to the symbol queue
d_sample_counter++; // count for the processed samples
consume_each(1);
d_flag_preamble = false;
if (d_symbol_history.size() > d_required_symbols)
if (d_symbol_history.size() >= d_required_symbols)
{
//******* preamble correlation ********
for (int32_t i = 0; i < d_samples_per_preamble; i++)
@ -469,7 +448,6 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
}
}
}
//******* frame sync ******************
if (d_stat == 0) // no preamble information
{
@ -477,8 +455,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
{
// Record the preamble sample stamp
d_preamble_index = d_sample_counter;
LOG(INFO) << "Preamble detection for BEIDOU B3I SAT "
<< this->d_satellite;
DLOG(INFO) << "Preamble detection for BEIDOU B3I SAT " << this->d_satellite;
// Enter into frame pre-detection status
d_stat = 1;
}
@ -492,10 +469,55 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
if (abs(preamble_diff - d_preamble_period_samples) == 0)
{
// try to decode frame
LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT "
<< this->d_satellite;
DLOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT "
<< this->d_satellite;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
d_stat = 2;
// ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = d_symbol_history.at(i);
}
}
else // 180 deg. inverted carrier phase PLL lock
{
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = -d_symbol_history.at(i);
}
}
// call the decoder
decode_subframe(d_subframe_symbols);
if (d_nav.flag_crc_test == true)
{
d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
DLOG(INFO) << "BeiDou DNAV frame sync found for SAT "
<< this->d_satellite;
}
}
else
{
d_CRC_error_counter++;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{
DLOG(INFO) << "BeiDou DNAV frame sync lost for SAT "
<< this->d_satellite;
d_flag_frame_sync = false;
d_stat = 0;
flag_SOW_set = false;
}
}
}
else
{
@ -510,62 +532,21 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
}
else if (d_stat == 2) // preamble acquired
{
if (d_sample_counter ==
d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
{
//******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) // normal PLL lock
// ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
{
int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = 0;
// integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] +=
d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] +=
static_cast<float>(d_secondary_code_symbols[k]) *
d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
}
}
d_subframe_symbols[i] = d_symbol_history.at(i);
}
}
else // 180 deg. inverted carrier phase PLL lock
{
int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = 0;
// integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -=
d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -=
static_cast<float>(d_secondary_code_symbols[k]) *
d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
}
}
d_subframe_symbols[i] = -d_symbol_history.at(i);
}
}
@ -575,10 +556,8 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
if (d_nav.flag_crc_test == true)
{
d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to
// false every work())
d_preamble_index =
d_sample_counter; // record the preamble sample stamp (t_P)
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
@ -592,8 +571,8 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT "
<< this->d_satellite;
DLOG(INFO) << "BeiDou DNAV frame sync lost for SAT "
<< this->d_satellite;
d_flag_frame_sync = false;
d_stat = 0;
flag_SOW_set = false;
@ -601,7 +580,6 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
}
}
}
// UPDATE GNSS SYNCHRO DATA
// 2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true)
@ -609,55 +587,67 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
{
// Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0);
d_TOW_at_current_symbol_ms =
d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) *
BEIDOU_B3I_CODE_PERIOD_MS);
//check TOW update consistency
uint32_t last_d_TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
//compute new TOW
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + d_required_symbols * d_symbol_duration_ms;
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;
}
else // if there is not a new preamble, we define the TOW of the current
// symbol
{
d_TOW_at_current_symbol_ms +=
static_cast<uint32_t>(BEIDOU_B3I_CODE_PERIOD_MS);
}
if (d_flag_frame_sync == true and flag_SOW_set == true)
{
current_symbol.Flag_valid_word = true;
if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > d_symbol_duration_ms)
{
LOG(INFO) << "Warning: BEIDOU B3I TOW update in ch " << d_channel
<< " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms) << " ms \n";
d_TOW_at_current_symbol_ms = 0;
d_flag_valid_word = false;
}
else
{
d_last_valid_preamble = d_sample_counter;
d_flag_valid_word = true;
}
}
else
{
current_symbol.Flag_valid_word = false;
if (d_flag_valid_word)
{
d_TOW_at_current_symbol_ms += d_symbol_duration_ms;
if (current_symbol.Flag_valid_symbol_output == false)
{
d_flag_valid_word = false;
}
}
}
current_symbol.PRN = this->d_satellite.get_PRN();
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
if (d_dump == true)
if (d_flag_valid_word == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
current_symbol.Flag_valid_word = d_flag_valid_word;
if (d_dump == true)
{
double tmp_double;
uint64_t tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
tmp_double = d_nav.d_SOW;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = static_cast<uint64_t>(d_required_symbols);
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
uint64_t tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing Telemetry GPS L5 dump file " << e.what();
}
}
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;
}
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;
return 0;
}

