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Merge branch 'next' into ssr

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Carles Fernandez 2021-12-13 22:53:43 +01:00
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51 changed files with 4877 additions and 120 deletions
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30
CMakeLists.txt
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@ -28,6 +28,8 @@ option(ENABLE_UHD "Enable the use of UHD (driver for all USRP devices)" ON)
option(ENABLE_OSMOSDR "Enable the use of OsmoSDR and other front-ends (RTL-based dongles, HackRF, bladeRF, etc.) as signal source" OFF)
option(ENABLE_LIMESDR "Enable the use of LimeSDR and Custom LimeSDR as signal source" OFF)
option(ENABLE_FMCOMMS2 "Enable the use of FMCOMMS4-EBZ + ZedBoard hardware, requires gr-iio" OFF)
option(ENABLE_PLUTOSDR "Enable the use of ADALM-PLUTO Evaluation Boards (Analog Devices Inc.), requires gr-iio" OFF)
@ -2979,6 +2981,33 @@ else()
endif()
##########################################
# gr-limesdr - OPTIONAL
# https://github.com/myriadrf/gr-limesdr
##########################################
find_package(GRLIMESDR)
set_package_properties(GRLIMESDR PROPERTIES
PURPOSE "Used for communication with LimeSDR."
TYPE OPTIONAL
)
if(ENABLE_LIMESDR)
if(GRLIMESDR_FOUND)
message(STATUS "The driver for LimeSDR will be compiled.")
message(STATUS " You can disable it with 'cmake -DENABLE_LIMESDR=OFF ..'")
else()
if(ENABLE_PACKAGING)
message(WARNING "gr-limesdr has not been found. Source blocks depending on it will NOT be built.")
else()
message(FATAL_ERROR "gr-limesdr required to build gnss-sdr with the optional LIMESDR driver")
endif()
set(ENABLE_LIMESDR OFF)
endif()
else()
message(STATUS "The (optional) driver for LimeSDR is not enabled.")
message(STATUS " Enable it with 'cmake -DENABLE_LIMESDR=ON ..' to add support for LimeSDR.")
endif()
##############################################
# gr-iio - OPTIONAL
# IIO blocks for GNU Radio
@ -3281,6 +3310,7 @@ add_subdirectory(src)
################################################################################
add_feature_info(ENABLE_UHD ENABLE_UHD "Enables UHD_Signal_Source for using RF front-ends from the USRP family. Requires gr-uhd.")
add_feature_info(ENABLE_OSMOSDR ENABLE_OSMOSDR "Enables Osmosdr_Signal_Source and RtlTcp_Signal_Source for using RF front-ends compatible with the OsmoSDR driver. Requires gr-osmosdr.")
add_feature_info(ENABLE_LIMESDR ENABLE_LIMESDR "Enables Limesdr_Signal_Source. Requires gr-limesdr.")
add_feature_info(ENABLE_FMCOMMS2 ENABLE_FMCOMMS2 "Enables Fmcomms2_Signal_Source for FMCOMMS2/3/4 devices. Requires gr-iio and libad9361-dev.")
add_feature_info(ENABLE_PLUTOSDR ENABLE_PLUTOSDR "Enables Plutosdr_Signal_Source for using ADALM-PLUTO boards. Requires gr-iio.")
add_feature_info(ENABLE_AD9361 ENABLE_AD9361 "Enables Ad9361_Fpga_Signal_Source for devices with the AD9361 chipset. Requires libiio and libad9361-dev.")

164
cmake/Modules/FindGRLIMESDR.cmake Normal file
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@ -0,0 +1,164 @@
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
# This file is part of GNSS-SDR.
#
# SPDX-FileCopyrightText: 2011-2020 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause
# Tries to find gr-limesdr.
#
# Usage of this module as follows:
#
# find_package(GRLIMESDR)
#
# Variables used by this module, they can change the default behaviour and need
# to be set before calling find_package:
#
# GrLimeSDR_ROOT_DIR Set this variable to the root installation of
# gr-limesdr if the module has problems finding
# the proper installation path.
#
# Variables defined by this module:
#
# GRLIMESDR_FOUND System has gr-limesdr libs/headers
# GRLIMESDR_LIBRARIES The gr-limesdr libraries (gnuradio-limesdr)
# GRLIMESDR_INCLUDE_DIR The location of gr-limesdr headers
#
# Provides the following imported target:
# Gnuradio::limesdr
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
if(NOT PKG_CONFIG_FOUND)
include(FindPkgConfig)
endif()
pkg_check_modules(GRLIMESDR_PKG QUIET gnuradio-limesdr)
if(NOT GRLIMESDR_ROOT)
set(GRLIMESDR_ROOT_USER_DEFINED /usr)
else()
set(GRLIMESDR_ROOT_USER_DEFINED ${GRLIMESDR_ROOT})
endif()
if(DEFINED ENV{GRLIMESDR_ROOT})
set(GRLIMESDR_ROOT_USER_DEFINED
${GRLIMESDR_ROOT_USER_DEFINED}
$ENV{GRLIMESDR_ROOT}
)
endif()
find_path(GRLIMESDR_INCLUDE_DIR
NAMES
limesdr/source.h
limesdr/api.h
HINTS
${GRLIMESDR_PKG_INCLUDEDIR}
PATHS
${GRLIMESDR_ROOT_USER_DEFINED}/include
/usr/include
/usr/local/include
/opt/local/include
)
find_library(GRLIMESDR_LIBRARIES
NAMES
gnuradio-limesdr
HINTS
${GRLIMESDR_PKG_LIBDIR}
PATHS
${GRLIMESDR_ROOT_USER_DEFINED}/lib
${GRLIMESDR_ROOT_USER_DEFINED}/lib64
/usr/lib
/usr/lib64
/usr/lib/x86_64-linux-gnu
/usr/lib/i386-linux-gnu
/usr/lib/arm-linux-gnueabihf
/usr/lib/arm-linux-gnueabi
/usr/lib/aarch64-linux-gnu
/usr/lib/mipsel-linux-gnu
/usr/lib/mips-linux-gnu
/usr/lib/mips64el-linux-gnuabi64
/usr/lib/powerpc-linux-gnu
/usr/lib/powerpc64-linux-gnu
/usr/lib/powerpc64le-linux-gnu
/usr/lib/powerpc-linux-gnuspe
/usr/lib/hppa-linux-gnu
/usr/lib/s390x-linux-gnu
/usr/lib/i386-gnu
/usr/lib/hppa-linux-gnu
/usr/lib/x86_64-kfreebsd-gnu
/usr/lib/i386-kfreebsd-gnu
/usr/lib/m68k-linux-gnu
/usr/lib/sh4-linux-gnu
/usr/lib/sparc64-linux-gnu
/usr/lib/x86_64-linux-gnux32
/usr/lib/riscv64-linux-gnu
/usr/lib/alpha-linux-gnu
/usr/local/lib
/usr/local/lib64
/opt/local/lib
)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GRLIMESDR DEFAULT_MSG GRLIMESDR_LIBRARIES GRLIMESDR_INCLUDE_DIR)
if(GRLIMESDR_PKG_VERSION)
set(GRLIMESDR_VERSION_AUX ${GRLIMESDR_PKG_VERSION})
string(REGEX REPLACE "^v" "" GRLIMESDR_VERSION ${GRLIMESDR_VERSION_AUX})
endif()
set_package_properties(GRLIMESDR PROPERTIES
URL "https://github.com/myriadrf/gr-limesdr"
)
if(GRLIMESDR_FOUND AND GRLIMESDR_VERSION)
set_package_properties(GRLIMESDR PROPERTIES
DESCRIPTION "LimeSDR GNU Radio blocks (found: v${GRLIMESDR_VERSION})"
)
else()
set_package_properties(GRLIMESDR PROPERTIES
DESCRIPTION "LimeSDR GNU Radio blocks"
)
endif()
if(GRLIMESDR_FOUND AND NOT TARGET Gnuradio::limesdr)
add_library(Gnuradio::limesdr SHARED IMPORTED)
set_target_properties(Gnuradio::limesdr PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GRLIMESDR_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${GRLIMESDR_INCLUDE_DIR};${GRLIMESDR_INCLUDE_DIR}/limesdr"
INTERFACE_LINK_LIBRARIES "${GRLIMESDR_LIBRARIES}"
)
message(STATUS "The (optional) gr-limesdr module has been found.")
# check for PPS custom version
file(READ ${GRLIMESDR_INCLUDE_DIR}/limesdr/source.h TMPTXT)
string(FIND "${TMPTXT}" "enable_PPS_mode" matchres)
if(${matchres} EQUAL -1)
message(STATUS " Using standard gr-limesdr library.")
else()
set(GRLIMESDR_PPS TRUE)
message(STATUS " Using custom gr-limesdr library with PPS support.")
endif()
# check gr-limesdr branch
set(_g38_branch TRUE)
file(STRINGS ${GRLIMESDR_INCLUDE_DIR}/limesdr/source.h _limesdr_header_content)
foreach(_loop_var IN LISTS _limesdr_header_content)
string(STRIP "${_loop_var}" _file_line)
if("static sptr make(std::string serial, int channel_mode, const std::string& filename);" STREQUAL "${_file_line}")
set(_g38_branch FALSE)
endif()
if("make(std::string serial, int channel_mode, const std::string& filename, bool enable_PPS_mode);" STREQUAL "${_file_line}")
set(_g38_branch FALSE)
endif()
endforeach()
if(${_g38_branch})
set(GR_LIMESDR_IS_G38_BRANCH TRUE)
endif()
endif()
mark_as_advanced(GRLIMESDR_LIBRARIES GRLIMESDR_INCLUDE_DIR)

149
conf/gnss-sdr_GPS_L1_LimeSDR.conf
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@ -1,111 +1,132 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; SPDX-License-Identifier: GPL-3.0-or-later
; SPDX-FileCopyrightText: (C) 2010-2020 (see AUTHORS file for a list of contributors)
; SPDX-FileCopyrightText: (C) 2010-2021 (see AUTHORS file for a list of contributors)
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_sps=2000000
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
GNSS-SDR.internal_fs_sps=5000000
GNSS-SDR.use_acquisition_resampler=true
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=Osmosdr_Signal_Source
SignalSource.implementation=Limesdr_Signal_Source
SignalSource.item_type=gr_complex
SignalSource.sampling_frequency=2000000
;# LimeSDR RX1 antennas: NONE,LNAH,LNAL,LNAW
SignalSource.antenna=LNAW
SignalSource.sampling_frequency=5000000
SignalSource.freq=1575420000
SignalSource.gain=40
SignalSource.rf_gain=40
SignalSource.if_gain=30
SignalSource.AGC_enabled=false
SignalSource.gain=50; //0-73 dB//no agc in LimeSDR
;SignalSource.analog_bw //if not set, defaults to sample_rate/2
;SignalSource.digital_bw // if not set, defaults to 0 (disabled filter)
SignalSource.limesdr_serial // if not set, its automatic
SignalSource.antenna=2 // None(0), LNAH(1), LNAL(2), LNAW(3), AUTO(255)
SignalSource.ext_clock_MHz_=0 //0 -> internal clock
SignalSource.PPS_mode=false; //requires special gr-limesdr
SignalSource.limechannel_mode = 0; //ChannelMode must be A(0), B(1) or (A+B) MIMO(2)"
SignalSource.samples=0
SignalSource.repeat=false
;# Next line enables the LimeSDR
SignalSource.osmosdr_args=driver=lime,soapy=0
SignalSource.enable_throttle_control=false
SignalSource.dump=false
SignalSource.dump_filename=./signal_source.dat
SignalSource.dump_filename=../data/signal_source.dat
SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
DataTypeAdapter.implementation=Pass_Through
;######### INPUT_FILTER CONFIG ############
InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.decimation_factor=1
InputFilter.input_item_type=gr_complex
InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float
InputFilter.number_of_taps=5
InputFilter.number_of_bands=2
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.85
InputFilter.band2_begin=0.9
InputFilter.band2_end=1.0
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
InputFilter.filter_type=bandpass
InputFilter.grid_density=16
InputFilter.dump=false
InputFilter.dump_filename=../data/input_filter.dat
;######### RESAMPLER CONFIG ############
InputFilter.implementation=Pulse_Blanking_Filter ; <- Required in some locations
InputFilter.pfa=0.001
InputFilter.segments_est=2500
Resampler.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=8
Channels_1C.count=7
Channels_1B.count=0
Channels.in_acquisition=1
Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.sampled_ms=1
Acquisition_1C.threshold=0.015
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_min=-10000
Acquisition_1C.doppler_step=500
Acquisition_1C.max_dwells=15
Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.use_CFAR_algorithm=false;
Acquisition_1C.threshold=2.4
Acquisition_1C.doppler_max=6000
Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.item_type=gr_complex
Acquisition_1B.threshold=2.5
Acquisition_1B.use_CFAR_algorithm=false
Acquisition_1B.blocking=false
Acquisition_1B.doppler_max=6000
Acquisition_1B.doppler_step=125
Acquisition_1B.dump=false
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5;
Tracking_1C.dump=false
Tracking_1C.dump_filename=./tracking_ch_
Tracking_1C.pll_bw_hz=45.0;
Tracking_1C.dll_bw_hz=4.0;
Tracking_1C.pll_bw_narrow_hz=5.0;
Tracking_1C.dll_bw_narrow_hz=0.75;
Tracking_1C.extend_correlation_symbols=1;
Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5;
Tracking_1C.early_late_space_narrow_chips=0.5
;######### TRACKING GALILEO CONFIG ############
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
Tracking_1B.item_type=gr_complex
Tracking_1B.pll_bw_hz=15.0;
Tracking_1B.dll_bw_hz=0.75;
Tracking_1B.early_late_space_chips=0.15;
Tracking_1B.very_early_late_space_chips=0.5;
Tracking_1B.pll_bw_narrow_hz=5.0
Tracking_1B.dll_bw_narrow_hz=0.5
Tracking_1B.extend_correlation_symbols=1
Tracking_1B.track_pilot=true
Tracking_1B.enable_fll_pull_in=true;
;Tracking_1B.pull_in_time_s=60
Tracking_1B.enable_fll_steady_state=false
Tracking_1B.fll_bw_hz=10
Tracking_1B.dump=false
Tracking_1B.dump_filename=tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single
PVT.implementation=RTKLIB_PVT
PVT.enable_rx_clock_correction=false
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.rinexobs_rate_ms=100
PVT.display_rate_ms=500
PVT.iono_model=Broadcast
PVT.trop_model=Saastamoinen
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
PVT.flag_nmea_tty_port=false;
PVT.nmea_dump_devname=/dev/pts/4
PVT.dump=false
PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.rtcm_tcp_port=2101
PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=2

