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Code Issues Releases Wiki Activity

Add work on KF tracking

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This commit is contained in:
Carles Fernandez
2022-07-22 08:15:35 +02:00
parent 14edfdf206
commit dc8e450c82
4 changed files with 229 additions and 162 deletions
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59
src/algorithms/tracking/libs/kf_conf.cc
View File

@@ -28,24 +28,20 @@ Kf_Conf::Kf_Conf() : item_type("gr_complex"),
dump_filename("./Kf_dump.dat"),
fs_in(2000000.0),
carrier_lock_th(FLAGS_carrier_lock_th),
expected_cn0_dbhz(42.0),
code_disc_sd_chips(0.01),
carrier_disc_sd_rads(0.1),
code_phase_sd_chips(0.001),
code_rate_sd_chips_s(0.001),
carrier_phase_sd_rad(0.001),
carrier_freq_sd_hz(0.1),
carrier_freq_rate_sd_hz_s(1),
narrow_code_phase_sd_chips(0.001),
narrow_code_rate_sd_chips_s(0.001),
narrow_carrier_phase_sd_rad(0.001),
narrow_carrier_freq_sd_hz(0.1),
narrow_carrier_freq_rate_sd_hz_s(1),
init_code_phase_sd_chips(1),
init_code_rate_sd_chips_s(100),
init_carrier_phase_sd_rad(10),
init_carrier_freq_sd_hz(1000),
init_carrier_freq_rate_sd_hz_s(1000),
code_disc_sd_chips(0.2),
carrier_disc_sd_rads(0.3),
code_phase_sd_chips(0.15),
carrier_phase_sd_rad(0.25),
carrier_freq_sd_hz(0.6),
carrier_freq_rate_sd_hz_s(0.01),
// narrow_code_phase_sd_chips(0.1),
// narrow_carrier_phase_sd_rad(0.01),
// narrow_carrier_freq_sd_hz(0.01),
// narrow_carrier_freq_rate_sd_hz_s(0.1),
init_code_phase_sd_chips(0.5),
init_carrier_phase_sd_rad(0.7),
init_carrier_freq_sd_hz(5),
init_carrier_freq_rate_sd_hz_s(1),
early_late_space_chips(0.25),
very_early_late_space_chips(0.5),
early_late_space_narrow_chips(0.15),
@@ -69,12 +65,9 @@ Kf_Conf::Kf_Conf() : item_type("gr_complex"),
system('G'),
track_pilot(true),
enable_doppler_correction(false),
carrier_aiding(true),
high_dyn(false),
dump(false),
dump_mat(true),
enable_dynamic_measurement_covariance(false),
use_estimated_cn0(false)
dump_mat(true)
{
signal[0] = '1';
signal[1] = 'C';
@@ -112,7 +105,7 @@ void Kf_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
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);
// 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);
@@ -129,33 +122,33 @@ void Kf_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
// Kalman filter covariances
// Measurement covariances (R)
expected_cn0_dbhz = configuration->property(role + ".expected_cn0_dbhz", expected_cn0_dbhz);
// expected_cn0_dbhz = configuration->property(role + ".expected_cn0_dbhz", expected_cn0_dbhz);
code_disc_sd_chips = configuration->property(role + ".code_disc_sd_chips", code_disc_sd_chips);
carrier_disc_sd_rads = configuration->property(role + ".carrier_disc_sd_rads", carrier_disc_sd_rads);
enable_dynamic_measurement_covariance = configuration->property(role + ".enable_dynamic_measurement_covariance", enable_dynamic_measurement_covariance);
use_estimated_cn0 = configuration->property(role + ".use_estimated_cn0", use_estimated_cn0);
// enable_dynamic_measurement_covariance = configuration->property(role + ".enable_dynamic_measurement_covariance", enable_dynamic_measurement_covariance);
// use_estimated_cn0 = configuration->property(role + ".use_estimated_cn0", use_estimated_cn0);
// System covariances (Q)
