mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-11-06 10:13:04 +00:00
GNSS SDR now uses the unified Gnss_Synchro class to exchange signal synchronization data between Acquisition, Tracking and Telemetry decoder blocks.
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
@@ -102,8 +102,18 @@ GpsL1CaDllFllPllTracking::GpsL1CaDllFllPllTracking(
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if (item_type.compare("gr_complex") == 0)
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{
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item_size_ = sizeof(gr_complex);
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tracking_ = gps_l1_ca_dll_fll_pll_make_tracking_cc(satellite_, f_if,
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fs_in, vector_length, queue_, dump, dump_filename, order, fll_bw_hz, pll_bw_hz,dll_bw_hz,early_late_space_chips);
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tracking_ = gps_l1_ca_dll_fll_pll_make_tracking_cc(
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f_if,
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fs_in,
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vector_length,
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queue_,
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dump,
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dump_filename,
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order,
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fll_bw_hz,
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pll_bw_hz,
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dll_bw_hz,
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early_late_space_chips);
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}
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else
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{
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@@ -122,13 +132,6 @@ void GpsL1CaDllFllPllTracking::start_tracking()
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tracking_->start_tracking();
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}
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void GpsL1CaDllFllPllTracking::set_satellite(Gnss_Satellite satellite)
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{
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satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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tracking_->set_satellite(satellite_);
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DLOG(INFO) << "DLL - PLL/FLL Tracking block now tracks satellite " << satellite_;
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}
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void GpsL1CaDllFllPllTracking::set_channel(unsigned int channel)
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{
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channel_ = channel;
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@@ -143,21 +146,12 @@ void GpsL1CaDllFllPllTracking::set_channel_queue(
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tracking_->set_channel_queue(channel_internal_queue_);
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}
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void GpsL1CaDllFllPllTracking::set_prn_code_phase(signed int phase_samples)
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void GpsL1CaDllFllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
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{
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return tracking_->set_acq_code_phase((float)phase_samples);
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return tracking_->set_gnss_synchro(p_gnss_synchro);
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}
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void GpsL1CaDllFllPllTracking::set_doppler_freq_shift(float doppler_freq_hz)
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{
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return tracking_->set_acq_doppler(doppler_freq_hz);
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}
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void GpsL1CaDllFllPllTracking::set_acq_sample_stamp(
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unsigned long int sample_stamp)
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{
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return tracking_->set_acq_sample_stamp(sample_stamp);
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}
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void GpsL1CaDllFllPllTracking::connect(gr_top_block_sptr top_block)
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{
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//nothing to connect, now the tracking uses gr_sync_decimator
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@@ -76,14 +76,12 @@ public:
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gr_basic_block_sptr get_left_block();
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gr_basic_block_sptr get_right_block();
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void set_satellite(Gnss_Satellite satellite);
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void set_channel(unsigned int channel);
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void set_prn_code_phase(signed int phase_samples);
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void set_doppler_freq_shift(float doppler_freq_hz);
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void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
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void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
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void start_tracking();
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void set_acq_sample_stamp(unsigned long int sample_stamp);
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private:
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@@ -91,7 +89,6 @@ private:
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gps_l1_ca_dll_fll_pll_tracking_cc_sptr tracking_;
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size_t item_size_;
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Gnss_Satellite satellite_;
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unsigned int channel_;
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std::string role_;
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@@ -92,8 +92,16 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
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if (item_type.compare("gr_complex") == 0)
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{
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item_size_ = sizeof(gr_complex);
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tracking_ = gps_l1_ca_dll_pll_make_tracking_cc(satellite_, f_if,
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fs_in, vector_length, queue_, dump, dump_filename, pll_bw_hz,dll_bw_hz,early_late_space_chips);
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tracking_ = gps_l1_ca_dll_pll_make_tracking_cc(
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f_if,
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fs_in,
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vector_length,
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queue_,
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dump,
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dump_filename,
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pll_bw_hz,
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dll_bw_hz,
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early_late_space_chips);
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}
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else
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{
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@@ -112,16 +120,6 @@ void GpsL1CaDllPllTracking::start_tracking()
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tracking_->start_tracking();
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}
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/*
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* Set satellite ID
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*/
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void GpsL1CaDllPllTracking::set_satellite(Gnss_Satellite satellite)
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{
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satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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tracking_->set_satellite(satellite_);
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DLOG(INFO) << "DLL - PLL Tracking block now tracks satellite " << satellite_;
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}
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/*
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* Set tracking channel unique ID
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*/
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@@ -143,29 +141,9 @@ void GpsL1CaDllPllTracking::set_channel_queue(
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}
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/*
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* Set acquisition code phase in samples
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*/
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void GpsL1CaDllPllTracking::set_prn_code_phase(signed int phase_samples)
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void GpsL1CaDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
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{
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return tracking_->set_acq_code_phase((float)phase_samples);
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}
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/*
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* Set acquisition Doppler frequency in Hz.
