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Merge branch 'galileo_e5a' of https://github.com/marc-sales/gnss-sdr 

into next

Conflicts:
	src/core/receiver/gnss_block_factory.cc
	src/core/receiver/gnss_flowgraph.cc
This commit is contained in:
Carles Fernandez 2014-09-05 18:51:08 +02:00
parent 597bb9c035 91964ffbf3
commit dfd9be34a9
53 changed files with 7978 additions and 241 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
conf/gnss-sdr_GPS_L1_nsr.conf
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@ -31,7 +31,7 @@ GNSS-SDR.SUPL_CI=0x31b0
SignalSource.implementation=Nsr_File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/Volumes/BOOTCAMP/signals/ifen/E1L1_FE0_Band0.stream
SignalSource.filename=../../../Documents/workspace/code2/trunk/data/E1L1_FE0_Band0.stream
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte

2
conf/gnss-sdr_Galileo_E1_short.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=/Volumes/BOOTCAMP/signals/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN_run2.dat
SignalSource.filename=../../../Documents/workspace/code2/trunk/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=short

433
conf/gnss-sdr_Galileo_E5a.conf Normal file
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@ -0,0 +1,433 @@
; Default configuration file
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
GNSS-SDR.internal_fs_hz=32000000
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SUPL RRLP GPS assistance configuration #####
;GNSS-SDR.SUPL_gps_enabled=false
;GNSS-SDR.SUPL_read_gps_assistance_xml=false
;GNSS-SDR.SUPL_gps_ephemeris_server=supl.nokia.com
;GNSS-SDR.SUPL_gps_ephemeris_port=7275
;GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
;GNSS-SDR.SUPL_gps_acquisition_port=7275
;GNSS-SDR.SUPL_MCC=244
;GNSS-SDR.SUPL_MNS=5
;GNSS-SDR.SUPL_LAC=0x59e2
;GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
;SignalSource.filename=/home/marc/E5a_acquisitions/signal_source_5X_primary.dat
;SignalSource.filename=/home/marc/E5a_acquisitions/galileo_E5_8M_r2_upsampled_12.dat
;SignalSource.filename=/home/marc/E5a_acquisitions/Tiered_sim_4sat_stup4_2s_up.dat
;SignalSource.filename=/home/marc/E5a_acquisitions/signal_source_sec21M_long.dat
SignalSource.filename=/home/marc/E5a_acquisitions/32MS_complex.dat;
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=32000000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1176450000
;#gain: Front-end Gain in [dB]
SignalSource.gain=50
;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
SignalSource.subdevice=B:0
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
;#implementation: Use [Pass_Through] or [Signal_Conditioner]
;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
;SignalConditioner.implementation=Signal_Conditioner
SignalConditioner.implementation=Pass_Through
;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version.
;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Pass_Through
;######### INPUT_FILTER CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
;InputFilter.implementation=Fir_Filter
;InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.implementation=Pass_Through
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter.number_of_bands=2
;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
;#The number of band_begin and band_end elements must match the number of bands
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.45
InputFilter.band2_begin=0.55
InputFilter.band2_end=1.0
;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
;#The number of ampl_begin and ampl_end elements must match the number of bands
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
;#band_error: weighting applied to each band (usually 1).
;#The number of band_error elements must match the number of bands
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter.filter_type=bandpass
;#grid_density: determines how accurately the filter will be constructed.
;The minimum value is 16; higher values are slower to compute the filter.
InputFilter.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
InputFilter.sampling_frequency=32000000
InputFilter.IF=0
;######### RESAMPLER CONFIG ############
;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through
;#dump: Dump the resamplered data to a file.
Resampler.dump=false
;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=8000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available satellite channels.
Channels.count=1
;#in_acquisition: Number of channels simultaneously acquiring
Channels.in_acquisition=1
;#system: GPS, GLONASS, Galileo, SBAS or Compass
;#if the option is disabled by default is assigned GPS
Channel.system=Galileo
;#signal:
;# "1C" GPS L1 C/A
;# "1P" GPS L1 P
;# "1W" GPS L1 Z-tracking and similar (AS on)
;# "1Y" GPS L1 Y
;# "1M" GPS L1 M
;# "1N" GPS L1 codeless
;# "2C" GPS L2 C/A
;# "2D" GPS L2 L1(C/A)+(P2-P1) semi-codeless
;# "2S" GPS L2 L2C (M)
;# "2L" GPS L2 L2C (L)
;# "2X" GPS L2 L2C (M+L)
;# "2P" GPS L2 P
;# "2W" GPS L2 Z-tracking and similar (AS on)
;# "2Y" GPS L2 Y
;# "2M" GPS GPS L2 M
;# "2N" GPS L2 codeless
;# "5I" GPS L5 I
;# "5Q" GPS L5 Q
;# "5X" GPS L5 I+Q
;# "1C" GLONASS G1 C/A
;# "1P" GLONASS G1 P
;# "2C" GLONASS G2 C/A (Glonass M)
;# "2P" GLONASS G2 P
;# "1A" GALILEO E1 A (PRS)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1C" GALILEO E1 C (no data)
;# "1X" GALILEO E1 B+C
;# "1Z" GALILEO E1 A+B+C
;# "5I" GALILEO E5a I (F/NAV OS)
;# "5Q" GALILEO E5a Q (no data)
;# "5X" GALILEO E5a I+Q
;# "7I" GALILEO E5b I
;# "7Q" GALILEO E5b Q
;# "7X" GALILEO E5b I+Q
;# "8I" GALILEO E5 I
;# "8Q" GALILEO E5 Q
;# "8X" GALILEO E5 I+Q
;# "6A" GALILEO E6 A
;# "6B" GALILEO E6 B
;# "6C" GALILEO E6 C
;# "6X" GALILEO E6 B+C
;# "6Z" GALILEO E6 A+B+C
;# "1C" SBAS L1 C/A
;# "5I" SBAS L5 I
;# "5Q" SBAS L5 Q
;# "5X" SBAS L5 I+Q
;# "2I" COMPASS E2 I
;# "2Q" COMPASS E2 Q
;# "2X" COMPASS E2 IQ
;# "7I" COMPASS E5b I
;# "7Q" COMPASS E5b Q
;# "7X" COMPASS E5b IQ
;# "6I" COMPASS E6 I
;# "6Q" COMPASS E6 Q
;# "6X" COMPASS E6 IQ
;#if the option is disabled by default is assigned "1C" GPS L1 C/A
Channel.signal=5X
;######### SPECIFIC CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;######### CHANNEL 0 CONFIG ############
Channel0.system=Galileo
Channel0.signal=5X
;#satellite: Satellite PRN ID for this channel. Disable this option to random search
Channel0.satellite=19
;Channel0.repeat_satellite=true
;######### CHANNEL 1 CONFIG ############
;Channel1.system=Galileo
;Channel1.signal=5Q
;Channel1.satellite=12
;######### CHANNEL 2 CONFIG ############
;Channel2.system=Galileo
;Channel2.signal=5Q
;Channel2.satellite=11
;######### CHANNEL 3 CONFIG ############
;Channel3.system=Galileo
;Channel3.signal=5Q
;Channel3.satellite=20
;######### ACQUISITION GLOBAL CONFIG ############
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition.dump=true
;#filename: Log path and filename
Acquisition.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF
;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition.threshold=0.001
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition.pfa=0.0003
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition.doppler_max=10000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition.doppler_step=250
;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take
;maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] (should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition])
Acquisition.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition.max_dwells=1
;#CAF filter: **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
Acquisition.CAF_window_hz=0
;#Zero_padding: **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions.
;#If set to 1 it is ON, if set to 0 it is OFF.
Acquisition.Zero_padding=0
;######### ACQUISITION CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;######### ACQUISITION CH 0 CONFIG ############
;Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition
;Acquisition0.threshold=0.005
;Acquisition0.pfa=0.001
;Acquisition0.doppler_max=10000
;Acquisition0.doppler_step=250
;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false
;Acquisition0.repeat_satellite = false
;######### ACQUISITION CH 1 CONFIG ############
;Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition
;Acquisition1.threshold=0.005
;Acquisition1.pfa=0.001
;Acquisition1.doppler_max=10000
;Acquisition1.doppler_step=250
;Acquisition1.repeat_satellite = false
;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
Tracking.implementation=Galileo_E5a_DLL_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
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking.dump=true
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking.dump_filename=./tracking_ch_
;#pll_bw_hz_init: **Only for E5a** PLL loop filter bandwidth during initialization [Hz]
Tracking.pll_bw_hz_init=20.0;
;#dll_bw_hz_init: **Only for E5a** DLL loop filter bandwidth during initialization [Hz]
Tracking.dll_bw_hz_init=20.0;
;#dll_ti_ms: **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms]
;Tracking.ti_ms=3;
Tracking.ti_ms=1;
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
;Tracking.pll_bw_hz=5.0;
Tracking.pll_bw_hz=20.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
;Tracking.dll_bw_hz=2.0;
Tracking.dll_bw_hz=20.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
;Tracking.fll_bw_hz=10.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking.order=2;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking.early_late_space_chips=0.5;
;######### TELEMETRY DECODER CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A.
TelemetryDecoder.implementation=Galileo_E5a_Telemetry_Decoder
TelemetryDecoder.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
;Use [Galileo_E1B_Observables] for E5a also.
Observables.implementation=Galileo_E1B_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
;Use [GALILEO_E1_PVT] for E5a also.
PVT.implementation=GALILEO_E1_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=100
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=true
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500
;# RINEX, KML, and NMEA output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=true;
;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;######### OUTPUT_FILTER CONFIG ############
;# Receiver output filter: Leave this block disabled in this version
OutputFilter.implementation=Null_Sink_Output_Filter
OutputFilter.filename=data/gnss-sdr.dat
OutputFilter.item_type=gr_complex

2
conf/gnss-sdr_Hybrid_nsr.conf
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@ -19,7 +19,7 @@ ControlThread.wait_for_flowgraph=false
SignalSource.implementation=Nsr_File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/Volumes/BOOTCAMP/signals/ifen/E1L1_FE0_Band0.stream
SignalSource.filename=../../../Documents/workspace/code2/trunk/data/E1L1_FE0_Band0.stream
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte

2
conf/gnss-sdr_SBAS_short.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=/Volumes/BOOTCAMP/signals/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN_run2.dat
SignalSource.filename=../../../Documents/workspace/code2/trunk/data/2013_09_11_GNSS_SIGNAL_at_CTTC_SPAIN_run2.dat
;#item_type: Type and resolution for each of the signal samples.
;#Use gr_complex for 32 bits float I/Q or short for I/Q interleaved short integer.

2
src/algorithms/acquisition/adapters/CMakeLists.txt
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@ -30,6 +30,7 @@ if(OPENCL_FOUND)
galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
galileo_e1_pcps_tong_ambiguous_acquisition.cc
galileo_e1_pcps_8ms_ambiguous_acquisition.cc
galileo_e5a_noncoherent_iq_acquisition_caf.cc
)
else(OPENCL_FOUND)
set(ACQ_ADAPTER_SOURCES
@ -44,6 +45,7 @@ else(OPENCL_FOUND)
galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
galileo_e1_pcps_tong_ambiguous_acquisition.cc
galileo_e1_pcps_8ms_ambiguous_acquisition.cc
galileo_e5a_noncoherent_iq_acquisition_caf.cc
)
endif(OPENCL_FOUND)

328
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc Normal file
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@ -0,0 +1,328 @@
/*!
* \file galileo_e5a_noncoherent_iq_acquisition_caf.cc
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* <li> Marc Molina, 2013. marc.molina.pena@gmail.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include <iostream>
#include <boost/lexical_cast.hpp>
#include <stdexcept>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <gnuradio/msg_queue.h>
#include "galileo_e5_signal_processing.h"
#include "Galileo_E5a.h"
#include "configuration_interface.h"
using google::LogMessage;
GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(queue)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "../data/acquisition.dat";
DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type",
default_item_type);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
if_ = configuration_->property(role + ".ifreq", 0);
dump_ = configuration_->property(role + ".dump", false);
shift_resolution_ = configuration_->property(role + ".doppler_max", 15);
CAF_window_hz_ = configuration_->property(role + ".CAF_window_hz",0);
Zero_padding = configuration_->property(role + ".Zero_padding",0);
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
if (sampled_ms_ > 3)
{
sampled_ms_=3;
DLOG(INFO) << "Coherent integration time should be 3 ms or less. Changing to 3ms ";
std::cout<<"Too high coherent integration time. Changing to 3ms" << std::endl;
}
if (Zero_padding > 0)
{
sampled_ms_ = 2;
DLOG(INFO) << "Zero padding activated. Changing to 1ms code + 1ms zero padding ";
std::cout<<"Zero padding activated. Changing to 1ms code + 1ms zero padding" << std::endl;
}
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
dump_filename_ = configuration_->property(role + ".dump_filename",
default_dump_filename);
//--- Find number of samples per spreading code (1ms)-------------------------
code_length_ = round(fs_in_/ Galileo_E5a_CODE_CHIP_RATE_HZ*Galileo_E5a_CODE_LENGTH_CHIPS);
vector_length_=code_length_ * sampled_ms_;
codeI_= new gr_complex[vector_length_];
codeQ_= new gr_complex[vector_length_];
both_signal_components = false;
std::string sig_ = configuration_->property("Channel.signal", std::string("5X"));
if (sig_.at(0) == '5' && sig_.at(1) == 'X')
{
both_signal_components = true;
}
if (item_type_.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(sampled_ms_, max_dwells_,
shift_resolution_, if_, fs_in_, code_length_, code_length_,
bit_transition_flag_, queue_, dump_, dump_filename_, both_signal_components, CAF_window_hz_,Zero_padding);
}
else
{
LOG(WARNING) << item_type_
<< " unknown acquisition item type";
}
}
GalileoE5aNoncoherentIQAcquisitionCaf::~GalileoE5aNoncoherentIQAcquisitionCaf()
{
delete[] codeI_;
delete[] codeQ_;
}
void GalileoE5aNoncoherentIQAcquisitionCaf::set_channel(unsigned int channel)
{
channel_ = channel;
if (item_type_.compare("gr_complex") == 0)
{
acquisition_cc_->set_channel(channel_);
}
}
void GalileoE5aNoncoherentIQAcquisitionCaf::set_threshold(float threshold)
{
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa==0.0) pfa = configuration_->property(role_+".pfa", 0.0);
if(pfa==0.0)
{
threshold_ = threshold;
}
else
{
threshold_ = calculate_threshold(pfa);
}
DLOG(INFO) <<"Channel "<<channel_<<" Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0)
{
acquisition_cc_->set_threshold(threshold_);
}
}
void GalileoE5aNoncoherentIQAcquisitionCaf::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
if (item_type_.compare("gr_complex") == 0)
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
}
void GalileoE5aNoncoherentIQAcquisitionCaf::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
if (item_type_.compare("gr_complex") == 0)
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
}
void GalileoE5aNoncoherentIQAcquisitionCaf::set_channel_queue(
concurrent_queue<int> *channel_internal_queue)
{
channel_internal_queue_ = channel_internal_queue;
if (item_type_.compare("gr_complex") == 0)
{
acquisition_cc_->set_channel_queue(channel_internal_queue_);
}
}
void GalileoE5aNoncoherentIQAcquisitionCaf::set_gnss_synchro(
Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0)
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
}
signed int GalileoE5aNoncoherentIQAcquisitionCaf::mag()
{
if (item_type_.compare("gr_complex") == 0)
{
return acquisition_cc_->mag();
}
else
{
return 0;
}
}
void GalileoE5aNoncoherentIQAcquisitionCaf::init()
{
acquisition_cc_->init();
set_local_code();
}
void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
{
if (item_type_.compare("gr_complex")==0)
{
std::complex<float>* codeI = new std::complex<float>[code_length_];
std::complex<float>* codeQ = new std::complex<float>[code_length_];
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{
char a[3];
strcpy(a,"5I");
galileo_e5_a_code_gen_complex_sampled(codeI, a,
gnss_synchro_->PRN, fs_in_, 0);
strcpy(a,"5Q");
galileo_e5_a_code_gen_complex_sampled(codeQ, a,
gnss_synchro_->PRN, fs_in_, 0);
}
else
{
galileo_e5_a_code_gen_complex_sampled(codeI, gnss_synchro_->Signal,
gnss_synchro_->PRN, fs_in_, 0);
}
// WARNING: 3ms are coherently integrated. Secondary sequence (1,1,1)
// is generated, and modulated in the 'block'.
if (Zero_padding == 0) // if no zero_padding
{
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(codeI_[i*code_length_]), codeI,
sizeof(gr_complex)*code_length_);
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{
memcpy(&(codeQ_[i*code_length_]), codeQ,
sizeof(gr_complex)*code_length_);
}
}
}
else
{
// 1ms code + 1ms zero padding
memcpy(&(codeI_[0]), codeI,
sizeof(gr_complex)*code_length_);
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{
memcpy(&(codeQ_[0]), codeQ,
sizeof(gr_complex)*code_length_);
}
}
acquisition_cc_->set_local_code(codeI_,codeQ_);
delete[] codeI;
delete[] codeQ;
}
}
void GalileoE5aNoncoherentIQAcquisitionCaf::reset()
{
if (item_type_.compare("gr_complex") == 0)
{
acquisition_cc_->set_active(true);
}
}
float GalileoE5aNoncoherentIQAcquisitionCaf::calculate_threshold(float pfa)
{
//Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
{
frequency_bins++;
}
DLOG(INFO) << "Channel " << channel_<< " Pfa = " << pfa;
unsigned int ncells = vector_length_*frequency_bins;
double exponent = 1/(double)ncells;
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist (lambda);
float threshold = (float)quantile(mydist,val);
return threshold;
}
void GalileoE5aNoncoherentIQAcquisitionCaf::connect(gr::top_block_sptr top_block)
{
// Nothing to connect internally
}
void GalileoE5aNoncoherentIQAcquisitionCaf::disconnect(gr::top_block_sptr top_block)
{
// Nothing to disconnect internally
}
gr::basic_block_sptr GalileoE5aNoncoherentIQAcquisitionCaf::get_left_block()
{
return acquisition_cc_;
}
gr::basic_block_sptr GalileoE5aNoncoherentIQAcquisitionCaf::get_right_block()
{
return acquisition_cc_;
}