94
conf/gnss-sdr_GPS_L1_plutosdr_realtime.conf
View File

@ -13,8 +13,8 @@
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [sps].
;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
GNSS-SDR.internal_fs_sps=2000000
GNSS-SDR.internal_fs_sps=4000000
GNSS-SDR.use_acquisition_resampler=true
;######### SUPL RRLP GPS assistance configuration #####
; Check https://www.mcc-mnc.com/
@ -34,10 +34,10 @@ GNSS-SDR.SUPL_CI=0x31b0
SignalSource.implementation=Plutosdr_Signal_Source
SignalSource.item_type=gr_complex
SignalSource.device_address=192.168.2.1
SignalSource.sampling_frequency=3000000
SignalSource.sampling_frequency=4000000
SignalSource.freq=1575420000
SignalSource.bandwidth=2600000
SignalSource.gain_mode=manual
SignalSource.bandwidth=2000000
SignalSource.gain_mode=slow_attack
SignalSource.gain=30
SignalSource.samples=0
SignalSource.buffer_size=65000
@ -47,39 +47,79 @@ SignalSource.dump_filename=./capture.dat
SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
InputFilter.implementation=Pass_Through
InputFilter.item_type=gr_complex
Resampler.implementation=Direct_Resampler
Resampler.sample_freq_in=4000000
Resampler.sample_freq_out=2000000
Resampler.item_type=gr_complex
;######### DATA_TYPE_ADAPTER CONFIG ############
DataTypeAdapter.implementation=Pass_Through
DataTypeAdapter.item_type=gr_complex
SignalConditioner.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=6
Channels_1C.count=8
Channels_1B.count=0
Channels.in_acquisition=1
Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.pfa=0.01
Acquisition_1C.doppler_max=10000
Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.use_CFAR_algorithm=false;
Acquisition_1C.threshold=2.6
Acquisition_1C.doppler_max=50000
Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.item_type=gr_complex
Acquisition_1B.threshold=2.5
Acquisition_1B.use_CFAR_algorithm=false
Acquisition_1B.blocking=false
Acquisition_1B.doppler_max=6000
Acquisition_1B.doppler_step=125
Acquisition_1B.dump=false
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=4.0;
Tracking_1C.dump=false
Tracking_1C.dump_filename=./tracking_ch_
Tracking_1C.pll_bw_hz=35.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.enable_fll_pull_in=true;
Tracking_1C.fll_bw_hz=10
Tracking_1C.pll_bw_narrow_hz=5.0;
Tracking_1C.dll_bw_narrow_hz=0.75;
Tracking_1C.extend_correlation_symbols=1;
Tracking_1C.order=3;
Tracking_1C.early_late_space_chips=0.5;
Tracking_1C.early_late_space_narrow_chips=0.5
;######### TRACKING GALILEO CONFIG ############
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
Tracking_1B.item_type=gr_complex
Tracking_1B.pll_bw_hz=15.0;
Tracking_1B.dll_bw_hz=0.75;
Tracking_1B.early_late_space_chips=0.15;
Tracking_1B.very_early_late_space_chips=0.5;
Tracking_1B.pll_bw_narrow_hz=5.0
Tracking_1B.dll_bw_narrow_hz=0.5
Tracking_1B.extend_correlation_symbols=1
Tracking_1B.track_pilot=true
Tracking_1B.enable_fll_pull_in=true;
;Tracking_1B.pull_in_time_s=60
Tracking_1B.enable_fll_steady_state=false
Tracking_1B.fll_bw_hz=10
Tracking_1B.dump=false
Tracking_1B.dump_filename=tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
@ -89,16 +129,18 @@ Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.enable_rx_clock_correction=false
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.rinexobs_rate_ms=100
PVT.display_rate_ms=500
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
PVT.flag_nmea_tty_port=false;
PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false
PVT.flag_rtcm_server=true
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1

225
conf/gnss-sdr_labsat_kf_vtl.conf Normal file
View File

@ -0,0 +1,225 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; SPDX-License-Identifier: GPL-3.0-or-later
; SPDX-FileCopyrightText: (C) 2010-2021 (see AUTHORS file for a list of contributors)
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_sps=5456000
;GNSS-SDR.internal_fs_sps=16368000
GNSS-SDR.use_acquisition_resampler=true
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=Labsat_Signal_Source
SignalSource.selected_channel=1
;#filename: path to file with the captured GNSS signal samples to be processed
;# Labsat sile source automatically increments the file name when the signal is split in several files
;# the adapter adds "_0000.LS3" to this base path and filename. Next file will be "_0001.LS3" and so on
;# in this example, the first file complete path will be ../signals/GPS_025_
;SignalSource.filename=/media/javier/WDNASNTFS/satgen_30mins/output/output
SignalSource.filename=/home/javier/signals/satgen_30mins/output/output
;SignalSource.filename=/home/javier/signals/dupli/dupli/dupli
SignalSource.item_type=gr_complex
SignalSource.sampling_frequency=16368000
SignalSource.samples=0
SignalSource.repeat=false
SignalSource.dump=false
SignalSource.dump_filename=./out.dat
SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
DataTypeAdapter.implementation=Pass_Through
DataTypeAdapter.item_type=gr_complex
;######### INPUT_FILTER CONFIG ############
InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.dump=false
InputFilter.dump_filename=/media/javier/WDNASNTFS/output_5.456Msps_gr_complex.dat
InputFilter.input_item_type=gr_complex
InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float
InputFilter.number_of_taps=5
InputFilter.number_of_bands=2
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.45
InputFilter.band2_begin=0.55
InputFilter.band2_end=1.0
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
InputFilter.filter_type=lowpass
InputFilter.grid_density=16
InputFilter.sampling_frequency=16368000
InputFilter.IF=0
InputFilter.decimation_factor=3
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=6
Channels_1B.count=0
Channels_L5.count=0
Channels_5X.count=0
Channels.in_acquisition=1
;Channel0.satellite=3
;#signal:
;# "1C" GPS L1 C/A
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1G" GLONASS L1 C/A
;# "2S" GPS L2 L2C (M)
;# "5X" GALILEO E5a I+Q
;# "L5" GPS L5
;######### GPS ACQUISITION CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.threshold=3.0
Acquisition_1C.use_CFAR_algorithm=false
Acquisition_1C.blocking=true
Acquisition_1C.doppler_max=5000
Acquisition_1C.doppler_step=125
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
;######### GALILEO ACQUISITION CONFIG ############
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.item_type=gr_complex
Acquisition_1B.threshold=2.8
Acquisition_1B.use_CFAR_algorithm=false
Acquisition_1B.blocking=false
Acquisition_1B.doppler_max=5000
Acquisition_1B.doppler_step=125
Acquisition_1B.dump=false
Acquisition_1B.dump_filename=./acq_dump.dat
;######### TRACKING GPS CONFIG ############
;Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
;Tracking_1C.item_type=gr_complex
;Tracking_1C.dump=false
;Tracking_1C.dump_filename=./tracking_ch_
;Tracking_1C.pll_bw_hz=35.0;
;Tracking_1C.dll_bw_hz=1.5;
;Tracking_1C.pll_bw_narrow_hz=2.5;
;Tracking_1C.dll_bw_narrow_hz=0.2;
;Tracking_1C.extend_correlation_symbols=1;
;Tracking_1C.dll_filter_order=2;
;Tracking_1C.pll_filter_order=3;
;Tracking_1C.early_late_space_chips=0.5;
;Tracking_1C.early_late_space_narrow_chips=0.15
;### KF tracking
Tracking_1C.implementation=GPS_L1_CA_KF_VTL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.dump=true
Tracking_1C.dump_filename=./tracking_ch_
Tracking_1C.extend_correlation_symbols=1;
Tracking_1C.early_late_space_chips=0.5;
Tracking_1C.early_late_space_narrow_chips=0.15
Tracking_1C.expected_cn0_dbhz=45.0;
Tracking_1C.enable_dynamic_measurement_covariance=false;
Tracking_1C.use_estimated_cn0=false;
Tracking_1C.carrier_aiding=true;
Tracking_1C.code_phase_sd_chips=0.01;
Tracking_1C.code_rate_sd_chips_s=0.001;
Tracking_1C.carrier_phase_sd_rad=0.001;
Tracking_1C.carrier_freq_sd_hz=0.01;
Tracking_1C.carrier_freq_rate_sd_hz_s=0.1;
Tracking_1C.init_code_phase_sd_chips=1;
Tracking_1C.init_code_rate_sd_chips_s=10;
Tracking_1C.init_carrier_phase_sd_rad=1;
Tracking_1C.init_carrier_freq_sd_hz=10;
Tracking_1C.init_carrier_freq_rate_sd_hz_s=10;
;######### TRACKING GALILEO CONFIG ############
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
Tracking_1B.item_type=gr_complex
Tracking_1B.pll_bw_hz=15.0;
Tracking_1B.dll_bw_hz=0.75;
Tracking_1B.early_late_space_chips=0.15;
Tracking_1B.very_early_late_space_chips=0.5;
Tracking_1B.early_late_space_narrow_chips=0.10;
Tracking_1B.very_early_late_space_narrow_chips=0.5;
Tracking_1B.pll_bw_narrow_hz=2.5
Tracking_1B.dll_bw_narrow_hz=0.2
Tracking_1B.extend_correlation_symbols=5
Tracking_1B.track_pilot=true
Tracking_1B.enable_fll_pull_in=true;
;Tracking_1B.pull_in_time_s=60
Tracking_1B.enable_fll_steady_state=false
Tracking_1B.fll_bw_hz=10
Tracking_1B.dump=false
Tracking_1B.dump_filename=tracking_ch_
;######### TELEMETRY DECODER GALILEO CONFIG ############
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
Observables.enable_carrier_smoothing=false
Observables.smoothing_factor=200
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.enable_rx_clock_correction=false
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=1000;
PVT.rinexobs_rate_ms=1000;
PVT.display_rate_ms=1000;
PVT.elevation_mask=15;
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false
PVT.dump_filename=./PVT
PVT.enable_monitor=false
PVT.monitor_udp_port=1337
PVT.monitor_client_addresses=127.0.0.1
;######### MONITOR CONFIG ############
Monitor.enable_monitor=false
Monitor.decimation_factor=1
Monitor.client_addresses=127.0.0.1
Monitor.udp_port=1234

3
docs/CHANGELOG.md
View File

@ -29,6 +29,9 @@ All notable changes to GNSS-SDR will be documented in this file.
- Fixed the regeneration of Galileo ephemeris from the reduced clock and
ephemeris data (CED) defined in the Galileo E1B INAV message introduced in
Galileo OS SIS ICD Issue 2.0.
- Added a `Limesdr_Signal_Source` for interoperability with LimeSDR (requires
[gr-limesdr](https://github.com/myriadrf/gr-limesdr) and the
`-DENABLE_LIMESDR=ON` building flag).
### Improvements in Maintainability:

5
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -853,6 +853,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
// Set maximum clock offset allowed if pvt_output_parameters.enable_rx_clock_correction = false
pvt_output_parameters.max_obs_block_rx_clock_offset_ms = configuration->property(role + ".max_clock_offset_ms", pvt_output_parameters.max_obs_block_rx_clock_offset_ms);
// Source timetag
pvt_output_parameters.log_source_timetag = configuration->property(role + ".log_timetag", pvt_output_parameters.log_source_timetag);
pvt_output_parameters.log_source_timetag_file = configuration->property(role + ".log_source_timetag_file", pvt_output_parameters.log_source_timetag_file);
// make PVT object
pvt_ = rtklib_make_pvt_gs(in_streams_, pvt_output_parameters, rtk);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";

132
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@ -56,6 +56,7 @@
#include "rtcm_printer.h"
#include "rtklib_rtkcmn.h"
#include "rtklib_solver.h"
#include "trackingcmd.h"
#include <boost/archive/xml_iarchive.hpp> // for xml_iarchive
#include <boost/archive/xml_oarchive.hpp> // for xml_oarchive
#include <boost/exception/diagnostic_information.hpp>
@ -167,11 +168,13 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
d_show_local_time_zone(conf_.show_local_time_zone),
d_waiting_obs_block_rx_clock_offset_correction_msg(false),
d_enable_rx_clock_correction(conf_.enable_rx_clock_correction),
d_an_printer_enabled(conf_.an_output_enabled)
d_an_printer_enabled(conf_.an_output_enabled),
d_log_timetag(conf_.log_source_timetag)
{
// Send feedback message to observables block with the receiver clock offset
this->message_port_register_out(pmt::mp("pvt_to_observables"));
// Experimental: VLT commands from PVT to tracking channels
this->message_port_register_out(pmt::mp("pvt_to_trk"));
// Send PVT status to gnss_flowgraph
this->message_port_register_out(pmt::mp("status"));
@ -557,6 +560,21 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
// set the RTKLIB trace (debug) level
tracelevel(conf_.rtk_trace_level);
// timetag
if (d_log_timetag)
{
try
{
d_log_timetag_file.open(conf_.log_source_timetag_file, std::ios::out | std::ios::binary);
std::cout << "Log PVT timetag metadata enabled, log file: " << conf_.log_source_timetag_file << '\n';
}
catch (const std::exception& e)
{
std::cerr << "Log PVT timetag metadata file cannot be created: " << e.what() << '\n';
d_log_timetag = false;
}
}
d_start = std::chrono::system_clock::now();
}
@ -1104,6 +1122,18 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
LOG(INFO) << "Failed to save BeiDou DNAV UTC model parameters, not valid data";
}
}
if (d_log_timetag_file.is_open())
{
try
{
d_log_timetag_file.close();
}
catch (const std::exception& e)
{
LOG(WARNING) << "Problem closing Log PVT timetag metadata file: " << e.what();
}
}
}
catch (std::length_error& e)
{
@ -1657,6 +1687,23 @@ bool rtklib_pvt_gs::save_gnss_synchro_map_xml(const std::string& file_name)
}
void rtklib_pvt_gs::log_source_timetag_info(double RX_time_ns, double TAG_time_ns)
{
if (d_log_timetag_file.is_open())
{
try
{
d_log_timetag_file.write(reinterpret_cast<char*>(&RX_time_ns), sizeof(double));
d_log_timetag_file.write(reinterpret_cast<char*>(&TAG_time_ns), sizeof(double));
}
catch (const std::exception& e)
{
std::cerr << "Problem writting at the log PVT timetag metadata file: " << e.what() << '\n';
}
}
}
bool rtklib_pvt_gs::load_gnss_synchro_map_xml(const std::string& file_name)
{
// load from xml (boost serialize)
@ -1899,6 +1946,35 @@ void rtklib_pvt_gs::initialize_and_apply_carrier_phase_offset()
int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items __attribute__((unused)))
{
//**************** time tags ****************
if (d_enable_rx_clock_correction == false) // todo: currently only works if clock correction is disabled
{
std::vector<gr::tag_t> tags_vec;
// time tag from obs to pvt is always propagated in channel 0
this->get_tags_in_range(tags_vec, 0, this->nitems_read(0), this->nitems_read(0) + noutput_items);
for (const auto& it : tags_vec)
{
try
{
if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
{
const auto timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
// std::cout << "PVT timetag: " << timetag->rx_time << '\n';
d_TimeChannelTagTimestamps.push(*timetag);
}
else
{
std::cout << "hash code not match\n";
}
}
catch (const boost::bad_any_cast& e)
{
std::cout << "msg Bad any_cast: " << e.what();
}
}
}
//************* end time tags **************
for (int32_t epoch = 0; epoch < noutput_items; epoch++)
{
bool flag_display_pvt = false;
@ -2037,6 +2113,46 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (d_internal_pvt_solver->get_PVT(d_gnss_observables_map, false))
{
const double Rx_clock_offset_s = d_internal_pvt_solver->get_time_offset_s();
//**************** time tags ****************
if (d_enable_rx_clock_correction == false) // todo: currently only works if clock correction is disabled (computed clock offset is applied here)
{
//************ Source TimeTag comparison with GNSS computed TOW *************
if (!d_TimeChannelTagTimestamps.empty())
{
double delta_rxtime_to_tag_ms;
GnssTime current_tag;
// 1. Find the nearest timetag to the current rx_time (it is relative to the receiver's start operation)
do
{
current_tag = d_TimeChannelTagTimestamps.front();
delta_rxtime_to_tag_ms = d_rx_time * 1000.0 - current_tag.rx_time;
d_TimeChannelTagTimestamps.pop();
}
while (fabs(delta_rxtime_to_tag_ms) >= 100 and !d_TimeChannelTagTimestamps.empty());
// 2. If both timestamps (relative to the receiver's start) are closer than 100 ms (the granularituy of the PVT)
if (fabs(delta_rxtime_to_tag_ms) <= 100) // [ms]
{
std::cout << "GNSS-SDR RX TIME: " << d_rx_time << " TAG RX TIME: " << current_tag.rx_time / 1000.0 << " [s]\n";
if (d_log_timetag == true)
{
double current_corrected_RX_clock_ns = (d_rx_time - Rx_clock_offset_s) * 1e9;
double TAG_time_ns = (static_cast<double>(current_tag.tow_ms) + current_tag.tow_ms_fraction + delta_rxtime_to_tag_ms) * 1e6;
log_source_timetag_info(current_corrected_RX_clock_ns, TAG_time_ns);
double tow_error_ns = current_corrected_RX_clock_ns - TAG_time_ns;
std::cout << "[Time ch] RX TimeTag Week: " << current_tag.week
<< ", TOW: " << current_tag.tow_ms
<< " [ms], TOW fraction: " << current_tag.tow_ms_fraction
<< " [ms], GNSS-SDR OBS CORRECTED TOW - EXTERNAL TIMETAG TOW: " << tow_error_ns << " [ns] \n";
}
}
}
}
//**********************************************
if (fabs(Rx_clock_offset_s) * 1000.0 > d_max_obs_block_rx_clock_offset_ms)
{
if (!d_waiting_obs_block_rx_clock_offset_correction_msg)
@ -2086,7 +2202,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
flag_compute_pvt_output = true;
// std::cout.precision(17);
// std::cout << "current_RX_time: " << current_RX_time << " map time: " << d_gnss_observables_map.begin()->second.RX_time << '\n';
// std::cout << "current_RX_time: " << current_RX_time_ms << " map time: " << d_gnss_observables_map.begin()->second.RX_time << '\n';
}
flag_pvt_valid = true;
}
@ -2104,14 +2220,22 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, false);
}
if (flag_pvt_valid == true)
{
// experimental VTL tests
// send tracking command
// const std::shared_ptr<TrackingCmd> trk_cmd_test = std::make_shared<TrackingCmd>(TrackingCmd());
// trk_cmd_test->carrier_freq_hz = 12345.4;
// trk_cmd_test->sample_counter = d_gnss_observables_map.begin()->second.Tracking_sample_counter;
// this->message_port_pub(pmt::mp("pvt_to_trk"), pmt::make_any(trk_cmd_test));
// initialize (if needed) the accumulated phase offset and apply it to the active channels
// required to report accumulated phase cycles comparable to pseudoranges
initialize_and_apply_carrier_phase_offset();
const double Rx_clock_offset_s = d_user_pvt_solver->get_time_offset_s();
if (d_enable_rx_clock_correction == true && fabs(Rx_clock_offset_s) > 0.000001) // 1us !!
if (d_enable_rx_clock_correction == true and fabs(Rx_clock_offset_s) > 0.000001) // 1us !!
{
LOG(INFO) << "Warning: Rx clock offset at interpolated RX time: " << Rx_clock_offset_s * 1000.0 << "[ms]"
<< " at RX time: " << static_cast<uint32_t>(d_rx_time * 1000.0) << " [ms]";