21
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.h
View File

@ -60,10 +60,8 @@ public:
~beidou_b3i_telemetry_decoder_gs(); //!< Class destructor
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel
inline void reset()
{
return;
}
void reset();
/*!
* \brief This is where all signal processing takes place
*/
@ -77,27 +75,24 @@ private:
bool dump);
beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
void decode_subframe(double *symbols);
void decode_word(int32_t word_counter, const double *enc_word_symbols,
void decode_subframe(float *symbols);
void decode_word(int32_t word_counter, const float *enc_word_symbols,
int32_t *dec_word_symbols);
void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
// Preamble decoding
int32_t *d_preamble_samples;
int32_t *d_secondary_code_symbols;
uint32_t d_samples_per_symbol;
int32_t d_symbols_per_preamble;
int32_t d_samples_per_preamble;
int32_t d_preamble_period_samples;
double *d_subframe_symbols;
float *d_subframe_symbols;
uint32_t d_required_symbols;
// Storage for incoming data
boost::circular_buffer<float> d_symbol_history;
// Variables for internal functionality
uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc)
// indicating number of samples processed
uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc) indicating number of samples processed
uint64_t d_preamble_index; // Index of sample number where preamble was found
uint32_t d_stat; // Status of decoder
bool d_flag_frame_sync; // Indicate when a frame sync is achieved
@ -109,8 +104,12 @@ private:
Beidou_Dnav_Navigation_Message d_nav;
// Values to populate gnss synchronization structure
uint32_t d_symbol_duration_ms;
uint32_t d_TOW_at_Preamble_ms;
uint32_t d_TOW_at_current_symbol_ms;
uint64_t d_last_valid_preamble;
bool d_flag_valid_word;
bool d_sent_tlm_failed_msg;
bool Flag_valid_word;
// Satellite Information and logging capacity

8
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -112,7 +112,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm;
d_max_symbols_without_valid_frame = GALILEO_FNAV_SYMBOLS_PER_PAGE * 10; //rise alarm 100 seconds without valid tlm
d_max_symbols_without_valid_frame = GALILEO_FNAV_SYMBOLS_PER_PAGE * 5; //rise alarm 100 seconds without valid tlm
break;
}
default:
@ -623,12 +623,11 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
return -1;
break;
}
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
if (d_inav_nav.flag_CRC_test == true or d_fnav_nav.flag_CRC_test == true)
{
d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
d_last_valid_preamble = d_sample_counter;
if (!d_flag_frame_sync)
{
@ -639,7 +638,6 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
else
{
d_CRC_error_counter++;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;

14
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
View File

@ -76,33 +76,26 @@ gps_l1_ca_telemetry_decoder_gs::gps_l1_ca_telemetry_decoder_gs(
DLOG(INFO) << "Initializing GPS L1 TELEMETRY DECODER";
d_bits_per_preamble = GPS_CA_PREAMBLE_LENGTH_BITS;
//d_samples_per_preamble = d_bits_per_preamble * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
d_samples_per_preamble = d_bits_per_preamble;
d_preamble_period_symbols = GPS_SUBFRAME_BITS; // * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
d_preamble_period_symbols = GPS_SUBFRAME_BITS;
// set the preamble
d_required_symbols = GPS_SUBFRAME_BITS; // * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
d_required_symbols = GPS_SUBFRAME_BITS;
// preamble bits to sampled symbols
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_frame_length_symbols = GPS_SUBFRAME_BITS * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
d_max_symbols_without_valid_frame = d_required_symbols * 10; // rise alarm 1 minute without valid tlm
d_max_symbols_without_valid_frame = d_required_symbols * 20; // rise alarm 120 segs without valid tlm
int32_t n = 0;
for (int32_t i = 0; i < d_bits_per_preamble; i++)
{
if (GPS_CA_PREAMBLE.at(i) == '1')
{
// for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
// {
d_preamble_samples[n] = 1;
n++;
// }
}
else
{
// for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
// {
d_preamble_samples[n] = -1;
n++;
// }
}
}
d_sample_counter = 0ULL;
@ -462,7 +455,6 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
else
{
d_CRC_error_counter++;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > 2)
{
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;