165
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h Normal file
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@ -0,0 +1,165 @@
/*!
* \file galileo_e5a_noncoherent_iq_acquisition_caf.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* <li> Marc Molina, 2013. marc.molina.pena@gmail.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_H_
#define GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_H_
#include <string>
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf_cc.h"
class ConfigurationInterface;
class GalileoE5aNoncoherentIQAcquisitionCaf: public AcquisitionInterface
{
public:
GalileoE5aNoncoherentIQAcquisitionCaf(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams, boost::shared_ptr<gr::msg_queue> queue);
virtual ~GalileoE5aNoncoherentIQAcquisitionCaf();
std::string role()
{
return role_;
}
/*!
* \brief Returns "Galileo_E5a_Noncoherent_IQ_Acquisition_CAF"
*/
std::string implementation()
{
return "Galileo_E5a_Noncoherent_IQ_Acquisition_CAF";
}
size_t item_size()
{
return item_size_;
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
/*!
* \brief Set acquisition channel unique ID
*/
void set_channel(unsigned int channel);
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
void set_threshold(float threshold);
/*!
* \brief Set maximum Doppler off grid search
*/
void set_doppler_max(unsigned int doppler_max);
/*!
* \brief Set Doppler steps for the grid search
*/
void set_doppler_step(unsigned int doppler_step);
/*!
* \brief Set tracking channel internal queue
*/
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local Galileo E5a code for PCPS acquisition algorithm.
*/
void set_local_code();
/*!
* \brief Returns the maximum peak of grid search
*/
signed int mag();
/*!
* \brief Restart acquisition algorithm
*/
void reset();
private:
ConfigurationInterface* configuration_;
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr acquisition_cc_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
size_t item_size_;
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
unsigned int channel_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int shift_resolution_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
long fs_in_;
long if_;
bool dump_;
std::string dump_filename_;
int Zero_padding;
int CAF_window_hz_;
std::complex<float> * codeI_;
std::complex<float> * codeQ_;
bool both_signal_components;
Gnss_Synchro * gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
boost::shared_ptr<gr::msg_queue> queue_;
concurrent_queue<int> *channel_internal_queue_;
float calculate_threshold(float pfa);
};
#endif /* GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_H_ */

2
src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
View File

@ -26,6 +26,7 @@ if(OPENCL_FOUND)
pcps_cccwsr_acquisition_cc.cc
pcps_quicksync_acquisition_cc.cc
galileo_pcps_8ms_acquisition_cc.cc
galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
pcps_opencl_acquisition_cc.cc # Needs OpenCL
)
else(OPENCL_FOUND)
@ -38,6 +39,7 @@ else(OPENCL_FOUND)
pcps_cccwsr_acquisition_cc.cc
pcps_quicksync_acquisition_cc.cc
galileo_pcps_8ms_acquisition_cc.cc
galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
)
endif(OPENCL_FOUND)