10
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
View File

@ -19,6 +19,7 @@
#include "gnss_block_interface.h"
#include "gnss_synchro.h"
#include "gnss_time.h"
#include "rtklib.h"
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
@ -29,8 +30,10 @@
#include <cstddef> // for size_t
#include <cstdint> // for int32_t
#include <ctime> // for time_t
#include <fstream> // for std::fstream
#include <map> // for map
#include <memory> // for shared_ptr, unique_ptr
#include <queue> // for std::queue
#include <string> // for string
#include <sys/types.h> // for key_t
#include <vector> // for vector
@ -133,6 +136,8 @@ private:
const Pvt_Conf& conf_,
const rtk_t& rtk);
void log_source_timetag_info(double RX_time_ns, double TAG_time_ns);
void msg_handler_telemetry(const pmt::pmt_t& msg);
void msg_handler_has_data(const pmt::pmt_t& msg) const;
@ -163,6 +168,8 @@ private:
bool save_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
bool load_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
std::fstream d_log_timetag_file;
std::shared_ptr<Rtklib_Solver> d_internal_pvt_solver;
std::shared_ptr<Rtklib_Solver> d_user_pvt_solver;
@ -208,6 +215,8 @@ private:
std::map<int, Gnss_Synchro> d_gnss_observables_map_t0;
std::map<int, Gnss_Synchro> d_gnss_observables_map_t1;
std::queue<GnssTime> d_TimeChannelTagTimestamps;
boost::posix_time::time_duration d_utc_diff_time;
size_t d_gps_ephemeris_sptr_type_hash_code;
@ -277,6 +286,7 @@ private:
bool d_enable_rx_clock_correction;
bool d_enable_has_messages;
bool d_an_printer_enabled;
bool d_log_timetag;
};

74
src/algorithms/PVT/libs/pvt_conf.cc Normal file
View File

@ -0,0 +1,74 @@
/*!
* \file pvt_conf.cc
* \brief Class that contains all the configuration parameters for a PVT block
* \author Carles Fernandez, 2018. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "pvt_conf.h"
Pvt_Conf::Pvt_Conf()
{
type_of_receiver = 0U;
observable_interval_ms = 20U;
output_rate_ms = 0;
display_rate_ms = 0;
kml_rate_ms = 1000;
gpx_rate_ms = 1000;
geojson_rate_ms = 1000;
nmea_rate_ms = 1000;
max_obs_block_rx_clock_offset_ms = 40;
rinex_version = 0;
rinexobs_rate_ms = 0;
rinex_name = std::string("-");
dump = false;
dump_mat = true;
flag_nmea_tty_port = false;
flag_rtcm_server = false;
flag_rtcm_tty_port = false;
rtcm_tcp_port = 0U;
rtcm_station_id = 0U;
output_enabled = true;
rinex_output_enabled = true;
gpx_output_enabled = true;
geojson_output_enabled = true;
nmea_output_file_enabled = true;
kml_output_enabled = true;
xml_output_enabled = true;
rtcm_output_file_enabled = true;
output_path = std::string(".");
rinex_output_path = std::string(".");
gpx_output_path = std::string(".");
geojson_output_path = std::string(".");
nmea_output_file_path = std::string(".");
kml_output_path = std::string(".");
xml_output_path = std::string(".");
rtcm_output_file_path = std::string(".");
enable_rx_clock_correction = true;
monitor_enabled = false;
monitor_ephemeris_enabled = false;
protobuf_enabled = true;
udp_port = 0;
udp_eph_port = 0;
pre_2009_file = false;
show_local_time_zone = false;
log_source_timetag = false;
log_source_timetag_file = "PVT_timetag.dat";
}

2
src/algorithms/PVT/libs/pvt_conf.h
View File

@ -89,6 +89,8 @@ public:
bool pre_2009_file = false;
bool dump = false;
bool dump_mat = true;
bool log_source_timetag;
std::string log_source_timetag_file;
};

3
src/algorithms/libs/CMakeLists.txt
View File

@ -29,6 +29,7 @@ set(GNSS_SPLIBS_SOURCES
gnss_sdr_create_directory.cc
geofunctions.cc
item_type_helpers.cc
trackingcmd.cc
pass_through.cc
short_x2_to_cshort.cc
gnss_sdr_string_literals.cc
@ -60,9 +61,11 @@ set(GNSS_SPLIBS_HEADERS
gnss_circular_deque.h
geofunctions.h
item_type_helpers.h
trackingcmd.h
pass_through.h
short_x2_to_cshort.h
gnss_sdr_string_literals.h
gnss_time.h
)
if(ENABLE_OPENCL)

3
src/algorithms/libs/gnss_sdr_flags.cc
View File

@ -33,6 +33,9 @@ DEFINE_string(s, "-",
DEFINE_string(signal_source, "-",
"If defined, path to the file containing the signal samples (overrides the configuration file).");
DEFINE_string(timestamp_source, "-",
"If defined, path to the file containing the signal timestamp data (overrides the configuration file).");
DEFINE_bool(rf_shutdown, true, "If set to false, AD9361 RF channels are not shut down when exiting the program. Useful to leave the AD9361 configured and running.");
DEFINE_int32(doppler_max, 0, "If defined, sets the maximum Doppler value in the search grid, in Hz (overrides the configuration file).");

7
src/algorithms/libs/gnss_sdr_flags.h
View File

@ -35,9 +35,10 @@ DECLARE_string(config_file); //!< Path to the configuration file.
DECLARE_string(log_dir); //!< Path to the folder in which logging will be stored.
// Declare flags for signal sources
DECLARE_string(s); //!< Path to the file containing the signal samples.
DECLARE_string(signal_source); //!< Path to the file containing the signal samples.
DECLARE_bool(rf_shutdown); //!< Shutdown RF when program exits.
DECLARE_string(s); //!< Path to the file containing the signal samples.
DECLARE_string(signal_source); //!< Path to the file containing the signal samples.
DECLARE_string(timestamp_source); //!< Path to the file containing the signal samples.
DECLARE_bool(rf_shutdown); //!< Shutdown RF when program exits.
// Declare flags for acquisition blocks
DECLARE_int32(doppler_max); //!< If defined, maximum Doppler value in the search grid, in Hz (overrides the configuration file).

32
src/algorithms/libs/gnss_time.h Normal file
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@ -0,0 +1,32 @@
/*!
* \file gnss_time.h
* \brief class that stores both the receiver time, relative to the receiver start and the GNSS time (absolute)
* \author Javier Arribas 2022. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GNSS_TIME_H
#define GNSS_SDR_GNSS_TIME_H
#include <cstdint>
class GnssTime
{
public:
double rx_time;
int week; /*!< GPS week number (since January 1980) */
int tow_ms; /* time of week [ms]*/
double tow_ms_fraction; /* tow ms fractional part [ms]*/
};
#endif

23
src/algorithms/libs/trackingcmd.cc Normal file
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@ -0,0 +1,23 @@
/*!
* \file trackingcmd.cc
* \brief Class that stores information to update the GNSS signal tracking estimations
* \author Javier Arribas, 2021. jarribas(at)cttc.es
*
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "trackingcmd.h"
TrackingCmd::TrackingCmd()
{
// TODO Auto-generated constructor stub
}

36
src/algorithms/libs/trackingcmd.h Normal file
View File

@ -0,0 +1,36 @@
/*!
* \file trackingcmd.h
* \brief Class that stores information to update the GNSS signal tracking estimations
* \author Javier Arribas, 2021. jarribas(at)cttc.es
*
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef SRC_ALGORITHMS_LIBS_TRACKINGCMD_H_
#define SRC_ALGORITHMS_LIBS_TRACKINGCMD_H_
#include <cstdint>
class TrackingCmd
{
public:
TrackingCmd();
bool enable_carrier_nco_cmd;
bool enable_code_nco_cmd;
double code_freq_chips;
double carrier_freq_hz;
double carrier_freq_rate_hz_s;
uint64_t sample_counter;
};
#endif /* SRC_ALGORITHMS_LIBS_TRACKINGCMD_H_ */

110
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
View File

@ -111,6 +111,11 @@ hybrid_observables_gs::hybrid_observables_gs(const Obs_Conf &conf_)
d_mapStringValues["B2"] = evBDS_B2;
d_mapStringValues["B3"] = evBDS_B3;
d_SourceTagTimestamps = std::vector<std::queue<GnssTime>>(d_nchannels_out);
last_rx_clock_round20ms_error = 0;
set_tag_propagation_policy(TPP_DONT); // no tag propagation, the time tag will be adjusted and regenerated in work()
// ############# ENABLE DATA FILE LOG #################
if (d_dump)
{
@ -204,12 +209,14 @@ void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg
if (pmt::any_ref(msg).type().hash_code() == d_double_type_hash_code)
{
const auto new_rx_clock_offset_s = wht::any_cast<double>(pmt::any_ref(msg));
double old_tow_corrected = static_cast<double>(d_T_rx_TOW_ms) - new_rx_clock_offset_s * 1000.0;
d_T_rx_TOW_ms = d_T_rx_TOW_ms - static_cast<int>(round(new_rx_clock_offset_s * 1000.0));
// align the receiver clock to integer multiple of d_T_rx_step_ms
if (d_T_rx_TOW_ms % d_T_rx_step_ms)
{
d_T_rx_TOW_ms += d_T_rx_step_ms - d_T_rx_TOW_ms % d_T_rx_step_ms;
}
last_rx_clock_round20ms_error = static_cast<double>(d_T_rx_TOW_ms) - old_tow_corrected;
// d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
@ -616,6 +623,55 @@ void hybrid_observables_gs::smooth_pseudoranges(std::vector<Gnss_Synchro> &data)
}
void hybrid_observables_gs::set_tag_timestamp_in_sdr_timeframe(const std::vector<Gnss_Synchro> &data, uint64_t rx_clock)
{
// it transforms the HW sample tag timestamp from a relative samplestamp (from receiver start)
// to an absolute GPS TOW samplestamp associated with the current set of pseudoranges
if (!d_TimeChannelTagTimestamps.empty())
{
double fs = 0;
std::vector<Gnss_Synchro>::const_iterator it;
for (it = data.begin(); it != data.end(); it++)
{
if (it->Flag_valid_pseudorange == true)
{
fs = static_cast<double>(it->fs);
break;
}
}
double delta_rxtime_to_tag;
GnssTime current_tag;
do
{
current_tag = d_TimeChannelTagTimestamps.front();
delta_rxtime_to_tag = (static_cast<double>(rx_clock) / fs) - current_tag.rx_time; // delta time relative to receiver's start time
if (delta_rxtime_to_tag >= 0)
{
d_TimeChannelTagTimestamps.pop();
}
}
while (delta_rxtime_to_tag >= 0.1 and !d_TimeChannelTagTimestamps.empty());
if (delta_rxtime_to_tag >= 0 and delta_rxtime_to_tag <= 0.1)
{
// std::cout << "[Time ch][" << delta_rxtime_to_tag
// << "] OBS RX TimeTag Week: " << current_tag.week
// << ", TOW: " << current_tag.tow_ms
// << " [ms], TOW fraction: " << current_tag.tow_ms_fraction
// << " [ms], DELTA TLM TOW: " << last_rx_clock_round20ms_error + delta_rxtime_to_tag * 1000.0 + static_cast<double>(current_tag.tow_ms) - static_cast<double>(d_T_rx_TOW_ms) + current_tag.tow_ms_fraction << " [ms] \n";
const std::shared_ptr<GnssTime> tmp_obj = std::make_shared<GnssTime>(GnssTime());
*tmp_obj = current_tag;
double intpart;
tmp_obj->tow_ms_fraction = tmp_obj->tow_ms_fraction + modf(delta_rxtime_to_tag * 1000.0, &intpart);
tmp_obj->tow_ms = current_tag.tow_ms + static_cast<int>(intpart);
tmp_obj->rx_time = static_cast<double>(d_T_rx_TOW_ms); // new TAG samplestamp in absolute RX time (GPS TOW frame) same as the pseudorange set
add_item_tag(0, this->nitems_written(0) + 1, pmt::mp("timetag"), pmt::make_any(tmp_obj));
}
}
}
int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)),
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
@ -628,6 +684,31 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
if (ninput_items[d_nchannels_in - 1] > 0)
{
d_Rx_clock_buffer.push_back(in[d_nchannels_in - 1][0].Tracking_sample_counter);
// time tags
std::vector<gr::tag_t> tags_vec;
this->get_tags_in_range(tags_vec, d_nchannels_in - 1, this->nitems_read(d_nchannels_in - 1), this->nitems_read(d_nchannels_in - 1) + 1);
for (const auto &it : tags_vec)
{
try
{
if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
{
const auto timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
// std::cout << "[Time ch ] timetag: " << timetag->rx_time << "\n";
d_TimeChannelTagTimestamps.push(*timetag);
}
else
{
std::cout << "hash code not match\n";
}
}
catch (const boost::bad_any_cast &e)
{
std::cout << "msg Bad any_cast: " << e.what();
}
}
// Consume one item from the clock channel (last of the input channels)
consume(static_cast<int32_t>(d_nchannels_in) - 1, 1);
}
@ -635,9 +716,34 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
// Push the tracking observables into buffers to allow the observable interpolation at the desired Rx clock
for (uint32_t n = 0; n < d_nchannels_out; n++)
{
// Push the valid tracking Gnss_Synchros to their corresponding deque
//**************** time tags ****************
// std::vector<gr::tag_t> tags_vec;
// this->get_tags_in_range(tags_vec, n, this->nitems_read(n), this->nitems_read(n) + ninput_items[n]);
// for (std::vector<gr::tag_t>::iterator it = tags_vec.begin(); it != tags_vec.end(); ++it)
// {
// try
// {
// if (pmt::any_ref(it->value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
// {
// const std::shared_ptr<GnssTime> timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it->value));
// //std::cout << "[ch " << n << "] timetag: " << timetag->rx_time << "\n";
// d_SourceTagTimestamps.at(n).push(*timetag);
// }
// else
// {
// std::cout << "hash code not match\n";
// }
// }
// catch (const boost::bad_any_cast &e)
// {
// std::cout << "msg Bad any_cast: " << e.what();
// }
// }
//************* end time tags **************
for (int32_t m = 0; m < ninput_items[n]; m++)
{
// Push the valid tracking Gnss_Synchros to their corresponding deque
if (in[n][m].Flag_valid_word)
{
if (d_gnss_synchro_history->size(n) > 0)
@ -695,6 +801,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
if (n_valid > 0)
{
compute_pranges(epoch_data);
set_tag_timestamp_in_sdr_timeframe(epoch_data, d_Rx_clock_buffer.front());
}
// Carrier smoothing (optional)
@ -702,6 +809,7 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
{
smooth_pseudoranges(epoch_data);
}
// output the observables set to the PVT block
for (uint32_t n = 0; n < d_nchannels_out; n++)
{

