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GNSS SDR now uses the unified Gnss_Synchro class to exchange signal synchronization data between Acquisition, Tracking and Telemetry decoder blocks.

Browse Source 
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@147 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas 2012-01-27 18:01:17 +00:00
parent ec57e48f4e
commit dd01b83bc3
29 changed files with 357 additions and 409 deletions
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10
conf/gnss-sdr.conf
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@ -17,7 +17,7 @@ ControlThread.wait_for_flowgraph=false
SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/home/luis/Project/signals/cap2/agilent_cap2.dat
SignalSource.filename=/media/DATALOGGER/signals/Agilent GPS Generator/cap2/agilent_cap2.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
@ -130,6 +130,12 @@ Channel2.system=GPS
Channel2.signal=1C
Channel2.satellite=21
;######### CHANNEL 2 CONFIG ############
Channel3.system=GPS
Channel3.signal=1C
Channel3.satellite=2
;######### ACQUISITION GLOBAL CONFIG ############
@ -220,7 +226,7 @@ Acquisition7.doppler_step=250
;######### TRACKING GLOBAL CONFIG ############
;#implementatiion: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
Tracking.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking.implementation=GPS_L1_CA_DLL_FLL_PLL_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
Tracking.item_type=gr_complex

49
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -59,7 +59,6 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
item_type_ = configuration->property(role + ".item_type",
default_item_type);
gnss_satellite_ = Gnss_Satellite();
fs_in_ = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
if_ = configuration->property(role + ".ifreq", 0);
dump_ = configuration->property(role + ".dump", false);
@ -94,15 +93,6 @@ GpsL1CaPcpsAcquisition::~GpsL1CaPcpsAcquisition()
{
}
void GpsL1CaPcpsAcquisition::set_satellite(Gnss_Satellite satellite)
{
gnss_satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
if (item_type_.compare("gr_complex") == 0)
{
acquisition_cc_->set_satellite(gnss_satellite_);
}
}
void GpsL1CaPcpsAcquisition::set_channel(unsigned int channel)
{
@ -157,40 +147,11 @@ void GpsL1CaPcpsAcquisition::set_channel_queue(
}
}
signed int GpsL1CaPcpsAcquisition::prn_code_phase()
{
if (item_type_.compare("gr_complex") == 0)
{
return acquisition_cc_->prn_code_phase();
}
else
{
return 0;
}
}
unsigned long int GpsL1CaPcpsAcquisition::get_sample_stamp()
void GpsL1CaPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
if (item_type_.compare("gr_complex") == 0)
{
return acquisition_cc_->get_sample_stamp();
}
else
{
return 0;
}
}
float GpsL1CaPcpsAcquisition::doppler_freq_shift()
{
if (item_type_.compare("gr_complex") == 0)
{
return acquisition_cc_->doppler_freq();
}
else
{
return 0;
acquisition_cc_->set_gnss_synchro(gnss_synchro);
}
}
@ -206,6 +167,12 @@ signed int GpsL1CaPcpsAcquisition::mag()
}
}
void GpsL1CaPcpsAcquisition::init(){
if (item_type_.compare("gr_complex") == 0)
{
acquisition_cc_->init();
}
}
void GpsL1CaPcpsAcquisition::reset()
{

12
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -34,6 +34,7 @@
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_
#define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "gps_l1_ca_pcps_acquisition_cc.h"
#include <gnuradio/gr_msg_queue.h>
@ -69,18 +70,14 @@ public:
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void set_synchro(Gnss_Synchro p_gnss_synchro);
void set_satellite(Gnss_Satellite satellite);
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
void set_channel(unsigned int channel);
void set_threshold(float threshold);
void set_doppler_max(unsigned int doppler_max);
void set_doppler_step(unsigned int doppler_step);
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
signed int prn_code_phase();
float doppler_freq_shift();
unsigned long int get_sample_stamp();
void init();
signed int mag();
void reset();
@ -93,8 +90,7 @@ private:
size_t item_size_;
std::string item_type_;
unsigned int vector_length_;
Gnss_Synchro* gnss_synchro_;
Gnss_Satellite gnss_satellite_;
//unsigned int satellite_;
unsigned int channel_;
float threshold_;

4
src/algorithms/acquisition/adapters/jamfile.jam
View File

@ -1,5 +1,5 @@
project : build-dir ../../../../build ;
obj gps_l1_ca_gps_sdr_acquisition : gps_l1_ca_gps_sdr_acquisition.cc ;
#obj gps_l1_ca_gps_sdr_acquisition : gps_l1_ca_gps_sdr_acquisition.cc ;
obj gps_l1_ca_pcps_acquisition : gps_l1_ca_pcps_acquisition.cc ;
obj gps_l1_ca_tong_pcps_acquisition : gps_l1_ca_tong_pcps_acquisition.cc ;
#obj gps_l1_ca_tong_pcps_acquisition : gps_l1_ca_tong_pcps_acquisition.cc ;

32
src/algorithms/acquisition/gnuradio_blocks/gps_l1_ca_pcps_acquisition_cc.cc
View File

@ -69,14 +69,12 @@ gps_l1_ca_pcps_acquisition_cc::gps_l1_ca_pcps_acquisition_cc(
d_samples_per_ms = samples_per_ms;
d_sampled_ms = sampled_ms;
d_doppler_max = doppler_max;
d_satellite = Gnss_Satellite();
d_fft_size = d_sampled_ms * d_samples_per_ms;
//d_doppler_freq = 0.0;
//d_code_phase = 0;
d_mag = 0;
d_input_power = 0.0;
d_gnss_synchro = new Gnss_Synchro();
d_sine_if = new gr_complex[d_fft_size];
@ -91,20 +89,10 @@ gps_l1_ca_pcps_acquisition_cc::gps_l1_ca_pcps_acquisition_cc(
d_dump = dump;
d_dump_filename = dump_filename;
DLOG(INFO) << "fs in " << d_fs_in;
DLOG(INFO) << "samples per ms " << d_samples_per_ms;
DLOG(INFO) << "doppler max " << d_doppler_max;
DLOG(INFO) << "freq " << d_freq;
DLOG(INFO) << "satellite " << d_satellite;
DLOG(INFO) << "sampled_ms " << d_sampled_ms;
DLOG(INFO) << "fft_size " << d_fft_size;
DLOG(INFO) << "dump filename " << d_dump_filename;
DLOG(INFO) << "dump " << d_dump;
}
gps_l1_ca_pcps_acquisition_cc::~gps_l1_ca_pcps_acquisition_cc()
{
delete d_gnss_synchro;
delete[] d_sine_if;
delete[] d_fft_codes;
delete d_ifft;
@ -120,22 +108,20 @@ gps_l1_ca_pcps_acquisition_cc::~gps_l1_ca_pcps_acquisition_cc()
void gps_l1_ca_pcps_acquisition_cc::set_satellite(Gnss_Satellite satellite)
void gps_l1_ca_pcps_acquisition_cc::init()
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
// ¿qué diferencia hay con d_satellite=satellite; ?
d_gnss_synchro->Acq_delay_samples=0.0;
d_gnss_synchro->Acq_doppler_hz=0.0;
d_gnss_synchro->Acq_samplestamp_samples=0;
//d_code_phase = 0;
//d_doppler_freq = 0;
d_mag = 0.0;
d_input_power = 0.0;
// Now the GPS codes are generated on the fly using a custom version of the GPS code generator
code_gen_complex_sampled(d_fft_if->get_inbuf(), satellite.get_PRN(), d_fs_in, 0);
code_gen_complex_sampled(d_fft_if->get_inbuf(), d_gnss_synchro->PRN, d_fs_in, 0);
d_fft_if->execute(); // We need the FFT of GPS C/A code
//Conjugate the local code
@ -213,7 +199,7 @@ int gps_l1_ca_pcps_acquisition_cc::general_work(int noutput_items,
unsigned int i;
DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_satellite
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step;
@ -294,10 +280,10 @@ int gps_l1_ca_pcps_acquisition_cc::general_work(int noutput_items,
if (d_test_statistics > d_threshold)
{
positive_acquisition = true;
d_acq_sample_stamp = d_sample_counter;
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
DLOG(INFO) << "positive acquisition";
DLOG(INFO) << "satellite " << d_satellite;
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << d_test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold;
@ -309,7 +295,7 @@ int gps_l1_ca_pcps_acquisition_cc::general_work(int noutput_items,
else
{
DLOG(INFO) << "negative acquisition";
DLOG(INFO) << "satellite " << d_satellite;
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << d_test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold;