781
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc Normal file
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@ -0,0 +1,781 @@
/*!
* \file galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* <li> Marc Molina, 2013. marc.molina.pena@gmail.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e5a_noncoherent_iq_acquisition_caf_cc.h"
#include <sys/time.h>
#include <sstream>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <volk/volk.h>
#include "gnss_signal_processing.h"
#include "control_message_factory.h"
using google::LogMessage;
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
gr::msg_queue::sptr queue, bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_)
{
return galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr(
new galileo_e5a_noncoherentIQ_acquisition_caf_cc(sampled_ms, max_dwells, doppler_max, freq, fs_in, samples_per_ms,
samples_per_code, bit_transition_flag, queue, dump, dump_filename, both_signal_components_, CAF_window_hz_, Zero_padding_));
}
galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
gr::msg_queue::sptr queue, bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_) :
gr::block("galileo_e5a_noncoherentIQ_acquisition_caf_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex)))
{
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;
d_queue = queue;
d_freq = freq;
d_fs_in = fs_in;
d_samples_per_ms = samples_per_ms;
d_samples_per_code = samples_per_code;
d_max_dwells = max_dwells;
d_well_count = 0;
d_doppler_max = doppler_max;
if (Zero_padding_ > 0)
{
d_sampled_ms = 1;
}
else
{
d_sampled_ms = sampled_ms;
}
d_fft_size = sampled_ms * d_samples_per_ms;
d_mag = 0;
d_input_power = 0.0;
d_num_doppler_bins = 0;
d_bit_transition_flag = bit_transition_flag;
d_buffer_count=0;
d_both_signal_components = both_signal_components_;
d_CAF_window_hz = CAF_window_hz_;
//todo: do something if posix_memalign fails
if (posix_memalign((void**)&d_inbuffer, 16, d_fft_size * sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_fft_code_I_A, 16, d_fft_size * sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_magnitudeIA, 16, d_fft_size * sizeof(float)) == 0){};
if (d_both_signal_components == true)
{
if (posix_memalign((void**)&d_fft_code_Q_A, 16, d_fft_size * sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_magnitudeQA, 16, d_fft_size * sizeof(float)) == 0){};
}
// IF COHERENT INTEGRATION TIME > 1
if (d_sampled_ms > 1)
{
if (posix_memalign((void**)&d_fft_code_I_B, 16, d_fft_size * sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_magnitudeIB, 16, d_fft_size * sizeof(float)) == 0){};
if (d_both_signal_components == true)
{
if (posix_memalign((void**)&d_fft_code_Q_B, 16, d_fft_size * sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_magnitudeQB, 16, d_fft_size * sizeof(float)) == 0){};
}
}
// if (posix_memalign((void**)&d_fft_code_Q_A, 16, d_fft_size * sizeof(gr_complex)) == 0){};
// if (posix_memalign((void**)&d_magnitudeQA, 16, d_fft_size * sizeof(float)) == 0){};
// if (posix_memalign((void**)&d_fft_code_I_B, 16, d_fft_size * sizeof(gr_complex)) == 0){};
// if (posix_memalign((void**)&d_magnitudeIB, 16, d_fft_size * sizeof(float)) == 0){};
// if (posix_memalign((void**)&d_fft_code_Q_B, 16, d_fft_size * sizeof(gr_complex)) == 0){};
// if (posix_memalign((void**)&d_magnitudeQB, 16, d_fft_size * sizeof(float)) == 0){};
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
// For dumping samples into a file
d_dump = dump;
d_dump_filename = dump_filename;
}
galileo_e5a_noncoherentIQ_acquisition_caf_cc::~galileo_e5a_noncoherentIQ_acquisition_caf_cc()
{
if (d_num_doppler_bins > 0)
{
for (unsigned int i = 0; i < d_num_doppler_bins; i++)
{
free(d_grid_doppler_wipeoffs[i]);
}
delete[] d_grid_doppler_wipeoffs;
}
free(d_fft_code_I_A);
free(d_magnitudeIA);
if (d_both_signal_components == true)
{
free(d_fft_code_Q_A);
free(d_magnitudeQA);
}
// IF INTEGRATION TIME > 1
if (d_sampled_ms > 1)
{
free(d_fft_code_I_B);
free(d_magnitudeIB);
if (d_both_signal_components == true)
{
free(d_fft_code_Q_B);
free(d_magnitudeQB);
}
}
delete d_fft_if;
delete d_ifft;
if (d_dump)
{
d_dump_file.close();
}
}
void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<float> * codeI, std::complex<float> * codeQ )
{
// DATA SIGNAL
// Three replicas of data primary code. CODE A: (1,1,1)
memcpy(d_fft_if->get_inbuf(), codeI, sizeof(gr_complex)*d_fft_size);
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
if (is_unaligned())
{
volk_32fc_conjugate_32fc_u(d_fft_code_I_A,d_fft_if->get_outbuf(),d_fft_size);
}
else
{
volk_32fc_conjugate_32fc_a(d_fft_code_I_A,d_fft_if->get_outbuf(),d_fft_size);
}
// SAME FOR PILOT SIGNAL
if (d_both_signal_components == true)
{
// Three replicas of pilot primary code. CODE A: (1,1,1)
memcpy(d_fft_if->get_inbuf(), codeQ, sizeof(gr_complex)*d_fft_size);
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
if (is_unaligned())
{
volk_32fc_conjugate_32fc_u(d_fft_code_Q_A,d_fft_if->get_outbuf(),d_fft_size);
}
else
{
volk_32fc_conjugate_32fc_a(d_fft_code_Q_A,d_fft_if->get_outbuf(),d_fft_size);
}
}
// IF INTEGRATION TIME > 1 code, we need to evaluate the other possible combination
// Note: max integration time allowed = 3ms (dealt in adapter)
if (d_sampled_ms > 1)
{
// DATA CODE B: First replica is inverted (0,1,1)
volk_32fc_s32fc_multiply_32fc_a(&(d_fft_if->get_inbuf())[0],
&codeI[0], gr_complex(-1,0),
d_samples_per_code);
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
if (is_unaligned())
{
volk_32fc_conjugate_32fc_u(d_fft_code_I_B,d_fft_if->get_outbuf(),d_fft_size);
}
else
{
volk_32fc_conjugate_32fc_a(d_fft_code_I_B,d_fft_if->get_outbuf(),d_fft_size);
}
if (d_both_signal_components == true)
{
// PILOT CODE B: First replica is inverted (0,1,1)
volk_32fc_s32fc_multiply_32fc_a(&(d_fft_if->get_inbuf())[0],
&codeQ[0], gr_complex(-1,0),
d_samples_per_code);
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
if (is_unaligned())
{
volk_32fc_conjugate_32fc_u(d_fft_code_Q_B,d_fft_if->get_outbuf(),d_fft_size);
}
else
{
volk_32fc_conjugate_32fc_a(d_fft_code_Q_B,d_fft_if->get_outbuf(),d_fft_size);
}
}
}
}
void galileo_e5a_noncoherentIQ_acquisition_caf_cc::init()
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_mag = 0.0;
d_input_power = 0.0;
// Count the number of bins
d_num_doppler_bins = 0;
for (int doppler = (int)(-d_doppler_max);
doppler <= (int)d_doppler_max;
doppler += d_doppler_step)
{
d_num_doppler_bins++;
}
// Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
if (posix_memalign((void**)&(d_grid_doppler_wipeoffs[doppler_index]), 16,
d_fft_size * sizeof(gr_complex)) == 0){};
int doppler = -(int)d_doppler_max + d_doppler_step*doppler_index;
complex_exp_gen_conj(d_grid_doppler_wipeoffs[doppler_index],
d_freq + doppler, d_fs_in, d_fft_size);
}
/* CAF Filtering to resolve doppler ambiguity. Phase and quadrature must be processed
* separately before non-coherent integration */
// if (d_CAF_filter)
if (d_CAF_window_hz > 0)
{
if (posix_memalign((void**)&d_CAF_vector, 16, d_num_doppler_bins * sizeof(float)) == 0){};
if (posix_memalign((void**)&d_CAF_vector_I, 16, d_num_doppler_bins * sizeof(float)) == 0){};
if (d_both_signal_components == true)
{
if (posix_memalign((void**)&d_CAF_vector_Q, 16, d_num_doppler_bins * sizeof(float)) == 0){};
}
}
}
int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
/*
* By J.Arribas, L.Esteve, M.Molina and M.Sales
* Acquisition strategy (Kay Borre book + CFAR threshold):
* 1. Compute the input signal power estimation
* 2. Doppler serial search loop
* 3. Perform the FFT-based circular convolution (parallel time search)
* 4. OPTIONAL: CAF filter to avoid doppler ambiguity
* 5. Record the maximum peak and the associated synchronization parameters
* 6. Compute the test statistics and compare to the threshold
* 7. Declare positive or negative acquisition using a message queue
*/
int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
/* States: 0 Stop Channel
* 1 Load the buffer until it reaches fft_size
* 2 Acquisition algorithm
* 3 Positive acquisition
* 4 Negative acquisition
*/
switch (d_state)
{
case 0:
{
if (d_active)
{
//restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
d_test_statistics = 0.0;
d_state = 1;
}
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
break;
}
case 1:
{
const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
unsigned int buff_increment;
if (ninput_items[0]+d_buffer_count <= d_fft_size)
{
buff_increment = ninput_items[0];
}
else
{
buff_increment = (d_fft_size-d_buffer_count);
}
memcpy(&d_inbuffer[d_buffer_count], in, sizeof(gr_complex)*buff_increment);
// If buffer will be full in next iteration
if (d_buffer_count >= d_fft_size-d_gr_stream_buffer)
{
d_state=2;
}
d_buffer_count += buff_increment;
d_sample_counter += buff_increment; // sample counter
consume_each(buff_increment);
break;
}
case 2:
{
// Fill last part of the buffer and reset counter
const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
if (d_buffer_count < d_fft_size)
{
memcpy(&d_inbuffer[d_buffer_count], in, sizeof(gr_complex)*(d_fft_size-d_buffer_count));
}
d_sample_counter += d_fft_size-d_buffer_count; // sample counter
// initialize acquisition algorithm
int doppler;
unsigned int indext = 0;
unsigned int indext_IA = 0;
unsigned int indext_IB = 0;
unsigned int indext_QA = 0;
unsigned int indext_QB = 0;
float magt = 0.0;
float magt_IA = 0.0;
float magt_IB = 0.0;
float magt_QA = 0.0;
float magt_QB = 0.0;
float fft_normalization_factor = (float)d_fft_size * (float)d_fft_size;
d_input_power = 0.0;
d_mag = 0.0;
d_well_count++;
DLOG(INFO) << "Channel: " << d_channel
<< " , 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;
// 1- Compute the input signal power estimation
volk_32fc_magnitude_squared_32f_a(d_magnitudeIA, d_inbuffer, d_fft_size);
volk_32f_accumulator_s32f_a(&d_input_power, d_magnitudeIA, d_fft_size);
d_input_power /= (float)d_fft_size;
// 2- Doppler frequency search loop
for (unsigned int doppler_index=0;doppler_index<d_num_doppler_bins;doppler_index++)
{
// doppler search steps
doppler=-(int)d_doppler_max+d_doppler_step*doppler_index;
volk_32fc_x2_multiply_32fc_a(d_fft_if->get_inbuf(), d_inbuffer,
d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
d_fft_if->execute();
// CODE IA
// Multiply carrier wiped--off, Fourier transformed incoming signal
// with the local FFT'd code reference using SIMD operations with VOLK library
volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_code_I_A, d_fft_size);
// compute the inverse FFT
d_ifft->execute();
// Search maximum
volk_32fc_magnitude_squared_32f_a(d_magnitudeIA, d_ifft->get_outbuf(), d_fft_size);
volk_32f_index_max_16u_a(&indext_IA, d_magnitudeIA, d_fft_size);
// Normalize the maximum value to correct the scale factor introduced by FFTW
magt_IA = d_magnitudeIA[indext_IA] / (fft_normalization_factor * fft_normalization_factor);
if (d_both_signal_components == true)
{
// REPEAT FOR ALL CODES. CODE_QA
volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_code_Q_A, d_fft_size);
d_ifft->execute();
volk_32fc_magnitude_squared_32f_a(d_magnitudeQA, d_ifft->get_outbuf(), d_fft_size);
volk_32f_index_max_16u_a(&indext_QA, d_magnitudeQA, d_fft_size);
magt_QA = d_magnitudeQA[indext_QA] / (fft_normalization_factor * fft_normalization_factor);
}
if (d_sampled_ms > 1) // If Integration time > 1 code
{
// REPEAT FOR ALL CODES. CODE_IB
volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_code_I_B, d_fft_size);
d_ifft->execute();
volk_32fc_magnitude_squared_32f_a(d_magnitudeIB, d_ifft->get_outbuf(), d_fft_size);
volk_32f_index_max_16u_a(&indext_IB, d_magnitudeIB, d_fft_size);
magt_IB = d_magnitudeIB[indext_IB] / (fft_normalization_factor * fft_normalization_factor);
if (d_both_signal_components == true)
{
// REPEAT FOR ALL CODES. CODE_QB
volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_code_Q_B, d_fft_size);
d_ifft->execute();
volk_32fc_magnitude_squared_32f_a(d_magnitudeQB, d_ifft->get_outbuf(), d_fft_size);
volk_32f_index_max_16u_a(&indext_QB, d_magnitudeQB, d_fft_size);
magt_QB = d_magnitudeIB[indext_QB] / (fft_normalization_factor * fft_normalization_factor);
}
}
// Integrate noncoherently the two best combinations (I² + Q²)
// and store the result in the I channel.
// If CAF filter to resolve doppler ambiguity is needed,
// peak is stored before non-coherent integration.
if (d_sampled_ms > 1) // T_integration > 1 code
{
if (magt_IA >= magt_IB)
{
// if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_I[doppler_index] = d_magnitudeIA[indext_IA];}
if (d_both_signal_components)
{
// Integrate non-coherently I+Q
if (magt_QA >= magt_QB)
{
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];}
for (unsigned int i=0; i<d_fft_size; i++)
{
d_magnitudeIA[i] += d_magnitudeQA[i];
}
}
else
{
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QB;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQB[indext_QB];}
for (unsigned int i=0; i<d_fft_size; i++)
{
d_magnitudeIA[i] += d_magnitudeQB[i];
}
}
}
volk_32f_index_max_16u_a(&indext, d_magnitudeIA, d_fft_size);
magt = d_magnitudeIA[indext] / (fft_normalization_factor * fft_normalization_factor);
}
else
{
// if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IB;}
if (d_CAF_window_hz > 0) {d_CAF_vector_I[doppler_index] = d_magnitudeIB[indext_IB];}
if (d_both_signal_components)
{
// Integrate non-coherently I+Q
if (magt_QA >= magt_QB)
{
//if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];}
for (unsigned int i=0; i<d_fft_size; i++)
{
d_magnitudeIB[i] += d_magnitudeQA[i];
}
}
else
{
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QB;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQB[indext_QB];}
for (unsigned int i=0; i<d_fft_size; i++)
{
d_magnitudeIB[i] += d_magnitudeQB[i];
}
}
}
volk_32f_index_max_16u_a(&indext, d_magnitudeIB, d_fft_size);
magt = d_magnitudeIB[indext] / (fft_normalization_factor * fft_normalization_factor);
}
}
else
{
// if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_I[doppler_index] = d_magnitudeIA[indext_IA];}
if (d_both_signal_components)
{
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;}
if (d_CAF_window_hz > 0) {d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];}
// NON-Coherent integration of only 1 code
for (unsigned int i=0; i<d_fft_size; i++)
{
d_magnitudeIA[i] += d_magnitudeQA[i];
}
}
volk_32f_index_max_16u_a(&indext, d_magnitudeIA, d_fft_size);
magt = d_magnitudeIA[indext] / (fft_normalization_factor * fft_normalization_factor);
}
// 4- record the maximum peak and the associated synchronization parameters
if (d_mag < magt)
{
d_mag = magt;
// In case that d_bit_transition_flag = true, we compare the potentially
// new maximum test statistics (d_mag/d_input_power) with the value in
// d_test_statistics. When the second dwell is being processed, the value
// of d_mag/d_input_power could be lower than d_test_statistics (i.e,
// the maximum test statistics in the previous dwell is greater than
// current d_mag/d_input_power). Note that d_test_statistics is not
// restarted between consecutive dwells in multidwell operation.
if (d_test_statistics < (d_mag / d_input_power) || !d_bit_transition_flag)
{
d_gnss_synchro->Acq_delay_samples = (double)(indext % d_samples_per_code);
d_gnss_synchro->Acq_doppler_hz = (double)doppler;
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
// 5- Compute the test statistics and compare to the threshold
d_test_statistics = d_mag / d_input_power;
}
}
// Record results to file if required
if (d_dump)
{
std::stringstream filename;
std::streamsize n = sizeof(float) * (d_fft_size); // noncomplex file write
filename.str("");
filename << "../data/test_statistics_E5a_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
if (d_sampled_ms > 1) // If integration time > 1 code
{
if (magt_IA >= magt_IB)
{
d_dump_file.write((char*)d_magnitudeIA, n);
}
else
{
d_dump_file.write((char*)d_magnitudeIB, n);
}
}
else
{
d_dump_file.write((char*)d_magnitudeIA, n);
}
d_dump_file.close();
}
}
// std::cout << "d_mag " << d_mag << ".d_sample_counter " << d_sample_counter << ". acq delay " << d_gnss_synchro->Acq_delay_samples<< " indext "<< indext << std::endl;
// 6 OPTIONAL: CAF filter to avoid Doppler ambiguity in bit transition.
if (d_CAF_window_hz > 0)
{
int CAF_bins_half;
float* accum;
// double* accum;
if (posix_memalign((void**)&accum, 16, sizeof(float)) == 0){};
CAF_bins_half = d_CAF_window_hz/(2*d_doppler_step);
float weighting_factor;
weighting_factor = 0.5/(float)CAF_bins_half;
// weighting_factor = 0;
// std::cout << "weighting_factor " << weighting_factor << std::endl;
// Initialize first iterations
for (int doppler_index=0;doppler_index<CAF_bins_half;doppler_index++)
{
d_CAF_vector[doppler_index] = 0;
// volk_32f_accumulator_s32f_a(&d_CAF_vector[doppler_index], d_CAF_vector_I, CAF_bins_half+doppler_index+1);
for (int i = 0; i < CAF_bins_half+doppler_index+1; i++)
{
d_CAF_vector[doppler_index] += d_CAF_vector_I[i] * (1-weighting_factor*(unsigned int)(abs(doppler_index - i)));
}
// d_CAF_vector[doppler_index] /= CAF_bins_half+doppler_index+1;
d_CAF_vector[doppler_index] /= 1+CAF_bins_half+doppler_index - weighting_factor*CAF_bins_half*(CAF_bins_half+1)/2 - weighting_factor*doppler_index*(doppler_index+1)/2; // triangles = [n*(n+1)/2]
if (d_both_signal_components)
{
accum[0] = 0;
// volk_32f_accumulator_s32f_a(&accum[0], d_CAF_vector_Q, CAF_bins_half+doppler_index+1);
for (int i = 0; i < CAF_bins_half+doppler_index+1; i++)
{
accum[0] += d_CAF_vector_Q[i] * (1-weighting_factor*(unsigned int)(abs(doppler_index - i)));
}
// accum[0] /= CAF_bins_half+doppler_index+1;
accum[0] /= 1+CAF_bins_half+doppler_index - weighting_factor*CAF_bins_half*(CAF_bins_half+1)/2 - weighting_factor*doppler_index*(doppler_index+1)/2; // triangles = [n*(n+1)/2]
d_CAF_vector[doppler_index] += accum[0];
}
}
// Body loop
for (unsigned int doppler_index=CAF_bins_half;doppler_index<d_num_doppler_bins-CAF_bins_half;doppler_index++)
{
d_CAF_vector[doppler_index] = 0;
// volk_32f_accumulator_s32f_a(&d_CAF_vector[doppler_index], &d_CAF_vector_I[doppler_index-CAF_bins_half], 2*CAF_bins_half+1);
for (int i = doppler_index-CAF_bins_half; i < doppler_index+CAF_bins_half+1; i++)
{
d_CAF_vector[doppler_index] += d_CAF_vector_I[i] * (1-weighting_factor*(unsigned int)(abs(doppler_index - i)));
}
// d_CAF_vector[doppler_index] /= 2*CAF_bins_half+1;
d_CAF_vector[doppler_index] /= 1+2*CAF_bins_half - 2*weighting_factor*CAF_bins_half*(CAF_bins_half+1)/2;
if (d_both_signal_components)
{
accum[0] = 0;
// volk_32f_accumulator_s32f_a(&accum[0], &d_CAF_vector_Q[doppler_index-CAF_bins_half], 2*CAF_bins_half);
for (int i = doppler_index-CAF_bins_half; i < doppler_index+CAF_bins_half+1; i++)
{
accum[0] += d_CAF_vector_Q[i] * (1-weighting_factor*(unsigned int)(abs(doppler_index - i)));
}
// accum[0] /= 2*CAF_bins_half+1;
accum[0] /= 1+2*CAF_bins_half - 2*weighting_factor*CAF_bins_half*(CAF_bins_half+1)/2;
d_CAF_vector[doppler_index] += accum[0];
}
}
// Final iterations
for (unsigned int doppler_index=d_num_doppler_bins-CAF_bins_half;doppler_index<d_num_doppler_bins;doppler_index++)
{
d_CAF_vector[doppler_index] = 0;
// volk_32f_accumulator_s32f_a(&d_CAF_vector[doppler_index], &d_CAF_vector_I[doppler_index-CAF_bins_half], CAF_bins_half + (d_num_doppler_bins-doppler_index));
for (int i = doppler_index-CAF_bins_half; i < d_num_doppler_bins; i++)
{
d_CAF_vector[doppler_index] += d_CAF_vector_I[i] * (1-weighting_factor*(abs(doppler_index - i)));
}
// d_CAF_vector[doppler_index] /= CAF_bins_half+(d_num_doppler_bins-doppler_index);
d_CAF_vector[doppler_index] /= 1+CAF_bins_half+(d_num_doppler_bins-doppler_index-1) -weighting_factor*CAF_bins_half*(CAF_bins_half+1)/2 -weighting_factor*(d_num_doppler_bins-doppler_index-1)*(d_num_doppler_bins-doppler_index)/2;
if (d_both_signal_components)
{
accum[0] = 0;
// volk_32f_accumulator_s32f_a(&accum[0], &d_CAF_vector_Q[doppler_index-CAF_bins_half], CAF_bins_half + (d_num_doppler_bins-doppler_index));
for (int i = doppler_index-CAF_bins_half; i < d_num_doppler_bins; i++)
{
accum[0] += d_CAF_vector_Q[i] * (1-weighting_factor*(abs(doppler_index - i)));
}
// accum[0] /= CAF_bins_half+(d_num_doppler_bins-doppler_index);
accum[0] /= 1+CAF_bins_half+(d_num_doppler_bins-doppler_index-1) -weighting_factor*CAF_bins_half*(CAF_bins_half+1)/2 -weighting_factor*(d_num_doppler_bins-doppler_index-1)*(d_num_doppler_bins-doppler_index)/2;
d_CAF_vector[doppler_index] += accum[0];
}
}
// Recompute the maximum doppler peak
volk_32f_index_max_16u_a(&indext, d_CAF_vector, d_num_doppler_bins);
doppler=-(int)d_doppler_max+d_doppler_step*indext;
d_gnss_synchro->Acq_doppler_hz = (double)doppler;
// Dump if required, appended at the end of the file
if (d_dump)
{
std::stringstream filename;
std::streamsize n = sizeof(float) * (d_num_doppler_bins); // noncomplex file write
filename.str("");
filename << "../data/test_statistics_E5a_sat_"
<< d_gnss_synchro->PRN << "_CAF.dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write((char*)d_CAF_vector, n);
d_dump_file.close();
}
}
if (d_well_count == d_max_dwells)
{
if (d_test_statistics > d_threshold)
{
d_state = 3; // Positive acquisition
}
else
{
d_state = 4; // Negative acquisition
}
}
else
{
d_state = 1;
}
consume_each(d_fft_size-d_buffer_count);
d_buffer_count = 0;
break;
}
case 3:
{
// 7.1- Declare positive acquisition using a message queue
DLOG(INFO) << "positive acquisition";
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;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "magnitude " << d_mag;
DLOG(INFO) << "input signal power " << d_input_power;
d_active = false;
d_state = 0;
acquisition_message = 1;
d_channel_internal_queue->push(acquisition_message);
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
break;
}
case 4:
{
// 7.2- Declare negative acquisition using a message queue
DLOG(INFO) << "negative acquisition";
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;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "magnitude " << d_mag;
DLOG(INFO) << "input signal power " << d_input_power;
d_active = false;
d_state = 0;
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
acquisition_message = 2;
d_channel_internal_queue->push(acquisition_message);
break;
}
}
return 0;
}

