mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 04:30:33 +00:00
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
This commit is contained in:
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844b87d96f
commit
cf967be252
@ -51,48 +51,37 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
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in_streams_(in_streams),
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in_streams_(in_streams),
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out_streams_(out_streams)
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out_streams_(out_streams)
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{
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{
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Acq_Conf acq_parameters = Acq_Conf();
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configuration_ = configuration;
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configuration_ = configuration;
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std::string default_item_type = "gr_complex";
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std::string default_item_type = "gr_complex";
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std::string default_dump_filename = "./data/acquisition.dat";
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std::string default_dump_filename = "./acquisition.mat";
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DLOG(INFO) << "role " << role;
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LOG(INFO) << "role " << role;
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item_type_ = configuration_->property(role + ".item_type", default_item_type);
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item_type_ = configuration_->property(role + ".item_type", default_item_type);
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int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
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int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
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fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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acq_parameters.fs_in = fs_in_;
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acq_parameters_.fs_in = fs_in_;
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dump_ = configuration_->property(role + ".dump", false);
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dump_ = configuration_->property(role + ".dump", false);
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acq_parameters.dump = dump_;
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acq_parameters_.dump = dump_;
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acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
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blocking_ = configuration_->property(role + ".blocking", true);
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blocking_ = configuration_->property(role + ".blocking", true);
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acq_parameters.blocking = blocking_;
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acq_parameters_.blocking = blocking_;
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doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
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doppler_max_ = configuration->property(role + ".doppler_max", 5000);
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if (FLAGS_doppler_max != 0)
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if (FLAGS_doppler_max != 0)
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{
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{
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doppler_max_ = FLAGS_doppler_max;
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doppler_max_ = FLAGS_doppler_max;
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}
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}
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acq_parameters.doppler_max = doppler_max_;
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acq_parameters_.doppler_max = doppler_max_;
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sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
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acq_parameters.sampled_ms = sampled_ms_;
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bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
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bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
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acq_parameters.bit_transition_flag = bit_transition_flag_;
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acq_parameters_.bit_transition_flag = bit_transition_flag_;
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use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
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use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
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acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
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acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
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max_dwells_ = configuration_->property(role + ".max_dwells", 1);
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max_dwells_ = configuration_->property(role + ".max_dwells", 1);
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acq_parameters.max_dwells = max_dwells_;
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acq_parameters_.max_dwells = max_dwells_;
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dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
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dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
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acq_parameters.dump_filename = dump_filename_;
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acq_parameters_.dump_filename = dump_filename_;
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//--- Find number of samples per spreading code -------------------------
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acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
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code_length_ = static_cast<uint32_t>(std::round(static_cast<double>(fs_in_) / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
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vector_length_ = code_length_ * sampled_ms_;
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if (bit_transition_flag_)
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{
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vector_length_ *= 2;
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}
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code_ = std::vector<std::complex<float>>(vector_length_);
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if (item_type_ == "cshort")
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if (item_type_ == "cshort")
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{
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{
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@ -102,18 +91,28 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
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{
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{
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item_size_ = sizeof(gr_complex);
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item_size_ = sizeof(gr_complex);
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}
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}
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acq_parameters.it_size = item_size_;
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acq_parameters.sampled_ms = sampled_ms_;
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acq_parameters.samples_per_ms = code_length_;
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acq_parameters.samples_per_code = code_length_;
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acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
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acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
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acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
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acquisition_ = pcps_make_acquisition(acq_parameters);
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DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
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stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
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acq_parameters_.ms_per_code = 1;
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DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
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acq_parameters_.it_size = item_size_;
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num_codes_ = acq_parameters_.sampled_ms;
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acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
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acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
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acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
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acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
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acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
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acq_parameters_.resampled_fs = fs_in_;
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//--- Find number of samples per spreading code -------------------------
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code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
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acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
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acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / BEIDOU_B1I_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