19
src/algorithms/acquisition/gnuradio_blocks/gps_l1_ca_pcps_acquisition_cc.h
View File

@ -43,7 +43,6 @@
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include "concurrent_queue.h"
#include "gnss_satellite.h"
#include "gnss_synchro.h"
class gps_l1_ca_pcps_acquisition_cc;
@ -79,7 +78,6 @@ private:
long d_freq;
int d_samples_per_ms;
unsigned int d_doppler_resolution;
Gnss_Satellite d_satellite;
float d_threshold;
std::string d_satellite_str;
unsigned int d_doppler_max;
@ -87,7 +85,6 @@ private:
unsigned int d_sampled_ms;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
unsigned long int d_acq_sample_stamp;
gr_complex* d_sine_if;
gr_complex* d_fft_codes;
@ -120,25 +117,13 @@ public:
{
d_gnss_synchro = p_gnss_synchro;
}
signed int prn_code_phase()
{
return d_code_phase;
}
float doppler_freq()
{
return d_doppler_freq;
}
unsigned int mag()
{
return d_mag;
}
unsigned long int get_sample_stamp()
{
return d_acq_sample_stamp;
}
void set_satellite(Gnss_Satellite satellite);
void init();
void set_active(bool active)
{

6
src/algorithms/acquisition/gnuradio_blocks/jamfile.jam
View File

@ -1,6 +1,6 @@
project : build-dir ../../../../build ;
obj gps_l1_ca_gps_sdr_acquisition_cc : gps_l1_ca_gps_sdr_acquisition_cc.cc ;
obj gps_l1_ca_gps_sdr_acquisition_ss : gps_l1_ca_gps_sdr_acquisition_ss.cc : <toolset>darwin:<define>NO_SIMD <toolset>gcc:<define>USE_SIMD ;
#obj gps_l1_ca_gps_sdr_acquisition_cc : gps_l1_ca_gps_sdr_acquisition_cc.cc ;
#obj gps_l1_ca_gps_sdr_acquisition_ss : gps_l1_ca_gps_sdr_acquisition_ss.cc : <toolset>darwin:<define>NO_SIMD <toolset>gcc:<define>USE_SIMD ;
obj gps_l1_ca_pcps_acquisition_cc : gps_l1_ca_pcps_acquisition_cc.cc ;
obj gps_l1_ca_tong_pcps_acquisition_cc : gps_l1_ca_tong_pcps_acquisition_cc.cc ;
#obj gps_l1_ca_tong_pcps_acquisition_cc : gps_l1_ca_tong_pcps_acquisition_cc.cc ;

30
src/algorithms/channel/adapters/channel.cc
View File

@ -61,6 +61,11 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
trk_->set_channel(channel_);
nav_->set_channel(channel_);
gnss_synchro_.Channel_ID=channel_;
acq_->set_gnss_synchro(&gnss_synchro_);
trk_->set_gnss_synchro(&gnss_synchro_);
acq_->set_threshold(configuration->property("Acquisition"
+ boost::lexical_cast<std::string>(channel_) + ".threshold", 0.0));
acq_->set_doppler_max(configuration->property("Acquisition"
@ -86,7 +91,6 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
connected_ = false;
message_ = 0;
gnss_satellite_ = Gnss_Satellite();
gnss_signal_ = Gnss_Signal();
}
@ -98,7 +102,6 @@ Channel::~Channel()
delete trk_;
delete nav_;
delete pass_through_;
//delete gnss_satellite_;
}
@ -124,11 +127,7 @@ void Channel::connect(gr_top_block_sptr top_block)
top_block->connect(pass_through_->get_right_block(), 0,
trk_->get_left_block(), 0);
DLOG(INFO) << "pass_through_ -> tracking";
top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0); // channel 1
top_block->connect(trk_->get_right_block(), 1, nav_->get_left_block(), 1); // channel 2
top_block->connect(trk_->get_right_block(), 2, nav_->get_left_block(), 2); // channel 3
top_block->connect(trk_->get_right_block(), 3, nav_->get_left_block(), 3); // channel 4
top_block->connect(trk_->get_right_block(), 4, nav_->get_left_block(), 4); // channel 5
top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
DLOG(INFO) << "tracking -> telemetry_decoder";
connected_ = true;
@ -171,10 +170,13 @@ gr_basic_block_sptr Channel::get_right_block()
void Channel::set_signal(Gnss_Signal gnss_signal)
{
gnss_satellite_ = gnss_signal.get_satellite();
acq_->set_satellite(gnss_satellite_);
trk_->set_satellite(gnss_satellite_);
nav_->set_satellite(gnss_satellite_);
Gnss_Satellite gnss_satellite;
gnss_satellite = gnss_signal.get_satellite();
gnss_signal.get_signal().copy(gnss_synchro_.Signal,2,0);
gnss_synchro_.PRN=gnss_signal.get_satellite().get_PRN();
gnss_synchro_.System=gnss_signal.get_satellite().get_system_short().c_str()[0];
acq_->init();
nav_->set_satellite(gnss_satellite);
}
@ -239,14 +241,14 @@ void Channel::process_channel_messages()
case 1:
LOG_AT_LEVEL(INFO) << "Channel " << channel_
<< " ACQ SUCCESS satellite " << gnss_satellite_;
<< " ACQ SUCCESS satellite " << gnss_synchro_.System << " "<< gnss_synchro_.PRN;
channel_fsm_.Event_gps_valid_acquisition();
break;
case 2:
LOG_AT_LEVEL(INFO) << "Channel " << channel_
<< " ACQ FAILED satellite " << gnss_satellite_;
<< " ACQ FAILED satellite " << gnss_synchro_.System << " "<< gnss_synchro_.PRN;
if (repeat_ == true)
{
channel_fsm_.Event_gps_failed_acquisition_repeat();
@ -259,7 +261,7 @@ void Channel::process_channel_messages()
case 3:
LOG_AT_LEVEL(INFO) << "Channel " << channel_
<< " TRACKING FAILED satellite " << gnss_satellite_
<< " TRACKING FAILED satellite " << gnss_synchro_.System << " "<< gnss_synchro_.PRN
<< ", reacquisition.";
channel_fsm_.Event_gps_failed_tracking();
break;