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/*!
* \file galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* <li> Marc Molina, 2013. marc.molina.pena@gmail.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_CC_H_
#define GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_CC_H_
#include <fstream>
#include <queue>
#include <string>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/gr_complex.h>
#include <gnuradio/fft/fft.h>
#include "concurrent_queue.h"
#include "gnss_synchro.h"
class galileo_e5a_noncoherentIQ_acquisition_caf_cc;
typedef boost::shared_ptr<galileo_e5a_noncoherentIQ_acquisition_caf_cc> galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr;
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr
galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
gr::msg_queue::sptr queue, bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_);
/*!
* \brief This class implements a Parallel Code Phase Search Acquisition.
*
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation.
*/
class galileo_e5a_noncoherentIQ_acquisition_caf_cc: public gr::block
{
private:
friend galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr
galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
gr::msg_queue::sptr queue, bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_);
galileo_e5a_noncoherentIQ_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
gr::msg_queue::sptr queue, bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_);
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset);
float estimate_input_power(gr_complex *in );
long d_fs_in;
long d_freq;
int d_samples_per_ms;
int d_sampled_ms;
int d_samples_per_code;
unsigned int d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
unsigned int d_doppler_max;
unsigned int d_doppler_step;
unsigned int d_max_dwells;
unsigned int d_well_count;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_code_I_A;
gr_complex* d_fft_code_I_B;
gr_complex* d_fft_code_Q_A;
gr_complex* d_fft_code_Q_B;
gr_complex* d_inbuffer;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitudeIA;
float* d_magnitudeIB;
float* d_magnitudeQA;
float* d_magnitudeQB;
float d_input_power;
float d_test_statistics;
bool d_bit_transition_flag;
gr::msg_queue::sptr d_queue;
concurrent_queue<int> *d_channel_internal_queue;
std::ofstream d_dump_file;
bool d_active;
int d_state;
bool d_dump;
bool d_both_signal_components;
// bool d_CAF_filter;
int d_CAF_window_hz;
float* d_CAF_vector;
float* d_CAF_vector_I;
float* d_CAF_vector_Q;
// double* d_CAF_vector;
// double* d_CAF_vector_I;
// double* d_CAF_vector_Q;
unsigned int d_channel;
std::string d_dump_filename;
unsigned int d_buffer_count;
unsigned int d_gr_stream_buffer;
public:
/*!
* \brief Default destructor.
*/
~galileo_e5a_noncoherentIQ_acquisition_caf_cc();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_gnss_synchro = p_gnss_synchro;
}
/*!
* \brief Returns the maximum peak of grid search.
*/
unsigned int mag()
{
return d_mag;
}
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code(std::complex<float> * code, std::complex<float> * codeQ);
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
void set_active(bool active)
{
d_active = active;
}
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
void set_channel(unsigned int channel)
{
d_channel = channel;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
void set_threshold(float threshold)
{
d_threshold = threshold;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
void set_doppler_max(unsigned int doppler_max)
{
d_doppler_max = doppler_max;
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
void set_doppler_step(unsigned int doppler_step)
{
d_doppler_step = doppler_step;
}
/*!
* \brief Set tracking channel internal queue.
* \param channel_internal_queue - Channel's internal blocks information queue.
*/
void set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{
d_channel_internal_queue = channel_internal_queue;
}
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
};
#endif /* GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_CC_H_ */

2
src/algorithms/libs/CMakeLists.txt
View File

@ -27,6 +27,7 @@ if(OPENCL_FOUND)
fft_execute.cc # Needs OpenCL
fft_setup.cc # Needs OpenCL
fft_kernelstring.cc # Needs OpenCL
galileo_e5_signal_processing.cc
)
else(OPENCL_FOUND)
set(GNSS_SPLIBS_SOURCES
@ -36,6 +37,7 @@ else(OPENCL_FOUND)
gps_sdr_signal_processing.cc
nco_lib.cc
pass_through.cc
galileo_e5_signal_processing.cc
)
endif(OPENCL_FOUND)

145
src/algorithms/libs/galileo_e5_signal_processing.cc Normal file
View File

@ -0,0 +1,145 @@
/*!
* \file galileo_e5_signal_processing.cc
* \brief This library implements various functions for Galileo E5 signals such
* as replica code generation
* \author Marc Sales, 2014. marcsales92(at)gmail.com
*
* Detailed description of the file here if needed.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e5_signal_processing.h"
void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, signed int _prn, char _Signal[3])
{
unsigned int prn=_prn-1;
unsigned int index=0;
int a[4];
if ((_prn < 1) || (_prn > 50))
{
return;
}
if (_Signal[0]=='5' && _Signal[1]=='Q')
{
for (size_t i = 0; i < Galileo_E5a_Q_PRIMARY_CODE[prn].length()-1; i++)
{
hex_to_binary_converter(a,
Galileo_E5a_Q_PRIMARY_CODE[prn].at(i));
_dest[index]=std::complex<float>(0.0,float(a[0]));
_dest[index+1]=std::complex<float>(0.0,float(a[1]));
_dest[index+2]=std::complex<float>(0.0,float(a[2]));
_dest[index+3]=std::complex<float>(0.0,float(a[3]));
index = index + 4;
}
// last 2 bits are filled up zeros
hex_to_binary_converter(a,
Galileo_E5a_Q_PRIMARY_CODE[prn].at(Galileo_E5a_Q_PRIMARY_CODE[prn].length()-1));
_dest[index]=std::complex<float>(float(0.0),a[0]);
_dest[index+1]=std::complex<float>(float(0.0),a[1]);
}
else if (_Signal[0]=='5' && _Signal[1]=='I')
{
for (size_t i = 0; i < Galileo_E5a_I_PRIMARY_CODE[prn].length()-1; i++)
{
hex_to_binary_converter(a,
Galileo_E5a_I_PRIMARY_CODE[prn].at(i));
_dest[index]=std::complex<float>(float(a[0]),0.0);
_dest[index+1]=std::complex<float>(float(a[1]),0.0);
_dest[index+2]=std::complex<float>(float(a[2]),0.0);
_dest[index+3]=std::complex<float>(float(a[3]),0.0);
index = index + 4;
}
// last 2 bits are filled up zeros
hex_to_binary_converter(a,
Galileo_E5a_I_PRIMARY_CODE[prn].at(Galileo_E5a_I_PRIMARY_CODE[prn].length()-1));
_dest[index]=std::complex<float>(float(a[0]),0.0);
_dest[index+1]=std::complex<float>(float(a[1]),0.0);
}
else if (_Signal[0]=='5' && _Signal[1]=='X')
{
int b[4];
for (size_t i = 0; i < Galileo_E5a_I_PRIMARY_CODE[prn].length()-1; i++)
{
hex_to_binary_converter(a,
Galileo_E5a_I_PRIMARY_CODE[prn].at(i));
hex_to_binary_converter(b,
Galileo_E5a_Q_PRIMARY_CODE[prn].at(i));
_dest[index]=std::complex<float>(float(a[0]),float(b[0]));
_dest[index+1]=std::complex<float>(float(a[1]),float(b[1]));
_dest[index+2]=std::complex<float>(float(a[2]),float(b[2]));
_dest[index+3]=std::complex<float>(float(a[3]),float(b[3]));
index = index + 4;
}
// last 2 bits are filled up zeros
hex_to_binary_converter(a,
Galileo_E5a_I_PRIMARY_CODE[prn].at(Galileo_E5a_I_PRIMARY_CODE[prn].length()-1));
hex_to_binary_converter(b,
Galileo_E5a_Q_PRIMARY_CODE[prn].at(Galileo_E5a_Q_PRIMARY_CODE[prn].length()-1));
_dest[index]=std::complex<float>(float(a[0]),float(b[0]));
_dest[index+1]=std::complex<float>(float(a[1]),float(b[1]));
}
}
void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest, char _Signal[3],
unsigned int _prn, signed int _fs, unsigned int _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
unsigned int _samplesPerCode;
unsigned int delay;
unsigned int _codeLength = Galileo_E5a_CODE_LENGTH_CHIPS;
const int _codeFreqBasis = Galileo_E5a_CODE_CHIP_RATE_HZ; //Hz
std::complex<float>* _code;
_code=new std::complex<float>[_codeLength];
galileo_e5_a_code_gen_complex_primary(_code , _prn , _Signal);
_samplesPerCode = round(_fs / (_codeFreqBasis / _codeLength));
delay = ((_codeLength - _chip_shift)
% _codeLength) * _samplesPerCode / _codeLength;
if (_fs != _codeFreqBasis)
{
std::complex<float>* _resampled_signal;
if (posix_memalign((void**)&_resampled_signal, 16, _samplesPerCode * sizeof(gr_complex)) == 0){};
resampler(_code, _resampled_signal, _codeFreqBasis, _fs,
_codeLength, _samplesPerCode); //resamples code to fs
delete[] _code;
_code = _resampled_signal;
}
for (unsigned int i = 0; i < _samplesPerCode; i++)
{
_dest[(i+delay)%_samplesPerCode] = _code[i];
}
free(_code);
}

60
src/algorithms/libs/galileo_e5_signal_processing.h Normal file
View File

@ -0,0 +1,60 @@
/*!
* \file galileo_e5_signal_processing.cc
* \brief This library implements various functions for Galileo E5 signals such
* as replica code generation
* \author Marc Sales, 2014. marcsales92(at)gmail.com
*
* Detailed description of the file here if needed.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E5_SIGNAL_PROCESSING_H_
#define GNSS_SDR_GALILEO_E5_SIGNAL_PROCESSING_H_
#include <complex>
#include <iostream>
#include <gnuradio/math.h>
#include "Galileo_E5a.h"
#include "gnss_signal_processing.h"
/*!
* \brief Generates Galileo E5a code at 1 sample/chip
* bool _pilot generates E5aQ code if true and E5aI (data signal) if false.
*/
void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, signed int _prn, char _Signal[3]);
void galileo_e5_a_code_gen_tiered(std::complex<float>* _dest,std::complex<float>* _primary ,unsigned int _prn, char _Signal[3]);
/*!
* \brief Generates Galileo E5a complex code, shifted to the desired chip and sampled at a frequency fs
* bool _pilot generates E5aQ code if true and E5aI (data signal) if false.
*/
void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest,
char _Signal[3], unsigned int _prn, signed int _fs, unsigned int _chip_shift);
#endif /* GNSS_SDR_GALILEO_E5_SIGNAL_PROCESSING_H_ */

16
src/algorithms/libs/gnss_signal_processing.cc
View File

@ -180,20 +180,14 @@ void resampler(std::complex<float>* _from, std::complex<float>* _dest, float _fs
//--- Find time constants --------------------------------------------------
const float _t_in = 1/_fs_in; // Incoming sampling period in sec
const float _t_out = 1/_fs_out; // Out sampling period in sec
for (unsigned int i=0; i<_length_out; i++)
for (unsigned int i=0; i<_length_out-1; i++)
{
//=== Digitizing =======================================================
//--- compute index array to read sampled values -------------------------
_codeValueIndex = ceil((_t_out * ((float)i + 1)) / _t_in) - 1;
if (i == _length_out - 1)
{
//--- Correct the last index (due to number rounding issues) -----------
_dest[i] = _from[_length_in - 1];
}
else
{
//if repeat the chip -> upsample by nearest neighborhood interpolation
_dest[i] = _from[_codeValueIndex];
}
//if repeat the chip -> upsample by nearest neighborhood interpolation
_dest[i] = _from[_codeValueIndex];
}
//--- Correct the last index (due to number rounding issues) -----------
_dest[_length_out-1] = _from[_length_in - 1];
}

25
src/algorithms/signal_generator/adapters/signal_generator.cc
View File

@ -29,11 +29,13 @@
* -------------------------------------------------------------------------
*/
#include "signal_generator.h"
#include <glog/logging.h>
#include "configuration_interface.h"
#include "Galileo_E1.h"
#include "GPS_L1_CA.h"
#include "Galileo_E5a.h"
using google::LogMessage;
@ -46,6 +48,7 @@ SignalGenerator::SignalGenerator(ConfigurationInterface* configuration,
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./data/gen_source.dat";
std::string default_system = "G";
std::string default_signal = "1C";
item_type_ = configuration->property(role + ".item_type", default_item_type);
dump_ = configuration->property(role + ".dump", false);
@ -57,30 +60,42 @@ SignalGenerator::SignalGenerator(ConfigurationInterface* configuration,
float BW_BB = configuration->property("SignalSource.BW_BB", 1.0);
unsigned int num_satellites = configuration->property("SignalSource.num_satellites", 1);
std::vector<std::string> signal1;
std::vector<std::string> system;
std::vector<unsigned int> PRN;
std::vector<float> CN0_dB;
std::vector<float> doppler_Hz;
std::vector<unsigned int> delay_chips;
std::vector<unsigned int> delay_sec;
for (unsigned int sat_idx = 0; sat_idx < num_satellites; sat_idx++)
{
std::string sat = std::to_string(sat_idx);
signal1.push_back(configuration->property("SignalSource.signal_" + sat, default_signal));
system.push_back(configuration->property("SignalSource.system_" + sat, default_system));
PRN.push_back(configuration->property("SignalSource.PRN_" + sat, 1));
CN0_dB.push_back(configuration->property("SignalSource.CN0_dB_" + sat, 10));
doppler_Hz.push_back(configuration->property("SignalSource.doppler_Hz_" + sat, 0));
delay_chips.push_back(configuration->property("SignalSource.delay_chips_" + sat, 0));
delay_sec.push_back(configuration->property("SignalSource.delay_sec_" + sat, 0));
}
// If Galileo signal is present -> vector duration = 100 ms (25 * 4 ms)
// If Galileo signal is present -> vector duration = 100 ms (25 * 4 ms)
// If there is only GPS signal (Galileo signal not present) -> vector duration = 1 ms
unsigned int vector_length = 0;
if (std::find(system.begin(), system.end(), "E") != system.end())
{
vector_length = round((float)fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS))
* Galileo_E1_C_SECONDARY_CODE_LENGTH;
if (signal1[0].at(0)=='5')
{
vector_length = round((float) fs_in / (Galileo_E5a_CODE_CHIP_RATE_HZ
/ Galileo_E5a_CODE_LENGTH_CHIPS));
}
else
{
vector_length = round((float)fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS))
* Galileo_E1_C_SECONDARY_CODE_LENGTH;
}
}
else if (std::find(system.begin(), system.end(), "G") != system.end())
{
@ -92,7 +107,7 @@ SignalGenerator::SignalGenerator(ConfigurationInterface* configuration,
{
item_size_ = sizeof(gr_complex);
DLOG(INFO) << "Item size " << item_size_;
gen_source_ = signal_make_generator_c(system, PRN, CN0_dB, doppler_Hz, delay_chips,
gen_source_ = signal_make_generator_c(signal1, system, PRN, CN0_dB, doppler_Hz, delay_chips, delay_sec,
data_flag, noise_flag, fs_in, vector_length, BW_BB);
vector_to_stream_ = gr::blocks::vector_to_stream::make(item_size_, vector_length);