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acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(BEIDOU_B1I_CODE_PERIOD * 1000.0);
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vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
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code_ = std::vector<std::complex<float>>(vector_length_);
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acquisition_ = pcps_make_acquisition(acq_parameters_);
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DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
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if (item_type_ == "cbyte")
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if (item_type_ == "cbyte")
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{
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{
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@ -208,7 +207,7 @@ void BeidouB1iPcpsAcquisition::set_local_code()
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beidou_b1i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
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beidou_b1i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
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gsl::span<gr_complex> code_span(code_.data(), vector_length_);
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gsl::span<gr_complex> code_span(code_.data(), vector_length_);
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for (unsigned int i = 0; i < sampled_ms_; i++)
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for (unsigned int i = 0; i < num_codes_; i++)
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{
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{
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std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
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std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
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}
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}
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@ -233,15 +232,7 @@ float BeidouB1iPcpsAcquisition::calculate_threshold(float pfa)
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{
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{
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//Calculate the threshold
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//Calculate the threshold
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uint32_t frequency_bins = 0;
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uint32_t frequency_bins = 0;
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/*
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for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
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{
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frequency_bins++;
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}
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*/
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frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
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frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
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DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
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DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
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uint32_t ncells = vector_length_ * frequency_bins;
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uint32_t ncells = vector_length_ * frequency_bins;
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double exponent = 1 / static_cast<double>(ncells);
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double exponent = 1 / static_cast<double>(ncells);
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@ -266,9 +257,11 @@ void BeidouB1iPcpsAcquisition::connect(gr::top_block_sptr top_block)
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}
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}
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else if (item_type_ == "cbyte")
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else if (item_type_ == "cbyte")
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{
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{
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// Since a byte-based acq implementation is not available,
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// we just convert cshorts to gr_complex
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top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
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top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
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top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
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top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
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top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
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top_block->connect(float_to_complex_, 0, acquisition_, 0);
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}
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}
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else
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else
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{
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{
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@ -289,11 +282,9 @@ void BeidouB1iPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
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}
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}
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else if (item_type_ == "cbyte")
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else if (item_type_ == "cbyte")
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{
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{
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// Since a byte-based acq implementation is not available,
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// we just convert cshorts to gr_complex
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top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
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top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
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top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
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top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
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top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
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top_block->disconnect(float_to_complex_, 0, acquisition_, 0);
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}
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}
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else
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else
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{
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{
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@ -163,22 +163,21 @@ public:
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private:
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private:
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ConfigurationInterface* configuration_;
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ConfigurationInterface* configuration_;
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pcps_acquisition_sptr acquisition_;
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pcps_acquisition_sptr acquisition_;
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gr::blocks::stream_to_vector::sptr stream_to_vector_;
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Acq_Conf acq_parameters_;
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gr::blocks::float_to_complex::sptr float_to_complex_;
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gr::blocks::float_to_complex::sptr float_to_complex_;
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complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
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complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
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size_t item_size_;
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size_t item_size_;
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std::string item_type_;
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std::string item_type_;
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uint32_t vector_length_;
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unsigned int vector_length_;
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uint32_t code_length_;
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unsigned int code_length_;
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bool bit_transition_flag_;
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bool bit_transition_flag_;
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bool use_CFAR_algorithm_flag_;
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bool use_CFAR_algorithm_flag_;
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uint32_t channel_;
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unsigned int channel_;
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std::weak_ptr<ChannelFsm> channel_fsm_;
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std::weak_ptr<ChannelFsm> channel_fsm_;
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float threshold_;
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float threshold_;
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uint32_t doppler_max_;
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unsigned int doppler_max_;
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uint32_t doppler_step_;