14
src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
View File

@ -21,6 +21,7 @@
#define GNSS_SDR_HYBRID_OBSERVABLES_GS_H
#include "gnss_block_interface.h"
#include "gnss_time.h" // for timetags produced by Tracking
#include "obs_conf.h"
#include <boost/circular_buffer.hpp> // for boost::circular_buffer
#include <gnuradio/block.h> // for block
@ -30,9 +31,10 @@
#include <fstream> // for std::ofstream
#include <map> // for std::map
#include <memory> // for std::shared, std:unique_ptr
#include <string> // for std::string
#include <typeinfo> // for typeid
#include <vector> // for std::vector
#include <queue>
#include <string> // for std::string
#include <typeinfo> // for typeid
#include <vector> // for std::vector
/** \addtogroup Observables
* \{ */
@ -75,6 +77,8 @@ private:
void update_TOW(const std::vector<Gnss_Synchro>& data);
void compute_pranges(std::vector<Gnss_Synchro>& data) const;
void smooth_pseudoranges(std::vector<Gnss_Synchro>& data);
void set_tag_timestamp_in_sdr_timeframe(const std::vector<Gnss_Synchro>& data, uint64_t rx_clock);
int32_t save_matfile() const;
Obs_Conf d_conf;
@ -101,6 +105,9 @@ private:
boost::circular_buffer<uint64_t> d_Rx_clock_buffer; // time history
std::vector<std::queue<GnssTime>> d_SourceTagTimestamps;
std::queue<GnssTime> d_TimeChannelTagTimestamps;
std::vector<bool> d_channel_last_pll_lock;
std::vector<double> d_channel_last_pseudorange_smooth;
std::vector<double> d_channel_last_carrier_phase_rads;
@ -113,6 +120,7 @@ private:
double d_T_rx_step_s;
uint32_t d_T_rx_TOW_ms;
double last_rx_clock_round20ms_error;
uint32_t d_T_rx_step_ms;
uint32_t d_T_status_report_timer_ms;
uint32_t d_nchannels_in;

31
src/algorithms/signal_source/adapters/CMakeLists.txt
View File

@ -71,6 +71,13 @@ if(ENABLE_OSMOSDR)
endif()
endif()
if(ENABLE_LIMESDR)
if(GRLIMESDR_FOUND)
set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} limesdr_signal_source.cc)
set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} limesdr_signal_source.h)
endif()
endif()
if(ENABLE_UHD)
set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} uhd_signal_source.cc)
@ -92,6 +99,7 @@ set(SIGNAL_SOURCE_ADAPTER_SOURCES
labsat_signal_source.cc
two_bit_cpx_file_signal_source.cc
two_bit_packed_file_signal_source.cc
file_timestamp_signal_source.cc
${OPT_DRIVER_SOURCES}
)
@ -109,6 +117,7 @@ set(SIGNAL_SOURCE_ADAPTER_HEADERS
labsat_signal_source.h
two_bit_cpx_file_signal_source.h
two_bit_packed_file_signal_source.h
file_timestamp_signal_source.h
${OPT_DRIVER_HEADERS}
)
@ -131,6 +140,10 @@ else()
)
endif()
if(GNURADIO_IS_38_OR_GREATER)
target_compile_definitions(signal_source_adapters PUBLIC -DGR_GREATER_38=1)
endif()
target_include_directories(signal_source_adapters
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/interfaces
@ -186,6 +199,14 @@ if(ENABLE_OSMOSDR AND GROSMOSDR_FOUND)
)
endif()
if(ENABLE_LIMESDR AND GRLIMESDR_FOUND)
target_link_libraries(signal_source_adapters
PUBLIC
Gnuradio::limesdr
)
endif()
if(ENABLE_AD9361 AND LIBIIO_FOUND)
target_link_libraries(signal_source_adapters
PRIVATE
@ -248,6 +269,14 @@ if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
endif()
endif()
if(GR_LIMESDR_IS_G38_BRANCH)
target_compile_definitions(signal_source_adapters PRIVATE -DGR_LIMESDR_IS_G38_BRANCH=1)
endif()
if(GRLIMESDR_PPS)
target_compile_definitions(signal_source_adapters PRIVATE -DLimeSDR_PPS=1)
endif()
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(signal_source_adapters
@ -261,6 +290,8 @@ target_compile_definitions(signal_source_adapters
PRIVATE -DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}"
)
set_property(TARGET signal_source_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>

71
src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc Normal file
View File

@ -0,0 +1,71 @@
/*!
* \file file_timestamp_signal_source.h
* \brief This class reads samples stored in a file and generate stream tags with its timestamp information stored in separated file
* \author Javier Arribas, jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "file_timestamp_signal_source.h"
#include "gnss_sdr_flags.h"
#include "gnss_sdr_string_literals.h"
#include "gnss_sdr_timestamp.h"
#include <glog/logging.h>
#include <string>
using namespace std::string_literals;
FileTimestampSignalSource::FileTimestampSignalSource(const ConfigurationInterface* configuration,
const std::string& role, unsigned int in_streams, unsigned int out_streams,
Concurrent_Queue<pmt::pmt_t>* queue)
: FileSourceBase(configuration, role, "File_Timestamp_Signal_Source"s, queue, "byte"s),
timestamp_file_(configuration->property(role + ".timestamp_filename"s, "../data/example_capture_timestamp.dat"s)),
timestamp_clock_offset_ms_(configuration->property(role + ".timestamp_clock_offset_ms"s, 0.0))
{
if (in_streams > 0)
{
LOG(ERROR) << "A signal source does not have an input stream";
}
if (out_streams > 1)
{
LOG(ERROR) << "This implementation only supports one output stream";
}
// override value with commandline flag, if present
if (FLAGS_timestamp_source != "-")
{
timestamp_file_ = FLAGS_timestamp_source;
}
}
gnss_shared_ptr<gr::block> FileTimestampSignalSource::source() const { return timestamp_block_; }
void FileTimestampSignalSource::create_file_source_hook()
{
timestamp_block_ = gnss_sdr_make_Timestamp(
std::get<0>(itemTypeToSize()),
timestamp_file_,
timestamp_clock_offset_ms_);
DLOG(INFO) << "timestamp_block_(" << timestamp_block_->unique_id() << ")";
}
void FileTimestampSignalSource::pre_connect_hook(gr::top_block_sptr top_block)
{
top_block->connect(file_source(), 0, timestamp_block_, 0);
DLOG(INFO) << "connected file_source to timestamp_block_";
}
void FileTimestampSignalSource::pre_disconnect_hook(gr::top_block_sptr top_block)
{
top_block->disconnect(file_source(), 0, timestamp_block_, 0);
DLOG(INFO) << "disconnected file_source from timestamp_block_";
}

62
src/algorithms/signal_source/adapters/file_timestamp_signal_source.h Normal file
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@ -0,0 +1,62 @@
/*!
* \file file_timestamp_signal_source.h
* \brief This class reads samples stored in a file and generate stream tags with its timestamp information stored in separated file
* \author Javier Arribas, jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_FILE_TIMESTAMP_SIGNAL_SOURCE_H
#define GNSS_SDR_FILE_TIMESTAMP_SIGNAL_SOURCE_H
#include "configuration_interface.h"
#include "file_source_base.h"
#include "gnss_sdr_timestamp.h"
#include <string>
/** \addtogroup Signal_Source
* \{ */
/** \addtogroup Signal_Source_adapters
* \{ */
/*!
* \brief Class that reads signals samples from a file
* and adapts it to a SignalSourceInterface
*/
class FileTimestampSignalSource : public FileSourceBase
{
public:
FileTimestampSignalSource(const ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams,
Concurrent_Queue<pmt::pmt_t>* queue);
~FileTimestampSignalSource() = default;
protected:
// std::tuple<size_t, bool> itemTypeToSize() override;
// double packetsPerSample() const override;
gnss_shared_ptr<gr::block> source() const override;
void create_file_source_hook() override;
void pre_connect_hook(gr::top_block_sptr top_block) override;
void pre_disconnect_hook(gr::top_block_sptr top_block) override;
private:
gnss_shared_ptr<Gnss_Sdr_Timestamp> timestamp_block_;
std::string timestamp_file_;
double timestamp_clock_offset_ms_;
};
/** \} */
/** \} */
#endif // GNSS_SDR_FILE_TIMESTAMP_SIGNAL_SOURCE_H

248
src/algorithms/signal_source/adapters/limesdr_signal_source.cc Normal file
View File

@ -0,0 +1,248 @@
/*!
* \file limesdr_signal_source.cc
* \brief Signal source for LimeSDR front-end
* \author Javier Arribas, 2021. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "limesdr_signal_source.h"
#include "configuration_interface.h"
#include "gnss_sdr_string_literals.h"
#include "gnss_sdr_valve.h"
#include <glog/logging.h>
#include <gnuradio/blocks/file_sink.h>
#include <iostream>
#include <utility>
using namespace std::string_literals;
LimesdrSignalSource::LimesdrSignalSource(const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_stream,
unsigned int out_stream,
Concurrent_Queue<pmt::pmt_t>* queue)
: SignalSourceBase(configuration, role, "Limesdr_Signal_Source"s),
in_stream_(in_stream),
out_stream_(out_stream)
{
// DUMP PARAMETERS
const std::string empty;
const std::string default_dump_file("./data/signal_source.dat");
const std::string default_item_type("gr_complex");
samples_ = configuration->property(role + ".samples", static_cast<int64_t>(0));
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_file);
// Driver parameters
channel_ = configuration->property(role + ".channel", 0);
freq_ = configuration->property(role + ".freq", 1575420000);
gain_ = configuration->property(role + ".gain", 40.0);
sample_rate_ = configuration->property(role + ".sampling_frequency", 2.0e6);
// todo: check if bw is within limits
analog_bw_hz_ = configuration->property(role + ".analog_bw", sample_rate_ / 2); // LPF analog filters in I,Q branches
digital_bw_hz_ = configuration->property(role + ".digital_bw", 0); // disable by default
item_type_ = configuration->property(role + ".item_type", default_item_type);
limesdr_serial_ = configuration->property(role + ".limesdr_serial", std::string());
limesdr_file_ = configuration->property(role + ".limesdr_file", std::string());
antenna_ = configuration->property(role + ".antenna", 255);
PPS_mode_ = configuration->property(role + ".PPS_mode", false);
ext_clock_MHz_ = configuration->property(role + ".ext_clock_MHz", 0.0); // external clock: 0.0 MHz will enable the internal clock
limechannel_mode_ = configuration->property(role + ".limechannel_mode", 0);
if ((limechannel_mode_ < 0) || (limechannel_mode_ > 2))
{
std::cerr << "ERROR: source_impl::source_impl(): ChannelMode must be A(0), B(1) or (A+B) MIMO(2)\n";
exit(0);
}
if (item_type_ == "short")
{
item_size_ = sizeof(int16_t);
}
else if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
// 1. Make the driver instance
try
{
#ifdef LimeSDR_PPS
#ifdef GR_LIMESDR_IS_G38_BRANCH
limesdr_source_ = gr::limesdr::source::make(limesdr_serial_, limechannel_mode_, limesdr_file_, false, PPS_mode_);
#else
limesdr_source_ = gr::limesdr::source::make(limesdr_serial_, limechannel_mode_, limesdr_file_, PPS_mode_);
#endif
if (ext_clock_MHz_ != 0.0)
{
if (limesdr_source_->set_ext_clk(ext_clock_MHz_))
{
std::cout << "External clock enabled with expected frequency input of " << ext_clock_MHz_ << " MHz\n";
}
else
{
std::cout << "Error setting external reference clock\n";
}
}
else
{
limesdr_source_->disable_ext_clk();
}
#else // LimeSDR_PPS
#ifdef GR_LIMESDR_IS_G38_BRANCH
limesdr_source_ = gr::limesdr::source::make(limesdr_serial_, limechannel_mode_, limesdr_file_, false);
#else
limesdr_source_ = gr::limesdr::source::make(limesdr_serial_, limechannel_mode_, limesdr_file_);
#endif
#endif // LimeSDR_PPS
}
catch (const boost::exception& e)
{
LOG(WARNING) << "Boost exception: " << boost::diagnostic_information(e);
throw std::invalid_argument("Wrong LimeSDR arguments");
}
// For LimeSDR: Set RX antenna
/**
* Set which antenna is used
*
* @param antenna Antenna to set: None(0), LNAH(1), LNAL(2), LNAW(3), AUTO(255)
*
* @param channel Channel selection: A(LMS_CH_0),B(LMS_CH_1).
*/
limesdr_source_->set_antenna(antenna_, channel_);
std::cout << "LimeSDR RX antenna set to " << antenna_ << " for channel " << channel_ << '\n';
LOG(INFO) << "LimeSDR RX antenna set to " << antenna_ << " for channel " << channel_;
// 2. set sampling rate
double actual_sample_rate = limesdr_source_->set_sample_rate(sample_rate_);
std::cout << "Actual RX Rate: " << actual_sample_rate << " [SPS]...\n";
LOG(INFO) << "Actual RX Rate: " << actual_sample_rate << " [SPS]...";
// 3. set rx frequency
double actual_center_freq = limesdr_source_->set_center_freq(freq_);
std::cout << "Actual RX Freq: " << actual_center_freq << " [Hz]...\n";
LOG(INFO) << "Actual RX Freq: " << actual_center_freq << " [Hz]...";
// TODO: Assign the remnant IF from the PLL tune error
std::cout << "PLL Frequency tune error: " << actual_center_freq - freq_ << " [Hz]...\n";
LOG(INFO) << "PLL Frequency tune error: " << actual_center_freq - freq_ << " [Hz]...\n";
// TODO: gr-limesdr does not report PLL tune frequency error...
// 4. set rx gain
double actual_gain = limesdr_source_->set_gain(gain_, channel_);
std::cout << "Actual RX Gain: " << actual_gain << " [dB]...\n";
LOG(INFO) << "Actual RX Gain: " << actual_gain << " [dB]...";
// Set analog bandwidth
double current_analog_bw = limesdr_source_->set_bandwidth(analog_bw_hz_, channel_);
std::cout << "Actual Analog Bandwidth: " << current_analog_bw << " [Hz]...\n";
LOG(INFO) << "Actual Analog Bandwidth: : " << current_analog_bw << " [Hz]...";
// Set digital bandwidth
limesdr_source_->set_digital_filter(digital_bw_hz_, channel_);
limesdr_source_->calibrate(sample_rate_ / 2, channel_);
}
else
{
LOG(WARNING) << item_type_ << " unrecognized item type. Using short.";
item_size_ = sizeof(int16_t);
}
if (samples_ != 0)
{
DLOG(INFO) << "Send STOP signal after " << samples_ << " samples";
valve_ = gnss_sdr_make_valve(item_size_, samples_, queue);
DLOG(INFO) << "valve(" << valve_->unique_id() << ")";
}
if (dump_)
{
DLOG(INFO) << "Dumping output into file " << dump_filename_;
file_sink_ = gr::blocks::file_sink::make(item_size_, dump_filename_.c_str());
DLOG(INFO) << "file_sink(" << file_sink_->unique_id() << ")";
}
if (in_stream_ > 0)
{
LOG(ERROR) << "A signal source does not have an input stream";
}
if (out_stream_ > 1)
{
LOG(ERROR) << "This implementation only supports one output stream";
}
}
void LimesdrSignalSource::connect(gr::top_block_sptr top_block)
{
if (samples_ != 0)
{
top_block->connect(limesdr_source_, 0, valve_, 0);
DLOG(INFO) << "connected limesdr source to valve";
if (dump_)
{
top_block->connect(valve_, 0, file_sink_, 0);
DLOG(INFO) << "connected valve to file sink";
}
}
else
{
if (dump_)
{
top_block->connect(limesdr_source_, 0, file_sink_, 0);
DLOG(INFO) << "connected limesdr source to file sink";
}
}
}
void LimesdrSignalSource::disconnect(gr::top_block_sptr top_block)
{
if (samples_ != 0)
{
top_block->disconnect(limesdr_source_, 0, valve_, 0);
if (dump_)
{
top_block->disconnect(valve_, 0, file_sink_, 0);
}
}
else
{
if (dump_)
{
top_block->disconnect(limesdr_source_, 0, file_sink_, 0);
}
}
}
gr::basic_block_sptr LimesdrSignalSource::get_left_block()
{
LOG(WARNING) << "Trying to get signal source left block.";
return gr::basic_block_sptr();
}
gr::basic_block_sptr LimesdrSignalSource::get_right_block()
{
if (samples_ != 0)
{
return valve_;
}
else
{
return limesdr_source_;
}
}

