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Modifications to use volk_gnsssdr in tracking

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This commit is contained in:
Andrés Cecilia Luque 2014-09-08 01:56:34 +02:00
parent 60cc3777b6
commit d205d5640d
2 changed files with 77 additions and 58 deletions
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7
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
View File

@ -36,9 +36,14 @@ include_directories(
${GFlags_INCLUDE_DIRS} ${GFlags_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS} ${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
) )
if(ENABLE_GENERIC_ARCH)
add_definitions( -DGENERIC_ARCH=1 )
endif(ENABLE_GENERIC_ARCH)
file(GLOB TRACKING_GR_BLOCKS_HEADERS "*.h") file(GLOB TRACKING_GR_BLOCKS_HEADERS "*.h")
add_library(tracking_gr_blocks ${TRACKING_GR_BLOCKS_SOURCES} ${TRACKING_GR_BLOCKS_HEADERS}) add_library(tracking_gr_blocks ${TRACKING_GR_BLOCKS_SOURCES} ${TRACKING_GR_BLOCKS_HEADERS})
source_group(Headers FILES ${TRACKING_GR_BLOCKS_HEADERS}) source_group(Headers FILES ${TRACKING_GR_BLOCKS_HEADERS})
target_link_libraries(tracking_gr_blocks tracking_lib ${GNURADIO_RUNTIME_LIBRARIES} gnss_sp_libs ${Boost_LIBRARIES} ) target_link_libraries(tracking_gr_blocks tracking_lib ${GNURADIO_RUNTIME_LIBRARIES} gnss_sp_libs ${Boost_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} )