4
src/algorithms/channel/adapters/channel.h
View File

@ -42,6 +42,7 @@
#include "control_message_factory.h"
#include "concurrent_queue.h"
#include "gnss_signal.h"
#include "gnss_synchro.h"
class ConfigurationInterface;
@ -108,7 +109,8 @@ private:
std::string implementation_;
unsigned int channel_;
Gnss_Satellite gnss_satellite_;
Gnss_Synchro gnss_synchro_;
Gnss_Signal gnss_signal_;
bool connected_;
bool stop_;

20
src/algorithms/channel/libs/gps_l1_ca_channel_fsm.cc
View File

@ -191,16 +191,16 @@ void GpsL1CaChannelFsm::start_acquisition()
void GpsL1CaChannelFsm::start_tracking()
{
LOG_AT_LEVEL(INFO) << "Channel " << channel_
<< " passing prn code phase " << acq_->prn_code_phase();
LOG_AT_LEVEL(INFO) << "Channel " << channel_
<< " passing doppler freq shift " << acq_->doppler_freq_shift();
LOG_AT_LEVEL(INFO) << "Channel " << channel_
<< " passing acquisition sample stamp "
<< acq_->get_sample_stamp();
trk_->set_prn_code_phase(acq_->prn_code_phase());
trk_->set_doppler_freq_shift(acq_->doppler_freq_shift());
trk_->set_acq_sample_stamp(acq_->get_sample_stamp());
//LOG_AT_LEVEL(INFO) << "Channel " << channel_
//<< " passing prn code phase " << acq_->prn_code_phase();
//LOG_AT_LEVEL(INFO) << "Channel " << channel_
//<< " passing doppler freq shift " << acq_->doppler_freq_shift();
//LOG_AT_LEVEL(INFO) << "Channel " << channel_
//<< " passing acquisition sample stamp "
//<< acq_->get_sample_stamp();
//trk_->set_prn_code_phase(acq_->prn_code_phase());
//trk_->set_doppler_freq_shift(acq_->doppler_freq_shift());
//trk_->set_acq_sample_stamp(acq_->get_sample_stamp());
trk_->start_tracking();
}

32
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
View File

@ -33,6 +33,7 @@
* \todo Clean this code and move the telemetry definitions to GPS_L1_CA system definitions file
*/
#include "gnss_synchro.h"
#include "gps_l1_ca_telemetry_decoder_cc.h"
#include <iostream>
#include <sstream>
@ -70,9 +71,15 @@ void gps_l1_ca_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int
gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, gr_msg_queue_sptr queue, bool dump) :
gr_block ("gps_navigation_cc", gr_make_io_signature (5, 5, sizeof(double)),
gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
Gnss_Satellite satellite,
long if_freq,
long fs_in,
unsigned
int vector_length,
gr_msg_queue_sptr queue,
bool dump) :
gr_block ("gps_navigation_cc", gr_make_io_signature (1, 1, sizeof(Gnss_Synchro)),
gr_make_io_signature(1, 1, sizeof(gnss_synchro)))
{
// initialize internal vars
@ -112,6 +119,7 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(Gnss_Satellite sa
d_preamble_code_phase_seconds = 0;
d_stat = 0;
d_preamble_index = 0;
d_symbol_accumulator=0;
d_symbol_accumulator_counter = 0;
d_frame_bit_index = 0;
@ -168,12 +176,16 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
int preamble_diff;
gnss_synchro gps_synchro; //structure to save the synchronization information
gnss_synchro **out = (gnss_synchro **) &output_items[0];
d_sample_counter++; //count for the processed samples
DLOG(INFO) << "Sample counter: " << d_sample_counter;
const double **in = (const double **) &input_items[0]; //Get the input samples pointer
const Gnss_Synchro **in = (const Gnss_Synchro **) &input_items[0]; //Get the input samples pointer
// ########### Output the tracking data to navigation and PVT ##########
// Output channel 0: Prompt correlator output Q
// *out[0]=(double)d_Prompt.real();
@ -204,7 +216,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
//******* preamble correlation ********
for (unsigned int i=0; i<d_samples_per_bit*8; i++)
{
if (in[1][i] < 0) // symbols clipping
if (in[0][i].Prompt_Q < 0) // symbols clipping
{
corr_value -= d_preambles_symbols[i];
}
@ -236,8 +248,8 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
d_GPS_FSM.Event_gps_word_preamble();
d_flag_preamble = true;
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
d_preamble_time_seconds = in[2][0] - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
d_preamble_code_phase_seconds = in[4][0];
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
d_preamble_code_phase_seconds = in[0][0].Code_phase_secs;
if (!d_flag_frame_sync)
{
@ -265,7 +277,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
//d_preamble_phase-=in[3][0];
//******* SYMBOL TO BIT *******
d_symbol_accumulator += in[1][d_samples_per_bit*8 - 1]; // accumulate the input value in d_symbol_accumulator
d_symbol_accumulator += in[0][d_samples_per_bit*8 - 1].Prompt_Q; // accumulate the input value in d_symbol_accumulator
d_symbol_accumulator_counter++;
if (d_symbol_accumulator_counter == 20)
{
@ -329,9 +341,9 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_i
gps_synchro.valid_word = (d_flag_frame_sync == true and d_flag_parity == true);
gps_synchro.flag_preamble = d_flag_preamble;
gps_synchro.preamble_delay_ms = d_preamble_time_seconds*1000.0;
gps_synchro.prn_delay_ms = (in[2][0] - d_preamble_duration_seconds)*1000.0;
gps_synchro.prn_delay_ms = (in[0][0].Tracking_timestamp_secs - d_preamble_duration_seconds)*1000.0;
gps_synchro.preamble_code_phase_ms = d_preamble_code_phase_seconds*1000.0;
gps_synchro.preamble_code_phase_correction_ms = (in[4][0] - d_preamble_code_phase_seconds)*1000.0;
gps_synchro.preamble_code_phase_correction_ms = (in[0][0].Code_phase_secs - d_preamble_code_phase_seconds)*1000.0;
gps_synchro.satellite_PRN = this->d_satellite.get_PRN();
gps_synchro.channel_ID = d_channel;
*out[0] = gps_synchro;