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unsigned int doppler_step_;
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uint32_t sampled_ms_;
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unsigned int max_dwells_;
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uint32_t max_dwells_;
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int64_t fs_in_;
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int64_t fs_in_;
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bool dump_;
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bool dump_;
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bool blocking_;
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bool blocking_;
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@ -186,8 +185,9 @@ private:
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std::vector<std::complex<float>> code_;
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std::vector<std::complex<float>> code_;
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Gnss_Synchro* gnss_synchro_;
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Gnss_Synchro* gnss_synchro_;
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std::string role_;
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std::string role_;
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uint32_t in_streams_;
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unsigned int num_codes_;
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uint32_t out_streams_;
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unsigned int in_streams_;
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unsigned int out_streams_;
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float calculate_threshold(float pfa);
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float calculate_threshold(float pfa);
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};
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};
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@ -49,49 +49,37 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
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in_streams_(in_streams),
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in_streams_(in_streams),
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out_streams_(out_streams)
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out_streams_(out_streams)
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{
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{
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Acq_Conf acq_parameters = Acq_Conf();
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configuration_ = configuration;
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configuration_ = configuration;
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std::string default_item_type = "gr_complex";
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std::string default_item_type = "gr_complex";
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std::string default_dump_filename = "./data/acquisition.dat";
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std::string default_dump_filename = "./acquisition.mat";
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DLOG(INFO) << "role " << role;
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LOG(INFO) << "role " << role;
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item_type_ = configuration_->property(role + ".item_type", default_item_type);
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item_type_ = configuration_->property(role + ".item_type", default_item_type);
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int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
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int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
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fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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acq_parameters.fs_in = fs_in_;
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acq_parameters_.fs_in = fs_in_;
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dump_ = configuration_->property(role + ".dump", false);
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dump_ = configuration_->property(role + ".dump", false);
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acq_parameters.dump = dump_;
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acq_parameters_.dump = dump_;
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acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
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blocking_ = configuration_->property(role + ".blocking", true);
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blocking_ = configuration_->property(role + ".blocking", true);
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acq_parameters.blocking = blocking_;
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acq_parameters_.blocking = blocking_;
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doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
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doppler_max_ = configuration->property(role + ".doppler_max", 5000);
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if (FLAGS_doppler_max != 0)
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if (FLAGS_doppler_max != 0)
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{
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{
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doppler_max_ = FLAGS_doppler_max;
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doppler_max_ = FLAGS_doppler_max;
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}
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}
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acq_parameters.doppler_max = doppler_max_;
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acq_parameters_.doppler_max = doppler_max_;
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sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
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acq_parameters.sampled_ms = sampled_ms_;
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bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
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bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
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acq_parameters.bit_transition_flag = bit_transition_flag_;
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acq_parameters_.bit_transition_flag = bit_transition_flag_;
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use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
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use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
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acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
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acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
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max_dwells_ = configuration_->property(role + ".max_dwells", 1);
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max_dwells_ = configuration_->property(role + ".max_dwells", 1);
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acq_parameters.max_dwells = max_dwells_;
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acq_parameters_.max_dwells = max_dwells_;
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dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
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dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
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acq_parameters.dump_filename = dump_filename_;
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acq_parameters_.dump_filename = dump_filename_;
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//--- Find number of samples per spreading code -------------------------
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acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
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code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS)));
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vector_length_ = code_length_ * sampled_ms_;
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if (bit_transition_flag_)
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{
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vector_length_ *= 2;
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}
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code_ = std::vector<std::complex<float>>(vector_length_);
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if (item_type_ == "cshort")
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if (item_type_ == "cshort")
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{
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{
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@ -101,18 +89,28 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
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{
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{
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item_size_ = sizeof(gr_complex);
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item_size_ = sizeof(gr_complex);
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}
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}
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acq_parameters.it_size = item_size_;
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acq_parameters.sampled_ms = sampled_ms_;
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acq_parameters.samples_per_ms = code_length_;
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acq_parameters.samples_per_code = code_length_;
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acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
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acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
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||||||
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_);
|
acq_parameters_.ms_per_code = 1;
|
||||||
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