96
src/algorithms/signal_source/adapters/limesdr_signal_source.h Normal file
View File

@ -0,0 +1,96 @@
/*!
* \file limesdr_signal_source.cc
* \brief Signal source for LimeSDR front-end
* \author Javier Arribas, 2021. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_LIMESDR_SIGNAL_SOURCE_H
#define GNSS_SDR_LIMESDR_SIGNAL_SOURCE_H
#include "concurrent_queue.h"
#include "signal_source_base.h"
#include <gnuradio/blocks/file_sink.h>
#include <pmt/pmt.h>
#include <cstdint>
#include <limesdr/source.h>
#include <memory>
#include <stdexcept>
#include <string>
/** \addtogroup Signal_Source
* \{ */
/** \addtogroup Signal_Source_adapters
* \{ */
class ConfigurationInterface;
/*!
* \brief This class instantiates the LimeSDR gnuradio signal source.
* It has support also for a customized LimeSDR firmware and signal source to support PPS samplestamp reading.
*/
class LimesdrSignalSource : public SignalSourceBase
{
public:
LimesdrSignalSource(const ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream,
unsigned int out_stream, Concurrent_Queue<pmt::pmt_t>* queue);
~LimesdrSignalSource() = default;
inline size_t item_size() override
{
return item_size_;
}
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
private:
gr::limesdr::source::sptr limesdr_source_;
gnss_shared_ptr<gr::block> valve_;
gr::blocks::file_sink::sptr file_sink_;
std::string role_;
std::string item_type_;
std::string dump_filename_;
std::string limesdr_serial_;
std::string limesdr_file_;
int antenna_;
int channel_;
// Front-end settings
double sample_rate_;
double freq_;
double gain_;
double analog_bw_hz_;
double digital_bw_hz_;
double ext_clock_MHz_;
size_t item_size_;
int64_t samples_;
unsigned int in_stream_;
unsigned int out_stream_;
int limechannel_mode_;
bool PPS_mode_;
bool dump_;
};
/** \} */
/** \} */
#endif // GNSS_SDR_LIMESDR_SIGNAL_SOURCE_H

2
src/algorithms/signal_source/libs/CMakeLists.txt
View File

@ -25,6 +25,7 @@ set(SIGNAL_SOURCE_LIB_SOURCES
rtl_tcp_commands.cc
rtl_tcp_dongle_info.cc
gnss_sdr_valve.cc
gnss_sdr_timestamp.cc
${OPT_SIGNAL_SOURCE_LIB_SOURCES}
)
@ -68,6 +69,7 @@ target_include_directories(signal_source_libs
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/algorithms/libs
)
if(GNURADIO_USES_STD_POINTERS)

130
src/algorithms/signal_source/libs/gnss_sdr_timestamp.cc Normal file
View File

@ -0,0 +1,130 @@
/*!
* \file gnss_sdr_timestamp.h
* \brief GNURadio block that adds to sample stream timestamp metadata information stored on a sepparated file
* \author Javier Arribas, 2021. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "gnss_sdr_timestamp.h"
#include "command_event.h"
#include <gnuradio/io_signature.h> // for io_signature
#include <pmt/pmt.h> // for make_any
#include <pmt/pmt_sugar.h> // for mp
#include <algorithm> // for min
#include <cmath>
#include <cstring> // for memcpy
#include <memory>
#include <utility>
Gnss_Sdr_Timestamp::Gnss_Sdr_Timestamp(size_t sizeof_stream_item,
std::string timestamp_file, double clock_offset_ms)
: gr::sync_block("Timestamp",
gr::io_signature::make(1, 20, sizeof_stream_item),
gr::io_signature::make(1, 20, sizeof_stream_item)),
d_timefile(std::move(timestamp_file)),
d_clock_offset_ms(clock_offset_ms)
{
d_fraction_ms_offset = modf(d_clock_offset_ms, &d_integer_ms_offset); // optional clockoffset parameter to convert UTC timestamps to GPS time in some receiver's configuration
get_next_timetag = true;
next_timetag_samplecount = 0;
}
gnss_shared_ptr<Gnss_Sdr_Timestamp> gnss_sdr_make_Timestamp(size_t sizeof_stream_item, std::string timestamp_file, double clock_offset_ms)
{
gnss_shared_ptr<Gnss_Sdr_Timestamp> Timestamp_(new Gnss_Sdr_Timestamp(sizeof_stream_item, std::move(timestamp_file), clock_offset_ms));
return Timestamp_;
}
bool Gnss_Sdr_Timestamp::read_next_timetag()
{
d_timefilestream.read(reinterpret_cast<char*>(&next_timetag_samplecount), sizeof(uint64_t));
if (!d_timefilestream)
{
return false;
}
d_timefilestream.read(reinterpret_cast<char*>(&next_timetag.week), sizeof(int32_t));
if (!d_timefilestream)
{
return false;
}
d_timefilestream.read(reinterpret_cast<char*>(&next_timetag.tow_ms), sizeof(int32_t));
if (!d_timefilestream)
{
return false;
}
return true;
}
bool Gnss_Sdr_Timestamp::start()
{
d_timefilestream.open(d_timefile, std::ios::in | std::ios::binary);
if (d_timefilestream.is_open() == false)
{
std::cout << "ERROR: Could not open timestamp file: " << d_timefile << "\n";
return false;
}
else
{
return true;
}
}
int64_t Gnss_Sdr_Timestamp::uint64diff(uint64_t first, uint64_t second)
{
uint64_t abs_diff = (first > second) ? (first - second) : (second - first);
assert(abs_diff <= INT64_MAX);
return (first > second) ? static_cast<int64_t>(abs_diff) : -static_cast<int64_t>(abs_diff);
}
int Gnss_Sdr_Timestamp::work(int noutput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items)
{
// multichannel support
if (get_next_timetag == true)
{
if (read_next_timetag() == false)
{
// std::cout << "End of TimeTag file reached!\n";
// return 0; // todo: find why return -1 does not stop gnss-sdr!
}
get_next_timetag = false;
}
for (size_t ch = 0; ch < output_items.size(); ch++)
{
std::memcpy(output_items[ch], input_items[ch], noutput_items * input_signature()->sizeof_stream_item(ch));
uint64_t bytes_to_samples = 2; // todo: improve this.. hardcoded 2 bytes -> 1 complex sample!
int64_t diff_samplecount = uint64diff(this->nitems_written(ch), next_timetag_samplecount * bytes_to_samples);
// std::cout << "diff_samplecount: " << diff_samplecount << ", noutput_items: " << noutput_items << "\n";
if (diff_samplecount <= noutput_items and std::labs(diff_samplecount) <= noutput_items)
{
const std::shared_ptr<GnssTime> tmp_obj = std::make_shared<GnssTime>(GnssTime());
tmp_obj->tow_ms = next_timetag.tow_ms + static_cast<int>(d_integer_ms_offset);
tmp_obj->week = next_timetag.week;
tmp_obj->tow_ms_fraction = d_fraction_ms_offset;
tmp_obj->rx_time = 0;
add_item_tag(ch, this->nitems_written(ch) - diff_samplecount, pmt::mp("timetag"), pmt::make_any(tmp_obj));
// std::cout << "[" << this->nitems_written(ch) - diff_samplecount << "] Sent TimeTag SC: " << next_timetag_samplecount * bytes_to_samples << ", Week: " << next_timetag.week << ", TOW: " << next_timetag.tow_ms << " [ms] \n";
get_next_timetag = true;
}
}
return noutput_items;
}

78
src/algorithms/signal_source/libs/gnss_sdr_timestamp.h Normal file
View File

@ -0,0 +1,78 @@
/*!
* \file gnss_sdr_timestamp.h
* \brief GNURadio block that adds to sample stream timestamp metadata information stored on a sepparated file
* \author Javier Arribas, 2021. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GNSS_SDR_TIMESTAMP_H
#define GNSS_SDR_GNSS_SDR_TIMESTAMP_H
#include "gnss_block_interface.h"
#include "gnss_time.h"
#include <gnuradio/sync_block.h> // for sync_block
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <pmt/pmt.h>
#include <cstddef> // for size_t
#include <cstdint>
#include <fstream>
#include <string>
/** \addtogroup Signal_Source
* \{ */
/** \addtogroup Signal_Source_libs
* \{ */
class Gnss_Sdr_Timestamp;
gnss_shared_ptr<Gnss_Sdr_Timestamp> gnss_sdr_make_Timestamp(
size_t sizeof_stream_item,
std::string timestamp_file,
double clock_offset_ms);
class Gnss_Sdr_Timestamp : public gr::sync_block
{
public:
int work(int noutput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
bool start();
private:
friend gnss_shared_ptr<Gnss_Sdr_Timestamp> gnss_sdr_make_Timestamp(
size_t sizeof_stream_item,
std::string timestamp_file,
double clock_offset_ms);
Gnss_Sdr_Timestamp(size_t sizeof_stream_item,
std::string timestamp_file,
double clock_offset_ms);
int64_t uint64diff(uint64_t first, uint64_t second);
bool read_next_timetag();
std::string d_timefile;
std::fstream d_timefilestream;
GnssTime next_timetag;
double d_clock_offset_ms;
double d_integer_ms_offset;
double d_fraction_ms_offset;
uint64_t next_timetag_samplecount;
bool get_next_timetag;
};
/** \} */
/** \} */
#endif // GNSS_SDR_GNSS_SDR_TIMESTAMP_H

1
src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
View File

@ -52,6 +52,7 @@ target_link_libraries(telemetry_decoder_gr_blocks
PUBLIC
telemetry_decoder_libswiftcnav
telemetry_decoder_libs
algorithms_libs
core_libs
core_system_parameters
Gnuradio::runtime

80
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -685,6 +685,50 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
}
}
d_sample_counter++; // count for the processed symbols
// Time Tags from signal source (optional feature)
std::vector<gr::tag_t> tags_vec;
this->get_tags_in_range(tags_vec, 0, this->nitems_read(0), this->nitems_read(0) + 1); // telemetry decoder consumes symbols one-by-one
if (!tags_vec.empty())
{
for (const auto &it : tags_vec)
{
try
{
if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
{
const auto timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
// std::cout << "Old tow: " << d_current_timetag.tow_ms << " new tow: " << timetag->tow_ms << "\n";
d_current_timetag = *timetag;
d_valid_timetag = true;
}
else
{
std::cout << "hash code not match\n";
}
}
catch (const boost::bad_any_cast &e)
{
std::cout << "msg Bad any_cast: " << e.what();
}
}
}
else
{
if (d_valid_timetag == true)
{
// propagate timetag to current symbol
// todo: tag rx_time is set only in the time channel. The tracking tag does not have valid rx_time (it is not required since it is associated to the current symbol)
// d_current_timetag.rx_time+=d_PRN_code_period_ms
d_current_timetag.tow_ms += d_PRN_code_period_ms;
if (d_current_timetag.tow_ms >= 604800000)
{
d_current_timetag.tow_ms -= 604800000;
d_current_timetag.week++;
}
}
}
consume_each(1);
d_flag_preamble = false;
@ -873,6 +917,18 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.get_TOW5() * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
d_inav_nav.set_TOW5_flag(false);
// timetag debug
if (d_valid_timetag == true)
{
int decoder_delay_ms = static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
int rx_tow_at_preamble = d_current_timetag.tow_ms - decoder_delay_ms;
if (rx_tow_at_preamble < 0)
{
rx_tow_at_preamble += 604800000;
}
uint32_t predicted_tow_at_preamble_ms = 1000 * (rx_tow_at_preamble / 1000); // floor to integer number of seconds
std::cout << "TOW at PREAMBLE: " << d_TOW_at_Preamble_ms << " predicted TOW at preamble: " << predicted_tow_at_preamble_ms << " [ms]\n";
}
}
else if (d_inav_nav.is_TOW6_set() == true) // page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
@ -881,6 +937,18 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.get_TOW6() * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
d_inav_nav.set_TOW6_flag(false);
// timetag debug
if (d_valid_timetag == true)
{
int decoder_delay_ms = static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
int rx_tow_at_preamble = d_current_timetag.tow_ms - decoder_delay_ms;
if (rx_tow_at_preamble < 0)
{
rx_tow_at_preamble += 604800000;
}
uint32_t predicted_tow_at_preamble_ms = 1000 * (rx_tow_at_preamble / 1000); // floor to integer number of seconds
std::cout << "TOW at PREAMBLE: " << d_TOW_at_Preamble_ms << " predicted TOW at preamble: " << predicted_tow_at_preamble_ms << " [ms]\n";
}
}
else if (d_inav_nav.is_TOW0_set() == true) // page 0 arrived and decoded
{
@ -888,6 +956,18 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.get_TOW0() * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
d_inav_nav.set_TOW0_flag(false);
// timetag debug
if (d_valid_timetag == true)
{
int decoder_delay_ms = static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * d_PRN_code_period_ms);
int rx_tow_at_preamble = d_current_timetag.tow_ms - decoder_delay_ms;
if (rx_tow_at_preamble < 0)
{
rx_tow_at_preamble += 604800000;
}
uint32_t predicted_tow_at_preamble_ms = 1000 * (rx_tow_at_preamble / 1000); // floor to integer number of seconds
std::cout << "TOW at PREAMBLE: " << d_TOW_at_Preamble_ms << " predicted TOW at preamble: " << predicted_tow_at_preamble_ms << " [ms]\n";
}
}
else
{