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
View File

@ -100,7 +100,7 @@ private:
bool d_flag_frame_sync;
// symbols
int d_symbol_accumulator;
double d_symbol_accumulator;
short int d_symbol_accumulator_counter;
//bits and frame

36
src/algorithms/tracking/adapters/gps_l1_ca_dll_fll_pll_tracking.cc
View File

@ -102,8 +102,18 @@ GpsL1CaDllFllPllTracking::GpsL1CaDllFllPllTracking(
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
tracking_ = gps_l1_ca_dll_fll_pll_make_tracking_cc(satellite_, f_if,
fs_in, vector_length, queue_, dump, dump_filename, order, fll_bw_hz, pll_bw_hz,dll_bw_hz,early_late_space_chips);
tracking_ = gps_l1_ca_dll_fll_pll_make_tracking_cc(
f_if,
fs_in,
vector_length,
queue_,
dump,
dump_filename,
order,
fll_bw_hz,
pll_bw_hz,
dll_bw_hz,
early_late_space_chips);
}
else
{
@ -122,13 +132,6 @@ void GpsL1CaDllFllPllTracking::start_tracking()
tracking_->start_tracking();
}
void GpsL1CaDllFllPllTracking::set_satellite(Gnss_Satellite satellite)
{
satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
tracking_->set_satellite(satellite_);
DLOG(INFO) << "DLL - PLL/FLL Tracking block now tracks satellite " << satellite_;
}
void GpsL1CaDllFllPllTracking::set_channel(unsigned int channel)
{
channel_ = channel;
@ -143,21 +146,12 @@ void GpsL1CaDllFllPllTracking::set_channel_queue(
tracking_->set_channel_queue(channel_internal_queue_);
}
void GpsL1CaDllFllPllTracking::set_prn_code_phase(signed int phase_samples)
void GpsL1CaDllFllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
return tracking_->set_acq_code_phase((float)phase_samples);
return tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GpsL1CaDllFllPllTracking::set_doppler_freq_shift(float doppler_freq_hz)
{
return tracking_->set_acq_doppler(doppler_freq_hz);
}
void GpsL1CaDllFllPllTracking::set_acq_sample_stamp(
unsigned long int sample_stamp)
{
return tracking_->set_acq_sample_stamp(sample_stamp);
}
void GpsL1CaDllFllPllTracking::connect(gr_top_block_sptr top_block)
{
//nothing to connect, now the tracking uses gr_sync_decimator

7
src/algorithms/tracking/adapters/gps_l1_ca_dll_fll_pll_tracking.h
View File

@ -76,14 +76,12 @@ public:
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void set_satellite(Gnss_Satellite satellite);
void set_channel(unsigned int channel);
void set_prn_code_phase(signed int phase_samples);
void set_doppler_freq_shift(float doppler_freq_hz);
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
void start_tracking();
void set_acq_sample_stamp(unsigned long int sample_stamp);
private:
@ -91,7 +89,6 @@ private:
gps_l1_ca_dll_fll_pll_tracking_cc_sptr tracking_;
size_t item_size_;
Gnss_Satellite satellite_;
unsigned int channel_;
std::string role_;

46
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
View File

@ -92,8 +92,16 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
tracking_ = gps_l1_ca_dll_pll_make_tracking_cc(satellite_, f_if,
fs_in, vector_length, queue_, dump, dump_filename, pll_bw_hz,dll_bw_hz,early_late_space_chips);
tracking_ = gps_l1_ca_dll_pll_make_tracking_cc(
f_if,
fs_in,
vector_length,
queue_,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
early_late_space_chips);
}
else
{
@ -112,16 +120,6 @@ void GpsL1CaDllPllTracking::start_tracking()
tracking_->start_tracking();
}
/*
* Set satellite ID
*/
void GpsL1CaDllPllTracking::set_satellite(Gnss_Satellite satellite)
{
satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
tracking_->set_satellite(satellite_);
DLOG(INFO) << "DLL - PLL Tracking block now tracks satellite " << satellite_;
}
/*
* Set tracking channel unique ID
*/
@ -143,29 +141,9 @@ void GpsL1CaDllPllTracking::set_channel_queue(
}
/*
* Set acquisition code phase in samples
*/
void GpsL1CaDllPllTracking::set_prn_code_phase(signed int phase_samples)
void GpsL1CaDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
return tracking_->set_acq_code_phase((float)phase_samples);
}
/*
* Set acquisition Doppler frequency in Hz.
*/
void GpsL1CaDllPllTracking::set_doppler_freq_shift(float doppler_freq_hz)
{
return tracking_->set_acq_doppler(doppler_freq_hz);
}
/*
* Set acquisition sample stamp in samples, in order to detect the delay between acquisition and tracking
*/
void GpsL1CaDllPllTracking::set_acq_sample_stamp(
unsigned long int sample_stamp)
{
return tracking_->set_acq_sample_stamp(sample_stamp);
tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GpsL1CaDllPllTracking::connect(gr_top_block_sptr top_block)

21
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.h
View File

@ -78,10 +78,6 @@ public:
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
/*!
* \brief Set satellite ID
*/
void set_satellite(Gnss_Satellite satellite);
/*!
* \brief Set tracking channel unique ID
@ -89,14 +85,10 @@ public:
void set_channel(unsigned int channel);
/*!
* \brief Set acquisition code phase in samples
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and tracking blocks
*/
void set_prn_code_phase(signed int phase_samples);
/*!
* \brief Set acquisition Doppler frequency in Hz.
*/
void set_doppler_freq_shift(float doppler_freq_hz);
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
/*!
* \brief Set tracking channel internal queue
@ -105,18 +97,11 @@ public:
void start_tracking();
/*!
* \brief Set acquisition sample stamp in samples, in order to detect
* the delay between acquisition and tracking
*/
void set_acq_sample_stamp(unsigned long int sample_stamp);
private:
gps_l1_ca_dll_pll_tracking_cc_sptr tracking_;
size_t item_size_;
Gnss_Satellite satellite_;
unsigned int channel_;
std::string role_;

