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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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This commit is contained in:
Carles Fernandez 2019-06-18 12:52:10 +02:00
commit dd2a685d80
16 changed files with 191 additions and 242 deletions
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7
src/algorithms/libs/gnss_sdr_flags.cc
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@ -67,9 +67,12 @@ DEFINE_int32(cn0_samples, 20, "Number of correlator outputs used for CN0 estimat
DEFINE_int32(cn0_min, 25, "Minimum valid CN0 (in dB-Hz).");
DEFINE_int32(max_lock_fail, 50, "Maximum number of lock failures before dropping a satellite.");
DEFINE_int32(max_carrier_lock_fail, 10000, "Maximum number of carrier lock failures before dropping a satellite.");
DEFINE_double(carrier_lock_th, 0.85, "Carrier lock threshold (in rad).");
DEFINE_int32(max_lock_fail, 50, "Maximum number of code lock failures before dropping a satellite.");
//cos(2xError_angle)=0.7 -> Error_angle=22 deg
DEFINE_double(carrier_lock_th, 0.7, "Carrier lock threshold (in rad).");
DEFINE_string(RINEX_version, "-", "If defined, specifies the RINEX version (2.11 or 3.02). Overrides the configuration file.");

3
src/algorithms/libs/gnss_sdr_flags.h
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@ -50,7 +50,8 @@ DECLARE_int32(doppler_step); //!< If defined, sets the frequency step in the se
// Declare flags for tracking blocks
DECLARE_int32(cn0_samples); //!< Number of correlator outputs used for CN0 estimation.
DECLARE_int32(cn0_min); //!< Minimum valid CN0 (in dB-Hz).
DECLARE_int32(max_lock_fail); //!< Maximum number of lock failures before dropping a satellite.
DECLARE_int32(max_lock_fail); //!< Maximum number of code lock failures before dropping a satellite.
DECLARE_int32(max_carrier_lock_fail); //!< Maximum number of carrier lock failures before dropping a satellite.
DECLARE_double(carrier_lock_th); //!< Carrier lock threshold (in rad).
DECLARE_double(dll_bw_hz); //!< Bandwidth of the DLL low pass filter, in Hz (overrides the configuration file).
DECLARE_double(pll_bw_hz); //!< Bandwidth of the PLL low pass filter, in Hz (overrides the configuration file).

9
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
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@ -97,7 +97,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm;
d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_PART_SYMBOLS * 30; //rise alarm 30 seconds without valid tlm
d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_SYMBOLS * 30; //rise alarm 60 seconds without valid tlm
break;
}
@ -127,7 +127,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_secondary_code_samples[i] = -1;
}
}
d_max_symbols_without_valid_frame = GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_FNAV_SYMBOLS_PER_PAGE * 30; //rise alarm 30 seconds without valid tlm
d_max_symbols_without_valid_frame = GALILEO_FNAV_CODES_PER_PAGE * 10; //rise alarm 100 seconds without valid tlm
break;
}
default:
@ -452,8 +452,10 @@ void galileo_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite
void galileo_telemetry_decoder_gs::reset()
{
gr::thread::scoped_lock lock(d_setlock);
d_last_valid_preamble = d_sample_counter;
d_sent_tlm_failed_msg = false;
d_stat = 0;
DLOG(INFO) << "Telemetry decoder reset for satellite " << d_satellite;
}
@ -501,11 +503,12 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
d_flag_preamble = false;
// check if there is a problem with the telemetry of the current satellite
if (d_stat < 1 and d_sent_tlm_failed_msg == false)
if (d_sent_tlm_failed_msg == false)
{
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
{
int message = 1; //bad telemetry
DLOG(INFO) << "sent msg sat " << this->d_satellite;
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
d_sent_tlm_failed_msg = true;
}

9
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
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@ -430,7 +430,14 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
{
DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (corr_value < 0) flag_PLL_180_deg_phase_locked = true;
if (corr_value < 0)
{
flag_PLL_180_deg_phase_locked = true;
}
else
{
flag_PLL_180_deg_phase_locked = false;
}
d_stat = 2;
}
else