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*/
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void GpsL1CaDllPllTracking::set_doppler_freq_shift(float doppler_freq_hz)
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{
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return tracking_->set_acq_doppler(doppler_freq_hz);
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}
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/*
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* Set acquisition sample stamp in samples, in order to detect the delay between acquisition and tracking
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*/
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void GpsL1CaDllPllTracking::set_acq_sample_stamp(
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unsigned long int sample_stamp)
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{
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return tracking_->set_acq_sample_stamp(sample_stamp);
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tracking_->set_gnss_synchro(p_gnss_synchro);
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}
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void GpsL1CaDllPllTracking::connect(gr_top_block_sptr top_block)
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@@ -78,10 +78,6 @@ public:
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gr_basic_block_sptr get_left_block();
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gr_basic_block_sptr get_right_block();
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/*!
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* \brief Set satellite ID
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*/
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void set_satellite(Gnss_Satellite satellite);
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/*!
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* \brief Set tracking channel unique ID
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@@ -89,14 +85,10 @@ public:
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void set_channel(unsigned int channel);
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/*!
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* \brief Set acquisition code phase in samples
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* \brief Set acquisition/tracking common Gnss_Synchro object pointer
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* to efficiently exchange synchronization data between acquisition and tracking blocks
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*/
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void set_prn_code_phase(signed int phase_samples);
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/*!
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* \brief Set acquisition Doppler frequency in Hz.
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*/
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void set_doppler_freq_shift(float doppler_freq_hz);
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void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
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/*!
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* \brief Set tracking channel internal queue
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@@ -105,18 +97,11 @@ public:
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void start_tracking();
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/*!
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* \brief Set acquisition sample stamp in samples, in order to detect
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* the delay between acquisition and tracking
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*/
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void set_acq_sample_stamp(unsigned long int sample_stamp);
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private:
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gps_l1_ca_dll_pll_tracking_cc_sptr tracking_;
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size_t item_size_;
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Gnss_Satellite satellite_;
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unsigned int channel_;
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std::string role_;
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@@ -34,6 +34,7 @@
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* -------------------------------------------------------------------------
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*/
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#include "gnss_synchro.h"
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#include "gps_l1_ca_dll_fll_pll_tracking_cc.h"
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#include "gps_sdr_signal_processing.h"
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#include "GPS_L1_CA.h"
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@@ -63,12 +64,21 @@
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using google::LogMessage;
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gps_l1_ca_dll_fll_pll_tracking_cc_sptr
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gps_l1_ca_dll_fll_pll_make_tracking_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
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int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int order,
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float fll_bw_hz, float pll_bw_hz, float dll_bw_hz, float early_late_space_chips)
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gps_l1_ca_dll_fll_pll_make_tracking_cc(
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long if_freq,
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long fs_in,
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unsigned
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int vector_length,
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gr_msg_queue_sptr queue,
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bool dump, std::string dump_filename,
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int order,
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float fll_bw_hz,
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float pll_bw_hz,
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float dll_bw_hz,
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float early_late_space_chips)
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{
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return gps_l1_ca_dll_fll_pll_tracking_cc_sptr(new Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(satellite, if_freq,
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return gps_l1_ca_dll_fll_pll_tracking_cc_sptr(new Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(if_freq,
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fs_in, vector_length, queue, dump, dump_filename, order, fll_bw_hz, pll_bw_hz,dll_bw_hz,
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early_late_space_chips));
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}
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@@ -82,21 +92,27 @@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::forecast (int noutput_items, gr_vector_i
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}
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Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(Gnss_Satellite satellite,
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long if_freq, long fs_in, unsigned int vector_length, gr_msg_queue_sptr queue, bool dump,
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std::string dump_filename, int order, float fll_bw_hz, float pll_bw_hz, float dll_bw_hz,
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Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(
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long if_freq,
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long fs_in,
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unsigned int vector_length,
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gr_msg_queue_sptr queue,
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bool dump,
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std::string dump_filename,
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int order,
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float fll_bw_hz,
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float pll_bw_hz,
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float dll_bw_hz,
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float early_late_space_chips) :
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gr_block ("Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
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gr_make_io_signature(5, 5, sizeof(double)))
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gr_make_io_signature(1, 1, sizeof(Gnss_Synchro)))
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{
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//gr_sync_decimator ("gps_l1_ca_dll_pll_tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
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// gr_make_io_signature(3, 3, sizeof(float)),vector_length) {
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// initialize internal vars
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d_queue = queue;
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d_dump = dump;
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d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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d_acquisition_gnss_synchro=NULL;
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d_if_freq = if_freq;