161
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.cc
View File

@ -34,6 +34,7 @@
* -------------------------------------------------------------------------
*/
#include "gnss_synchro.h"
#include "gps_l1_ca_dll_fll_pll_tracking_cc.h"
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
@ -63,12 +64,21 @@
using google::LogMessage;
gps_l1_ca_dll_fll_pll_tracking_cc_sptr
gps_l1_ca_dll_fll_pll_make_tracking_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int order,
float fll_bw_hz, float pll_bw_hz, float dll_bw_hz, float early_late_space_chips)
gps_l1_ca_dll_fll_pll_make_tracking_cc(
long if_freq,
long fs_in,
unsigned
int vector_length,
gr_msg_queue_sptr queue,
bool dump, std::string dump_filename,
int order,
float fll_bw_hz,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips)
{
return gps_l1_ca_dll_fll_pll_tracking_cc_sptr(new Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(satellite, if_freq,
return gps_l1_ca_dll_fll_pll_tracking_cc_sptr(new Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(if_freq,
fs_in, vector_length, queue, dump, dump_filename, order, fll_bw_hz, pll_bw_hz,dll_bw_hz,
early_late_space_chips));
}
@ -82,21 +92,27 @@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::forecast (int noutput_items, gr_vector_i
}
Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(Gnss_Satellite satellite,
long if_freq, long fs_in, unsigned int vector_length, gr_msg_queue_sptr queue, bool dump,
std::string dump_filename, int order, float fll_bw_hz, float pll_bw_hz, float dll_bw_hz,
Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
gr_msg_queue_sptr queue,
bool dump,
std::string dump_filename,
int order,
float fll_bw_hz,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips) :
gr_block ("Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
gr_make_io_signature(5, 5, sizeof(double)))
gr_make_io_signature(1, 1, sizeof(Gnss_Synchro)))
{
//gr_sync_decimator ("gps_l1_ca_dll_pll_tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
// gr_make_io_signature(3, 3, sizeof(float)),vector_length) {
// initialize internal vars
d_queue = queue;
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
d_acquisition_gnss_synchro=NULL;
d_if_freq = if_freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
@ -154,6 +170,11 @@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::start_tracking()
/*
* correct the code phase according to the delay between acq and trk
*/
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;
unsigned long int acq_trk_diff_samples;
float acq_trk_diff_seconds;
acq_trk_diff_samples = d_sample_counter - d_acq_sample_stamp;//-d_vector_length;
@ -194,7 +215,7 @@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::start_tracking()
d_FLL_wait = 1;
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
code_gen_conplex(&d_ca_code[1], this->d_satellite.get_PRN(), 0);
code_gen_conplex(&d_ca_code[1], d_acquisition_gnss_synchro->PRN, 0);
d_ca_code[0] = d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS];
d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS + 1] = d_ca_code[1];
@ -211,8 +232,8 @@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::start_tracking()
d_code_phase_samples = d_acq_code_phase_samples;
// DEBUG OUTPUT
std::cout << "Tracking start on channel " << d_channel << " for satellite " << this->d_satellite << std::endl;
DLOG(INFO) << "Start tracking for satellite " << this->d_satellite << " received ";
std::cout << "Tracking start on channel " << d_channel << " for satellite " << d_acquisition_gnss_synchro->System << " "<< d_acquisition_gnss_synchro->PRN << std::endl;
DLOG(INFO) << "Start tracking for satellite " << d_acquisition_gnss_synchro->System << " "<< d_acquisition_gnss_synchro->PRN << " received ";
// enable tracking
d_pull_in = true;
@ -295,6 +316,7 @@ Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::~Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc()
int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
float code_error_chips = 0;
float correlation_time_s = 0;
float PLL_discriminator_hz = 0;
@ -325,9 +347,15 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
consume_each(samples_offset); //shift input to perform alignment with local replica
return 1;
}
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data;
// Fill the acquisition data
current_synchro_data=*d_acquisition_gnss_synchro;
// get the sample in and out pointers
const gr_complex* in = (gr_complex*) input_items[0]; //block input samples pointer
double **out = (double **) &output_items[0]; //block output streams pointer
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
// check for samples consistency (this should be done before in the receiver / here only if the source is a file)
for(int i=0; i<d_current_prn_length_samples; i++)
@ -448,21 +476,28 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
}
}
/*!
* \todo Output the CN0
*/
// ########### Output the tracking data to navigation and PVT ##########
// Output channel 0: Prompt correlator output Q
*out[0] = (double)d_Prompt.real();
// Output channel 1: Prompt correlator output I
*out[1] = (double)d_Prompt.imag();
// Output channel 2: PRN absolute delay [s]
*out[2] = d_sample_counter_seconds;
// Output channel 3: d_acc_carrier_phase_rad [rad]
*out[3] = (double)d_acc_carrier_phase_rad;
// Output channel 4: PRN code phase [s]
*out[4] = (double)d_code_phase_samples * (1/(float)d_fs_in);
// // Output channel 0: Prompt correlator output Q
// *out[0] = (double)d_Prompt.real();
// // Output channel 1: Prompt correlator output I
// *out[1] = (double)d_Prompt.imag();
// // Output channel 2: PRN absolute delay [s]
// *out[2] = d_sample_counter_seconds;
// // Output channel 3: d_acc_carrier_phase_rad [rad]
// *out[3] = (double)d_acc_carrier_phase_rad;
// // Output channel 4: PRN code phase [s]
// *out[4] = (double)d_code_phase_samples * (1/(float)d_fs_in);
current_synchro_data.Prompt_I=(double)d_Prompt.real();
current_synchro_data.Prompt_Q=(double)d_Prompt.imag();
current_synchro_data.Tracking_timestamp_secs=d_sample_counter_seconds;
current_synchro_data.Carrier_phase_rads=(double)d_acc_carrier_phase_rad;
current_synchro_data.Code_phase_secs=(double)d_code_phase_samples * (1/(float)d_fs_in);
current_synchro_data.CN0_dB_hz=(double)d_CN0_SNV_dB_Hz;
*out[0] =current_synchro_data;
// ########## DEBUG OUTPUT
/*!
* \todo The stop timer has to be moved to the signal source!
@ -474,7 +509,7 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
{
d_last_seg = floor(d_sample_counter/d_fs_in);
std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
std::cout << "Tracking CH " << d_channel << ": Satellite " << this->d_satellite << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
std::cout << "Tracking CH " << d_channel << ": Satellite " << d_acquisition_gnss_synchro->System << " "<< d_acquisition_gnss_synchro->PRN << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
//if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
}
@ -484,7 +519,7 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
if (floor(d_sample_counter/d_fs_in) != d_last_seg)
{
d_last_seg = floor(d_sample_counter/d_fs_in);
std::cout << "Tracking CH " << d_channel << ": Satellite " << this->d_satellite << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
std::cout << "Tracking CH " << d_channel << ": Satellite " << d_acquisition_gnss_synchro->System << " "<< d_acquisition_gnss_synchro->PRN << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
}
}
@ -514,12 +549,14 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
}
else
{
double **out = (double **) &output_items[0]; //block output streams pointer
*out[0] = 0;
*out[1] = 0;
*out[2] = 0;
*out[3] = 0;
*out[4] = 0;
// double **out = (double **) &output_items[0]; //block output streams pointer
// *out[0] = 0;
// *out[1] = 0;
// *out[2] = 0;
// *out[3] = 0;
// *out[4] = 0;
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
*out[0]=*d_acquisition_gnss_synchro;
}
@ -583,35 +620,6 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
}
void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_acq_code_phase(float code_phase)
{
d_acq_code_phase_samples = code_phase;
DLOG(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
}
void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_acq_doppler(float doppler)
{
d_acq_carrier_doppler_hz = doppler;
DLOG(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
}
void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_satellite(Gnss_Satellite satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "Tracking Satellite set to " << d_satellite;
}
void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_channel(unsigned int channel)
{
d_channel = channel;
@ -639,15 +647,18 @@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_channel(unsigned int channel)
void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_acq_sample_stamp(unsigned long int sample_stamp)
{
d_acq_sample_stamp = sample_stamp;
}
void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{
d_channel_internal_queue = channel_internal_queue;
}
void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_acquisition_gnss_synchro=p_gnss_synchro;
// Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
//DLOG(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
//DLOG(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
//DLOG(INFO) << "Tracking Satellite set to " << d_satellite;
}