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_gs.cc
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@ -64,7 +64,7 @@ gps_l5_telemetry_decoder_gs::gps_l5_telemetry_decoder_gs(
this->message_port_register_out(pmt::mp("telemetry_to_trk"));
d_last_valid_preamble = 0;
d_sent_tlm_failed_msg = false;
d_max_symbols_without_valid_frame = GPS_L5_CNAV_DATA_PAGE_BITS * GPS_L5_SAMPLES_PER_SYMBOL * GPS_L5_SYMBOLS_PER_BIT * 5; //rise alarm if 5 consecutive subframes have no valid CRC
d_max_symbols_without_valid_frame = GPS_L5_CNAV_DATA_PAGE_BITS * GPS_L5_SAMPLES_PER_SYMBOL * GPS_L5_SYMBOLS_PER_BIT * 20; //rise alarm if 20 consecutive subframes have no valid CRC
// initialize internal vars
d_dump = dump;

33
src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc
View File

@ -113,8 +113,7 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
@ -152,30 +151,12 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking(
trk_param.system = 'C';
char sig_[3] = "B1";
std::memcpy(trk_param.signal, sig_, 3);
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{
cn0_samples = FLAGS_cn0_samples;
}
trk_param.cn0_samples = cn0_samples;
int cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25)
{
cn0_min = FLAGS_cn0_min;
}
trk_param.cn0_min = cn0_min;
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
if (FLAGS_max_lock_fail != 50)
{
max_lock_fail = FLAGS_max_lock_fail;
}
trk_param.max_lock_fail = max_lock_fail;
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
if (FLAGS_carrier_lock_th != 0.85)
{
carrier_lock_th = FLAGS_carrier_lock_th;
}
trk_param.carrier_lock_th = carrier_lock_th;
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")

20
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc
View File

@ -108,8 +108,7 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
@ -147,18 +146,11 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
trk_param.system = 'C';
char sig_[3] = "B3";
std::memcpy(trk_param.signal, sig_, 3);
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples;
trk_param.cn0_samples = cn0_samples;
int cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min;
trk_param.cn0_min = cn0_min;
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail;
trk_param.max_lock_fail = max_lock_fail;
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th;
trk_param.carrier_lock_th = carrier_lock_th;
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")

32
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
View File

@ -128,8 +128,7 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
@ -162,30 +161,11 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
trk_param.system = 'E';
char sig_[3] = "1B";
std::memcpy(trk_param.signal, sig_, 3);
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{
cn0_samples = FLAGS_cn0_samples;
}
trk_param.cn0_samples = cn0_samples;
int cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25)
{
cn0_min = FLAGS_cn0_min;
}
trk_param.cn0_min = cn0_min;
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
if (FLAGS_max_lock_fail != 50)
{
max_lock_fail = FLAGS_max_lock_fail;
}
trk_param.max_lock_fail = max_lock_fail;
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
if (FLAGS_carrier_lock_th != 0.85)
{
carrier_lock_th = FLAGS_carrier_lock_th;
}
trk_param.carrier_lock_th = carrier_lock_th;
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")

34
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
View File

@ -123,8 +123,7 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
@ -135,7 +134,7 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
int vector_length = std::round(fs_in / (GALILEO_E5A_CODE_CHIP_RATE_HZ / GALILEO_E5A_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
@ -159,30 +158,11 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
trk_param.system = 'E';
char sig_[3] = "5X";
std::memcpy(trk_param.signal, sig_, 3);
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{
cn0_samples = FLAGS_cn0_samples;
}
trk_param.cn0_samples = cn0_samples;
int cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25)
{
cn0_min = FLAGS_cn0_min;
}
trk_param.cn0_min = cn0_min;
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
if (FLAGS_max_lock_fail != 50)
{
max_lock_fail = FLAGS_max_lock_fail;
}
trk_param.max_lock_fail = max_lock_fail;
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
if (FLAGS_carrier_lock_th != 0.85)
{
carrier_lock_th = FLAGS_carrier_lock_th;
}
trk_param.carrier_lock_th = carrier_lock_th;
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")