48
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc
View File

@ -58,22 +58,39 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: BEIDOU B3I. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
@ -116,16 +133,12 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
int vector_length = std::round(fs_in / (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS));
int vector_length = std::round(static_cast<double>(fs_in) / (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (symbols_extended_correlator < 1)
{
symbols_extended_correlator = 1;
@ -137,18 +150,9 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
std::cout << TEXT_RED << "WARNING: BEIDOU B3I. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = symbols_extended_correlator;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
{
std::cout << TEXT_RED << "WARNING: BEIDOU B3I does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
if ((symbols_extended_correlator > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: BEIDOU B3I. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param.track_pilot = track_pilot;
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.track_pilot = false;
trk_param.system = 'C';
char sig_[3] = "B3";
std::memcpy(trk_param.signal, sig_, 3);

64
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -102,7 +102,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
this->set_msg_handler(pmt::mp("telemetry_to_trk"), boost::bind(&dll_pll_veml_tracking::msg_handler_telemetry_to_trk, this, _1));
// initialize internal vars
d_dll_filt_history.set_capacity(2000);
d_dll_filt_history.set_capacity(1000);
d_veml = false;
d_cloop = true;
d_pull_in_transitory = true;
@ -546,7 +546,7 @@ void dll_pll_veml_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
{
DLOG(INFO) << "Telemetry fault received in ch " << this->d_channel;
gr::thread::scoped_lock lock(d_setlock);
d_carrier_lock_fail_counter = 100000; //force loss-of-lock condition
d_carrier_lock_fail_counter = 200000; //force loss-of-lock condition
break;
}
default:
@ -645,18 +645,32 @@ void dll_pll_veml_tracking::start_tracking()
else if (systemName == "Beidou" and signal_type == "B1")
{
beidou_b1i_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN, 0);
// Update secondary code settings for geo satellites
// GEO Satellites use different secondary code
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
{
d_symbols_per_bit = 2;
d_symbols_per_bit = BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT;
d_correlation_length_ms = 1;
d_code_samples_per_chip = 1;
d_secondary = false;
trk_parameters.track_pilot = false;
// preamble bits to sampled symbols
// set the preamble in the secondary code acquisition
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_GEO_PREAMBLE_LENGTH_SYMBOLS);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_GEO_PREAMBLE_SYMBOLS_STR);
d_data_secondary_code_length = 0;
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
}
else
{
d_symbols_per_bit = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT;
d_correlation_length_ms = 1;
d_code_samples_per_chip = 1;
d_secondary = true;
trk_parameters.track_pilot = false;
// synchronize and remove data secondary code
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
d_data_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
}
}
@ -667,15 +681,29 @@ void dll_pll_veml_tracking::start_tracking()
// Update secondary code settings for geo satellites
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
{
d_symbols_per_bit = 2;
d_symbols_per_bit = BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT;
d_correlation_length_ms = 1;
d_code_samples_per_chip = 1;
d_secondary = false;
trk_parameters.track_pilot = false;
// preamble bits to sampled symbols
// set the preamble in the secondary code acquisition
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_GEO_PREAMBLE_LENGTH_SYMBOLS);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_GEO_PREAMBLE_SYMBOLS_STR);
d_data_secondary_code_length = 0;
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
}
else
{
d_symbols_per_bit = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT;
d_correlation_length_ms = 1;
d_code_samples_per_chip = 1;
d_secondary = true;
trk_parameters.track_pilot = false;
// synchronize and remove data secondary code
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR);
d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
d_data_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR);
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
}
}
@ -976,16 +1004,18 @@ void dll_pll_veml_tracking::run_dll_pll()
if (d_pull_in_transitory == false and d_corrected_doppler == false)
{
d_dll_filt_history.push_back(static_cast<float>(d_code_error_filt_chips));
if (d_dll_filt_history.full())
{
float avg_code_error_chips_s = std::accumulate(d_dll_filt_history.begin(), d_dll_filt_history.end(), 0) / static_cast<float>(d_dll_filt_history.capacity());
if (fabs(avg_code_error_chips_s) > 1.0)
float avg_code_error_chips_s = std::accumulate(d_dll_filt_history.begin(), d_dll_filt_history.end(), 0.0) / static_cast<float>(d_dll_filt_history.capacity());
if (fabs(avg_code_error_chips_s) > 0.025)
{
float carrier_doppler_error_hz = static_cast<float>(d_signal_carrier_freq) * avg_code_error_chips_s / static_cast<float>(d_code_chip_rate);
LOG(INFO) << "Detected and corrected carrier doppler error: " << carrier_doppler_error_hz << " [Hz] on sat " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
d_carrier_loop_filter.initialize(d_carrier_doppler_hz - carrier_doppler_error_hz);
d_corrected_doppler = true;
}
d_dll_filt_history.clear();
}
}
}
@ -1158,7 +1188,7 @@ void dll_pll_veml_tracking::save_correlation_results()
d_P_data_accu -= *d_Prompt;
}
}
// std::cout << "s[" << d_current_data_symbol << "]=" << (int)((*d_Prompt).real() > 0) << std::endl;
d_current_data_symbol++;
// data secondary code roll-up
d_current_data_symbol %= d_data_secondary_code_length;
@ -1172,6 +1202,7 @@ void dll_pll_veml_tracking::save_correlation_results()
else
{
d_P_data_accu += *d_Prompt;
//std::cout << "s[" << d_current_data_symbol << "]=" << (int)((*d_Prompt).real() > 0) << std::endl;
}
d_current_data_symbol++;
d_current_data_symbol %= d_symbols_per_bit;
@ -1614,6 +1645,13 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_P_accu = *d_Prompt;
d_L_accu = *d_Late;
//fail-safe: check if the secondary code or bit synchronization has not succedded in a limited time period
if (trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
{
d_carrier_lock_fail_counter = 300000; //force loss-of-lock condition
LOG(INFO) << systemName << " " << signal_pretty_name << " tracking synchronization time limit reached in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
}
// Check lock status
if (!cn0_and_tracking_lock_status(d_code_period))
{
@ -1730,6 +1768,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
update_tracking_vars();
if (d_current_data_symbol == 0)
{
log_data();
// ########### Output the tracking results to Telemetry block ##########
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
@ -1769,6 +1808,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
update_tracking_vars();
if (d_current_data_symbol == 0)
{
// enable write dump file this cycle (valid DLL/PLL cycle)
log_data();
// ########### Output the tracking results to Telemetry block ##########
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
@ -1782,8 +1823,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
current_synchro_data.Flag_valid_symbol_output = true;
d_P_data_accu = gr_complex(0.0, 0.0);
}
// enable write dump file this cycle (valid DLL/PLL cycle)
log_data();
// reset extended correlator
d_VE_accu = gr_complex(0.0, 0.0);
d_E_accu = gr_complex(0.0, 0.0);