12
src/algorithms/signal_generator/adapters/signal_generator.h
View File

@ -33,6 +33,7 @@
#ifndef GNSS_SDR_SIGNAL_GENERATOR_H_
#define GNSS_SDR_SIGNAL_GENERATOR_H_
#include <string>
#include <vector>
#include <gnuradio/blocks/file_sink.h>
@ -45,9 +46,9 @@
class ConfigurationInterface;
/*!
* \brief This class generates synthesized GNSS signal.
*
*/
* \brief This class generates synthesized GNSS signal.
*
*/
class SignalGenerator: public GNSSBlockInterface
{
public:
@ -62,8 +63,8 @@ public:
}
/*!
* \brief Returns "GNSSSignalGenerator".
*/
* \brief Returns "GNSSSignalGenerator".
*/
std::string implementation()
{
return "GNSSSignalGenerator";
@ -91,5 +92,4 @@ private:
gr::blocks::file_sink::sptr file_sink_;
boost::shared_ptr<gr::msg_queue> queue_;
};
#endif /*GNSS_SDR_SIGNAL_GENERATOR_H_*/

343
src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc
View File

@ -1,32 +1,32 @@
/*!
* \file signal_generator_c.cc
* \brief GNU Radio source block that generates synthesized GNSS signal.
* \author Marc Molina, 2013. marc.molina.pena@gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
* \file signal_generator_c.cc
* \brief GNU Radio source block that generates synthesized GNSS signal.
* \author Marc Molina, 2013. marc.molina.pena@gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include <gnuradio/io_signature.h>
#include <volk/volk.h>
@ -34,37 +34,41 @@
#include "gps_sdr_signal_processing.h"
#include "galileo_e1_signal_processing.h"
#include "nco_lib.h"
#include "galileo_e5_signal_processing.h"
#include "Galileo_E5a.h"
#include <iostream>
#include <fstream>
/*
* Create a new instance of signal_generator_c and return
* a boost shared_ptr. This is effectively the public constructor.
*/
* Create a new instance of signal_generator_c and return
* a boost shared_ptr. This is effectively the public constructor.
*/
signal_generator_c_sptr
signal_make_generator_c (std::vector<std::string> system, const std::vector<unsigned int> &PRN,
signal_make_generator_c (std::vector<std::string> signal1, std::vector<std::string> system, const std::vector<unsigned int> &PRN,
const std::vector<float> &CN0_dB, const std::vector<float> &doppler_Hz,
const std::vector<unsigned int> &delay_chips, bool data_flag, bool noise_flag,
const std::vector<unsigned int> &delay_chips, const std::vector<unsigned int> &delay_sec,bool data_flag, bool noise_flag,
unsigned int fs_in, unsigned int vector_length, float BW_BB)
{
return gnuradio::get_initial_sptr(new signal_generator_c(system, PRN, CN0_dB, doppler_Hz, delay_chips,
return gnuradio::get_initial_sptr(new signal_generator_c(signal1, system, PRN, CN0_dB, doppler_Hz, delay_chips,delay_sec,
data_flag, noise_flag, fs_in, vector_length, BW_BB));
}
/*
* The private constructor
*/
signal_generator_c::signal_generator_c (std::vector<std::string> system, const std::vector<unsigned int> &PRN,
* The private constructor
*/
signal_generator_c::signal_generator_c (std::vector<std::string> signal1, std::vector<std::string> system, const std::vector<unsigned int> &PRN,
const std::vector<float> &CN0_dB, const std::vector<float> &doppler_Hz,
const std::vector<unsigned int> &delay_chips, bool data_flag, bool noise_flag,
const std::vector<unsigned int> &delay_chips,const std::vector<unsigned int> &delay_sec ,bool data_flag, bool noise_flag,
unsigned int fs_in, unsigned int vector_length, float BW_BB) :
gr::block ("signal_gen_cc", gr::io_signature::make(0, 0, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(gr_complex)*vector_length)),
signal_(signal1),
system_(system),
PRN_(PRN),
CN0_dB_(CN0_dB),
doppler_Hz_(doppler_Hz),
delay_chips_(delay_chips),
delay_sec_(delay_sec),
data_flag_(data_flag),
noise_flag_(noise_flag),
fs_in_(fs_in),
@ -78,6 +82,8 @@ signal_generator_c::signal_generator_c (std::vector<std::string> system, const s
void signal_generator_c::init()
{
work_counter_ = 0;
if (posix_memalign((void**)&complex_phase_, 16, vector_length_ * sizeof(gr_complex)) == 0){};
// True if Galileo satellites are present
@ -86,8 +92,12 @@ void signal_generator_c::init()
for (unsigned int sat = 0; sat < num_sats_; sat++)
{
start_phase_rad_.push_back(0);
current_data_bit_int_.push_back(1);
current_data_bits_.push_back(gr_complex(1, 0));
ms_counter_.push_back(0);
data_modulation_.push_back((Galileo_E5a_I_SECONDARY_CODE.at(0)=='0' ? 1 : -1));
pilot_modulation_.push_back((Galileo_E5a_Q_SECONDARY_CODE[PRN_[sat]].at(0)=='0' ? 1 : -1));
if (system_[sat] == "G")
{
@ -99,35 +109,47 @@ void signal_generator_c::init()
}
else if (system_[sat] == "E")
{
samples_per_code_.push_back(round((float)fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS)));
if (signal_[sat].at(0)=='5')
{
int codelen = (int)Galileo_E5a_CODE_LENGTH_CHIPS;
samples_per_code_.push_back(round((float)fs_in_ / (Galileo_E5a_CODE_CHIP_RATE_HZ
/ codelen)));
num_of_codes_per_vector_.push_back(1);
num_of_codes_per_vector_.push_back((int)Galileo_E1_C_SECONDARY_CODE_LENGTH);
data_bit_duration_ms_.push_back(1e3/Galileo_E1_B_SYMBOL_RATE_BPS);
data_bit_duration_ms_.push_back(1e3/Galileo_E5a_SYMBOL_RATE_BPS);
}
else
{
samples_per_code_.push_back(round((float)fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS)));
num_of_codes_per_vector_.push_back((int)Galileo_E1_C_SECONDARY_CODE_LENGTH);
data_bit_duration_ms_.push_back(1e3/Galileo_E1_B_SYMBOL_RATE_BPS);
}
}
}
random_ = new gr::random();
// std::cout << "fs_in: " << fs_in_ << std::endl;
// std::cout << "data_flag: " << data_flag_ << std::endl;
// std::cout << "noise_flag_: " << noise_flag_ << std::endl;
// std::cout << "num_sats_: " << num_sats_ << std::endl;
// std::cout << "vector_length_: " << vector_length_ << std::endl;
// std::cout << "BW_BB_: " << BW_BB_ << std::endl;
// std::cout << "fs_in: " << fs_in_ << std::endl;
// std::cout << "data_flag: " << data_flag_ << std::endl;
// std::cout << "noise_flag_: " << noise_flag_ << std::endl;
// std::cout << "num_sats_: " << num_sats_ << std::endl;
// std::cout << "vector_length_: " << vector_length_ << std::endl;
// std::cout << "BW_BB_: " << BW_BB_ << std::endl;
// for (unsigned int i = 0; i < num_sats_; i++)
// {
// std::cout << "Sat " << i << ": " << std::endl;
// std::cout << " System " << system_[i] << ": " << std::endl;
// std::cout << " PRN: " << PRN_[i] << std::endl;
// std::cout << " CN0: " << CN0_dB_[i] << std::endl;
// std::cout << " Doppler: " << doppler_Hz_[i] << std::endl;
// std::cout << " Delay: " << delay_chips_[i] << std::endl;
// std::cout << " Samples per code = " << samples_per_code_[i] << std::endl;
// std::cout << " codes per vector = " << num_of_codes_per_vector_[i] << std::endl;
// std::cout << " data_bit_duration = " << data_bit_duration_ms_[i] << std::endl;
// }
// for (unsigned int i = 0; i < num_sats_; i++)
// {
// std::cout << "Sat " << i << ": " << std::endl;
// std::cout << " System " << system_[i] << ": " << std::endl;
// std::cout << " PRN: " << PRN_[i] << std::endl;
// std::cout << " CN0: " << CN0_dB_[i] << std::endl;
// std::cout << " Doppler: " << doppler_Hz_[i] << std::endl;
// std::cout << " Delay: " << delay_chips_[i] << std::endl;
// std::cout << " Samples per code = " << samples_per_code_[i] << std::endl;
// std::cout << " codes per vector = " << num_of_codes_per_vector_[i] << std::endl;
// std::cout << " data_bit_duration = " << data_bit_duration_ms_[i] << std::endl;
// }
}
void signal_generator_c::generate_codes()
@ -166,61 +188,87 @@ void signal_generator_c::generate_codes()
}
else if (system_[sat] == "E")
{
// Generate one code-period of E1B signal
bool cboc = true;
char signal[3];
strcpy(signal, "1B");
if(signal_[sat].at(0)=='5')
{
char signal[3];
strcpy(signal,"5X");
galileo_e1_code_gen_complex_sampled(code, signal, cboc, PRN_[sat], fs_in_,
(int)Galileo_E1_B_CODE_LENGTH_CHIPS - delay_chips_[sat]);
if (posix_memalign((void**)&(sampled_code_data_[sat]), 16,
vector_length_ * sizeof(gr_complex)) == 0){};
// Obtain the desired CN0 assuming that Pn = 1.
if (noise_flag_)
{
for (unsigned int i = 0; i < samples_per_code_[sat]; i++)
{
code[i] *= sqrt(pow(10, CN0_dB_[sat] / 10) / BW_BB_ / 2);
}
}
// Concatenate "num_of_codes_per_vector_" codes
for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
{
memcpy(&(sampled_code_data_[sat][i*samples_per_code_[sat]]),
code, sizeof(gr_complex)*samples_per_code_[sat]);
}
galileo_e5_a_code_gen_complex_sampled(sampled_code_data_[sat] , signal, PRN_[sat], fs_in_,
(int)Galileo_E5a_CODE_LENGTH_CHIPS-delay_chips_[sat]);
// Generate E1C signal (25 code-periods, with secondary code)
if (posix_memalign((void**)&(sampled_code_pilot_[sat]), 16,
vector_length_ * sizeof(gr_complex)) == 0){};
strcpy(signal, "1C");
//noise
if (noise_flag_)
{
for (unsigned int i = 0; i < vector_length_; i++)
{
sampled_code_data_[sat][i] *= sqrt(pow(10, CN0_dB_[sat] / 10) / BW_BB_ / 2);
}
}
galileo_e1_code_gen_complex_sampled(sampled_code_pilot_[sat], signal, cboc, PRN_[sat], fs_in_,
(int)Galileo_E1_B_CODE_LENGTH_CHIPS-delay_chips_[sat], true);
}
else
{
// Generate one code-period of E1B signal
bool cboc = true;
char signal[3];
strcpy(signal, "1B");
// Obtain the desired CN0 assuming that Pn = 1.
if (noise_flag_)
{
for (unsigned int i = 0; i < vector_length_; i++)
{
sampled_code_pilot_[sat][i] *= sqrt(pow(10, CN0_dB_[sat] / 10) / BW_BB_ / 2);
}
}
galileo_e1_code_gen_complex_sampled(code, signal, cboc, PRN_[sat], fs_in_,
(int)Galileo_E1_B_CODE_LENGTH_CHIPS - delay_chips_[sat]);
// Obtain the desired CN0 assuming that Pn = 1.
if (noise_flag_)
{
for (unsigned int i = 0; i < samples_per_code_[sat]; i++)
{
code[i] *= sqrt(pow(10, CN0_dB_[sat] / 10) / BW_BB_ / 2);
}
}
// Concatenate "num_of_codes_per_vector_" codes
for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
{
memcpy(&(sampled_code_data_[sat][i*samples_per_code_[sat]]),
code, sizeof(gr_complex)*samples_per_code_[sat]);
}
// Generate E1C signal (25 code-periods, with secondary code)
if (posix_memalign((void**)&(sampled_code_pilot_[sat]), 16,
vector_length_ * sizeof(gr_complex)) == 0){};
strcpy(signal, "1C");
galileo_e1_code_gen_complex_sampled(sampled_code_pilot_[sat], signal, cboc, PRN_[sat], fs_in_,
(int)Galileo_E1_B_CODE_LENGTH_CHIPS-delay_chips_[sat], true);
// Obtain the desired CN0 assuming that Pn = 1.
if (noise_flag_)
{
for (unsigned int i = 0; i < vector_length_; i++)
{
sampled_code_pilot_[sat][i] *= sqrt(pow(10, CN0_dB_[sat] / 10) / BW_BB_ / 2);
}
}
}
}
}
}
/*
* Our virtual destructor.
*/
* Our virtual destructor.
*/
signal_generator_c::~signal_generator_c()
{
for (unsigned int sat = 0; sat < num_sats_; sat++)
{
free(sampled_code_data_[sat]);
if (system_[sat] == "E")
if (system_[sat] == "E" && signal_[sat].at(0)!='5')
{
free(sampled_code_pilot_[sat]);
}
@ -232,11 +280,13 @@ signal_generator_c::~signal_generator_c()
int signal_generator_c::general_work (int noutput_items,
gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
gr_complex *out = (gr_complex *) output_items[0];
work_counter_++;
unsigned int out_idx = 0;
unsigned int i = 0;
unsigned int k = 0;
@ -290,36 +340,74 @@ int signal_generator_c::general_work (int noutput_items,
else if (system_[sat] == "E")
{
unsigned int delay_samples = (delay_chips_[sat] % (int)Galileo_E1_B_CODE_LENGTH_CHIPS)
* samples_per_code_[sat] / Galileo_E1_B_CODE_LENGTH_CHIPS;
if(signal_[sat].at(0)=='5')
{
// EACH WORK outputs 1 modulated primary code
int codelen = (int)Galileo_E5a_CODE_LENGTH_CHIPS;
unsigned int delay_samples = (delay_chips_[sat] % codelen)
* samples_per_code_[sat] / codelen;
for (k = 0; k < delay_samples; k++)
{
out[out_idx] += (gr_complex(sampled_code_data_[sat][out_idx].real()*data_modulation_[sat] ,
sampled_code_data_[sat][out_idx].imag()*pilot_modulation_[sat]) )
* complex_phase_[out_idx];
out_idx++;
}
for (i = 0; i < num_of_codes_per_vector_[sat]; i++)
{
for (k = 0; k < delay_samples; k++)
{
out[out_idx] += (sampled_code_data_[sat][out_idx] * current_data_bits_[sat]
- sampled_code_pilot_[sat][out_idx])
* complex_phase_[out_idx];
out_idx++;
}
if (ms_counter_[sat]%data_bit_duration_ms_[sat] == 0 && data_flag_)
{
// New random data bit
current_data_bit_int_[sat] = (rand()%2) == 0 ? 1 : -1;
}
data_modulation_[sat] = current_data_bit_int_[sat] * (Galileo_E5a_I_SECONDARY_CODE.at((ms_counter_[sat]+delay_sec_[sat])%20)=='0' ? 1 : -1);
pilot_modulation_[sat] = (Galileo_E5a_Q_SECONDARY_CODE[PRN_[sat]-1].at((ms_counter_[sat]+delay_sec_[sat])%100)=='0' ? 1 : -1);
if (ms_counter_[sat] == 0 && data_flag_)
{
// New random data bit
current_data_bits_[sat] = gr_complex((rand()%2) == 0 ? 1 : -1, 0);
}
ms_counter_[sat] = ms_counter_[sat] + (int)round(1e3*GALILEO_E5a_CODE_PERIOD);
for (k = delay_samples; k < samples_per_code_[sat]; k++)
{
out[out_idx] += (sampled_code_data_[sat][out_idx] * current_data_bits_[sat]
- sampled_code_pilot_[sat][out_idx])
* complex_phase_[out_idx];
out_idx++;
}
for (k = delay_samples; k < samples_per_code_[sat]; k++)
{
out[out_idx] += (gr_complex(sampled_code_data_[sat][out_idx].real()*data_modulation_[sat] ,
sampled_code_data_[sat][out_idx].imag()*pilot_modulation_[sat]) )
* complex_phase_[out_idx];
out_idx++;
}
ms_counter_[sat] = (ms_counter_[sat] + (int)round(1e3*Galileo_E1_CODE_PERIOD))
% data_bit_duration_ms_[sat];
}
}
else
{
unsigned int delay_samples = (delay_chips_[sat] % (int)Galileo_E1_B_CODE_LENGTH_CHIPS)
* samples_per_code_[sat] / Galileo_E1_B_CODE_LENGTH_CHIPS;
for (i = 0; i < num_of_codes_per_vector_[sat]; i++)
{
for (k = 0; k < delay_samples; k++)
{
out[out_idx] += (sampled_code_data_[sat][out_idx] * current_data_bits_[sat]
- sampled_code_pilot_[sat][out_idx])
* complex_phase_[out_idx];
out_idx++;
}
if (ms_counter_[sat] == 0 && data_flag_)
{
// New random data bit
current_data_bits_[sat] = gr_complex((rand()%2) == 0 ? 1 : -1, 0);
}
for (k = delay_samples; k < samples_per_code_[sat]; k++)
{
out[out_idx] += (sampled_code_data_[sat][out_idx] * current_data_bits_[sat]
- sampled_code_pilot_[sat][out_idx])
* complex_phase_[out_idx];
out_idx++;
}
ms_counter_[sat] = (ms_counter_[sat] + (int)round(1e3*Galileo_E1_CODE_PERIOD))
% data_bit_duration_ms_[sat];
}
}
}
}
@ -334,4 +422,3 @@ int signal_generator_c::general_work (int noutput_items,
// Tell runtime system how many output items we produced.
return 1;
}