32
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
View File

@ -129,8 +129,7 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
@ -165,30 +164,11 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
trk_param.system = 'G';
char sig_[3] = "1C";
std::memcpy(trk_param.signal, sig_, 3);
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{
cn0_samples = FLAGS_cn0_samples;
}
trk_param.cn0_samples = cn0_samples;
int cn0_min = configuration->property(role + ".cn0_min", 30);
if (FLAGS_cn0_min != 25)
{
cn0_min = FLAGS_cn0_min;
}
trk_param.cn0_min = cn0_min;
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
if (FLAGS_max_lock_fail != 50)
{
max_lock_fail = FLAGS_max_lock_fail;
}
trk_param.max_lock_fail = max_lock_fail;
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.80);
if (FLAGS_carrier_lock_th != 0.85)
{
carrier_lock_th = FLAGS_carrier_lock_th;
}
trk_param.carrier_lock_th = carrier_lock_th;
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")

32
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc
View File

@ -117,8 +117,7 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_HZ) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
trk_param.vector_length = vector_length;
@ -141,30 +140,11 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
trk_param.system = 'G';
char sig_[3] = "2S";
std::memcpy(trk_param.signal, sig_, 3);
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{
cn0_samples = FLAGS_cn0_samples;
}
trk_param.cn0_samples = cn0_samples;
int cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25)
{
cn0_min = FLAGS_cn0_min;
}
trk_param.cn0_min = cn0_min;
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
if (FLAGS_max_lock_fail != 50)
{
max_lock_fail = FLAGS_max_lock_fail;
}
trk_param.max_lock_fail = max_lock_fail;
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
if (FLAGS_carrier_lock_th != 0.85)
{
carrier_lock_th = FLAGS_carrier_lock_th;
}
trk_param.carrier_lock_th = carrier_lock_th;
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")

35
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
View File

@ -130,13 +130,12 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", 2.0);
trk_param.pull_in_time_s = pull_in_time_s;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_HZ) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)));
trk_param.vector_length = vector_length;
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
@ -160,30 +159,12 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
trk_param.system = 'G';
char sig_[3] = "L5";
std::memcpy(trk_param.signal, sig_, 3);
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{
cn0_samples = FLAGS_cn0_samples;
}
trk_param.cn0_samples = cn0_samples;
int cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25)
{
cn0_min = FLAGS_cn0_min;
}
trk_param.cn0_min = cn0_min;
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
if (FLAGS_max_lock_fail != 50)
{
max_lock_fail = FLAGS_max_lock_fail;
}
trk_param.max_lock_fail = max_lock_fail;
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.75);
if (FLAGS_carrier_lock_th != 0.85)
{
carrier_lock_th = FLAGS_carrier_lock_th;
}
trk_param.carrier_lock_th = carrier_lock_th;
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
//################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")