14
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.h
View File

@ -48,6 +48,7 @@
#include "gps_sdr_signal_processing.h"
#include "gnss_satellite.h"
#include "tracking_FLL_PLL_filter.h"
#include "gnss_synchro.h"
//#include "GPS_L1_CA.h"
@ -58,7 +59,7 @@ typedef boost::shared_ptr<Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc>
gps_l1_ca_dll_fll_pll_tracking_cc_sptr;
gps_l1_ca_dll_fll_pll_tracking_cc_sptr
gps_l1_ca_dll_fll_pll_make_tracking_cc(Gnss_Satellite satellite,
gps_l1_ca_dll_fll_pll_make_tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
@ -82,15 +83,12 @@ public:
~Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc();
void set_satellite(Gnss_Satellite satellite);
void set_channel(unsigned int channel);
void set_acq_code_phase(float code_phase);
void set_acq_doppler(float doppler);
void start_tracking();
void update_local_code();
void update_local_carrier();
void set_FLL_and_PLL_BW(float fll_bw_hz,float pll_bw_hz);
void set_acq_sample_stamp(unsigned long int sample_stamp);
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
/*
@ -113,7 +111,7 @@ public:
private:
friend gps_l1_ca_dll_fll_pll_tracking_cc_sptr
gps_l1_ca_dll_fll_pll_make_tracking_cc(Gnss_Satellite satellite,
gps_l1_ca_dll_fll_pll_make_tracking_cc(
long if_freq,
long fs_in, unsigned
int vector_length,
@ -126,7 +124,7 @@ private:
float dll_bw_hz,
float early_late_space_chips);
Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(Gnss_Satellite satellite,
Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(
long if_freq,
long fs_in, unsigned
int vector_length,
@ -142,11 +140,11 @@ private:
void CN0_estimation_and_lock_detectors();
// class private vars
Gnss_Synchro *d_acquisition_gnss_synchro;
gr_msg_queue_sptr d_queue;
concurrent_queue<int> *d_channel_internal_queue;
unsigned int d_vector_length;
bool d_dump;
Gnss_Satellite d_satellite;
unsigned int d_channel;
int d_last_seg;
long d_if_freq;

164
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
View File

@ -34,6 +34,7 @@
* -------------------------------------------------------------------------
*/
#include "gnss_synchro.h"
#include "gps_l1_ca_dll_pll_tracking_cc.h"
#include "gps_sdr_signal_processing.h"
#include "tracking_discriminators.h"
@ -63,11 +64,18 @@
using google::LogMessage;
gps_l1_ca_dll_pll_tracking_cc_sptr
gps_l1_ca_dll_pll_make_tracking_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename,
float pll_bw_hz, float dll_bw_hz, float early_late_space_chips)
gps_l1_ca_dll_pll_make_tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
gr_msg_queue_sptr queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips)
{
return gps_l1_ca_dll_pll_tracking_cc_sptr(new Gps_L1_Ca_Dll_Pll_Tracking_cc(satellite, if_freq,
return gps_l1_ca_dll_pll_tracking_cc_sptr(new Gps_L1_Ca_Dll_Pll_Tracking_cc(if_freq,
fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
}
@ -81,10 +89,18 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::forecast (int noutput_items,
Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, float pll_bw_hz, float dll_bw_hz, float early_late_space_chips) :
Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
gr_msg_queue_sptr queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips) :
gr_block ("Gps_L1_Ca_Dll_Pll_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
gr_make_io_signature(5, 5, sizeof(double)))
gr_make_io_signature(1, 1, sizeof(Gnss_Synchro)))
{
//gr_sync_decimator ("Gps_L1_Ca_Dll_Pll_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
@ -92,7 +108,6 @@ Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Pll_Tracking_cc(Gnss_Satellite sate
// initialize internal vars
d_queue = queue;
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
d_if_freq = if_freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
@ -151,6 +166,11 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
/*
* correct the code phase according to the delay between acq and trk
*/
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;
unsigned long int acq_trk_diff_samples;
float acq_trk_diff_seconds;
acq_trk_diff_samples = d_sample_counter - d_acq_sample_stamp;//-d_vector_length;
@ -197,7 +217,7 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
d_code_loop_filter.initialize(d_acq_code_phase_samples); //initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
code_gen_conplex(&d_ca_code[1], d_satellite.get_PRN(), 0);
code_gen_conplex(&d_ca_code[1], d_acquisition_gnss_synchro->PRN, 0);
d_ca_code[0] = d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS];
d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS + 1] = d_ca_code[1];
@ -211,8 +231,8 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
d_code_phase_samples = d_acq_code_phase_samples;
// DEBUG OUTPUT
std::cout << "Tracking start on channel " << d_channel << " for satellite " << this->d_satellite << std::endl;
DLOG(INFO) << "Start tracking for satellite " << this->d_satellite << " received" << std::endl;
std::cout << "Tracking start on channel " << d_channel << " for satellite " << d_acquisition_gnss_synchro->System << " "<< d_acquisition_gnss_synchro->PRN << std::endl;
DLOG(INFO) << "Start tracking for satellite " << d_acquisition_gnss_synchro->System << " "<< d_acquisition_gnss_synchro->PRN << " received" << std::endl;
// enable tracking
d_pull_in = true;
@ -347,8 +367,13 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
return 1;
}
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data;
// Fill the acquisition data
current_synchro_data=*d_acquisition_gnss_synchro;
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignement
double **out = (double **) &output_items[0];
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
// check for samples consistency
for(int i=0; i<d_current_prn_length_samples; i++)
@ -468,20 +493,26 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
//std::cout<<"d_carrier_lock_fail_counter"<<d_carrier_lock_fail_counter<<"\r\n";
}
/*!
* \todo Output the CN0
*/
// ########### Output the tracking data to navigation and PVT ##########
// Output channel 0: Prompt correlator output Q
*out[0] = (double)d_Prompt.real();
// Output channel 1: Prompt correlator output I
*out[1] = (double)d_Prompt.imag();
// Output channel 2: PRN absolute delay [s]
*out[2] = d_sample_counter_seconds;
// Output channel 3: d_acc_carrier_phase_rad [rad]
*out[3] = (double)d_acc_carrier_phase_rad;
// Output channel 4: PRN code phase [s]
*out[4] = (double)d_code_phase_samples * (1 / (float)d_fs_in);
// // Output channel 0: Prompt correlator output Q
// *out[0] = (double)d_Prompt.real();
// // Output channel 1: Prompt correlator output I
// *out[1] = (double)d_Prompt.imag();
// // Output channel 2: PRN absolute delay [s]
// *out[2] = d_sample_counter_seconds;
// // Output channel 3: d_acc_carrier_phase_rad [rad]
// *out[3] = (double)d_acc_carrier_phase_rad;
// // Output channel 4: PRN code phase [s]
// *out[4] = (double)d_code_phase_samples * (1/(float)d_fs_in);
current_synchro_data.Prompt_I=(double)d_Prompt.real();
current_synchro_data.Prompt_Q=(double)d_Prompt.imag();
current_synchro_data.Tracking_timestamp_secs=d_sample_counter_seconds;
current_synchro_data.Carrier_phase_rads=(double)d_acc_carrier_phase_rad;
current_synchro_data.Code_phase_secs=(double)d_code_phase_samples * (1/(float)d_fs_in);
current_synchro_data.CN0_dB_hz=(double)d_CN0_SNV_dB_Hz;
*out[0]=current_synchro_data;
// ########## DEBUG OUTPUT
/*!
@ -494,7 +525,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
{
d_last_seg = floor(d_sample_counter / d_fs_in);
std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
std::cout << "Tracking CH " << d_channel << ": Satellite " << this->d_satellite << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
std::cout << "Tracking CH " << d_channel << ": Satellite " << d_acquisition_gnss_synchro->System << " "<< d_acquisition_gnss_synchro->PRN << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
//if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
}
@ -504,19 +535,32 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
{
d_last_seg = floor(d_sample_counter / d_fs_in);
std::cout << "Tracking CH " << d_channel << ": Satellite " << this->d_satellite << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
std::cout << "Tracking CH " << d_channel << ": Satellite " << d_acquisition_gnss_synchro->System << " "<< d_acquisition_gnss_synchro->PRN << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
}
}
}
else
{
double **out = (double **) &output_items[0]; //block output streams pointer
*out[0] = 0;
*out[1] = 0;
*out[2] = 0;
*out[3] = 0;
*out[4] = 0;
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
//std::cout<<output_items.size()<<std::endl;
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data;
//void* current_synchro_data_b;
//char* p = (char*)malloc(sizeof(Gnss_Synchro));
//current_synchro_data_b= (void*) new (p) Gnss_Synchro();
//*((Gnss_Synchro*)current_synchro_data_b)=current_synchro_data;
//free(p);
//current_synchro_data.Acq_delay_samples=d_acquisition_gnss_synchro->Acq_delay_samples;
//current_synchro_data.Acq_doppler_hz=d_acquisition_gnss_synchro->Acq_doppler_hz;
//current_synchro_data.Acq_samplestamp_samples=d_acquisition_gnss_synchro->Acq_samplestamp_samples;
//current_synchro_data.Signal=d_acquisition_gnss_synchro->Signal; //copy the object signal
//std::cout<<noutput_items<<std::endl;
//std::cout<<"size of sizeof(Gnss_Synchro)="<<sizeof(Gnss_Synchro)<<std::endl;
*out[0]=current_synchro_data;
}
if(d_dump)
@ -581,41 +625,6 @@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_in
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_acq_code_phase(float code_phase)
{
d_acq_code_phase_samples = code_phase;
LOG_AT_LEVEL(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_acq_doppler(float doppler)
{
d_acq_carrier_doppler_hz = doppler;
LOG_AT_LEVEL(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_satellite(Gnss_Satellite satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG_AT_LEVEL(INFO) << "Tracking Satellite set to " << d_satellite;
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
{
d_channel = channel;
@ -643,15 +652,18 @@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_acq_sample_stamp(unsigned long int sample_stamp)
{
d_acq_sample_stamp = sample_stamp;
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{
d_channel_internal_queue = channel_internal_queue;
}
void Gps_L1_Ca_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_acquisition_gnss_synchro=p_gnss_synchro;
// Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
//DLOG(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
//DLOG(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
//DLOG(INFO) << "Tracking Satellite set to " << d_satellite;
}

