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

2025-11-04 17:23:20 +00:00 · 2019-07-03 18:57:26 +02:00
parent 844b87d96f
commit cf967be252
17 changed files with 543 additions and 454 deletions
--- a/src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
@@ -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
        {
--- a/src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
@@ -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);
 };

--- a/src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
+++ b/src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
@@ -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_;
        }
--- a/src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h
+++ b/src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h
@@ -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);