72
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -99,6 +99,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
this->set_msg_handler(pmt::mp("telemetry_to_trk"), boost::bind(&dll_pll_veml_tracking::msg_handler_telemetry_to_trk, this, _1));
// initialize internal vars
d_dll_filt_history.set_capacity(2000);
d_veml = false;
d_cloop = true;
d_pull_in_transitory = true;
@ -449,6 +450,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_carrier_lock_test = 1.0;
d_CN0_SNV_dB_Hz = 0.0;
d_carrier_lock_fail_counter = 0;
d_code_lock_fail_counter = 0;
d_carrier_lock_threshold = trk_parameters.carrier_lock_th;
d_Prompt_Data = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_cn0_smoother = Exponential_Smoother();
@ -456,6 +458,13 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
{
d_cn0_smoother.set_samples_for_initialization(200 / static_cast<int>(d_code_period * 1000.0));
}
d_carrier_lock_test_smoother = Exponential_Smoother();
d_carrier_lock_test_smoother.set_alpha(0.002);
d_carrier_lock_test_smoother.set_min_value(-1.0);
d_carrier_lock_test_smoother.set_offset(0.0);
d_carrier_lock_test_smoother.set_samples_for_initialization(25);
d_acquisition_gnss_synchro = nullptr;
d_channel = 0;
d_acq_code_phase_samples = 0.0;
@ -517,6 +526,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_dump = false;
}
}
d_corrected_doppler = false;
}
@ -545,7 +555,7 @@ void dll_pll_veml_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
{
DLOG(INFO) << "Telemetry fault received in ch " << this->d_channel;
gr::thread::scoped_lock lock(d_setlock);
d_carrier_lock_fail_counter = 10000; //force loss-of-lock condition
d_carrier_lock_fail_counter = 100000; //force loss-of-lock condition
break;
}
default:
@ -722,6 +732,7 @@ void dll_pll_veml_tracking::start_tracking()
std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
d_carrier_lock_fail_counter = 0;
d_code_lock_fail_counter = 0;
d_rem_code_phase_samples = 0.0;
d_rem_carr_phase_rad = 0.0;
d_rem_code_phase_chips = 0.0;
@ -762,6 +773,7 @@ void dll_pll_veml_tracking::start_tracking()
d_cloop = true;
d_pull_in_transitory = true;
d_Prompt_circular_buffer.clear();
d_corrected_doppler = false;
}
@ -871,11 +883,13 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status(double coh_integration_
float d_CN0_SNV_dB_Hz_raw = cn0_svn_estimator(d_Prompt_buffer, trk_parameters.cn0_samples, static_cast<float>(coh_integration_time_s));
d_CN0_SNV_dB_Hz = d_cn0_smoother.smooth(d_CN0_SNV_dB_Hz_raw);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, trk_parameters.cn0_samples);
d_carrier_lock_test = d_carrier_lock_test_smoother.smooth(carrier_lock_detector(d_Prompt_buffer, 1));
//d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, trk_parameters.cn0_samples);
// Loss of lock detection
if (!d_pull_in_transitory)
{
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < trk_parameters.cn0_min)
//d_carrier_lock_test < d_carrier_lock_threshold or
if (d_carrier_lock_test < d_carrier_lock_threshold)
{
d_carrier_lock_fail_counter++;
}
@ -886,13 +900,28 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status(double coh_integration_
d_carrier_lock_fail_counter--;
}
}
if (d_CN0_SNV_dB_Hz < trk_parameters.cn0_min)
{
d_code_lock_fail_counter++;
}
if (d_carrier_lock_fail_counter > trk_parameters.max_lock_fail)
else
{
if (d_code_lock_fail_counter > 0)
{
d_code_lock_fail_counter--;
}
}
}
if (d_carrier_lock_fail_counter > trk_parameters.max_carrier_lock_fail or d_code_lock_fail_counter > trk_parameters.max_code_lock_fail)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
LOG(INFO) << "Loss of lock in channel " << d_channel
<< " (carrier_lock_fail_counter:" << d_carrier_lock_fail_counter
<< " code_lock_fail_counter : " << d_code_lock_fail_counter << ")";
this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_code_lock_fail_counter = 0;
return false;
}
return true;
@ -990,9 +1019,25 @@ void dll_pll_veml_tracking::run_dll_pll()
}
// Code discriminator filter
d_code_error_filt_chips = d_code_loop_filter.apply(d_code_error_chips); // [chips/second]
// New code Doppler frequency estimation
d_code_freq_chips = (1.0 + (d_carrier_doppler_hz / d_signal_carrier_freq)) * d_code_chip_rate - d_code_error_filt_chips;
// Experimental: detect Carrier Doppler vs. Code Doppler incoherence and correct the Carrier Doppler
if (d_pull_in_transitory == false and d_corrected_doppler == false)
{
d_dll_filt_history.push_back(static_cast<float>(d_code_error_filt_chips));
if (d_dll_filt_history.full())
{
float avg_code_error_chips_s = std::accumulate(d_dll_filt_history.begin(), d_dll_filt_history.end(), 0) / static_cast<float>(d_dll_filt_history.capacity());
if (fabs(avg_code_error_chips_s) > 1.0)
{
float carrier_doppler_error_hz = static_cast<float>(d_signal_carrier_freq) * avg_code_error_chips_s / static_cast<float>(d_code_chip_rate);
LOG(INFO) << "Detected and corrected carrier doppler error: " << carrier_doppler_error_hz << " [Hz] on sat " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
d_carrier_loop_filter.initialize(d_carrier_doppler_hz - carrier_doppler_error_hz);
d_corrected_doppler = true;
}
}
}
}
@ -1578,6 +1623,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
if (trk_parameters.pull_in_time_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
{
d_pull_in_transitory = false;
d_carrier_lock_fail_counter = 0;
d_code_lock_fail_counter = 0;
}
}
switch (d_state)
@ -1611,8 +1658,9 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_state = 2;
d_sample_counter += samples_offset; // count for the processed samples
d_cn0_smoother.reset();
d_carrier_lock_test_smoother.reset();
DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)";
LOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)";
DLOG(INFO) << "PULL-IN Doppler [Hz] = " << d_carrier_doppler_hz
<< ". PULL-IN Code Phase [samples] = " << d_acq_code_phase_samples;
@ -1647,6 +1695,9 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
// enable write dump file this cycle (valid DLL/PLL cycle)
log_data(false);
if (!d_pull_in_transitory)
{
if (d_secondary)
{
// ####### SECONDARY CODE LOCK #####
@ -1707,7 +1758,11 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
{
next_state = true;
}
}
else
{
next_state = false; //keep in state 2 during pull-in transitory
}
// ########### Output the tracking results to Telemetry block ##########
if (interchange_iq)
{
@ -1842,7 +1897,6 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_extend_correlation_symbols_count = 0;
d_state = 4;
}
log_data(true);
break;
}
case 4: // narrow tracking