15
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.h
View File

@ -46,6 +46,7 @@
#include "concurrent_queue.h"
#include "gps_sdr_signal_processing.h"
#include "gnss_satellite.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
@ -56,7 +57,7 @@ typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Tracking_cc>
gps_l1_ca_dll_pll_tracking_cc_sptr;
gps_l1_ca_dll_pll_tracking_cc_sptr
gps_l1_ca_dll_pll_make_tracking_cc(Gnss_Satellite satellite, long if_freq,
gps_l1_ca_dll_pll_make_tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
gr_msg_queue_sptr queue,
@ -77,12 +78,9 @@ public:
~Gps_L1_Ca_Dll_Pll_Tracking_cc();
void set_satellite(Gnss_Satellite satellite);
void set_channel(unsigned int channel);
void set_acq_code_phase(float code_phase);
void set_acq_doppler(float doppler);
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
void start_tracking();
void set_acq_sample_stamp(unsigned long int sample_stamp);
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
/*
@ -105,7 +103,7 @@ public:
private:
friend gps_l1_ca_dll_pll_tracking_cc_sptr
gps_l1_ca_dll_pll_make_tracking_cc(Gnss_Satellite satellite, long if_freq,
gps_l1_ca_dll_pll_make_tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
gr_msg_queue_sptr queue,
@ -115,7 +113,7 @@ private:
float dll_bw_hz,
float early_late_space_chips);
Gps_L1_Ca_Dll_Pll_Tracking_cc(Gnss_Satellite satellite, long if_freq,
Gps_L1_Ca_Dll_Pll_Tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
gr_msg_queue_sptr queue,
@ -132,7 +130,8 @@ private:
concurrent_queue<int> *d_channel_internal_queue;
unsigned int d_vector_length;
bool d_dump;
Gnss_Satellite d_satellite;
Gnss_Synchro* d_acquisition_gnss_synchro;
unsigned int d_channel;
int d_last_seg;
long d_if_freq;

8
src/core/interfaces/acquisition_interface.h
View File

@ -39,7 +39,7 @@
#define GNSS_SDR_ACQUISITION_INTERFACE_H_
#include "gnss_block_interface.h"
#include "gnss_satellite.h"
#include "gnss_synchro.h"
template<typename Data>class concurrent_queue;
@ -56,17 +56,15 @@ class AcquisitionInterface: public GNSSBlockInterface
public:
//virtual void set_active(bool active) = 0;
virtual void set_satellite(Gnss_Satellite sat) = 0;
virtual void set_gnss_synchro(Gnss_Synchro* gnss_synchro) = 0;
virtual void set_channel(unsigned int channel) = 0;
virtual void set_threshold(float threshold) = 0;
virtual void set_doppler_max(unsigned int doppler_max) = 0;
virtual void set_doppler_step(unsigned int doppler_step) = 0;
virtual void set_channel_queue(concurrent_queue<int> *channel_internal_queue) = 0;
virtual signed int prn_code_phase() = 0;
virtual float doppler_freq_shift() = 0;
virtual void init() = 0;
virtual signed int mag() = 0;
virtual void reset() = 0;
virtual unsigned long int get_sample_stamp() = 0;
};