|
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")
|
if (item_type_ == "cbyte")
|
||||||
{
|
{
|
||||||
@ -146,8 +144,12 @@ void BeidouB3iPcpsAcquisition::stop_acquisition()
|
|||||||
|
|
||||||
void BeidouB3iPcpsAcquisition::set_threshold(float threshold)
|
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)
|
if (pfa == 0.0)
|
||||||
{
|
{
|
||||||
threshold_ = threshold;
|
threshold_ = threshold;
|
||||||
@ -196,7 +198,6 @@ signed int BeidouB3iPcpsAcquisition::mag()
|
|||||||
void BeidouB3iPcpsAcquisition::init()
|
void BeidouB3iPcpsAcquisition::init()
|
||||||
{
|
{
|
||||||
acquisition_->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);
|
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_);
|
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());
|
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
|
//Calculate the threshold
|
||||||
unsigned int frequency_bins = 0;
|
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_;
|
frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
|
||||||
|
|
||||||
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
|
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
|
||||||
unsigned int ncells = vector_length_ * frequency_bins;
|
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);
|
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);
|
boost::math::exponential_distribution<double> mydist(lambda);
|
||||||
auto threshold = static_cast<float>(quantile(mydist, val));
|
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")
|
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_, 0, float_to_complex_, 0);
|
||||||
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
|
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
|
else
|
||||||
{
|
{
|
||||||
@ -288,11 +283,9 @@ void BeidouB3iPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
|
|||||||
}
|
}
|
||||||
else if (item_type_ == "cbyte")
|
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_, 0, float_to_complex_, 0);
|
||||||
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
|
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
|
else
|
||||||
{
|
{
|
||||||
@ -307,7 +300,7 @@ gr::basic_block_sptr BeidouB3iPcpsAcquisition::get_left_block()
|
|||||||
{
|
{
|
||||||
return acquisition_;
|
return acquisition_;
|
||||||
}
|
}
|
||||||
else if (item_type_ == "cshort")
|
if (item_type_ == "cshort")
|
||||||
{
|
{
|
||||||
return acquisition_;
|
return acquisition_;
|
||||||
}
|
}
|
||||||
|
@ -162,7 +162,7 @@ public:
|
|||||||
private:
|
private:
|
||||||
ConfigurationInterface* configuration_;
|
ConfigurationInterface* configuration_;
|
||||||
pcps_acquisition_sptr acquisition_;
|
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_;
|
gr::blocks::float_to_complex::sptr float_to_complex_;
|
||||||
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
|
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
|
||||||
size_t item_size_;
|
size_t item_size_;
|
||||||
@ -176,7 +176,6 @@ private:
|
|||||||
float threshold_;
|
float threshold_;
|
||||||
unsigned int doppler_max_;
|
unsigned int doppler_max_;
|
||||||
unsigned int doppler_step_;
|
unsigned int doppler_step_;
|
||||||
unsigned int sampled_ms_;
|
|
||||||
unsigned int max_dwells_;
|
unsigned int max_dwells_;
|
||||||
int64_t fs_in_;
|
int64_t fs_in_;
|
||||||
bool dump_;
|
bool dump_;
|
||||||
@ -185,6 +184,7 @@ private:
|
|||||||
std::vector<std::complex<float>> code_;
|
std::vector<std::complex<float>> code_;
|
||||||
Gnss_Synchro* gnss_synchro_;
|
Gnss_Synchro* gnss_synchro_;
|
||||||
std::string role_;
|
std::string role_;
|
||||||
|
unsigned int num_codes_;
|
||||||
unsigned int in_streams_;
|
unsigned int in_streams_;
|
||||||
unsigned int out_streams_;
|
unsigned int out_streams_;
|
||||||
float calculate_threshold(float pfa);
|
float calculate_threshold(float pfa);
|
||||||
|
@ -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(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.");
|
DEFINE_int32(max_lock_fail, 50, "Maximum number of code lock failures before dropping a satellite.");
|
||||||
|
|
||||||
|
@ -29,10 +29,10 @@
|
|||||||
*
|
*
|
||||||
* -------------------------------------------------------------------------
|
* -------------------------------------------------------------------------
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
|
||||||
#include "beidou_b1i_telemetry_decoder_gs.h"
|
#include "beidou_b1i_telemetry_decoder_gs.h"
|
||||||
#include "Beidou_B1I.h"
|
#include "Beidou_B1I.h"
|
||||||
|
#include "Beidou_DNAV.h"
|
||||||
|
#include "beidou_dnav_almanac.h"
|
||||||
#include "beidou_dnav_ephemeris.h"
|
#include "beidou_dnav_ephemeris.h"
|
||||||
#include "beidou_dnav_iono.h"
|
#include "beidou_dnav_iono.h"
|
||||||
#include "beidou_dnav_utc_model.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));
|
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(
|
beidou_b1i_telemetry_decoder_gs::beidou_b1i_telemetry_decoder_gs(
|
||||||
const Gnss_Satellite &satellite,
|
const Gnss_Satellite &satellite,
|
||||||
bool dump) : gr::block("beidou_b1i_telemetry_decoder_gs",
|
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());
|
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||||
LOG(INFO) << "Initializing BeiDou B1I Telemetry Decoding for satellite " << this->d_satellite;
|
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_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||||
d_samples_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_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_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
|
||||||
d_symbol_history.set_capacity(d_required_symbols);
|
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
|
// Generic settings
|
||||||
d_sample_counter = 0;
|
d_sample_counter = 0;
|
||||||
d_stat = 0;
|
d_stat = 0;
|
||||||
d_preamble_index = 0;
|
d_preamble_index = 0;
|
||||||
d_flag_frame_sync = false;
|
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;
|
d_TOW_at_Preamble_ms = 0U;
|
||||||
Flag_valid_word = false;
|
Flag_valid_word = false;
|
||||||
d_CRC_error_counter = 0;
|
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];
|
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;
|
decbits[err - 1] *= -1;
|
||||||
}
|
}
|
||||||
@ -230,11 +233,13 @@ void beidou_b1i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
|
|||||||
// 3. Check operation executed correctly
|
// 3. Check operation executed correctly
|
||||||
if (d_nav.flag_crc_test == true)
|
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
|
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
|
// 4. Push the new navigation data to the queues
|
||||||
if (d_nav.have_new_ephemeris() == true)
|
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_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_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
|
// Setting samples of preamble code
|
||||||
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
|
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)),
|
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)
|
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_symbol_history.push_back(current_symbol.Prompt_I); // add new symbol to the symbol queue
|
||||||
d_sample_counter++; // count for the processed samples
|
d_sample_counter++; // count for the processed samples
|
||||||
consume_each(1);
|
consume_each(1);
|
||||||
|
|
||||||
d_flag_preamble = false;
|
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)
|
if (d_symbol_history.size() >= d_required_symbols)
|
||||||
{
|
{
|
||||||
//******* preamble correlation ********
|
//******* preamble correlation ********
|
||||||
@ -375,14 +417,7 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
|
|||||||
{
|
{
|
||||||
corr_value += d_preamble_samples[i];
|
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 ******************
|
//******* frame sync ******************
|
||||||
if (d_stat == 0) // no preamble information
|
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
|
// Record the preamble sample stamp
|
||||||
d_preamble_index = d_sample_counter;
|
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
|
// Enter into frame pre-detection status
|
||||||
d_stat = 1;
|
d_stat = 1;
|
||||||
}
|
}
|
||||||
@ -405,58 +440,27 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
|
|||||||
if (abs(preamble_diff - d_preamble_period_samples) == 0)
|
if (abs(preamble_diff - d_preamble_period_samples) == 0)
|
||||||
{
|
{
|
||||||
// try to decode frame
|
// 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_preamble_index = d_sample_counter; //record the preamble sample stamp
|
||||||
|
|
||||||
|
|
||||||
d_stat = 2;
|
d_stat = 2;
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
if (preamble_diff > d_preamble_period_samples)
|
|
||||||
{
|
|
||||||
d_stat = 0; // start again
|
|
||||||
}
|
|
||||||
DLOG(INFO) << "Failed BeiDou DNAV frame decoding for BeiDou B1I SAT " << this->d_satellite;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else if (d_stat == 2) // preamble acquired
|
|
||||||
{
|
|
||||||
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
|
|
||||||
{
|
|
||||||
// ******* SAMPLES TO SYMBOLS *******
|
// ******* SAMPLES TO SYMBOLS *******
|
||||||
if (corr_value > 0) //normal PLL lock
|
if (corr_value > 0) //normal PLL lock
|
||||||
{
|
{
|
||||||
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
|
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);
|
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);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
else // 180 deg. inverted carrier phase PLL lock
|
else // 180 deg. inverted carrier phase PLL lock
|
||||||
{
|
{
|
||||||
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
|
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
|
// call the decoder
|
||||||
decode_subframe(d_subframe_symbols);
|
decode_subframe(d_subframe_symbols);
|
||||||
@ -478,7 +482,64 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
|
|||||||
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
||||||
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
|
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;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
if (preamble_diff > d_preamble_period_samples)
|
||||||
|
{
|
||||||
|