6
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
View File

@ -113,6 +113,8 @@ private:
int32_t d_preamble_length_symbols;
boost::circular_buffer<float> d_symbol_history;
// dll filter buffer
boost::circular_buffer<float> d_dll_filt_history;
// tracking state machine
int32_t d_state;
@ -170,6 +172,7 @@ private:
// tracking vars
bool d_pull_in_transitory;
bool d_corrected_doppler;
double d_current_correlation_time_s;
double d_carr_phase_error_hz;
double d_carr_freq_error_hz;
@ -193,13 +196,14 @@ private:
// CN0 estimation and lock detector
int32_t d_cn0_estimation_counter;
int32_t d_carrier_lock_fail_counter;
int32_t d_code_lock_fail_counter;
double d_carrier_lock_test;
double d_CN0_SNV_dB_Hz;
double d_carrier_lock_threshold;
boost::circular_buffer<gr_complex> d_Prompt_circular_buffer;
gr_complex *d_Prompt_buffer;
Exponential_Smoother d_cn0_smoother;
Exponential_Smoother d_carrier_lock_test_smoother;
// file dump
std::ofstream d_dump_file;
std::string d_dump_filename;

14
src/algorithms/tracking/libs/dll_pll_conf.cc
View File

@ -31,6 +31,7 @@
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include <cstring>
Dll_Pll_Conf::Dll_Pll_Conf()
@ -45,7 +46,7 @@ Dll_Pll_Conf::Dll_Pll_Conf()
dump_filename = std::string("./dll_pll_dump.dat");
enable_fll_pull_in = false;
enable_fll_steady_state = false;
pull_in_time_s = 2;
pull_in_time_s = 10;
fll_filter_order = 1;
pll_filter_order = 3;
dll_filter_order = 2;
@ -61,11 +62,12 @@ Dll_Pll_Conf::Dll_Pll_Conf()
early_late_space_narrow_chips = 0.1;
very_early_late_space_narrow_chips = 0.1;
extend_correlation_symbols = 5;
cn0_samples = 20;
carrier_lock_det_mav_samples = 20;
cn0_min = 25;
max_lock_fail = 50;
carrier_lock_th = 0.85;
cn0_samples = FLAGS_cn0_samples;
carrier_lock_det_mav_samples = FLAGS_cn0_samples;
cn0_min = FLAGS_cn0_min;
max_carrier_lock_fail = FLAGS_max_carrier_lock_fail;
max_code_lock_fail = FLAGS_max_lock_fail;
carrier_lock_th = FLAGS_carrier_lock_th;
track_pilot = false;
system = 'G';
char sig_[3] = "1C";

3
src/algorithms/tracking/libs/dll_pll_conf.h
View File

@ -69,7 +69,8 @@ public:
int32_t cn0_samples;
int32_t carrier_lock_det_mav_samples;
int32_t cn0_min;
int32_t max_lock_fail;
int32_t max_code_lock_fail;
int32_t max_carrier_lock_fail;
uint32_t smoother_length;
double carrier_lock_th;
bool track_pilot;