63
src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.h
View File

@ -38,42 +38,39 @@
#include <gnuradio/block.h>
#include "gnss_signal.h"
class signal_generator_c;
/*
* We use boost::shared_ptr's instead of raw pointers for all access
* to gr_blocks (and many other data structures). The shared_ptr gets
* us transparent reference counting, which greatly simplifies storage
* management issues.
*
* See http://www.boost.org/libs/smart_ptr/smart_ptr.htm
*
* As a convention, the _sptr suffix indicates a boost::shared_ptr
*/
* We use boost::shared_ptr's instead of raw pointers for all access
* to gr_blocks (and many other data structures). The shared_ptr gets
* us transparent reference counting, which greatly simplifies storage
* management issues.
*
* See http://www.boost.org/libs/smart_ptr/smart_ptr.htm
*
* As a convention, the _sptr suffix indicates a boost::shared_ptr
*/
typedef boost::shared_ptr<signal_generator_c> signal_generator_c_sptr;
/*!
* \brief Return a shared_ptr to a new instance of gen_source.
*
* To avoid accidental use of raw pointers, gen_source's
* constructor is private. signal_make_generator_c is the public
* interface for creating new instances.
*/
* \brief Return a shared_ptr to a new instance of gen_source.
*
* To avoid accidental use of raw pointers, gen_source's
* constructor is private. signal_make_generator_c is the public
* interface for creating new instances.
*/
signal_generator_c_sptr
signal_make_generator_c (std::vector<std::string> system, const std::vector<unsigned int> &PRN,
signal_make_generator_c (std::vector<std::string> signal1, std::vector<std::string> system, const std::vector<unsigned int> &PRN,
const std::vector<float> &CN0_dB, const std::vector<float> &doppler_Hz,
const std::vector<unsigned int> &delay_chips, bool data_flag, bool noise_flag,
const std::vector<unsigned int> &delay_chips,const std::vector<unsigned int> &delay_sec, bool data_flag, bool noise_flag,
unsigned int fs_in, unsigned int vector_length, float BW_BB);
/*!
* \brief This class generates synthesized GNSS signal.
* \ingroup block
*
* \sa gen_source for a version that subclasses gr_block.
*/
* \brief This class generates synthesized GNSS signal.
* \ingroup block
*
* \sa gen_source for a version that subclasses gr_block.
*/
class signal_generator_c : public gr::block
{
private:
@ -82,24 +79,26 @@ private:
/* Create the signal_generator_c object*/
friend signal_generator_c_sptr
signal_make_generator_c (std::vector<std::string> system, const std::vector<unsigned int> &PRN,
signal_make_generator_c (std::vector<std::string> signal1, std::vector<std::string> system, const std::vector<unsigned int> &PRN,
const std::vector<float> &CN0_dB, const std::vector<float> &doppler_Hz,
const std::vector<unsigned int> &delay_chips, bool data_flag, bool noise_flag,
const std::vector<unsigned int> &delay_chips,const std::vector<unsigned int> &delay_sec, bool data_flag, bool noise_flag,
unsigned int fs_in, unsigned int vector_length, float BW_BB);
signal_generator_c (std::vector<std::string> system, const std::vector<unsigned int> &PRN,
signal_generator_c (std::vector<std::string> signal1, std::vector<std::string> system, const std::vector<unsigned int> &PRN,
const std::vector<float> &CN0_dB, const std::vector<float> &doppler_Hz,
const std::vector<unsigned int> &delay_chips, bool data_flag, bool noise_flag,
const std::vector<unsigned int> &delay_chips,const std::vector<unsigned int> &delay_sec, bool data_flag, bool noise_flag,
unsigned int fs_in, unsigned int vector_length, float BW_BB);
void init();
void generate_codes();
std::vector<std::string> signal_;
std::vector<std::string> system_;
std::vector<unsigned int> PRN_;
std::vector<float> CN0_dB_;
std::vector<float> doppler_Hz_;
std::vector<unsigned int> delay_chips_;
std::vector<unsigned int> delay_sec_;
bool data_flag_;
bool noise_flag_;
unsigned int fs_in_;
@ -113,12 +112,17 @@ private:
std::vector<unsigned int> ms_counter_;
std::vector<float> start_phase_rad_;
std::vector<gr_complex> current_data_bits_;
std::vector<signed int> current_data_bit_int_;
std::vector<signed int> data_modulation_;
std::vector<signed int> pilot_modulation_;
boost::scoped_array<gr_complex*> sampled_code_data_;
boost::scoped_array<gr_complex*> sampled_code_pilot_;
gr::random* random_;
gr_complex* complex_phase_;
unsigned int work_counter_;
public:
~signal_generator_c (); // public destructor
@ -131,3 +135,4 @@ public:
};
#endif /* GNSS_SDR_SIGNAL_GENERATOR_C_H */

4
src/algorithms/telemetry_decoder/adapters/CMakeLists.txt
View File

@ -20,6 +20,7 @@ set(TELEMETRY_DECODER_ADAPTER_SOURCES
gps_l1_ca_telemetry_decoder.cc
galileo_e1b_telemetry_decoder.cc
sbas_l1_telemetry_decoder.cc
galileo_e5a_telemetry_decoder.cc
)
include_directories(
@ -29,6 +30,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
@ -37,4 +39,4 @@ include_directories(
file(GLOB TELEMETRY_DECODER_ADAPTER_HEADERS "*.h")
add_library(telemetry_decoder_adapters ${TELEMETRY_DECODER_ADAPTER_SOURCES} ${TELEMETRY_DECODER_ADAPTER_HEADERS})
source_group(Headers FILES ${TELEMETRY_DECODER_ADAPTER_HEADERS})
target_link_libraries(telemetry_decoder_adapters telemetry_decoder_gr_blocks)
target_link_libraries(telemetry_decoder_adapters telemetry_decoder_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES})

1
src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.h
View File

@ -38,6 +38,7 @@
#include <gnuradio/msg_queue.h>
#include "telemetry_decoder_interface.h"
#include "galileo_e1b_telemetry_decoder_cc.h"
#include "gnss_satellite.h"

122
src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.cc Normal file
View File

@ -0,0 +1,122 @@
/*!
* \file galileo_e5a_telemetry_decoder.h
* \brief Interface of an adapter of a GALILEO E5a FNAV data decoder block
* to a TelemetryDecoderInterface
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* </ul>
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e5a_telemetry_decoder.h"
#include <boost/shared_ptr.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "galileo_ephemeris.h"
#include "galileo_almanac.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "configuration_interface.h"
#include "galileo_e5a_telemetry_decoder_cc.h"
extern concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
extern concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
extern concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
extern concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
using google::LogMessage;
GalileoE5aTelemetryDecoder::GalileoE5aTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams),
queue_(queue)
{
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./navigation.dat";
DLOG(INFO) << "role " << role;
DLOG(INFO) << "vector length " << vector_length_;
vector_length_ = configuration->property(role + ".vector_length", 2048);
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
int fs_in;
fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
// make telemetry decoder object
telemetry_decoder_ = galileo_e5a_make_telemetry_decoder_cc(satellite_, 0, (long)fs_in, vector_length_, queue_, dump_); // TODO fix me
DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
// set the navigation msg queue;
telemetry_decoder_->set_ephemeris_queue(&global_galileo_ephemeris_queue);
telemetry_decoder_->set_iono_queue(&global_galileo_iono_queue);
telemetry_decoder_->set_almanac_queue(&global_galileo_almanac_queue);
telemetry_decoder_->set_utc_model_queue(&global_galileo_utc_model_queue);
DLOG(INFO) << "global navigation message queue assigned to telemetry_decoder ("<< telemetry_decoder_->unique_id() << ")";
}
GalileoE5aTelemetryDecoder::~GalileoE5aTelemetryDecoder()
{}
void GalileoE5aTelemetryDecoder::set_satellite(Gnss_Satellite satellite)
{
satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
telemetry_decoder_->set_satellite(satellite_);
DLOG(INFO) << "TELEMETRY DECODER: satellite set to " << satellite_;
}
void GalileoE5aTelemetryDecoder::connect(gr::top_block_sptr top_block)
{
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void GalileoE5aTelemetryDecoder::disconnect(gr::top_block_sptr top_block)
{
// Nothing to disconnect
}
gr::basic_block_sptr GalileoE5aTelemetryDecoder::get_left_block()
{
return telemetry_decoder_;
}
gr::basic_block_sptr GalileoE5aTelemetryDecoder::get_right_block()
{
return telemetry_decoder_;
}

102
src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.h Normal file
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@ -0,0 +1,102 @@
/*!
* \file galileo_e5a_telemetry_decoder.h
* \brief Interface of an adapter of a GALILEO E5a FNAV data decoder block
* to a TelemetryDecoderInterface
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* </ul>
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_H_
#define GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_H_
#include <string>
#include <gnuradio/msg_queue.h>
#include "telemetry_decoder_interface.h"
#include "galileo_e5a_telemetry_decoder_cc.h"
class ConfigurationInterface;
/*!
* \brief This class implements a NAV data decoder for Galileo INAV frames in E1B radio link
*/
class GalileoE5aTelemetryDecoder: public TelemetryDecoderInterface
{
public:
GalileoE5aTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue);
virtual ~GalileoE5aTelemetryDecoder();
std::string role()
{
return role_;
}
/*!
* \brief Returns "Galileo_E5a_Telemetry_Decoder"
*/
std::string implementation()
{
return "Galileo_E5A_Telemetry_Decoder";
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
void set_satellite(Gnss_Satellite satellite);
void set_channel(int channel){telemetry_decoder_->set_channel(channel);}
void reset()
{
return;
}
size_t item_size()
{
return 0;
}
private:
galileo_e5a_telemetry_decoder_cc_sptr telemetry_decoder_;
Gnss_Satellite satellite_;
int channel_;
unsigned int vector_length_;
std::string item_type_;
bool dump_;
std::string dump_filename_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
boost::shared_ptr<gr::msg_queue> queue_;
};
#endif /* GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_H_ */

1
src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
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@ -20,6 +20,7 @@ set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES
gps_l1_ca_telemetry_decoder_cc.cc
galileo_e1b_telemetry_decoder_cc.cc
sbas_l1_telemetry_decoder_cc.cc
galileo_e5a_telemetry_decoder_cc
)
include_directories(