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d_fs_in = fs_in;
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d_vector_length = vector_length;
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@@ -154,6 +170,11 @@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::start_tracking()
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/*
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* correct the code phase according to the delay between acq and trk
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*/
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d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
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d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
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d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
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unsigned long int acq_trk_diff_samples;
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float acq_trk_diff_seconds;
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acq_trk_diff_samples = d_sample_counter - d_acq_sample_stamp;//-d_vector_length;
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@@ -194,7 +215,7 @@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::start_tracking()
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d_FLL_wait = 1;
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// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
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code_gen_conplex(&d_ca_code[1], this->d_satellite.get_PRN(), 0);
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code_gen_conplex(&d_ca_code[1], d_acquisition_gnss_synchro->PRN, 0);
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d_ca_code[0] = d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS];
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d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS + 1] = d_ca_code[1];
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@@ -211,8 +232,8 @@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::start_tracking()
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d_code_phase_samples = d_acq_code_phase_samples;
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// DEBUG OUTPUT
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std::cout << "Tracking start on channel " << d_channel << " for satellite " << this->d_satellite << std::endl;
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DLOG(INFO) << "Start tracking for satellite " << this->d_satellite << " received ";
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std::cout << "Tracking start on channel " << d_channel << " for satellite " << d_acquisition_gnss_synchro->System << " "<< d_acquisition_gnss_synchro->PRN << std::endl;
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DLOG(INFO) << "Start tracking for satellite " << d_acquisition_gnss_synchro->System << " "<< d_acquisition_gnss_synchro->PRN << " received ";
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// enable tracking
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d_pull_in = true;
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@@ -295,6 +316,7 @@ Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::~Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc()
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int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
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{
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float code_error_chips = 0;
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float correlation_time_s = 0;
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float PLL_discriminator_hz = 0;
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@@ -325,9 +347,15 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
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consume_each(samples_offset); //shift input to perform alignment with local replica
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return 1;
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}
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// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
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Gnss_Synchro current_synchro_data;
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// Fill the acquisition data
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current_synchro_data=*d_acquisition_gnss_synchro;
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// get the sample in and out pointers
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const gr_complex* in = (gr_complex*) input_items[0]; //block input samples pointer
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double **out = (double **) &output_items[0]; //block output streams pointer
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Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
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// check for samples consistency (this should be done before in the receiver / here only if the source is a file)
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for(int i=0; i<d_current_prn_length_samples; i++)
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@@ -448,21 +476,28 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
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}
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}
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/*!
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* \todo Output the CN0
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*/
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// ########### Output the tracking data to navigation and PVT ##########
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// Output channel 0: Prompt correlator output Q
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*out[0] = (double)d_Prompt.real();
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// Output channel 1: Prompt correlator output I
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*out[1] = (double)d_Prompt.imag();
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// Output channel 2: PRN absolute delay [s]
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*out[2] = d_sample_counter_seconds;
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// Output channel 3: d_acc_carrier_phase_rad [rad]
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*out[3] = (double)d_acc_carrier_phase_rad;
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// Output channel 4: PRN code phase [s]
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*out[4] = (double)d_code_phase_samples * (1/(float)d_fs_in);
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// // Output channel 0: Prompt correlator output Q
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// *out[0] = (double)d_Prompt.real();
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// // Output channel 1: Prompt correlator output I
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// *out[1] = (double)d_Prompt.imag();
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// // Output channel 2: PRN absolute delay [s]
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// *out[2] = d_sample_counter_seconds;
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// // Output channel 3: d_acc_carrier_phase_rad [rad]
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// *out[3] = (double)d_acc_carrier_phase_rad;
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// // Output channel 4: PRN code phase [s]
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// *out[4] = (double)d_code_phase_samples * (1/(float)d_fs_in);
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current_synchro_data.Prompt_I=(double)d_Prompt.real();
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current_synchro_data.Prompt_Q=(double)d_Prompt.imag();
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current_synchro_data.Tracking_timestamp_secs=d_sample_counter_seconds;
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current_synchro_data.Carrier_phase_rads=(double)d_acc_carrier_phase_rad;
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current_synchro_data.Code_phase_secs=(double)d_code_phase_samples * (1/(float)d_fs_in);
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current_synchro_data.CN0_dB_hz=(double)d_CN0_SNV_dB_Hz;
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*out[0] =current_synchro_data;
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// ########## DEBUG OUTPUT
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/*!
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* \todo The stop timer has to be moved to the signal source!
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@@ -474,7 +509,7 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
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{
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d_last_seg = floor(d_sample_counter/d_fs_in);
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std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
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std::cout << "Tracking CH " << d_channel << ": Satellite " << this->d_satellite << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
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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;
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//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;
|
||||
|
||||
}
|
||||
|
||||
@@ -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;
|
||||
|
||||
@@ -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;
|
||||
|
||||
}
|
||||
|
||||
@@ -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;
|
||||
|
||||
Reference in New Issue
Block a user