1
src/algorithms/tracking/libs/dll_pll_conf.cc
View File

@ -47,6 +47,7 @@ Dll_Pll_Conf::Dll_Pll_Conf()
enable_fll_pull_in = false;
enable_fll_steady_state = false;
pull_in_time_s = 10;
bit_synchronization_time_limit_s = pull_in_time_s + 60;
fll_filter_order = 1;
pll_filter_order = 3;
dll_filter_order = 2;

1
src/algorithms/tracking/libs/dll_pll_conf.h
View File

@ -45,6 +45,7 @@ public:
bool enable_fll_pull_in;
bool enable_fll_steady_state;
unsigned int pull_in_time_s;
unsigned int bit_synchronization_time_limit_s;
int pll_filter_order;
int dll_filter_order;

1
src/core/system_parameters/Beidou_B1I.h
View File

@ -67,6 +67,7 @@ const double BEIDOU_B1I_PREAMBLE_DURATION_S = 0.220;
const int BEIDOU_B1I_PREAMBLE_DURATION_MS = 220;
const int BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s]
const int BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20;
const int BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT = 2;
const int BEIDOU_B1I_TELEMETRY_SYMBOL_PERIOD_MS = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
const int BEIDOU_B1I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; //************!< NAV message bit rate [symbols/s]
const int BEIDOU_WORD_LENGTH = 4; //**************!< CRC + BEIDOU WORD (-2 -1 0 ... 29) Bits = 4 bytes

5
src/core/system_parameters/Beidou_B3I.h
View File

@ -52,8 +52,9 @@ const uint32_t BEIDOU_B3I_PREAMBLE_LENGTH_BITS = 11;
const uint32_t BEIDOU_B3I_PREAMBLE_LENGTH_SYMBOLS = 220; // **************
const double BEIDOU_B3I_PREAMBLE_DURATION_S = 0.220;
const int32_t BEIDOU_B3I_PREAMBLE_DURATION_MS = 220;
const int32_t BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s]
const int32_t BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT = 20; // *************
const int32_t BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s]
const int32_t BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT = 20;
const int32_t BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT = 2; // *************
const int32_t BEIDOU_B3I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B3I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; //************!< NAV message bit rate [symbols/s]
#endif /* GNSS_SDR_BEIDOU_B3I_H_ */