638
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc Normal file
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@ -0,0 +1,638 @@
/*!
* \file galileo_e5a_telemetry_decoder_cc.cc
* \brief Implementation of a Galileo FNAV message demodulator block
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* </ul>
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e5a_telemetry_decoder_cc.h"
#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include <sstream>
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "control_message_factory.h"
//#include "galileo_navigation_message.h"
#include "galileo_fnav_message.h"
#include "gnss_synchro.h"
#include "convolutional.h"
//#include <volk/volk.h>
//#include "galileo_e1b_telemetry_decoder_cc.h"
#define CRC_ERROR_LIMIT 6
using google::LogMessage;
galileo_e5a_telemetry_decoder_cc_sptr
galileo_e5a_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump)
{
return galileo_e5a_telemetry_decoder_cc_sptr(new galileo_e5a_telemetry_decoder_cc(satellite, if_freq,
fs_in, vector_length, queue, dump));
}
void galileo_e5a_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
{
//ninput_items_required[0] = GALILEO_FNAV_SAMPLES_PER_PAGE; // set the required sample history
ninput_items_required[0] = GALILEO_FNAV_CODES_PER_PREAMBLE;
}
void galileo_e5a_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, int *page_part_bits)
{
// int CodeLength = 240;
int CodeLength = 488;
int DataLength;
int nn, KK, mm, max_states;
int g_encoder[2];
nn = 2; // Coding rate 1/n
KK = 7; // Constraint Length
g_encoder[0] = 121; // Polynomial G1
g_encoder[1] = 91; // Polynomial G2
// g_encoder[0] = 171; // Polynomial G1
// g_encoder[1] = 133; // Polynomial G2
mm = KK - 1;
max_states = 1 << mm; // 2^mm
DataLength = (CodeLength/nn) - mm;
//create appropriate transition matrices
int *out0, *out1, *state0, *state1;
out0 = (int*)calloc( max_states, sizeof(int) );
out1 = (int*)calloc( max_states, sizeof(int) );
state0 = (int*)calloc( max_states, sizeof(int) );
state1 = (int*)calloc( max_states, sizeof(int) );
nsc_transit( out0, state0, 0, g_encoder, KK, nn );
nsc_transit( out1, state1, 1, g_encoder, KK, nn );
Viterbi(page_part_bits, out0, state0, out1, state1,
page_part_symbols, KK, nn, DataLength );
//Clean up memory
free( out0 );
free( out1 );
free( state0 );
free( state1 );
}
void galileo_e5a_telemetry_decoder_cc::deinterleaver(int rows, int cols, double *in, double *out)
{
for (int r = 0; r < rows; r++)
{
for(int c = 0; c < cols; c++)
{
out[c*rows + r] = in[r*cols + c];
}
}
}
void galileo_e5a_telemetry_decoder_cc::decode_word(double *page_symbols,int frame_length)
{
double page_symbols_deint[frame_length];
// 1. De-interleave
galileo_e5a_telemetry_decoder_cc::deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint);
// 2. Viterbi decoder
// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
// 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180<38>
for (int i = 0; i < frame_length; i++)
{
if ((i + 1) % 2 == 0)
{
page_symbols_deint[i] = -page_symbols_deint[i];
}
}
int page_bits[frame_length/2];
galileo_e5a_telemetry_decoder_cc::viterbi_decoder(page_symbols_deint, page_bits);
// 3. Call the Galileo page decoder
std::string page_String;
for(int i = 0; i < frame_length; i++)
{
if (page_bits[i] > 0)
{
page_String.push_back('1');
}
else
{
page_String.push_back('0');
}
}
// DECODE COMPLETE WORD (even + odd) and TEST CRC
d_nav.split_page(page_String);
if(d_nav.flag_CRC_test == true)
{
LOG(INFO) << "Galileo CRC correct on channel " << d_channel;
std::cout << "Galileo CRC correct on channel " << d_channel << std::endl;
}
else
{
std::cout << "Galileo CRC error on channel " << d_channel << std::endl;
LOG(INFO)<< "Galileo CRC error on channel " << d_channel;
}
// 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true)
{
// get ephemeris object for this SV
Galileo_Ephemeris ephemeris = d_nav.get_ephemeris();//notice that the read operation will clear the valid flag
//std::cout<<"New Galileo Ephemeris received for SV "<<d_satellite.get_PRN()<<std::endl;
d_ephemeris_queue->push(ephemeris);
}
if (d_nav.have_new_iono_and_GST() == true)
{
Galileo_Iono iono = d_nav.get_iono(); //notice that the read operation will clear the valid flag
//std::cout<<"New Galileo IONO model (and UTC) received for SV "<<d_satellite.get_PRN()<<std::endl;
d_iono_queue->push(iono);
}
if (d_nav.have_new_utc_model() == true)
{
Galileo_Utc_Model utc_model = d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
//std::cout<<"New Galileo UTC model received for SV "<<d_satellite.get_PRN()<<std::endl;
d_utc_model_queue->push(utc_model);
}
}
galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc(
Gnss_Satellite satellite,
long if_freq,
long fs_in,
unsigned
int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump) :
gr::block("galileo_e5a_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// initialize internal vars
d_queue = queue;
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "GALILEO E5A TELEMETRY PROCESSING: satellite " << d_satellite;
d_vector_length = vector_length;
//d_samples_per_symbol = ( Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS ) / Galileo_E1_B_SYMBOL_RATE_BPS;
d_fs_in = fs_in;
// set the preamble
//unsigned short int preambles_bits[GALILEO_FNAV_PREAMBLE_LENGTH_BITS] = GALILEO_FNAV_PREAMBLE;
for (int i = 0; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
{
if (GALILEO_FNAV_PREAMBLE.at(i) == '0')
{
d_preamble_bits[i] = 1;
}
else
{
d_preamble_bits[i] = -1;
}
}
// memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GALILEO_FNAV_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
// // preamble bits to sampled symbols
// d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * GALILEO_FNAV_SAMPLES_PER_PREAMBLE);
// int n = 0;
// for (int i = 0; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
// {
// for (unsigned int j = 0; j < GALILEO_FNAV_SAMPLES_PER_SYMBOL; j++)
// {
// if (d_preambles_bits[i] == 1)
// {
// d_preambles_symbols[n] = 1;
// }
// else
// {
// d_preambles_symbols[n] = -1;
// }
// n++;
// }
// }
//
d_sample_counter = 0;
d_state = 0;
d_preamble_lock=false;
d_preamble_index = 0;
d_preamble_time_seconds = 0;
d_flag_frame_sync = false;
d_current_symbol = 0;
d_prompt_counter = 0;
d_symbol_counter = 0;
d_TOW_at_Preamble = 0;
d_TOW_at_current_symbol = 0;
d_CRC_error_counter = 0;
d_sign_init = 0;
}
galileo_e5a_telemetry_decoder_cc::~galileo_e5a_telemetry_decoder_cc()
{
delete d_preamble_bits;
d_dump_file.close();
}
int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
//
const Gnss_Synchro **in = (const Gnss_Synchro **) &input_items[0]; //Get the input samples pointer
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
/* Terminology: Prompt: output from tracking Prompt correlator (Prompt samples)
* Symbol: encoded navigation bits. 1 symbol = 20 samples in E5a
* Bit: decoded navigation bits forming words as described in Galileo ICD
* States: 0 Receiving dummy samples.
* 1 Preamble not locked
* 3 Preamble lock
*/
switch (d_state)
{
case 0:
{
if (in[0][0].Prompt_I != 0)
{
d_current_symbol += in[0][0].Prompt_I;
if (d_prompt_counter == GALILEO_FNAV_CODES_PER_SYMBOL - 1)
{
if (d_current_symbol > 0)
{
d_page_symbols[d_symbol_counter] = 1;
}
else
{
d_page_symbols[d_symbol_counter] = -1;
}
d_current_symbol = 0;
d_symbol_counter++;
d_prompt_counter = 0;
if (d_symbol_counter == GALILEO_FNAV_PREAMBLE_LENGTH_BITS-1)
{
d_state = 1;
}
}
else
{
d_prompt_counter++;
}
}
break;
}
case 1:
{
d_current_symbol += in[0][0].Prompt_I;
if (d_prompt_counter == GALILEO_FNAV_CODES_PER_SYMBOL - 1)
{
if (d_current_symbol > 0)
{
d_page_symbols[d_symbol_counter] = 1;
}
else
{
d_page_symbols[d_symbol_counter] = -1;
}
// d_page_symbols[d_symbol_counter] = d_current_symbol_float/(float)GALILEO_FNAV_CODES_PER_SYMBOL;
d_current_symbol = 0;
d_symbol_counter++;
d_prompt_counter = 0;
// **** Attempt Preamble correlation ****
bool corr_flag=true;
int corr_sign = 0; // sequence can be found inverted
// corr_sign = d_preamble_bits[0] * d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS];
// for (int i = 1; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
// {
// if ((d_preamble_bits[i] * d_page_symbols[i + d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS]) != corr_sign)
// {
// //exit for if one bit doesn't correlate
// corr_flag=false;
// break;
// }
// }
// check if the preamble starts positive correlated or negative correlated
if (d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS] < 0) // symbols clipping
{
corr_sign=-d_preamble_bits[0];
}
else
{
corr_sign=d_preamble_bits[0];
}
// the preamble is fully correlated only if maintains corr_sign along the whole sequence
for (int i = 1; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
{
if (d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS + i] < 0 && d_preamble_bits[i]+corr_sign != 0)
{
//exit for
corr_flag=false;
break;
}
if (d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS + i] > 0 && d_preamble_bits[i]+corr_sign == 0)
{
//exit for
corr_flag=false;
break;
}
}
//
if (corr_flag==true) // preamble fully correlates
{
d_preamble_index = d_sample_counter - GALILEO_FNAV_CODES_PER_PREAMBLE;//record the preamble sample stamp. Remember correlation appears at the end of the preamble in this design
LOG(INFO) << "Preamble detection for Galileo SAT " << this->d_satellite << std::endl;
d_symbol_counter = 0; // d_page_symbols start right after preamble and finish at the end of next preamble.
d_state = 2; // preamble lock
}
if (d_symbol_counter >= GALILEO_FNAV_SYMBOLS_PER_PAGE + GALILEO_FNAV_PREAMBLE_LENGTH_BITS)
{
d_symbol_counter = GALILEO_FNAV_PREAMBLE_LENGTH_BITS; // prevents overflow
}
}
else
{
d_prompt_counter++;
}
break;
}
case 2:
{
d_current_symbol += in[0][0].Prompt_I;
if (d_prompt_counter == GALILEO_FNAV_CODES_PER_SYMBOL - 1)
{
if (d_current_symbol > 0)
{
d_page_symbols[d_symbol_counter] = 1;
}
else
{
d_page_symbols[d_symbol_counter] = -1;
}
// d_page_symbols[d_symbol_counter] = d_current_symbol_float/(float)GALILEO_FNAV_CODES_PER_SYMBOL;
d_current_symbol = 0;
d_symbol_counter++;
d_prompt_counter = 0;
// At the right sample stamp, check preamble synchro
if (d_sample_counter == d_preamble_index + GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE)
{
// **** Attempt Preamble correlation ****
bool corr_flag = true;
int corr_sign = 0; // sequence can be found inverted
// corr_sign = d_preamble_bits[0] * d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS];
// for (int i = 1; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
// {
// if ((d_preamble_bits[i] * d_page_symbols[i + d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS]) != corr_sign)
// {
// //exit for if one bit doesn't correlate
// corr_flag=false;
// break;
// }
// }
// check if the preamble starts positive correlated or negative correlated
if (d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS] < 0) // symbols clipping
{
corr_sign=-d_preamble_bits[0];
}
else
{
corr_sign=d_preamble_bits[0];
}
// the preamble is fully correlated only if maintains corr_sign along the whole sequence
for (int i = 1; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++)
{
if (d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS + i] < 0 && d_preamble_bits[i]+corr_sign != 0)
{
//exit for
corr_flag=false;
break;
}
if (d_page_symbols[d_symbol_counter - GALILEO_FNAV_PREAMBLE_LENGTH_BITS + i] > 0 && d_preamble_bits[i]+corr_sign == 0)
{
//exit for
corr_flag=false;
break;
}
}
//
if (corr_flag==true) // NEW PREAMBLE RECEIVED. DECODE PAGE
{
d_preamble_index = d_sample_counter - GALILEO_FNAV_CODES_PER_PREAMBLE;//record the preamble sample stamp
// DECODE WORD
decode_word(d_page_symbols, GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS);
// CHECK CRC
if (d_nav.flag_CRC_test == true)
{
d_CRC_error_counter = 0;
d_flag_preamble = true; //valid preamble indicator (initialized to false every work())
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs - ((double)(GALILEO_FNAV_CODES_PER_PAGE+GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD); //record the PRN start sample index associated to the preamble start.
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
LOG(INFO) <<" Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]";
}
d_symbol_counter = 0; // d_page_symbols start right after preamble and finish at the end of next preamble.
}
else
{
d_CRC_error_counter++;
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{
LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
d_state = 1;
d_symbol_counter = GALILEO_FNAV_PREAMBLE_LENGTH_BITS; // prevents overflow
d_flag_frame_sync = false;
}
else
{
d_symbol_counter = 0; // d_page_symbols start right after preamble and finish at the end of next preamble.
}
}
}
}
}
else
{
d_prompt_counter++;
}
break;
}
}
consume_each(1);
// UPDATE GNSS SYNCHRO DATA
Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
//1. Copy the current tracking output
current_synchro_data = in[0][0];
//2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
//update TOW at the preamble instant
//We expect a preamble each 10 seconds (FNAV page period)
{
Prn_timestamp_at_preamble_ms = d_preamble_time_seconds * 1000;
//Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
if (d_nav.flag_TOW_1 == true)
{
d_TOW_at_Preamble = d_nav.FNAV_TOW_1;
d_TOW_at_current_symbol = d_TOW_at_Preamble + ((double)(GALILEO_FNAV_CODES_PER_PAGE+GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD);
d_nav.flag_TOW_1 = false;
}
if (d_nav.flag_TOW_2 == true)
{
d_TOW_at_Preamble = d_nav.FNAV_TOW_2;
d_TOW_at_current_symbol = d_TOW_at_Preamble + ((double)(GALILEO_FNAV_CODES_PER_PAGE+GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD);
d_nav.flag_TOW_2 = false;
}
if (d_nav.flag_TOW_3 == true)
{
d_TOW_at_Preamble = d_nav.FNAV_TOW_3;
d_TOW_at_current_symbol = d_TOW_at_Preamble + ((double)(GALILEO_FNAV_CODES_PER_PAGE+GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD);
d_nav.flag_TOW_3 = false;
}
if (d_nav.flag_TOW_4 == true)
{
d_TOW_at_Preamble = d_nav.FNAV_TOW_4;
d_TOW_at_current_symbol = d_TOW_at_Preamble + ((double)(GALILEO_FNAV_CODES_PER_PAGE+GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD);
d_nav.flag_TOW_4 = false;
}
else
{
//this page has no timming information
d_TOW_at_Preamble = d_TOW_at_Preamble + GALILEO_FNAV_SECONDS_PER_PAGE;
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E5a_CODE_PERIOD;
}
}
else //if there is not a new preamble, we define the TOW of the current symbol
{
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALILEO_E5a_CODE_PERIOD;
}
//if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
if (d_flag_frame_sync == true and d_nav.flag_TOW_set == true)
{
current_synchro_data.Flag_valid_word = true;
}
else
{
current_synchro_data.Flag_valid_word = false;
}
current_synchro_data.d_TOW = d_TOW_at_Preamble;
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.Flag_preamble = d_flag_preamble;
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
tmp_double = d_TOW_at_current_symbol;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = current_synchro_data.Prn_timestamp_ms;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = d_TOW_at_Preamble;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
d_sample_counter++; //count for the processed samples
//3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_synchro_data;
return 1;
}
void galileo_e5a_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
}
void galileo_e5a_telemetry_decoder_cc::set_channel(int channel)
{
d_channel = channel;
LOG(INFO) << "Navigation channel set to " << channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename = "telemetry";
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure& e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
}
}
}
}
void galileo_e5a_telemetry_decoder_cc::set_ephemeris_queue(concurrent_queue<Galileo_Ephemeris> *ephemeris_queue)
{
d_ephemeris_queue = ephemeris_queue;
}
void galileo_e5a_telemetry_decoder_cc::set_iono_queue(concurrent_queue<Galileo_Iono> *iono_queue)
{
d_iono_queue = iono_queue;
}
void galileo_e5a_telemetry_decoder_cc::set_almanac_queue(concurrent_queue<Galileo_Almanac> *almanac_queue)
{
d_almanac_queue = almanac_queue;
}
void galileo_e5a_telemetry_decoder_cc::set_utc_model_queue(concurrent_queue<Galileo_Utc_Model> *utc_model_queue)
{
d_utc_model_queue = utc_model_queue;
}