d_stat = 0; // start again
|
||||||
|
}
|
||||||
|
DLOG(INFO) << "Failed BeiDou DNAV frame decoding for BeiDou B1I SAT " << this->d_satellite;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else if (d_stat == 2) // preamble acquired
|
||||||
|
{
|
||||||
|
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
|
||||||
|
{
|
||||||
|
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_flag_frame_sync = false;
|
||||||
d_stat = 0;
|
d_stat = 0;
|
||||||
flag_SOW_set = false;
|
flag_SOW_set = false;
|
||||||
@ -493,27 +554,43 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
|
|||||||
{
|
{
|
||||||
// Reporting sow as gps time of week
|
// 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_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;
|
flag_SOW_set = true;
|
||||||
d_nav.flag_new_SOW_available = false;
|
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)
|
||||||
if (d_flag_frame_sync == true and flag_SOW_set == true)
|
|
||||||
{
|
{
|
||||||
current_symbol.Flag_valid_word = true;
|
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";
|
||||||
|
|
||||||
|
d_TOW_at_current_symbol_ms = 0;
|
||||||
|
d_flag_valid_word = false;
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
current_symbol.Flag_valid_word = false;
|
d_last_valid_preamble = d_sample_counter;
|
||||||
|
d_flag_valid_word = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
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();
|
if (d_flag_valid_word == true)
|
||||||
|
{
|
||||||
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
|
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)
|
if (d_dump == true)
|
||||||
{
|
{
|
||||||
@ -522,23 +599,22 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
|
|||||||
{
|
{
|
||||||
double tmp_double;
|
double tmp_double;
|
||||||
uint64_t tmp_ulong_int;
|
uint64_t tmp_ulong_int;
|
||||||
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms);
|
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||||
tmp_ulong_int = current_symbol.Tracking_sample_counter;
|
tmp_ulong_int = current_symbol.Tracking_sample_counter;
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
|
||||||
tmp_double = d_nav.d_SOW;
|
tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
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)
|
catch (const std::ifstream::failure &e)
|
||||||
{
|
{
|
||||||
LOG(WARNING) << "Exception writing observables dump file " << e.what();
|
LOG(WARNING) << "Exception writing Telemetry GPS L5 dump file " << e.what();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
|
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
|
||||||
*out[0] = current_symbol;
|
*out[0] = current_symbol;
|
||||||
|
|
||||||
return 1;
|
return 1;
|
||||||
}
|
}
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
@ -62,10 +62,8 @@ public:
|
|||||||
~beidou_b1i_telemetry_decoder_gs(); //!< Class destructor
|
~beidou_b1i_telemetry_decoder_gs(); //!< Class destructor
|
||||||
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
|
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
|
||||||
void set_channel(int channel); //!< Set receiver's channel
|
void set_channel(int channel); //!< Set receiver's channel
|
||||||
inline void reset()
|
void reset();
|
||||||
{
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
/*!
|
/*!
|
||||||
* \brief This is where all signal processing takes place
|
* \brief This is where all signal processing takes place
|
||||||
*/
|
*/
|
||||||
@ -105,12 +103,16 @@ private:
|
|||||||
//!< Navigation Message variable
|
//!< Navigation Message variable
|
||||||
Beidou_Dnav_Navigation_Message d_nav;
|
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_Preamble_ms;
|
||||||
uint32_t d_TOW_at_current_symbol_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;
|
bool Flag_valid_word;
|
||||||
|
|
||||||
//!< Satellite Information and logging capacity
|
// Satellite Information and logging capacity
|
||||||
Gnss_Satellite d_satellite;
|
Gnss_Satellite d_satellite;
|
||||||
int32_t d_channel;
|
int32_t d_channel;
|
||||||
bool d_dump;
|
bool d_dump;
|
||||||
|
@ -52,8 +52,7 @@ beidou_b3i_telemetry_decoder_gs_sptr
|
|||||||
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
|
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
|
||||||
bool dump)
|
bool dump)
|
||||||
{
|
{
|
||||||
return beidou_b3i_telemetry_decoder_gs_sptr(
|
return beidou_b3i_telemetry_decoder_gs_sptr(new beidou_b3i_telemetry_decoder_gs(satellite, dump));
|
||||||
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"));
|
this->message_port_register_out(pmt::mp("telemetry"));
|
||||||
// Control messages to tracking block
|
// Control messages to tracking block
|
||||||
this->message_port_register_out(pmt::mp("telemetry_to_trk"));
|
this->message_port_register_out(pmt::mp("telemetry_to_trk"));
|
||||||
|
|
||||||
// initialize internal vars
|
// initialize internal vars
|
||||||
d_dump = dump;
|
d_dump = dump;
|
||||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||||
LOG(INFO) << "Initializing BeiDou B3I Telemetry Decoding for satellite "
|
LOG(INFO) << "Initializing BeiDou B3I Telemetry Decoding for satellite " << this->d_satellite;
|
||||||
<< this->d_satellite;
|
|
||||||
|
|
||||||
d_samples_per_symbol =
|
d_symbol_duration_ms = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B3I_CODE_PERIOD_MS;
|
||||||
(BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) /
|
|
||||||
BEIDOU_D1NAV_SYMBOL_RATE_SPS;
|
|
||||||
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||||
d_samples_per_preamble =
|
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||||
BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
|
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
||||||
d_secondary_code_symbols = static_cast<int32_t *>(
|
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
|
||||||
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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Setting samples of preamble code
|
// Setting samples of preamble code
|
||||||
int32_t n = 0;
|
|
||||||
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
|
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
|
||||||
{
|
{
|
||||||
int32_t m = 0;
|
|
||||||
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
|
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
|
||||||
{
|
{
|
||||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
d_preamble_samples[i] = 1;
|
||||||
{
|
|
||||||
d_preamble_samples[n] = d_secondary_code_symbols[m];
|
|
||||||
n++;
|
|
||||||
m++;
|
|
||||||
m = m % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
d_preamble_samples[i] = -1;
|
||||||
{
|
|
||||||
d_preamble_samples[n] = -d_secondary_code_symbols[m];
|
|
||||||
n++;
|
|
||||||
m++;
|
|
||||||
m = m % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
d_subframe_symbols = static_cast<double *>(
|
d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float), volk_gnsssdr_get_alignment()));
|
||||||
volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double),
|
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
|
||||||
volk_gnsssdr_get_alignment()));
|
d_symbol_history.set_capacity(d_required_symbols);
|
||||||
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_last_valid_preamble = 0;
|
||||||
|
d_sent_tlm_failed_msg = false;
|
||||||
|
d_flag_valid_word = false;
|
||||||
// Generic settings
|
// Generic settings
|
||||||
d_sample_counter = 0;
|
d_sample_counter = 0;
|
||||||
d_stat = 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()
|
beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs()
|
||||||
{
|
{
|
||||||
volk_gnsssdr_free(d_preamble_samples);
|
volk_gnsssdr_free(d_preamble_samples);
|
||||||
volk_gnsssdr_free(d_secondary_code_symbols);
|
|
||||||
volk_gnsssdr_free(d_subframe_symbols);
|
volk_gnsssdr_free(d_subframe_symbols);
|
||||||
|
|
||||||
if (d_dump_file.is_open() == true)
|
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)
|
catch (const std::exception &ex)
|
||||||
{
|
{
|
||||||
LOG(WARNING) << "Exception in destructor closing the dump file "
|
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
|
||||||
<< 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];
|
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;
|
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(
|
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 *dec_word_symbols)
|
||||||
{
|
{
|
||||||
int32_t bitsbch[30], first_branch[15], second_branch[15];
|
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++)
|
for (uint32_t j = 0; j < 30; j++)
|
||||||
{
|
{
|
||||||
dec_word_symbols[j] =
|
dec_word_symbols[j] = static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
|
||||||
static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
@ -221,8 +181,7 @@ void beidou_b3i_telemetry_decoder_gs::decode_word(
|
|||||||
{
|
{
|
||||||
for (uint32_t c = 0; c < 15; c++)
|
for (uint32_t c = 0; c < 15; c++)
|
||||||
{
|
{
|
||||||
bitsbch[r * 15 + c] =
|
bitsbch[r * 15 + c] = static_cast<int32_t>(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1);
|
||||||
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
|
// 1. Transform from symbols to bits
|
||||||
std::string data_bits;
|
std::string data_bits;
|
||||||
@ -275,12 +234,12 @@ void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols)
|
|||||||
// 3. Check operation executed correctly
|
// 3. Check operation executed correctly
|
||||||
if (d_nav.flag_crc_test == true)
|
if (d_nav.flag_crc_test == true)
|
||||||
{
|
{
|
||||||
LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel
|
DLOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel
|
||||||
<< " from satellite " << d_satellite;
|
<< " from satellite " << d_satellite;
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
LOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel
|
DLOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel
|
||||||
<< " from satellite " << d_satellite;
|
<< " from satellite " << d_satellite;
|
||||||
}
|
}
|
||||||
// 4. Push the new navigation data to the queues
|
// 4. Push the new navigation data to the queues
|
||||||
@ -353,50 +312,62 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(
|
|||||||
{
|
{
|
||||||
// Clear values from previous declaration
|
// Clear values from previous declaration
|
||||||