4
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
View File

@ -26,6 +26,7 @@
#include "galileo_inav_message.h" // for Galileo_Inav_Message
#include "gnss_block_interface.h" // for gnss_shared_ptr (adapts smart pointer type to GNU Radio version)
#include "gnss_satellite.h" // for Gnss_Satellite
#include "gnss_time.h" // for GnssTime
#include "nav_message_packet.h" // for Nav_Message_Packet
#include "tlm_conf.h" // for Tlm_Conf
#include <boost/circular_buffer.hpp> // for boost::circular_buffer
@ -101,6 +102,8 @@ private:
Galileo_Fnav_Message d_fnav_nav;
Nav_Message_Packet d_nav_msg_packet;
GnssTime d_current_timetag;
std::unique_ptr<Tlm_CRC_Stats> d_Tlm_CRC_Stats;
double d_delta_t; // GPS-GALILEO time offset
@ -143,6 +146,7 @@ private:
bool d_enable_navdata_monitor;
bool d_dump_crc_stats;
bool d_enable_reed_solomon_inav;
bool d_valid_timetag;
};

32
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
View File

@ -35,6 +35,7 @@
#include <exception> // for exception
#include <iostream> // for cout
#include <memory> // for shared_ptr
#include <vector>
#ifdef COMPILER_HAS_ROTL
#include <bit>
@ -114,17 +115,18 @@ gps_l1_ca_telemetry_decoder_gs::gps_l1_ca_telemetry_decoder_gs(
if (GPS_CA_PREAMBLE[i] == '1')
{
d_preamble_samples[n] = 1;
n++;
}
else
{
d_preamble_samples[n] = -1;
n++;
}
n++;
}
d_symbol_history.set_capacity(d_required_symbols);
set_tag_propagation_policy(TPP_DONT); // no tag propagation, the time tag will be adjusted and regenerated in work()
if (d_dump_crc_stats)
{
// initialize the telemetry CRC statistics class
@ -440,6 +442,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
}
// add new symbol to the symbol queue
d_symbol_history.push_back(current_symbol.Prompt_I);
d_sample_counter++; // count for the processed symbols
consume_each(1);
d_flag_preamble = false;
@ -593,6 +596,31 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
current_symbol.Flag_PLL_180_deg_phase_locked = false;
}
// time tags
std::vector<gr::tag_t> tags_vec;
this->get_tags_in_range(tags_vec, 0, this->nitems_read(0), this->nitems_read(0) + 1);
for (const auto &it : tags_vec)
{
try
{
if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
{
const auto timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
// std::cout << "[" << this->nitems_written(0) + 1 << "] TLM RX TimeTag Week: " << timetag->week << ", TOW: " << timetag->tow_ms << " [ms], TOW fraction: " << timetag->tow_ms_fraction
// << " [ms], DELTA TLM TOW: " << static_cast<double>(timetag->tow_ms - current_symbol.TOW_at_current_symbol_ms) + timetag->tow_ms_fraction << " [ms] \n";
add_item_tag(0, this->nitems_written(0) + 1, pmt::mp("timetag"), pmt::make_any(timetag));
}
else
{
std::cout << "hash code not match\n";
}
}
catch (const boost::bad_any_cast &e)
{
std::cout << "msg Bad any_cast: " << e.what();
}
}
if (d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.h
View File

@ -16,11 +16,11 @@
#ifndef GNSS_SDR_GPS_L1_CA_TELEMETRY_DECODER_GS_H
#define GNSS_SDR_GPS_L1_CA_TELEMETRY_DECODER_GS_H
#include "GPS_L1_CA.h"
#include "gnss_block_interface.h"
#include "gnss_satellite.h"
#include "gnss_synchro.h"
#include "gnss_time.h" // for timetags produced by Tracking
#include "gps_navigation_message.h"
#include "nav_message_packet.h"
#include "tlm_conf.h"

2
src/algorithms/tracking/adapters/CMakeLists.txt
View File

@ -51,6 +51,7 @@ set(TRACKING_ADAPTER_SOURCES
glonass_l2_ca_dll_pll_c_aid_tracking.cc
beidou_b1i_dll_pll_tracking.cc
beidou_b3i_dll_pll_tracking.cc
gps_l1_ca_kf_vtl_tracking.cc
${OPT_TRACKING_ADAPTERS_SOURCES}
)
@ -71,6 +72,7 @@ set(TRACKING_ADAPTER_HEADERS
glonass_l2_ca_dll_pll_c_aid_tracking.h
beidou_b1i_dll_pll_tracking.h
beidou_b3i_dll_pll_tracking.h
gps_l1_ca_kf_vtl_tracking.h
${OPT_TRACKING_ADAPTERS_HEADERS}
)

142
src/algorithms/tracking/adapters/gps_l1_ca_kf_vtl_tracking.cc Normal file
View File

@ -0,0 +1,142 @@
/*!
* \file gps_l1_ca_kf_vtl_tracking.h
* \brief Interface of an adapter of a code + carrier Kalman Filter tracking loop with VTL capabilities block
* for GPS L1 C/A to a TrackingInterface
* \author Javier Arribas, 2020. jarribas(at)cttc.es
*
*
*
* -----------------------------------------------------------------------------
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "gps_l1_ca_kf_vtl_tracking.h"
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "display.h"
#include "gnss_sdr_flags.h"
#include "kf_conf.h"
#include <glog/logging.h>
#include <array>
GpsL1CaKfVtlTracking::GpsL1CaKfVtlTracking(
const ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Kf_Conf trk_params = Kf_Conf();
DLOG(INFO) << "role " << role;
trk_params.SetFromConfiguration(configuration, role);
const auto vector_length = static_cast<int>(std::round(trk_params.fs_in / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS)));
trk_params.vector_length = vector_length;
if (trk_params.extend_correlation_symbols < 1)
{
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << '\n';
}
else if (trk_params.extend_correlation_symbols > 20)
{
trk_params.extend_correlation_symbols = 20;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << '\n';
}
trk_params.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params.track_pilot)
{
trk_params.track_pilot = false;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << '\n';
}
trk_params.system = 'G';
const std::array<char, 3> sig_{'1', 'C', '\0'};
std::memcpy(trk_params.signal, sig_.data(), 3);
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = kf_vtl_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
}
if (out_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one output stream";
}
}
void GpsL1CaKfVtlTracking::stop_tracking()
{
tracking_->stop_tracking();
}
void GpsL1CaKfVtlTracking::start_tracking()
{
tracking_->start_tracking();
}
/*
* Set tracking channel unique ID
*/
void GpsL1CaKfVtlTracking::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_->set_channel(channel);
}
void GpsL1CaKfVtlTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GpsL1CaKfVtlTracking::connect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
// nothing to connect, now the tracking uses gr_sync_decimator
}
void GpsL1CaKfVtlTracking::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
// nothing to disconnect, now the tracking uses gr_sync_decimator
}
gr::basic_block_sptr GpsL1CaKfVtlTracking::get_left_block()
{
return tracking_;
}
gr::basic_block_sptr GpsL1CaKfVtlTracking::get_right_block()
{
return tracking_;
}

93
src/algorithms/tracking/adapters/gps_l1_ca_kf_vtl_tracking.h Normal file
View File

@ -0,0 +1,93 @@
/*!
* \file gps_l1_ca_kf_vtl_tracking.h
* \brief Interface of an adapter of a code + carrier Kalman Filter tracking loop with VTL capabilities block
* for GPS L1 C/A to a TrackingInterface
* \author Javier Arribas, 2020. jarribas(at)cttc.es
*
*
* -----------------------------------------------------------------------------
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L1_CA_kf_vtl_TRACKING_H
#define GNSS_SDR_GPS_L1_CA_kf_vtl_TRACKING_H
#include "kf_vtl_tracking.h"
#include "tracking_interface.h"
#include <string>
class ConfigurationInterface;
/*!
* \brief This class implements a code + carrier Kalman Filter tracking loop with VTL capabilities
*/
class GpsL1CaKfVtlTracking : public TrackingInterface
{
public:
GpsL1CaKfVtlTracking(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
~GpsL1CaKfVtlTracking() = default;
inline std::string role() override
{
return role_;
}
//! Returns "GPS_L1_CA_kf_vtl_Tracking"
inline std::string implementation() override
{
return "GPS_L1_CA_KF_VTL_Tracking";
}
inline size_t item_size() override
{
return item_size_;
}
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
/*!
* \brief Set tracking channel unique ID
*/
void set_channel(unsigned int channel) override;
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
/*!
* \brief Stop running tracking
*/
void stop_tracking() override;
private:
kf_vtl_tracking_sptr tracking_;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
};
#endif // GNSS_SDR_GPS_L1_CA_kf_vtl_TRACKING_H

2
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
View File

@ -39,6 +39,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
dll_pll_veml_tracking.cc
kf_vtl_tracking.cc
${OPT_TRACKING_BLOCKS_SOURCES}
)
@ -53,6 +54,7 @@ set(TRACKING_GR_BLOCKS_HEADERS
glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
dll_pll_veml_tracking.h
kf_vtl_tracking.h
${OPT_TRACKING_BLOCKS_HEADERS}
)

90
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -57,6 +57,7 @@
#include <exception> // for exception
#include <iostream> // for cout, cerr
#include <map>
#include <memory>
#include <numeric>
#include <vector>
@ -103,7 +104,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_)
d_code_phase_step_chips(0.0),
d_code_phase_rate_step_chips(0.0),
d_rem_code_phase_samples(0.0), // Residual code phase (in chips)
d_sample_counter(0ULL),
d_acq_sample_stamp(0ULL),
d_rem_carr_phase_rad(0.0), // Residual carrier phase
d_state(0), // initial state: standby
@ -593,6 +593,9 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_)
d_dump = false;
}
}
d_last_timetag_samplecounter = 0;
d_timetag_waiting = false;
set_tag_propagation_policy(TPP_DONT); // no tag propagation, the time tag will be adjusted and regenerated in work()
}
@ -625,6 +628,10 @@ void dll_pll_veml_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
{
LOG(WARNING) << "msg_handler_telemetry_to_trk Bad any_cast: " << e.what();
}
catch (std::exception &ex)
{
LOG(WARNING) << "msg_handler_telemetry_to_trk Bad any_cast: " << ex.what();
}
}
@ -1403,7 +1410,7 @@ void dll_pll_veml_tracking::log_data()
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
// PRN start sample stamp
tmp_long_int = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);
tmp_long_int = this->nitems_read(0) + static_cast<uint64_t>(d_current_prn_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_long_int), sizeof(uint64_t));
// accumulated carrier phase
tmp_float = static_cast<float>(d_acc_carrier_phase_rad);
@ -1437,7 +1444,7 @@ void dll_pll_veml_tracking::log_data()
// AUX vars (for debug purposes)
tmp_float = static_cast<float>(d_rem_code_phase_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
tmp_double = static_cast<double>(this->nitems_read(0) + d_current_prn_length_samples);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
uint32_t prn_ = d_acquisition_gnss_synchro->PRN;
@ -1696,6 +1703,14 @@ void dll_pll_veml_tracking::stop_tracking()
}
int64_t dll_pll_veml_tracking::uint64diff(uint64_t first, uint64_t second)
{
uint64_t abs_diff = (first > second) ? (first - second) : (second - first);
assert(abs_diff <= INT64_MAX);
return (first > second) ? static_cast<int64_t>(abs_diff) : -static_cast<int64_t>(abs_diff);
}
int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
@ -1708,7 +1723,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
if (d_pull_in_transitory == true)
{
if (d_trk_parameters.pull_in_time_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(d_trk_parameters.fs_in))
// if (d_trk_parameters.pull_in_time_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(d_trk_parameters.fs_in))
if (d_trk_parameters.pull_in_time_s < (this->nitems_read(0) - d_acq_sample_stamp) / static_cast<int>(d_trk_parameters.fs_in))
{
d_pull_in_transitory = false;
d_carrier_lock_fail_counter = 0;
@ -1719,7 +1735,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
{
case 0: // Standby - Consume samples at full throttle, do nothing
{
d_sample_counter += static_cast<uint64_t>(ninput_items[0]);
// d_sample_counter += static_cast<uint64_t>(ninput_items[0]);
consume_each(ninput_items[0]);
return 0;
break;
@ -1727,7 +1743,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
case 1: // Pull-in
{
// Signal alignment (skip samples until the incoming signal is aligned with local replica)
const int64_t acq_trk_diff_samples = static_cast<int64_t>(d_sample_counter) - static_cast<int64_t>(d_acq_sample_stamp);
// const int64_t acq_trk_diff_samples = static_cast<int64_t>(d_sample_counter) - static_cast<int64_t>(d_acq_sample_stamp);
const int64_t acq_trk_diff_samples = static_cast<int64_t>(this->nitems_read(0)) - static_cast<int64_t>(d_acq_sample_stamp);
const double acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / d_trk_parameters.fs_in;
const double delta_trk_to_acq_prn_start_samples = static_cast<double>(acq_trk_diff_samples) - d_acq_code_phase_samples;
@ -1744,7 +1761,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
const int32_t samples_offset = round(d_acq_code_phase_samples);
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * static_cast<double>(samples_offset);
d_state = 2;
d_sample_counter += samples_offset; // count for the processed samples
// d_sample_counter += samples_offset; // count for the processed samples
d_cn0_smoother.reset();
d_carrier_lock_test_smoother.reset();
@ -1775,7 +1792,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
// }
// fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period
if (d_trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(d_trk_parameters.fs_in))
// if (d_trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(d_trk_parameters.fs_in))
if (d_trk_parameters.bit_synchronization_time_limit_s < (this->nitems_read(0) - d_acq_sample_stamp) / static_cast<int>(d_trk_parameters.fs_in))
{
d_carrier_lock_fail_counter = 300000; // force loss-of-lock condition
LOG(INFO) << d_systemName << " " << d_signal_pretty_name << " tracking synchronization time limit reached in channel " << d_channel
@ -1995,15 +2013,67 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
}
}
// time tags
std::vector<gr::tag_t> tags_vec;
this->get_tags_in_range(tags_vec, 0, this->nitems_read(0), this->nitems_read(0) + d_current_prn_length_samples);
for (const auto &it : tags_vec)
{
try
{
if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
{
// std::cout << "ch[" << d_acquisition_gnss_synchro->Channel_ID << "] tracking time tag with offset " << it->offset << " vs. counter " << d_sample_counter << " vs. nread " << this->nitems_read(0) << " containing ";
// std::cout << "ch[" << d_acquisition_gnss_synchro->Channel_ID << "] tracking time tag with offset " << it->offset << " vs. nread " << this->nitems_read(0) << " containing ";
const auto last_timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
d_last_timetag = *last_timetag;
d_last_timetag_samplecounter = it.offset;
d_timetag_waiting = true;
}
else
{
std::cout << "hash code not match\n";
}
}
catch (const boost::bad_any_cast &e)
{
std::cout << "msg Bad any_cast: " << e.what();
}
catch (std::exception &ex)
{
LOG(WARNING) << "Bad any_cast: " << ex.what();
}
}
consume_each(d_current_prn_length_samples);
d_sample_counter += static_cast<uint64_t>(d_current_prn_length_samples);
// d_sample_counter += static_cast<uint64_t>(d_current_prn_length_samples);
if (current_synchro_data.Flag_valid_symbol_output || loss_of_lock)
{
current_synchro_data.fs = static_cast<int64_t>(d_trk_parameters.fs_in);
current_synchro_data.Tracking_sample_counter = d_sample_counter;
current_synchro_data.Tracking_sample_counter = this->nitems_read(0);
current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
current_synchro_data.Flag_PLL_180_deg_phase_locked = d_Flag_PLL_180_deg_phase_locked;
*out[0] = current_synchro_data;
// generate new tag associated with gnss-synchro object
if (d_timetag_waiting == true)
{
int64_t diff_samplecount = uint64diff(current_synchro_data.Tracking_sample_counter, d_last_timetag_samplecounter);
double intpart;
d_last_timetag.tow_ms_fraction = d_last_timetag.tow_ms_fraction + modf(1000.0 * static_cast<double>(diff_samplecount) / d_trk_parameters.fs_in, &intpart);
const std::shared_ptr<GnssTime> tmp_obj = std::make_shared<GnssTime>(GnssTime());
tmp_obj->week = d_last_timetag.week;
tmp_obj->tow_ms = d_last_timetag.tow_ms + static_cast<int>(intpart);
tmp_obj->tow_ms_fraction = d_last_timetag.tow_ms_fraction;
tmp_obj->rx_time = static_cast<double>(current_synchro_data.Tracking_sample_counter) / d_trk_parameters.fs_in;
add_item_tag(0, this->nitems_written(0) + 1, pmt::mp("timetag"), pmt::make_any(tmp_obj));
// std::cout << "[" << this->nitems_written(0) + 1 << "][diff_time: " << 1000.0 * static_cast<double>(diff_samplecount) / d_trk_parameters.fs_in << "] Sent TimeTag Week: " << d_last_timetag.week << ", TOW: " << d_last_timetag.tow_ms << " [ms], TOW fraction: " << d_last_timetag.tow_ms_fraction << " [ms] \n";
d_timetag_waiting = false;
}
return 1;
}
return 0;