128
src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
View File

@ -7,11 +7,11 @@
* Code DLL + carrier PLL according to the algorithms described in: * Code DLL + carrier PLL according to the algorithms described in:
* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen, * [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkha user, 2007 * Approach, Birkhauser, 2007
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -21,7 +21,7 @@
* GNSS-SDR is free software: you can redistribute it and/or modify * GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* at your option) any later version. * (at your option) any later version.
* *
* GNSS-SDR is distributed in the hope that it will be useful, * GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
@ -37,6 +37,7 @@
#include "galileo_e1_dll_pll_veml_tracking_cc.h" #include "galileo_e1_dll_pll_veml_tracking_cc.h"
#include <cmath> #include <cmath>
#include <iostream> #include <iostream>
#include <memory>
#include <sstream> #include <sstream>
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
@ -47,6 +48,7 @@
#include "lock_detectors.h" #include "lock_detectors.h"
#include "Galileo_E1.h" #include "Galileo_E1.h"
#include "control_message_factory.h" #include "control_message_factory.h"
#include "volk_gnsssdr/volk_gnsssdr.h"
@ -130,25 +132,26 @@ galileo_e1_dll_pll_veml_tracking_cc::galileo_e1_dll_pll_veml_tracking_cc(
* to performance degradation. Here we allocate memory * to performance degradation. Here we allocate memory
* (gr_comlex array of size 2*d_vector_length) aligned to cache of 16 bytes * (gr_comlex array of size 2*d_vector_length) aligned to cache of 16 bytes
*/ */
// todo: do something if posix_memalign fails
// Get space for the resampled early / prompt / late local replicas d_very_early_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
if (posix_memalign((void**)&d_very_early_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){}; d_early_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
if (posix_memalign((void**)&d_early_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){}; d_prompt_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
if (posix_memalign((void**)&d_prompt_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){}; d_late_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
if (posix_memalign((void**)&d_late_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){}; d_very_late_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
if (posix_memalign((void**)&d_very_late_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
// space for carrier wipeoff and signal baseband vectors d_carr_sign=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
if (posix_memalign((void**)&d_carr_sign, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
// correlator outputs (scalar) // correlator outputs (scalar)
if (posix_memalign((void**)&d_Very_Early, 16, sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_Early, 16, sizeof(gr_complex)) == 0){}; d_Very_Early=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
if (posix_memalign((void**)&d_Prompt, 16, sizeof(gr_complex)) == 0){}; d_Early=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
if (posix_memalign((void**)&d_Late, 16, sizeof(gr_complex)) == 0){}; d_Prompt=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
if (posix_memalign((void**)&d_Very_Late, 16, sizeof(gr_complex)) == 0){}; d_Late=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
d_Very_Late=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
//--- Initializations ------------------------------ //--- Initializations ------------------------------
// Initial code frequency basis of NCO // Initial code frequency basis of NCO
d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ; d_code_freq_chips = (double)Galileo_E1_CODE_CHIP_RATE_HZ;
// Residual code phase (in chips) // Residual code phase (in chips)
d_rem_code_phase_samples = 0.0; d_rem_code_phase_samples = 0.0;
// Residual carrier phase // Residual carrier phase
@ -283,17 +286,17 @@ galileo_e1_dll_pll_veml_tracking_cc::~galileo_e1_dll_pll_veml_tracking_cc()
{ {
d_dump_file.close(); d_dump_file.close();
free(d_very_early_code); volk_free(d_very_early_code);
free(d_early_code); volk_free(d_early_code);
free(d_prompt_code); volk_free(d_prompt_code);
free(d_late_code); volk_free(d_late_code);
free(d_very_late_code); volk_free(d_very_late_code);
free(d_carr_sign); volk_free(d_carr_sign);
free(d_Very_Early); volk_free(d_Very_Early);
free(d_Early); volk_free(d_Early);
free(d_Prompt); volk_free(d_Prompt);
free(d_Late); volk_free(d_Late);
free(d_Very_Late); volk_free(d_Very_Late);
delete[] d_ca_code; delete[] d_ca_code;
delete[] d_Prompt_buffer; delete[] d_Prompt_buffer;
@ -342,20 +345,22 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
update_local_carrier(); update_local_carrier();
// perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation // perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation
d_correlator.Carrier_wipeoff_and_VEPL_volk(d_current_prn_length_samples, // d_correlator.Carrier_wipeoff_and_VEPL_volk(d_current_prn_length_samples,
in, // in,
d_carr_sign, // d_carr_sign,
d_very_early_code, // d_very_early_code,
d_early_code, // d_early_code,
d_prompt_code, // d_prompt_code,
d_late_code, // d_late_code,
d_very_late_code, // d_very_late_code,
d_Very_Early, // d_Very_Early,
d_Early, // d_Early,
d_Prompt, // d_Prompt,
d_Late, // d_Late,
d_Very_Late, // d_Very_Late,
is_unaligned()); // is_unaligned());
volk_gnsssdr_32fc_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in, d_carr_sign, d_very_early_code, d_early_code, d_prompt_code, d_late_code, d_very_late_code, d_current_prn_length_samples);
// ################## PLL ########################################################## // ################## PLL ##########################################################
// PLL discriminator // PLL discriminator
@ -369,7 +374,7 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
//carrier phase accumulator for (K) Doppler estimation //carrier phase accumulator for (K) Doppler estimation
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD; d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD;
//remnant carrier phase to prevent overflow in the code NCO //remnant carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI* d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD; d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD;
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI); d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
// ################## DLL ########################################################## // ################## DLL ##########################################################
@ -385,17 +390,17 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT ####################### // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
// keep alignment parameters for the next input buffer // keep alignment parameters for the next input buffer
float T_chip_seconds; double T_chip_seconds;
float T_prn_seconds; double T_prn_seconds;
float T_prn_samples; double T_prn_samples;
float K_blk_samples; double K_blk_samples;
// Compute the next buffer lenght based in the new period of the PRN sequence and the code phase error estimation // Compute the next buffer lenght based in the new period of the PRN sequence and the code phase error estimation
T_chip_seconds = 1 / d_code_freq_chips; T_chip_seconds = 1 / (double)d_code_freq_chips;
T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS; T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
T_prn_samples = T_prn_seconds * (float)d_fs_in; T_prn_samples = T_prn_seconds * (double)d_fs_in;
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs*(float)d_fs_in; K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * (double)d_fs_in;
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
// ####### CN0 ESTIMATION AND LOCK DETECTORS ###### // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES) if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
@ -427,12 +432,11 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
{ {
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
ControlMessageFactory* cmf = new ControlMessageFactory(); std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (d_queue != gr::msg_queue::sptr()) if (d_queue != gr::msg_queue::sptr())
{ {
d_queue->handle(cmf->GetQueueMessage(d_channel, 2)); d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
} }
delete cmf;
d_carrier_lock_fail_counter = 0; d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
} }
@ -442,9 +446,18 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
current_synchro_data.Prompt_I = (double)(*d_Prompt).real(); current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag(); current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
// Tracking_timestamp_secs is aligned with the PRN start sample
current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + // Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
(double)d_current_prn_length_samples + (double)d_rem_code_phase_samples) / (double)d_fs_in; //compute remnant code phase samples BEFORE the Tracking timestamp
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
//current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter +
// (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples) / (double)d_fs_in;
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_rem_code_phase_samples) / (double)d_fs_in;
//compute remnant code phase samples AFTER the Tracking timestamp
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0 // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
current_synchro_data.Code_phase_secs = 0; current_synchro_data.Code_phase_secs = 0;
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad; current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
@ -558,6 +571,7 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
} }
consume_each(d_current_prn_length_samples); // this is required for gr_block derivates consume_each(d_current_prn_length_samples); // this is required for gr_block derivates
d_sample_counter += d_current_prn_length_samples; //count for the processed samples d_sample_counter += d_current_prn_length_samples; //count for the processed samples
//std::cout<<"Galileo tracking output at sample "<<d_sample_counter<<std::endl;
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
} }