volk_gnsssdr_free(d_preamble_samples);
|
volk_gnsssdr_free(d_preamble_samples);
|
||||||
volk_gnsssdr_free(d_secondary_code_symbols);
|
|
||||||
volk_gnsssdr_free(d_subframe_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_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||||
d_samples_per_preamble =
|
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||||
BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
|
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t),
|
||||||
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()));
|
volk_gnsssdr_get_alignment()));
|
||||||
d_preamble_period_samples =
|
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
|
||||||
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
|
|
||||||
|
|
||||||
// Setting samples of preamble code
|
// Setting samples of preamble code
|
||||||
int32_t n = 0;
|
|
||||||
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
|
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
|
||||||
{
|
{
|
||||||
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
|
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
|
||||||
{
|
{
|
||||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
d_preamble_samples[i] = 1;
|
||||||
{
|
|
||||||
d_preamble_samples[n] = 1;
|
|
||||||
n++;
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
d_preamble_samples[i] = -1;
|
||||||
{
|
|
||||||
d_preamble_samples[n] = -1;
|
|
||||||
n++;
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
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(
|
d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float), volk_gnsssdr_get_alignment()));
|
||||||
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double),
|
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
|
||||||
volk_gnsssdr_get_alignment()));
|
d_symbol_history.set_capacity(d_required_symbols);
|
||||||
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol +
|
|
||||||
d_samples_per_preamble;
|
|
||||||
d_symbol_history.set_capacity(d_required_symbols + 1);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -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 beidou_b3i_telemetry_decoder_gs::general_work(
|
||||||
int noutput_items __attribute__((unused)),
|
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_symbol_history.push_back(current_symbol.Prompt_I); // add new symbol to the symbol queue
|
||||||
d_sample_counter++; // count for the processed samples
|
d_sample_counter++; // count for the processed samples
|
||||||
consume_each(1);
|
consume_each(1);
|
||||||
|
|
||||||
d_flag_preamble = false;
|
d_flag_preamble = false;
|
||||||
|
|
||||||
if (d_symbol_history.size() > d_required_symbols)
|
if (d_symbol_history.size() >= d_required_symbols)
|
||||||
{
|
{
|
||||||
//******* preamble correlation ********
|
//******* preamble correlation ********
|
||||||
for (int32_t i = 0; i < d_samples_per_preamble; i++)
|
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 ******************
|
//******* frame sync ******************
|
||||||
if (d_stat == 0) // no preamble information
|
if (d_stat == 0) // no preamble information
|
||||||
{
|
{
|
||||||
@ -477,8 +455,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
|
|||||||
{
|
{
|
||||||
// Record the preamble sample stamp
|
// Record the preamble sample stamp
|
||||||
d_preamble_index = d_sample_counter;
|
d_preamble_index = d_sample_counter;
|
||||||
LOG(INFO) << "Preamble detection for BEIDOU B3I SAT "
|
DLOG(INFO) << "Preamble detection for BEIDOU B3I SAT " << this->d_satellite;
|
||||||
<< this->d_satellite;
|
|
||||||
// Enter into frame pre-detection status
|
// Enter into frame pre-detection status
|
||||||
d_stat = 1;
|
d_stat = 1;
|
||||||
}
|
}
|
||||||
@ -492,10 +469,55 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
|
|||||||
if (abs(preamble_diff - d_preamble_period_samples) == 0)
|
if (abs(preamble_diff - d_preamble_period_samples) == 0)
|
||||||
{
|
{
|
||||||
// try to decode frame
|
// try to decode frame
|
||||||
LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT "
|
DLOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT "
|
||||||
<< this->d_satellite;
|
<< this->d_satellite;
|
||||||
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
||||||
d_stat = 2;
|
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
|
else
|
||||||
{
|
{
|
||||||
@ -510,62 +532,21 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
|
|||||||
}
|
}
|
||||||
else if (d_stat == 2) // preamble acquired
|
else if (d_stat == 2) // preamble acquired
|
||||||
{
|
{
|
||||||
if (d_sample_counter ==
|
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
|
||||||
d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
|
|
||||||
{
|
{
|
||||||
// ******* SAMPLES TO SYMBOLS *******
|
// ******* SAMPLES TO SYMBOLS *******
|
||||||
if (corr_value > 0) //normal PLL lock
|
if (corr_value > 0) //normal PLL lock
|
||||||
{
|
{
|
||||||
int32_t k = 0;
|
|
||||||
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
|
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
|
||||||
{
|
{
|
||||||
d_subframe_symbols[i] = 0;
|
d_subframe_symbols[i] = d_symbol_history.at(i);
|
||||||
// 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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
else // 180 deg. inverted carrier phase PLL lock
|
else // 180 deg. inverted carrier phase PLL lock
|
||||||
{
|
{
|
||||||
int32_t k = 0;
|
|
||||||
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
|
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
|
||||||
{
|
{
|
||||||
d_subframe_symbols[i] = 0;
|
d_subframe_symbols[i] = -d_symbol_history.at(i);
|
||||||
// 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;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -575,10 +556,8 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
|
|||||||
if (d_nav.flag_crc_test == true)
|
if (d_nav.flag_crc_test == true)
|
||||||
{
|
{
|
||||||
d_CRC_error_counter = 0;
|
d_CRC_error_counter = 0;
|
||||||
d_flag_preamble = true; // valid preamble indicator (initialized to
|
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
|
||||||
// false every work())
|
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
|
||||||
d_preamble_index =
|
|
||||||
d_sample_counter; // record the preamble sample stamp (t_P)
|
|
||||||
if (!d_flag_frame_sync)
|
if (!d_flag_frame_sync)
|
||||||
{
|
{
|
||||||
d_flag_frame_sync = true;
|
d_flag_frame_sync = true;
|
||||||
@ -592,7 +571,7 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
|
|||||||
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
||||||
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
|
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
|
||||||
{
|
{
|
||||||
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT "
|
DLOG(INFO) << "BeiDou DNAV frame sync lost for SAT "
|
||||||
<< this->d_satellite;
|
<< this->d_satellite;
|
||||||
d_flag_frame_sync = false;
|
d_flag_frame_sync = false;
|
||||||
d_stat = 0;
|
d_stat = 0;
|
||||||
@ -601,7 +580,6 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// UPDATE GNSS SYNCHRO DATA
|
// UPDATE GNSS SYNCHRO DATA
|
||||||
// 2. Add the telemetry decoder information
|
// 2. Add the telemetry decoder information
|
||||||
if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true)
|
if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true)
|
||||||
@ -609,30 +587,43 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
|
|||||||
{
|
{
|
||||||
// Reporting sow as gps time of week
|
// 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_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0);
|
||||||
d_TOW_at_current_symbol_ms =
|
//check TOW update consistency
|
||||||
d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) *
|
uint32_t last_d_TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
|
||||||
BEIDOU_B3I_CODE_PERIOD_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;
|
flag_SOW_set = true;
|
||||||
d_nav.flag_new_SOW_available = false;
|
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)
|
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)
|
||||||
{
|
{
|
||||||
current_symbol.Flag_valid_word = true;
|
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
|
else
|
||||||
{
|
{
|
||||||
current_symbol.Flag_valid_word = false;
|
d_last_valid_preamble = d_sample_counter;
|
||||||
|
d_flag_valid_word = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
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();
|
if (d_flag_valid_word == true)
|
||||||
|
{
|
||||||
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
|
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)
|
if (d_dump == true)
|
||||||
{
|
{
|
||||||
@ -641,23 +632,22 @@ int beidou_b3i_telemetry_decoder_gs::general_work(
|
|||||||
{
|
{
|
||||||
double tmp_double;
|
double tmp_double;
|
||||||
uint64_t tmp_ulong_int;
|
uint64_t tmp_ulong_int;
|
||||||
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms);
|
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||||
tmp_ulong_int = current_symbol.Tracking_sample_counter;
|
tmp_ulong_int = current_symbol.Tracking_sample_counter;
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
|
||||||
tmp_double = d_nav.d_SOW;
|
tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
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)
|
catch (const std::ifstream::failure &e)
|
||||||
{
|
{
|
||||||
LOG(WARNING) << "Exception writing observables dump file " << e.what();
|
LOG(WARNING) << "Exception writing Telemetry GPS L5 dump file " << e.what();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
|
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
|
||||||
*out[0] = current_symbol;
|
*out[0] = current_symbol;
|
||||||
|
|
||||||
return 1;
|
return 1;
|
||||||
}
|
}
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
@ -60,10 +60,8 @@ public:
|
|||||||
~beidou_b3i_telemetry_decoder_gs(); //!< Class destructor
|
~beidou_b3i_telemetry_decoder_gs(); //!< Class destructor
|
||||||
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
|
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
|
||||||
void set_channel(int channel); //!< Set receiver's channel
|
void set_channel(int channel); //!< Set receiver's channel
|
||||||
inline void reset()
|
void reset();
|
||||||
{
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
/*!
|
/*!