code_phase_sd_chips = configuration->property(role + ".code_phase_sd_chips", code_phase_sd_chips);
code_rate_sd_chips_s = configuration->property(role + ".code_rate_sd_chips_s", code_rate_sd_chips_s);
// code_rate_sd_chips_s = configuration->property(role + ".code_rate_sd_chips_s", code_rate_sd_chips_s);
carrier_phase_sd_rad = configuration->property(role + ".carrier_phase_sd_rad", carrier_phase_sd_rad);
carrier_freq_sd_hz = configuration->property(role + ".carrier_freq_sd_hz", carrier_freq_sd_hz);
carrier_freq_rate_sd_hz_s = configuration->property(role + ".carrier_freq_rate_sd_hz_s", carrier_freq_rate_sd_hz_s);
// System covariances (narrow) (Q)
narrow_code_phase_sd_chips = configuration->property(role + ".narrow_code_phase_sd_chips", narrow_code_phase_sd_chips);
narrow_code_rate_sd_chips_s = configuration->property(role + ".narrow_code_rate_sd_chips_s", narrow_code_rate_sd_chips_s);
//narrow_code_phase_sd_chips = configuration->property(role + ".narrow_code_phase_sd_chips", narrow_code_phase_sd_chips);
// narrow_code_rate_sd_chips_s = configuration->property(role + ".narrow_code_rate_sd_chips_s", narrow_code_rate_sd_chips_s);
narrow_carrier_phase_sd_rad = configuration->property(role + ".narrow_carrier_phase_sd_rad", narrow_carrier_phase_sd_rad);
narrow_carrier_freq_sd_hz = configuration->property(role + ".narrow_carrier_freq_sd_hz", narrow_carrier_freq_sd_hz);
narrow_carrier_freq_rate_sd_hz_s = configuration->property(role + ".narrow_carrier_freq_rate_sd_hz_s", narrow_carrier_freq_rate_sd_hz_s);
//narrow_carrier_phase_sd_rad = configuration->property(role + ".narrow_carrier_phase_sd_rad", narrow_carrier_phase_sd_rad);
// narrow_carrier_freq_sd_hz = configuration->property(role + ".narrow_carrier_freq_sd_hz", narrow_carrier_freq_sd_hz);
// narrow_carrier_freq_rate_sd_hz_s = configuration->property(role + ".narrow_carrier_freq_rate_sd_hz_s", narrow_carrier_freq_rate_sd_hz_s);
// initial Kalman covariance matrix (P)
init_code_phase_sd_chips = configuration->property(role + ".init_code_phase_sd_chips", init_code_phase_sd_chips);
init_code_rate_sd_chips_s = configuration->property(role + ".init_code_rate_sd_chips_s", init_code_rate_sd_chips_s);
// init_code_rate_sd_chips_s = configuration->property(role + ".init_code_rate_sd_chips_s", init_code_rate_sd_chips_s);
init_carrier_phase_sd_rad = configuration->property(role + ".init_carrier_phase_sd_rad", init_carrier_phase_sd_rad);
init_carrier_freq_sd_hz = configuration->property(role + ".init_carrier_freq_sd_hz", init_carrier_freq_sd_hz);

21
src/algorithms/tracking/libs/kf_conf.h
View File

@@ -40,30 +40,30 @@ public:
// 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 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 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_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;
// 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_code_rate_sd_chips_s;
double init_carrier_phase_sd_rad;
double init_carrier_freq_sd_hz;
@@ -93,13 +93,12 @@ public:
char system;
bool track_pilot;
bool enable_doppler_correction;
bool carrier_aiding;
bool high_dyn;
bool dump;
bool dump_mat;
bool enable_dynamic_measurement_covariance;
bool use_estimated_cn0;
// bool enable_dynamic_measurement_covariance;
// bool use_estimated_cn0;
};
#endif