7
src/core/interfaces/tracking_interface.h
View File

@ -38,7 +38,7 @@
#define GNSS_SDR_TRACKING_INTERFACE_H_
#include "gnss_block_interface.h"
#include "gnss_satellite.h"
#include "gnss_synchro.h"
template<typename Data>class concurrent_queue;
@ -57,11 +57,8 @@ class TrackingInterface : public GNSSBlockInterface
public:
virtual void start_tracking() = 0;
virtual void set_satellite(Gnss_Satellite sat) = 0;
virtual void set_gnss_synchro(Gnss_Synchro* gnss_synchro) = 0;
virtual void set_channel(unsigned int channel) = 0;
virtual void set_prn_code_phase(signed int phase_samples) = 0;
virtual void set_doppler_freq_shift(float doppler_freq_hz) = 0;
virtual void set_acq_sample_stamp(unsigned long int sample_stamp) = 0;
virtual void set_channel_queue(concurrent_queue<int> *channel_internal_queue) = 0;
};

20
src/core/receiver/gnss_block_factory.cc
View File

@ -254,21 +254,21 @@ GNSSBlockInterface* GNSSBlockFactory::GetBlock(
// ACQUISITION BLOCKS ---------------------------------------------------------
else if (implementation.compare("GPS_L1_CA_GPS_SDR_Acquisition") == 0)
{
block = new GpsL1CaGpsSdrAcquisition(configuration, role, in_streams,
out_streams, queue);
}
// else if (implementation.compare("GPS_L1_CA_GPS_SDR_Acquisition") == 0)
// {
// block = new GpsL1CaGpsSdrAcquisition(configuration, role, in_streams,
// out_streams, queue);
// }
else if (implementation.compare("GPS_L1_CA_PCPS_Acquisition") == 0)
{
block = new GpsL1CaPcpsAcquisition(configuration, role, in_streams,
out_streams, queue);
}
else if (implementation.compare("GPS_L1_CA_TONG_PCPS_Acquisition") == 0)
{
block = new GpsL1CaTongPcpsAcquisition(configuration, role,
in_streams, out_streams, queue);
}
// else if (implementation.compare("GPS_L1_CA_TONG_PCPS_Acquisition") == 0)
// {
// block = new GpsL1CaTongPcpsAcquisition(configuration, role,
// in_streams, out_streams, queue);
// }
// TRACKING BLOCKS -------------------------------------------------------------

13
src/core/system_parameters/gnss_satellite.cc
View File

@ -63,6 +63,13 @@ Gnss_Satellite::~Gnss_Satellite()
void Gnss_Satellite::reset()
{
system_set = {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"};
satelliteSystem["GPS"] = "G";
satelliteSystem["GLONASS"] = "R";
satelliteSystem["SBAS"] = "S";
satelliteSystem["Galileo"] = "E";
satelliteSystem["Compass"] = "C";
PRN = 0;
system = std::string("");
block = std::string("");
@ -219,6 +226,12 @@ std::string Gnss_Satellite::get_system() const
return system_;
}
std::string Gnss_Satellite::get_system_short() const
{
// Get the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}
return satelliteSystem.at(system);
}

4
src/core/system_parameters/gnss_satellite.h
View File

@ -35,7 +35,7 @@
#include <string>
#include <set>
#include <iostream>
#include <map>
/*
* \brief This class represents a GNSS satellite.
*
@ -50,6 +50,7 @@ public:
~Gnss_Satellite(); //!< Default Destructor.
unsigned int get_PRN() const; //!< Gets satellite's PRN
std::string get_system() const; //!< Gets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}
std::string get_system_short() const; //!< Gets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}
std::string get_block() const; //!< Gets the satellite block. If GPS, returns {"IIA", "IIR", "IIR-M", "IIF"}
friend bool operator== (const Gnss_Satellite &, const Gnss_Satellite &); // operator== for comparison
friend std::ostream& operator<<(std::ostream &, const Gnss_Satellite &); // operator<< for pretty printing
@ -57,6 +58,7 @@ public:
private:
unsigned int PRN;
std::string system;
std::map<std::string,std::string> satelliteSystem;
std::string block;
signed int rf_link;
void set_system(std::string system); // Sets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Compass"}.

4
src/core/system_parameters/gnss_synchro.cc
View File

@ -33,6 +33,10 @@
Gnss_Synchro::Gnss_Synchro()
{
// Satellite and signal info
//System=" ";
//Signal=" ";
PRN=0;
// Acquisition
Acq_delay_samples=0.0;
Acq_doppler_hz=0.0;

6
src/core/system_parameters/gnss_synchro.h
View File

@ -42,7 +42,11 @@ public:
Gnss_Synchro();
~Gnss_Synchro();
Gnss_Signal Signal;
//Gnss_Signal Signal;
// Satellite and signal info
char System;
char Signal[3];
unsigned int PRN;
// Acquisition
double Acq_delay_samples;
double Acq_doppler_hz;

10
src/main/jamfile.jam
View File

@ -1,12 +1,12 @@
project : build-dir ../../build ;
exe gnss-sdr : main.cc
../algorithms/acquisition/adapters//gps_l1_ca_gps_sdr_acquisition
#../algorithms/acquisition/adapters//gps_l1_ca_gps_sdr_acquisition
../algorithms/acquisition/adapters//gps_l1_ca_pcps_acquisition
../algorithms/acquisition/adapters//gps_l1_ca_tong_pcps_acquisition
../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_gps_sdr_acquisition_cc
../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_gps_sdr_acquisition_ss
#../algorithms/acquisition/adapters//gps_l1_ca_tong_pcps_acquisition
#../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_gps_sdr_acquisition_cc
#../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_gps_sdr_acquisition_ss
../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_pcps_acquisition_cc
../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_tong_pcps_acquisition_cc
#../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_tong_pcps_acquisition_cc
../algorithms/channel/adapters//channel
../algorithms/channel/libs//gps_l1_ca_channel_fsm
../algorithms/conditioner/adapters//direct_resampler_conditioner

10
src/tests/jamfile.jam
View File

@ -1,13 +1,13 @@
project : build-dir ../../build ;
exe run_tests : test_main.cc
../algorithms/acquisition/adapters//gps_l1_ca_gps_sdr_acquisition
#../algorithms/acquisition/adapters//gps_l1_ca_gps_sdr_acquisition
../algorithms/acquisition/adapters//gps_l1_ca_pcps_acquisition
../algorithms/acquisition/adapters//gps_l1_ca_tong_pcps_acquisition
../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_gps_sdr_acquisition_cc
../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_gps_sdr_acquisition_ss
#../algorithms/acquisition/adapters//gps_l1_ca_tong_pcps_acquisition
#../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_gps_sdr_acquisition_cc
#../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_gps_sdr_acquisition_ss
../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_pcps_acquisition_cc
../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_tong_pcps_acquisition_cc
#../algorithms/acquisition/gnuradio_blocks//gps_l1_ca_tong_pcps_acquisition_cc
../algorithms/channel/adapters//channel
../algorithms/channel/libs//gps_l1_ca_channel_fsm
../algorithms/conditioner/adapters//direct_resampler_conditioner