|
||||||
* \brief This is where all signal processing takes place
|
* \brief This is where all signal processing takes place
|
||||||
*/
|
*/
|
||||||
@ -77,27 +75,24 @@ private:
|
|||||||
bool dump);
|
bool dump);
|
||||||
beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
|
beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
|
||||||
|
|
||||||
void decode_subframe(double *symbols);
|
void decode_subframe(float *symbols);
|
||||||
void decode_word(int32_t word_counter, const double *enc_word_symbols,
|
void decode_word(int32_t word_counter, const float *enc_word_symbols,
|
||||||
int32_t *dec_word_symbols);
|
int32_t *dec_word_symbols);
|
||||||
void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
|
void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
|
||||||
|
|
||||||
// Preamble decoding
|
// Preamble decoding
|
||||||
int32_t *d_preamble_samples;
|
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_symbols_per_preamble;
|
||||||
int32_t d_samples_per_preamble;
|
int32_t d_samples_per_preamble;
|
||||||
int32_t d_preamble_period_samples;
|
int32_t d_preamble_period_samples;
|
||||||
double *d_subframe_symbols;
|
float *d_subframe_symbols;
|
||||||
uint32_t d_required_symbols;
|
uint32_t d_required_symbols;
|
||||||
|
|
||||||
// Storage for incoming data
|
// Storage for incoming data
|
||||||
boost::circular_buffer<float> d_symbol_history;
|
boost::circular_buffer<float> d_symbol_history;
|
||||||
|
|
||||||
// Variables for internal functionality
|
// Variables for internal functionality
|
||||||
uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc)
|
uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc) indicating number of samples processed
|
||||||
// indicating number of samples processed
|
|
||||||
uint64_t d_preamble_index; // Index of sample number where preamble was found
|
uint64_t d_preamble_index; // Index of sample number where preamble was found
|
||||||
uint32_t d_stat; // Status of decoder
|
uint32_t d_stat; // Status of decoder
|
||||||
bool d_flag_frame_sync; // Indicate when a frame sync is achieved
|
bool d_flag_frame_sync; // Indicate when a frame sync is achieved
|
||||||
@ -109,8 +104,12 @@ private:
|
|||||||
Beidou_Dnav_Navigation_Message d_nav;
|
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_Preamble_ms;
|
||||||
uint32_t d_TOW_at_current_symbol_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;
|
bool Flag_valid_word;
|
||||||
|
|
||||||
// Satellite Information and logging capacity
|
// Satellite Information and logging capacity
|
||||||
|
@ -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;
|
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;
|
CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
|
||||||
DataLength = (CodeLength / nn) - mm;
|
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;
|
break;
|
||||||
}
|
}
|
||||||
default:
|
default:
|
||||||
@ -623,12 +623,11 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
|
|||||||
return -1;
|
return -1;
|
||||||
break;
|
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)
|
if (d_inav_nav.flag_CRC_test == true or d_fnav_nav.flag_CRC_test == true)
|
||||||
{
|
{
|
||||||
d_CRC_error_counter = 0;
|
d_CRC_error_counter = 0;
|
||||||
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
|
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_last_valid_preamble = d_sample_counter;
|
d_last_valid_preamble = d_sample_counter;
|
||||||
if (!d_flag_frame_sync)
|
if (!d_flag_frame_sync)
|
||||||
{
|
{
|
||||||
@ -639,7 +638,6 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
|
|||||||
else
|
else
|
||||||
{
|
{
|
||||||
d_CRC_error_counter++;
|
d_CRC_error_counter++;
|
||||||
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
|
||||||
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
|
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
|
||||||
{
|
{
|
||||||
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
|
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
|
||||||
|
@ -76,33 +76,26 @@ gps_l1_ca_telemetry_decoder_gs::gps_l1_ca_telemetry_decoder_gs(
|
|||||||
DLOG(INFO) << "Initializing GPS L1 TELEMETRY DECODER";
|
DLOG(INFO) << "Initializing GPS L1 TELEMETRY DECODER";
|
||||||
|
|
||||||
d_bits_per_preamble = GPS_CA_PREAMBLE_LENGTH_BITS;
|
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_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
|
// 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
|
// 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_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_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;
|
int32_t n = 0;
|
||||||
for (int32_t i = 0; i < d_bits_per_preamble; i++)
|
for (int32_t i = 0; i < d_bits_per_preamble; i++)
|
||||||
{
|
{
|
||||||
if (GPS_CA_PREAMBLE.at(i) == '1')
|
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;
|
d_preamble_samples[n] = 1;
|
||||||
n++;
|
n++;
|
||||||
// }
|
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
// for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
|
|
||||||
// {
|
|
||||||
d_preamble_samples[n] = -1;
|
d_preamble_samples[n] = -1;
|
||||||
n++;
|
n++;
|
||||||
// }
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
d_sample_counter = 0ULL;
|
d_sample_counter = 0ULL;
|
||||||
@ -462,7 +455,6 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
|
|||||||
else
|
else
|
||||||
{
|
{
|
||||||
d_CRC_error_counter++;
|
d_CRC_error_counter++;
|
||||||
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
|
||||||
if (d_CRC_error_counter > 2)
|
if (d_CRC_error_counter > 2)
|
||||||
{
|
{
|
||||||
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
|
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
|
||||||
|
@ -58,22 +58,39 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
|
|||||||
trk_param.fs_in = fs_in;
|
trk_param.fs_in = fs_in;
|
||||||
bool dump = configuration->property(role + ".dump", false);
|
bool dump = configuration->property(role + ".dump", false);
|
||||||
trk_param.dump = dump;
|
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);
|
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
|
||||||
if (FLAGS_pll_bw_hz != 0.0)
|
if (FLAGS_pll_bw_hz != 0.0)
|
||||||
{
|
{
|
||||||
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
|
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
|
||||||
}
|
}
|
||||||
trk_param.pll_bw_hz = 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);
|
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
|
||||||
if (FLAGS_dll_bw_hz != 0.0)
|
if (FLAGS_dll_bw_hz != 0.0)
|
||||||
{
|
{
|
||||||
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
|
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
|
||||||
}
|
}
|
||||||
trk_param.dll_bw_hz = 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);
|
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
|
||||||
if (dll_filter_order < 1)
|
if (dll_filter_order < 1)
|
||||||
@ -116,16 +133,12 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
|
|||||||
trk_param.fll_bw_hz = fll_bw_hz;
|
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);
|
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);
|
int vector_length = std::round(static_cast<double>(fs_in) / (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS));
|
||||||
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));
|
|
||||||
trk_param.vector_length = vector_length;
|
trk_param.vector_length = vector_length;
|
||||||
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
|
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)
|
if (symbols_extended_correlator < 1)
|
||||||
{
|
{
|
||||||
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;
|
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;