7
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
View File

@ -22,6 +22,7 @@
#include "dll_pll_conf.h"
#include "exponential_smoother.h"
#include "gnss_block_interface.h"
#include "gnss_time.h" // for timetags produced by File_Timestamp_Signal_Source
#include "tracking_FLL_PLL_filter.h" // for PLL/FLL filter
#include "tracking_loop_filter.h" // for DLL filter
#include <boost/circular_buffer.hpp>
@ -83,6 +84,7 @@ private:
void log_data();
bool cn0_and_tracking_lock_status(double coh_integration_time_s);
bool acquire_secondary();
int64_t uint64diff(uint64_t first, uint64_t second);
int32_t save_matfile() const;
Cpu_Multicorrelator_Real_Codes d_multicorrelator_cpu;
@ -163,8 +165,11 @@ private:
std::ofstream d_dump_file;
uint64_t d_sample_counter;
// uint64_t d_sample_counter;
uint64_t d_acq_sample_stamp;
GnssTime d_last_timetag;
uint64_t d_last_timetag_samplecounter;
bool d_timetag_waiting;
float *d_prompt_data_shift;
float d_rem_carr_phase_rad;

2081
src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc Normal file
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File diff suppressed because it is too large Load Diff

234
src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.h Normal file
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@ -0,0 +1,234 @@
/*!
* \file kf_vtl_tracking.cc
* \brief Implementation of a Kalman filter based tracking with optional Vector
* Tracking Loop message receiver block.
* \author Javier Arribas, 2020. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_KF_VTL_TRACKING_H
#define GNSS_SDR_KF_VTL_TRACKING_H
#include "cpu_multicorrelator_real_codes.h"
#include "exponential_smoother.h"
#include "gnss_block_interface.h"
#include "gnss_time.h" // for timetags produced by File_Timestamp_Signal_Source
#include "kf_conf.h"
#include "tracking_FLL_PLL_filter.h" // for PLL/FLL filter
#include "tracking_loop_filter.h" // for DLL filter
#include <armadillo>
#include <boost/circular_buffer.hpp>
#include <gnuradio/block.h> // for block
#include <gnuradio/gr_complex.h> // for gr_complex
#include <gnuradio/types.h> // for gr_vector_int, gr_vector...
#include <pmt/pmt.h> // for pmt_t
#include <volk_gnsssdr/volk_gnsssdr_alloc.h> // for volk_gnsssdr::vector
#include <cstddef> // for size_t
#include <cstdint> // for int32_t
#include <fstream> // for ofstream
#include <memory>
#include <string> // for string
#include <typeinfo> // for typeid
#include <utility> // for pair
class Gnss_Synchro;
class kf_vtl_tracking;
#if GNURADIO_USES_STD_POINTERS
using kf_vtl_tracking_sptr = std::shared_ptr<kf_vtl_tracking>;
#else
using kf_vtl_tracking_sptr = boost::shared_ptr<kf_vtl_tracking>;
#endif
kf_vtl_tracking_sptr kf_vtl_make_tracking(const Kf_Conf &conf_);
/*!
* \brief This class implements a code DLL + carrier PLL tracking block.
*/
class kf_vtl_tracking : public gr::block
{
public:
~kf_vtl_tracking();
void set_channel(uint32_t channel);
void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro);
void start_tracking();
void stop_tracking();
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
void forecast(int noutput_items, gr_vector_int &ninput_items_required);
private:
friend kf_vtl_tracking_sptr kf_vtl_make_tracking(const Kf_Conf &conf_);
explicit kf_vtl_tracking(const Kf_Conf &conf_);
void init_kf(double acq_code_phase_chips, double acq_doppler_hz);
void update_kf_narrow_integration_time();
void update_kf_cn0(double current_cn0_dbhz);
void run_Kf();
void msg_handler_telemetry_to_trk(const pmt::pmt_t &msg);
void msg_handler_pvt_to_trk(const pmt::pmt_t &msg);
void do_correlation_step(const gr_complex *input_samples);
void check_carrier_phase_coherent_initialization();
void update_tracking_vars();
void clear_tracking_vars();
void save_correlation_results();
void log_data();
bool cn0_and_tracking_lock_status(double coh_integration_time_s);
bool acquire_secondary();
int32_t save_matfile() const;
Cpu_Multicorrelator_Real_Codes d_multicorrelator_cpu;
Cpu_Multicorrelator_Real_Codes d_correlator_data_cpu; // for data channel
Kf_Conf d_trk_parameters;
Exponential_Smoother d_cn0_smoother;
Exponential_Smoother d_carrier_lock_test_smoother;
Gnss_Synchro *d_acquisition_gnss_synchro;
volk_gnsssdr::vector<float> d_tracking_code;
volk_gnsssdr::vector<float> d_data_code;
volk_gnsssdr::vector<float> d_local_code_shift_chips;
volk_gnsssdr::vector<gr_complex> d_correlator_outs;
volk_gnsssdr::vector<gr_complex> d_Prompt_Data;
volk_gnsssdr::vector<gr_complex> d_Prompt_buffer;
boost::circular_buffer<gr_complex> d_Prompt_circular_buffer;
const size_t d_int_type_hash_code = typeid(int).hash_code();
// Kalman Filter class variables
arma::mat d_F;
arma::mat d_H;
arma::mat d_R;
arma::mat d_Q;
arma::mat d_P_old_old;
arma::mat d_P_new_old;
arma::mat d_P_new_new;
arma::vec d_x_old_old;
arma::vec d_x_new_old;
arma::vec x_new_new;
// nominal signal parameters
double d_signal_carrier_freq;
double d_code_period;
double d_code_chip_rate;
// acquisition
double d_acq_code_phase_samples;
double d_acq_carrier_doppler_hz;
double d_current_correlation_time_s;
// carrier and code discriminators output
double d_carr_phase_error_disc_hz;
double d_code_error_disc_chips;
// estimated parameters
// code
double d_code_error_kf_chips;
double d_code_freq_kf_chips_s;
// carrier
double d_carrier_phase_kf_rad;
double d_carrier_doppler_kf_hz;
double d_carrier_doppler_rate_kf_hz_s;
double d_acc_carrier_phase_rad;
double d_T_chip_seconds;
double d_T_prn_seconds;
double d_T_prn_samples;
double d_K_blk_samples;
double d_carrier_lock_test;
double d_CN0_SNV_dB_Hz;
double d_carrier_lock_threshold;
// carrier NCO
double d_carrier_phase_step_rad;
double d_carrier_phase_rate_step_rad;
// code NCO
double d_code_phase_step_chips;
double d_code_phase_rate_step_chips;
double d_rem_code_phase_chips;
double d_rem_code_phase_samples;
gr_complex *d_Very_Early;
gr_complex *d_Early;
gr_complex *d_Prompt;
gr_complex *d_Late;
gr_complex *d_Very_Late;
gr_complex d_VE_accu;
gr_complex d_E_accu;
gr_complex d_P_accu;
gr_complex d_P_accu_old;
gr_complex d_L_accu;
gr_complex d_VL_accu;
gr_complex d_P_data_accu;
std::string d_secondary_code_string;
std::string d_data_secondary_code_string;
std::string d_systemName;
std::string d_signal_type;
std::string d_signal_pretty_name;
std::string d_dump_filename;
std::ofstream d_dump_file;
uint64_t d_sample_counter;
uint64_t d_acq_sample_stamp;
float *d_prompt_data_shift;
float d_rem_carr_phase_rad;
int32_t d_symbols_per_bit;
int32_t d_preamble_length_symbols;
int32_t d_state;
int32_t d_correlation_length_ms;
int32_t d_n_correlator_taps;
int32_t d_current_prn_length_samples;
int32_t d_extend_correlation_symbols_count;
int32_t d_current_symbol;
int32_t d_current_data_symbol;
int32_t d_cn0_estimation_counter;
int32_t d_carrier_lock_fail_counter;
int32_t d_code_lock_fail_counter;
int32_t d_code_samples_per_chip; // All signals have 1 sample per chip code except Gal. E1 which has 2 (CBOC disabled) or 12 (CBOC enabled)
int32_t d_code_length_chips;
uint32_t d_channel;
uint32_t d_secondary_code_length;
uint32_t d_data_secondary_code_length;
bool d_pull_in_transitory;
bool d_corrected_doppler;
bool d_interchange_iq;
bool d_veml;
bool d_cloop;
bool d_secondary;
bool d_dump;
bool d_dump_mat;
bool d_acc_carrier_phase_initialized;
bool d_enable_extended_integration;
};
#endif // GNSS_SDR_KF_VTL_TRACKING_H

2
src/algorithms/tracking/libs/CMakeLists.txt
View File

@ -18,6 +18,7 @@ set(TRACKING_LIB_SOURCES
tracking_FLL_PLL_filter.cc
tracking_loop_filter.cc
dll_pll_conf.cc
kf_conf.cc
bayesian_estimation.cc
exponential_smoother.cc
)
@ -35,6 +36,7 @@ set(TRACKING_LIB_HEADERS
tracking_FLL_PLL_filter.h
tracking_loop_filter.h
dll_pll_conf.h
kf_conf.h
bayesian_estimation.h
exponential_smoother.h
)

164
src/algorithms/tracking/libs/kf_conf.cc Normal file
View File

@ -0,0 +1,164 @@
/*!
* \file Kf_conf.cc
* \brief Class that contains all the configuration parameters for generic
* tracking block based on a DLL and a PLL.
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "kf_conf.h"
#include "gnss_sdr_flags.h"
#include "item_type_helpers.h"
#include <glog/logging.h>
Kf_Conf::Kf_Conf()
{
/*KF tracking configuration */
high_dyn = false;
smoother_length = 10;
fs_in = 2000000.0;
vector_length = 0U;
dump = false;
dump_mat = true;
dump_filename = std::string("./Kf_dump.dat");
pull_in_time_s = 10;
bit_synchronization_time_limit_s = pull_in_time_s + 60;
early_late_space_chips = 0.25;
very_early_late_space_chips = 0.5;
early_late_space_narrow_chips = 0.15;
very_early_late_space_narrow_chips = 0.5;
slope = 1.0;
spc = 0.5;
y_intercept = 1.0;
carrier_aiding = true;
extend_correlation_symbols = 1;
cn0_samples = FLAGS_cn0_samples;
cn0_smoother_samples = 200;
cn0_smoother_alpha = 0.002;
carrier_lock_test_smoother_alpha = 0.002;
carrier_lock_test_smoother_samples = 25;
cn0_min = FLAGS_cn0_min;
max_carrier_lock_fail = FLAGS_max_carrier_lock_fail;
max_code_lock_fail = FLAGS_max_lock_fail;
carrier_lock_th = FLAGS_carrier_lock_th;
track_pilot = true;
enable_doppler_correction = false;
system = 'G';
signal[0] = '1';
signal[1] = 'C';
signal[2] = '\0';
item_type = "gr_complex";
expected_cn0_dbhz = 0;
// System covariances (Q)
code_phase_sd_chips = 0;
code_rate_sd_chips_s = 0;
carrier_phase_sd_rad = 0;
carrier_freq_sd_hz = 0;
carrier_freq_rate_sd_hz_s = 0;
// initial Kalman covariance matrix (P)
init_code_phase_sd_chips = 0;
init_code_rate_sd_chips_s = 0;
init_carrier_phase_sd_rad = 0;
init_carrier_freq_sd_hz = 0;
init_carrier_freq_rate_sd_hz_s = 0;
enable_dynamic_measurement_covariance = false;
use_estimated_cn0 = false;
}
void Kf_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
const std::string &role)
{
item_type = configuration->property(role + ".item_type", item_type);
if (!item_type_valid(item_type))
{
LOG(WARNING) << "Unknown item type: " + item_type << ". Set to gr_complex";
item_type = "gr_complex";
}
double fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
high_dyn = configuration->property(role + ".high_dyn", high_dyn);
dump = configuration->property(role + ".dump", dump);
dump_filename = configuration->property(role + ".dump_filename", dump_filename);
dump_mat = configuration->property(role + ".dump_mat", dump_mat);
pull_in_time_s = configuration->property(role + ".pull_in_time_s", pull_in_time_s);
bit_synchronization_time_limit_s = pull_in_time_s + 60;
early_late_space_chips = configuration->property(role + ".early_late_space_chips", early_late_space_chips);
early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", early_late_space_narrow_chips);
very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", very_early_late_space_chips);
very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", very_early_late_space_narrow_chips);
extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", extend_correlation_symbols);
track_pilot = configuration->property(role + ".track_pilot", track_pilot);
cn0_samples = configuration->property(role + ".cn0_samples", cn0_samples);
cn0_min = configuration->property(role + ".cn0_min", cn0_min);
max_code_lock_fail = configuration->property(role + ".max_lock_fail", max_code_lock_fail);
max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", max_carrier_lock_fail);
carrier_lock_th = configuration->property(role + ".carrier_lock_th", carrier_lock_th);
carrier_aiding = configuration->property(role + ".carrier_aiding", carrier_aiding);
// tracking lock tests smoother parameters
cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", cn0_smoother_samples);
cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", cn0_smoother_alpha);
smoother_length = configuration->property(role + ".smoother_length", smoother_length);
if (smoother_length < 1)
{
smoother_length = 1;
LOG(WARNING) << "smoother_length must be bigger than 0. It has been set to 1";
}
carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", carrier_lock_test_smoother_samples);
carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", carrier_lock_test_smoother_alpha);
// Kalman filter covariances
// Measurement covariances (R)
expected_cn0_dbhz = configuration->property(role + ".expected_cn0_dbhz", 42.0);
code_disc_sd_chips = configuration->property(role + ".code_disc_sd_chips", 0.01);
carrier_disc_sd_rads = configuration->property(role + ".carrier_disc_sd_rads", 0.1);
enable_dynamic_measurement_covariance = configuration->property(role + ".enable_dynamic_measurement_covariance", false);
use_estimated_cn0 = configuration->property(role + ".use_estimated_cn0", false);
// System covariances (Q)
code_phase_sd_chips = configuration->property(role + ".code_phase_sd_chips", 0.001);
code_rate_sd_chips_s = configuration->property(role + ".code_rate_sd_chips_s", 0.001);
carrier_phase_sd_rad = configuration->property(role + ".carrier_phase_sd_rad", 0.001);
carrier_freq_sd_hz = configuration->property(role + ".carrier_freq_sd_hz", 0.1);
carrier_freq_rate_sd_hz_s = configuration->property(role + ".carrier_freq_rate_sd_hz_s", 1);
// System covariances (narrow) (Q)
narrow_code_phase_sd_chips = configuration->property(role + ".narrow_code_phase_sd_chips", 0.001);
narrow_code_rate_sd_chips_s = configuration->property(role + ".narrow_code_rate_sd_chips_s", 0.001);
narrow_carrier_phase_sd_rad = configuration->property(role + ".narrow_carrier_phase_sd_rad", 0.001);
narrow_carrier_freq_sd_hz = configuration->property(role + ".narrow_carrier_freq_sd_hz", 0.1);
narrow_carrier_freq_rate_sd_hz_s = configuration->property(role + ".narrow_carrier_freq_rate_sd_hz_s", 1);
// initial Kalman covariance matrix (P)
init_code_phase_sd_chips = configuration->property(role + ".init_code_phase_sd_chips", 1);
init_code_rate_sd_chips_s = configuration->property(role + ".init_code_rate_sd_chips_s", 100);
init_carrier_phase_sd_rad = configuration->property(role + ".init_carrier_phase_sd_rad", 10);
init_carrier_freq_sd_hz = configuration->property(role + ".init_carrier_freq_sd_hz", 1000);
init_carrier_freq_rate_sd_hz_s = configuration->property(role + ".init_carrier_freq_rate_sd_hz_s", 1000);
}

