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Update KF tracking to use acquisition doppler bin size for initial doppler state covariance

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This commit is contained in:
Gerald LaMountain
2018-07-03 13:31:53 -04:00
parent 93954fbbe1
commit d565d65521
4 changed files with 13 additions and 2 deletions
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2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
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@@ -222,6 +222,7 @@ void pcps_acquisition::init()
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Acq_doppler_step = d_doppler_step;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
@@ -282,6 +283,7 @@ void pcps_acquisition::set_state(int state)
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_doppler_step = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_well_count = 0;
d_mag = 0.0;

11
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc
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@@ -174,7 +174,7 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
// Kalman filter initialization (receiver initialization)
double CN_dB_Hz = 40;
double CN_dB_Hz = 30;
double CN_lin = pow(10, CN_dB_Hz / 10.0);
double sigma2_phase_detector_cycles2;
@@ -182,7 +182,7 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
//covariances (static)
double sigma2_carrier_phase = GPS_TWO_PI / 4;
double sigma2_doppler = 250; /// !!
double sigma2_doppler = 450;
kf_P_x_ini = arma::zeros(2, 2);
kf_P_x_ini(0, 0) = sigma2_carrier_phase;
@@ -217,6 +217,13 @@ void Gps_L1_Ca_Kf_Tracking_cc::start_tracking()
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
d_acq_carrier_doppler_step_hz = static_cast<double>(d_acquisition_gnss_synchro->Acq_doppler_step);
// Correct Kalman filter covariance according to acq doppler step size (3 sigma)
if (d_acquisition_gnss_synchro->Acq_doppler_step > 0)
{
kf_P_x_ini(1, 1) = pow(2, d_acq_carrier_doppler_step_hz / 3.0);
}
long int acq_trk_diff_samples;
double acq_trk_diff_seconds;

1
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.h
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@@ -135,6 +135,7 @@ private:
//Tracking_2nd_PLL_filter d_carrier_loop_filter;
// acquisition
double d_acq_carrier_doppler_step_hz;
double d_acq_code_phase_samples;
double d_acq_carrier_doppler_hz;
// correlator

1
src/core/system_parameters/gnss_synchro.h
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@@ -49,6 +49,7 @@ public:
// Acquisition
double Acq_delay_samples; //!< Set by Acquisition processing block
double Acq_doppler_hz; //!< Set by Acquisition processing block
unsigned int Acq_doppler_step; //!< Set by Acquisition processing block
unsigned long int Acq_samplestamp_samples; //!< Set by Acquisition processing block
bool Flag_valid_acquisition; //!< Set by Acquisition processing block
//Tracking