|
trk_param.extend_correlation_symbols = symbols_extended_correlator;
|
||||||
bool track_pilot = configuration->property(role + ".track_pilot", false);
|
trk_param.track_pilot = track_pilot;
|
||||||
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.very_early_late_space_chips = 0.0;
|
trk_param.very_early_late_space_chips = 0.0;
|
||||||
trk_param.very_early_late_space_narrow_chips = 0.0;
|
trk_param.very_early_late_space_narrow_chips = 0.0;
|
||||||
trk_param.track_pilot = false;
|
|
||||||
trk_param.system = 'C';
|
trk_param.system = 'C';
|
||||||
char sig_[3] = "B3";
|
char sig_[3] = "B3";
|
||||||
std::memcpy(trk_param.signal, sig_, 3);
|
std::memcpy(trk_param.signal, sig_, 3);
|
||||||
|
@ -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));
|
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
|
// initialize internal vars
|
||||||
d_dll_filt_history.set_capacity(2000);
|
d_dll_filt_history.set_capacity(1000);
|
||||||
d_veml = false;
|
d_veml = false;
|
||||||
d_cloop = true;
|
d_cloop = true;
|
||||||
d_pull_in_transitory = 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;
|
DLOG(INFO) << "Telemetry fault received in ch " << this->d_channel;
|
||||||
gr::thread::scoped_lock lock(d_setlock);
|
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;
|
break;
|
||||||
}
|
}
|
||||||
default:
|
default:
|
||||||
@ -645,18 +645,32 @@ void dll_pll_veml_tracking::start_tracking()
|
|||||||
else if (systemName == "Beidou" and signal_type == "B1")
|
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);
|
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)
|
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_correlation_length_ms = 1;
|
||||||
d_code_samples_per_chip = 1;
|
d_code_samples_per_chip = 1;
|
||||||
d_secondary = false;
|
d_secondary = false;
|
||||||
trk_parameters.track_pilot = false;
|
trk_parameters.track_pilot = false;
|
||||||
// preamble bits to sampled symbols
|
|
||||||
// set the preamble in the secondary code acquisition
|
// 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_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_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);
|
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
|
// Update secondary code settings for geo satellites
|
||||||
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
|
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_correlation_length_ms = 1;
|
||||||
d_code_samples_per_chip = 1;
|
d_code_samples_per_chip = 1;
|
||||||
d_secondary = false;
|
d_secondary = false;
|
||||||
trk_parameters.track_pilot = false;
|
trk_parameters.track_pilot = false;
|
||||||
// preamble bits to sampled symbols
|
|
||||||
// set the preamble in the secondary code acquisition
|
// 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_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_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);
|
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)
|
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));
|
d_dll_filt_history.push_back(static_cast<float>(d_code_error_filt_chips));
|
||||||
|
|
||||||
if (d_dll_filt_history.full())
|
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());
|
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) > 1.0)
|
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);
|
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);
|
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_carrier_loop_filter.initialize(d_carrier_doppler_hz - carrier_doppler_error_hz);
|
||||||
d_corrected_doppler = true;
|
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;
|
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++;
|
||||||
// data secondary code roll-up
|
// data secondary code roll-up
|
||||||
d_current_data_symbol %= d_data_secondary_code_length;
|
d_current_data_symbol %= d_data_secondary_code_length;
|
||||||
@ -1172,6 +1202,7 @@ void dll_pll_veml_tracking::save_correlation_results()
|
|||||||
else
|
else
|
||||||
{
|
{
|
||||||
d_P_data_accu += *d_Prompt;
|
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_current_data_symbol %= d_symbols_per_bit;
|
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_P_accu = *d_Prompt;
|
||||||
d_L_accu = *d_Late;
|
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
|
// Check lock status
|
||||||
if (!cn0_and_tracking_lock_status(d_code_period))
|
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();
|
update_tracking_vars();
|
||||||
if (d_current_data_symbol == 0)
|
if (d_current_data_symbol == 0)
|
||||||
{
|
{
|
||||||
|
log_data();
|
||||||
// ########### Output the tracking results to Telemetry block ##########
|
// ########### Output the tracking results to Telemetry block ##########
|
||||||
// Fill the acquisition data
|
// Fill the acquisition data
|
||||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
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();
|
update_tracking_vars();
|
||||||
if (d_current_data_symbol == 0)
|
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 ##########
|
// ########### Output the tracking results to Telemetry block ##########
|
||||||
// Fill the acquisition data
|
// Fill the acquisition data
|
||||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
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;
|
current_synchro_data.Flag_valid_symbol_output = true;
|
||||||
d_P_data_accu = gr_complex(0.0, 0.0);
|
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
|
// reset extended correlator
|
||||||
d_VE_accu = gr_complex(0.0, 0.0);
|
d_VE_accu = gr_complex(0.0, 0.0);
|
||||||
d_E_accu = gr_complex(0.0, 0.0);
|
d_E_accu = gr_complex(0.0, 0.0);
|
||||||
|
@ -47,6 +47,7 @@ Dll_Pll_Conf::Dll_Pll_Conf()
|
|||||||
enable_fll_pull_in = false;
|
enable_fll_pull_in = false;
|
||||||
enable_fll_steady_state = false;
|
enable_fll_steady_state = false;
|
||||||
pull_in_time_s = 10;
|
pull_in_time_s = 10;
|
||||||
|
bit_synchronization_time_limit_s = pull_in_time_s + 60;
|
||||||
fll_filter_order = 1;
|
fll_filter_order = 1;
|
||||||
pll_filter_order = 3;
|
pll_filter_order = 3;
|
||||||
dll_filter_order = 2;
|
dll_filter_order = 2;
|
||||||
|
@ -45,6 +45,7 @@ public:
|
|||||||
bool enable_fll_pull_in;
|
bool enable_fll_pull_in;
|
||||||
bool enable_fll_steady_state;
|
bool enable_fll_steady_state;
|
||||||
unsigned int pull_in_time_s;
|
unsigned int pull_in_time_s;
|
||||||
|
unsigned int bit_synchronization_time_limit_s;
|
||||||
int pll_filter_order;
|
int pll_filter_order;
|
||||||
int dll_filter_order;
|
int dll_filter_order;
|
||||||
|
|
||||||
|
@ -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_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_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s]
|
||||||
const int BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20;
|
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_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_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
|
const int BEIDOU_WORD_LENGTH = 4; //**************!< CRC + BEIDOU WORD (-2 -1 0 ... 29) Bits = 4 bytes
|
||||||
|
@ -53,7 +53,8 @@ const uint32_t BEIDOU_B3I_PREAMBLE_LENGTH_SYMBOLS = 220; // **************
|
|||||||
const double BEIDOU_B3I_PREAMBLE_DURATION_S = 0.220;
|
const double BEIDOU_B3I_PREAMBLE_DURATION_S = 0.220;
|
||||||
const int32_t BEIDOU_B3I_PREAMBLE_DURATION_MS = 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_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_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]
|
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_ */
|
#endif /* GNSS_SDR_BEIDOU_B3I_H_ */
|
||||||
|
Loading…
Reference in New Issue
Block a user