104
src/algorithms/tracking/libs/kf_conf.h Normal file
View File

@ -0,0 +1,104 @@
/*!
* \file Kf_conf.h
* \brief Class that contains all the configuration parameters for generic tracking block based on a Kalman Filter.
* \author Javier Arribas, 2020. jarribas(at)cttc.es
*
* Class that contains all the configuration parameters for generic tracking block based on a DLL and a PLL.
*
* -----------------------------------------------------------------------------
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_Kf_CONF_H
#define GNSS_SDR_Kf_CONF_H
#include "configuration_interface.h"
#include <cstdint>
#include <string>
class Kf_Conf
{
public:
Kf_Conf();
void SetFromConfiguration(const ConfigurationInterface *configuration, const std::string &role);
std::string item_type;
std::string dump_filename;
double fs_in;
double carrier_lock_th;
float early_late_space_chips;
float very_early_late_space_chips;
float early_late_space_narrow_chips;
float very_early_late_space_narrow_chips;
float slope;
float spc;
float y_intercept;
float cn0_smoother_alpha;
float carrier_lock_test_smoother_alpha;
uint32_t pull_in_time_s;
uint32_t bit_synchronization_time_limit_s;
uint32_t vector_length;
uint32_t smoother_length;
int32_t extend_correlation_symbols;
int32_t cn0_samples;
int32_t cn0_smoother_samples;
int32_t carrier_lock_test_smoother_samples;
int32_t cn0_min;
int32_t max_code_lock_fail;
int32_t max_carrier_lock_fail;
char signal[3]{};
char system;
bool track_pilot;
bool enable_doppler_correction;
bool carrier_aiding;
bool high_dyn;
bool dump;
bool dump_mat;
// KF statistics
// states: code_phase_chips, carrier_phase_rads, carrier_freq_hz, carrier_freq_rate_hz_s, code_freq_rate_chips_s
// Measurement covariances (R)
double expected_cn0_dbhz;
double code_disc_sd_chips;
double carrier_disc_sd_rads;
// System covariances (Q)
double code_phase_sd_chips;
double code_rate_sd_chips_s;
double carrier_phase_sd_rad;
double carrier_freq_sd_hz;
double carrier_freq_rate_sd_hz_s;
// System covariances (narrow) (Q)
double narrow_code_phase_sd_chips;
double narrow_code_rate_sd_chips_s;
double narrow_carrier_phase_sd_rad;
double narrow_carrier_freq_sd_hz;
double narrow_carrier_freq_rate_sd_hz_s;
// initial Kalman covariance matrix (P)
double init_code_phase_sd_chips;
double init_code_rate_sd_chips_s;
double init_carrier_phase_sd_rad;
double init_carrier_freq_sd_hz;
double init_carrier_freq_rate_sd_hz_s;
bool enable_dynamic_measurement_covariance;
bool use_estimated_cn0;
};
#endif

1
src/core/libs/CMakeLists.txt
View File

@ -88,6 +88,7 @@ target_link_libraries(core_libs
core_libs_supl
core_system_parameters
pvt_libs
algorithms_libs
PRIVATE
algorithms_libs
Boost::serialization

56
src/core/libs/gnss_sdr_sample_counter.cc
View File

@ -17,12 +17,16 @@
#include "gnss_sdr_sample_counter.h"
#include "gnss_synchro.h"
#include "gnss_time.h"
#include <gnuradio/io_signature.h>
#include <pmt/pmt.h> // for from_double
#include <pmt/pmt_sugar.h> // for mp
#include <cmath> // for round
#include <iostream> // for operator<<
#include <string> // for string
#include <memory>
#include <string> // for string
#include <vector>
gnss_sdr_sample_counter::gnss_sdr_sample_counter(
double _fs,
@ -48,6 +52,7 @@ gnss_sdr_sample_counter::gnss_sdr_sample_counter(
flag_m = false;
flag_h = false;
flag_days = false;
set_tag_propagation_policy(TPP_DONT); // no tag propagation, the time tag will be adjusted and regenerated in work()
}
@ -58,6 +63,14 @@ gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs, int32_t _i
}
int64_t gnss_sdr_sample_counter::uint64diff(uint64_t first, uint64_t second)
{
uint64_t abs_diff = (first > second) ? (first - second) : (second - first);
assert(abs_diff <= INT64_MAX);
return (first > second) ? (int64_t)abs_diff : -(int64_t)abs_diff;
}
int gnss_sdr_sample_counter::work(int noutput_items __attribute__((unused)),
gr_vector_const_void_star &input_items __attribute__((unused)),
gr_vector_void_star &output_items)
@ -129,5 +142,46 @@ int gnss_sdr_sample_counter::work(int noutput_items __attribute__((unused)),
sample_counter += samples_per_output;
out[0].Tracking_sample_counter = sample_counter;
current_T_rx_ms += interval_ms;
//**************** time tags ****************
std::vector<gr::tag_t> tags_vec;
// notice that nitems_read is updated in decimation blocks after leaving work() with return 1, equivalent to call consume_each
this->get_tags_in_range(tags_vec, 0, this->nitems_read(0), this->nitems_read(0) + samples_per_output);
for (const auto &it : tags_vec)
{
try
{
if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
{
// recompute timestamp to match the last sample in the consumed samples in this batch
int64_t diff_samplecount = uint64diff(out[0].Tracking_sample_counter, it.offset);
const auto last_timetag = boost::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
double intpart;
last_timetag->tow_ms_fraction += modf(1000.0 * static_cast<double>(diff_samplecount) / fs, &intpart);
last_timetag->tow_ms = last_timetag->tow_ms + static_cast<int>(intpart);
last_timetag->rx_time = static_cast<double>(out[0].Tracking_sample_counter) / fs;
add_item_tag(0, this->nitems_written(0) + 1, pmt::mp("timetag"), pmt::make_any(last_timetag));
// std::cout << "COUNTER TAG: this->nitems_read(0):" << this->nitems_read(0) << " sample_counter:" << sample_counter
// << " it->offset:" << it->offset << " diff:" << diff_samplecount << "\n";
// getchar();
}
else
{
std::cout << "hash code not match\n";
}
}
catch (const boost::bad_any_cast &e)
{
std::cout << "msg Bad any_cast: " << e.what();
}
catch (const std::exception &ee)
{
return 1;
}
}
//************* end time tags **************
return 1;
}

2
src/core/libs/gnss_sdr_sample_counter.h
View File

@ -58,6 +58,8 @@ private:
int32_t _interval_ms,
size_t _size);
int64_t uint64diff(uint64_t first, uint64_t second);
double fs;
int64_t current_T_rx_ms; // Receiver time in ms since the beginning of the run
uint64_t sample_counter;

4
src/core/receiver/CMakeLists.txt
View File

@ -104,6 +104,10 @@ if(ENABLE_OSMOSDR)
endif()
endif()
if(ENABLE_LIMESDR)
target_compile_definitions(core_receiver PRIVATE -DLIMESDR_DRIVER=1)
endif()
if(ENABLE_ARRAY)
target_compile_definitions(core_receiver PRIVATE -DRAW_ARRAY_DRIVER=1)
endif()

34
src/core/receiver/gnss_block_factory.cc
View File

@ -39,6 +39,7 @@
#include "direct_resampler_conditioner.h"
#include "fifo_signal_source.h"
#include "file_signal_source.h"
#include "file_timestamp_signal_source.h"
#include "fir_filter.h"
#include "freq_xlating_fir_filter.h"
#include "galileo_e1_dll_pll_veml_tracking.h"
@ -72,6 +73,7 @@
#include "gnss_sdr_string_literals.h"
#include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_kf_tracking.h"
#include "gps_l1_ca_kf_vtl_tracking.h"
#include "gps_l1_ca_pcps_acquisition.h"
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
#include "gps_l1_ca_pcps_assisted_acquisition.h"
@ -161,6 +163,10 @@
#include "ad9361_fpga_signal_source.h"
#endif
#if LIMESDR_DRIVER
#include "limesdr_signal_source.h"
#endif
#if FLEXIBAND_DRIVER
#include "flexiband_signal_source.h"
#endif
@ -656,6 +662,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
out_streams, queue);
block = std::move(block_);
}
else if (implementation == "File_Timestamp_Signal_Source")
{
std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<FileTimestampSignalSource>(configuration, role, in_streams,
out_streams, queue);
block = std::move(block_);
}
else if (implementation == "Multichannel_File_Signal_Source")
{
std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<MultichannelFileSignalSource>(configuration, role, in_streams,
@ -739,6 +751,16 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
}
#endif
#if LIMESDR_DRIVER
else if (implementation == "Limesdr_Signal_Source")
{
std::unique_ptr<GNSSBlockInterface>
block_ = std::make_unique<LimesdrSignalSource>(configuration, role, in_streams,
out_streams, queue);
block = std::move(block_);
}
#endif
#if PLUTOSDR_DRIVER
else if (implementation == "Plutosdr_Signal_Source")
{
@ -1049,6 +1071,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
out_streams);
block = std::move(block_);
}
else if (implementation == "GPS_L1_CA_KF_VTL_Tracking")
{
std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<GpsL1CaKfVtlTracking>(configuration, role, in_streams,
out_streams);
block = std::move(block_);
}
else if (implementation == "GPS_L1_CA_TCP_CONNECTOR_Tracking")
{
std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<GpsL1CaTcpConnectorTracking>(configuration, role, in_streams,
@ -1499,6 +1527,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
out_streams);
block = std::move(block_);
}
else if (implementation == "GPS_L1_CA_KF_VTL_Tracking")
{
std::unique_ptr<TrackingInterface> block_ = std::make_unique<GpsL1CaKfVtlTracking>(configuration, role, in_streams,
out_streams);
block = std::move(block_);
}
else if (implementation == "GPS_L1_CA_TCP_CONNECTOR_Tracking")
{
std::unique_ptr<TrackingInterface> block_ = std::make_unique<GpsL1CaTcpConnectorTracking>(configuration, role, in_streams,

12
src/core/receiver/gnss_flowgraph.cc
View File

@ -1437,6 +1437,18 @@ int GNSSFlowgraph::connect_observables_to_pvt()
{
top_block_->connect(observables_->get_right_block(), i, pvt_->get_left_block(), i);
top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry"));
// experimental Vector Tracking Loop (VTL) messages from PVT to Tracking blocks
// not supported by all tracking algorithms
pmt::pmt_t ports_in = channels_.at(i)->get_left_block_trk()->message_ports_in();
for (size_t n = 0; n < pmt::length(ports_in); n++)
{
// std::cout << "pmt: " << pmt::symbol_to_string(pmt::vector_ref(ports_in, n)) << "\n";
if (pmt::symbol_to_string(pmt::vector_ref(ports_in, n)) == "pvt_to_trk")
{
top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("pvt_to_trk"), channels_.at(i)->get_left_block_trk(), pmt::mp("pvt_to_trk"));
LOG(INFO) << "pvt_to_trk message port connected in " << channels_.at(i)->implementation();
}
}
}
top_block_->msg_connect(observables_->get_right_block(), pmt::mp("status"), channels_status_, pmt::mp("status"));

6
src/core/system_parameters/gnss_satellite.cc
View File

@ -552,6 +552,9 @@ std::string Gnss_Satellite::what_block(const std::string& system_, uint32_t PRN_
case 9:
block_ = std::string("FOC-FM9"); // Galileo Full Operational Capability (FOC) satellite FM9 / GSAT0209, launched on December 17, 2015.
break;
case 10:
block_ = std::string("FOC-FM24"); // Galileo Full Operational Capability (FOC) satellite FM24 / GSAT0224, launched on December 5, 2021.
break;
case 11:
block_ = std::string("IOV-PFM"); // PFM, the ProtoFlight Model / GSAT0101, launched from French Guiana at 10:30 GMT on October 21, 2011.
break;
@ -603,6 +606,9 @@ std::string Gnss_Satellite::what_block(const std::string& system_, uint32_t PRN_
case 33:
block_ = std::string("FOC-FM22"); // Galileo Full Operational Capability (FOC) satellite FM22 / GSAT0222, launched on Jul. 25, 2018. UNDER COMMISSIONING.
break;
case 34:
block_ = std::string("FOC-FM23"); // Galileo Full Operational Capability (FOC) satellite FM23 / GSAT0223, launched on December 5, 2021.
break;
case 36:
block_ = std::string("FOC-FM19"); // Galileo Full Operational Capability (FOC) satellite FM19 / GSAT0219, launched on Jul. 25, 2018. UNDER COMMISSIONING.
break;

8
src/utils/matlab/dll_pll_veml_plot_sample.m
View File

@ -21,13 +21,13 @@ if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
addpath('./libs')
end
samplingFreq = 2048000; %[Hz]
plot_last_outputs=0;
samplingFreq = 3000000; %[Hz]
plot_last_outputs=0;%1000;
channels = 8; % Number of channels
channels = 1; % Number of channels
first_channel = 0; % Number of the first channel
path = '/Users/javier/git/gnss-sdr/build/test_postpro_24h_casa/'; %% CHANGE THIS PATH
path = '/home/javier/git/gnss-sdr/install/test_inta/'; %% CHANGE THIS PATH
for N=1:1:channels
tracking_log_path = [path 'tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE track_ch_ BY YOUR dump_filename