154
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h Normal file
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@ -0,0 +1,154 @@
/*!
* \file galileo_e5a_telemetry_decoder_cc.cc
* \brief Implementation of a Galileo FNAV message demodulator block
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* </ul>
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_CC_H_
#define GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_CC_H_
#include <fstream>
#include <string>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/trellis/interleaver.h>
#include <gnuradio/trellis/permutation.h>
//#include <gnuradio/fec/viterbi.h>
#include "Galileo_E5a.h"
#include "concurrent_queue.h"
#include "gnss_satellite.h"
#include "galileo_fnav_message.h"
#include "galileo_ephemeris.h"
#include "galileo_almanac.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
//#include "convolutional.h"
class galileo_e5a_telemetry_decoder_cc;
typedef boost::shared_ptr<galileo_e5a_telemetry_decoder_cc> galileo_e5a_telemetry_decoder_cc_sptr;
galileo_e5a_telemetry_decoder_cc_sptr galileo_e5a_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump);
/*!
* \brief This class implements a block that decodes the FNAV data defined in Galileo ICD
*
*/
class galileo_e5a_telemetry_decoder_cc : public gr::block
{
public:
~galileo_e5a_telemetry_decoder_cc();
void set_satellite(Gnss_Satellite satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel
void set_ephemeris_queue(concurrent_queue<Galileo_Ephemeris> *ephemeris_queue); //!< Set the satellite data queue
void set_iono_queue(concurrent_queue<Galileo_Iono> *iono_queue); //!< Set the iono data queue
void set_almanac_queue(concurrent_queue<Galileo_Almanac> *almanac_queue); //!< Set the almanac data queue
void set_utc_model_queue(concurrent_queue<Galileo_Utc_Model> *utc_model_queue); //!< Set the UTC model queue
/*!
* \brief This is where all signal processing takes place
*/
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
/*!
* \brief Function which tells the scheduler how many input items
* are required to produce noutput_items output items.
*/
void forecast (int noutput_items, gr_vector_int &ninput_items_required);
private:
friend galileo_e5a_telemetry_decoder_cc_sptr
galileo_e5a_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in,unsigned
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump);
galileo_e5a_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump);
void viterbi_decoder(double *page_part_symbols, int *page_part_bits);
void deinterleaver(int rows, int cols, double *in, double *out);
void decode_word(double *page_symbols,int frame_length);
signed int d_preamble_bits[GALILEO_FNAV_PREAMBLE_LENGTH_BITS];
// signed int d_page_symbols[GALILEO_FNAV_SYMBOLS_PER_PAGE + GALILEO_FNAV_PREAMBLE_LENGTH_BITS];
double d_page_symbols[GALILEO_FNAV_SYMBOLS_PER_PAGE + GALILEO_FNAV_PREAMBLE_LENGTH_BITS];
signed int *d_preamble_symbols;
double d_current_symbol;
long unsigned int d_symbol_counter;
int d_prompt_counter;
int d_sign_init;
long unsigned int d_sample_counter;
long unsigned int d_preamble_index;
bool d_preamble_lock;
bool d_flag_frame_sync;
int d_state;
bool d_flag_preamble;
int d_CRC_error_counter;
long d_fs_in;
// navigation message vars
Galileo_Fnav_Message d_nav;
// Galileo ephemeris queue
concurrent_queue<Galileo_Ephemeris> *d_ephemeris_queue;
// ionospheric parameters queue
concurrent_queue<Galileo_Iono> *d_iono_queue;
// UTC model parameters queue
concurrent_queue<Galileo_Utc_Model> *d_utc_model_queue;
// Almanac queue
concurrent_queue<Galileo_Almanac> *d_almanac_queue;
boost::shared_ptr<gr::msg_queue> d_queue;
unsigned int d_vector_length;
bool d_dump;
Gnss_Satellite d_satellite;
int d_channel;
double d_preamble_time_seconds;
double d_TOW_at_Preamble;
double d_TOW_at_current_symbol;
double Prn_timestamp_at_preamble_ms;
bool flag_TOW_set;
std::string d_dump_filename;
std::ofstream d_dump_file;
};
#endif /* GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_CC_H_ */

18
src/algorithms/telemetry_decoder/libs/convolutional.h
View File

@ -37,7 +37,8 @@
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
//#ifndef GNSS_SDR_CONVOLUTIONAL_H_
//#define GNSS_SDR_CONVOLUTIONAL_H_
/* define constants used throughout the library */
#define MAXLOG 1e7 /* Define infinity */
@ -49,9 +50,9 @@
* \param[in] symbol The integer-valued symbol
* \param[in] length The length of the binary vector
*
* This function is used by conv_encode()
* This function is used by conv_encode()
*/
void itob(int binvec_p[], int symbol, int length)
static void itob(int binvec_p[], int symbol, int length)
{
int counter;
/* Go through each bit in the vector */
@ -73,9 +74,9 @@ void itob(int binvec_p[], int symbol, int length)
* \param[in] symbol The integer-valued symbol
* \param[in] length The highest bit position in the symbol
*
* This function is used by nsc_enc_bit(), rsc_enc_bit(), and rsc_tail()
* This function is used by nsc_enc_bit(), rsc_enc_bit(), and rsc_tail()
*/
int parity_counter(int symbol, int length)
static int parity_counter(int symbol, int length)
{
int counter;
int temp_parity = 0;
@ -133,7 +134,7 @@ static int nsc_enc_bit(int state_out_p[],
/*!
* \brief like nsc_enc_bit() but for a RSC code
* \brief like nsc_enc_bit() but for a RSC code
*/
static int rsc_enc_bit(int state_out_p[],
int input,
@ -380,7 +381,7 @@ static float Gamma(float rec_array[],
mask = mask << 1;
}
return(rm);
}
}
/*!
@ -440,7 +441,7 @@ static void Viterbi(int output_u_int[],
for (t = 0; t < LL + mm; t++)
{
for (i = 0; i < nn; i++)
rec_array[i] = (float)input_c[nn*t + i];
rec_array[i] = (float)input_c[nn*t + i];
/* precompute all possible branch metrics */
for (i = 0; i < number_symbols; i++)
@ -657,3 +658,4 @@ static void ViterbiTb(int output_u_int[],
free(rec_array);
free(metric_c);
}
//#endif

1
src/algorithms/tracking/adapters/CMakeLists.txt
View File

@ -24,6 +24,7 @@ set(TRACKING_ADAPTER_SOURCES
gps_l1_ca_dll_pll_optim_tracking.cc
gps_l1_ca_dll_pll_tracking.cc
gps_l1_ca_tcp_connector_tracking.cc
galileo_e5a_dll_pll_tracking.cc
)
include_directories(

165
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc Normal file
View File

@ -0,0 +1,165 @@
/*!
* \file galileo_e5a_dll_fll_pll_tracking.cc
* \brief Adapts a code DLL + carrier PLL
* tracking block to a TrackingInterface for Galileo E5a signals
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e5a_dll_pll_tracking.h"
#include <glog/logging.h>
#include "Galileo_E5a.h"
#include "configuration_interface.h"
using google::LogMessage;
GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams),
queue_(queue)
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
std::string default_item_type = "gr_complex";
float pll_bw_hz;
float dll_bw_hz;
float pll_bw_init_hz;
float dll_bw_init_hz;
int ti_ms;
float early_late_space_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
//vector_length = configuration->property(role + ".vector_length", 2048);
fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 12000000);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
pll_bw_init_hz = configuration->property(role + ".pll_bw_init_hz", 20.0);
dll_bw_init_hz = configuration->property(role + ".dll_bw_init_hz", 20.0);
ti_ms = configuration->property(role + ".ti_ms", 3);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename",
default_dump_filename); //unused!
vector_length = std::round(fs_in / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ###################
if (item_type.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
tracking_ = galileo_e5a_dll_pll_make_tracking_cc(
f_if,
fs_in,
vector_length,
queue_,
dump,
dump_filename,
pll_bw_hz,
dll_bw_hz,
pll_bw_init_hz,
dll_bw_init_hz,
ti_ms,
early_late_space_chips);
}
else
{
LOG(WARNING) << item_type << " unknown tracking item type.";
}
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
}
GalileoE5aDllPllTracking::~GalileoE5aDllPllTracking()
{}
void GalileoE5aDllPllTracking::start_tracking()
{
tracking_->start_tracking();
}
/*
* Set tracking channel unique ID
*/
void GalileoE5aDllPllTracking::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_->set_channel(channel);
}
/*
* Set tracking channel internal queue
*/
void GalileoE5aDllPllTracking::set_channel_queue(
concurrent_queue<int> *channel_internal_queue)
{
channel_internal_queue_ = channel_internal_queue;
tracking_->set_channel_queue(channel_internal_queue_);
}
void GalileoE5aDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GalileoE5aDllPllTracking::connect(gr::top_block_sptr top_block)
{
//nothing to connect, now the tracking uses gr_sync_decimator
}
void GalileoE5aDllPllTracking::disconnect(gr::top_block_sptr top_block)
{
//nothing to disconnect, now the tracking uses gr_sync_decimator
}
gr::basic_block_sptr GalileoE5aDllPllTracking::get_left_block()
{
return tracking_;
}
gr::basic_block_sptr GalileoE5aDllPllTracking::get_right_block()
{
return tracking_;
}

115
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.h Normal file
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@ -0,0 +1,115 @@
/*!
* \file galileo_e5a_dll_fll_pll_tracking.h
* \brief Adapts a code DLL + carrier PLL
* tracking block to a TrackingInterface for Galileo E5a signals
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_H_
#define GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_H_
#include <string>
#include <gnuradio/msg_queue.h>
#include "tracking_interface.h"
#include "galileo_e5a_dll_pll_tracking_cc.h"
class ConfigurationInterface;
/*!
* \brief This class implements a code DLL + carrier PLL tracking loop
*/
class GalileoE5aDllPllTracking : public TrackingInterface
{
public:
GalileoE5aDllPllTracking(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue);
virtual ~GalileoE5aDllPllTracking();
std::string role()
{
return role_;
}
//! Returns "Galileo_E5a_DLL_PLL_Tracking"
std::string implementation()
{
return "Galileo_E5a_DLL_PLL_Tracking";
}
size_t item_size()
{
return item_size_;
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
/*!
* \brief Set tracking channel unique ID
*/
void set_channel(unsigned int channel);
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
/*!
* \brief Set tracking channel internal queue
*/
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
void start_tracking();
private:
galileo_e5a_dll_pll_tracking_cc_sptr tracking_;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
boost::shared_ptr<gr::msg_queue> queue_;
concurrent_queue<int> *channel_internal_queue_;
};
#endif /* GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_H_ */

1
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
View File

@ -23,6 +23,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
gps_l1_ca_dll_pll_optim_tracking_cc.cc
gps_l1_ca_dll_pll_tracking_cc.cc
gps_l1_ca_tcp_connector_tracking_cc.cc
galileo_e5a_dll_pll_tracking_cc.cc
)
include_directories(

817
src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc Normal file
View File

@ -0,0 +1,817 @@
/*!
* \file galileo_e5a_dll_fll_pll_tracking_cc.h
* \brief Implementation of a code DLL + carrier PLL
* tracking block for Galileo E5a signals
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e5a_dll_pll_tracking_cc.h"
#include <cmath>
#include <iostream>
#include <sstream>
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "gnss_synchro.h"
#include "galileo_e5_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
#include "Galileo_E5a.h"
#include "Galileo_E1.h"
#include "control_message_factory.h"
/*!
* \todo Include in definition header file
*/
#define CN0_ESTIMATION_SAMPLES 20
#define MINIMUM_VALID_CN0 25
#define MAXIMUM_LOCK_FAIL_COUNTER 50
#define CARRIER_LOCK_THRESHOLD 0.85
using google::LogMessage;
galileo_e5a_dll_pll_tracking_cc_sptr
galileo_e5a_dll_pll_make_tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float pll_bw_init_hz,
float dll_bw_init_hz,
int ti_ms,
float early_late_space_chips)
{
return galileo_e5a_dll_pll_tracking_cc_sptr(new Galileo_E5a_Dll_Pll_Tracking_cc(if_freq,
fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz,pll_bw_init_hz, dll_bw_init_hz, ti_ms, early_late_space_chips));
}
void Galileo_E5a_Dll_Pll_Tracking_cc::forecast (int noutput_items,
gr_vector_int &ninput_items_required)
{
ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call
}
Galileo_E5a_Dll_Pll_Tracking_cc::Galileo_E5a_Dll_Pll_Tracking_cc(
long if_freq,
long fs_in,
unsigned int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float pll_bw_init_hz,
float dll_bw_init_hz,
int ti_ms,
float early_late_space_chips) :
gr::block("Galileo_E5a_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
this->set_relative_rate(1.0/vector_length);
// initialize internal vars
d_queue = queue;
d_dump = dump;
d_if_freq = if_freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_dump_filename = dump_filename;
d_code_loop_filter = Tracking_2nd_DLL_filter(GALILEO_E5a_CODE_PERIOD);
d_carrier_loop_filter = Tracking_2nd_PLL_filter(GALILEO_E5a_CODE_PERIOD);
d_current_ti_ms = 1; // initializes with 1ms of integration time until secondary code lock
d_ti_ms = ti_ms;
d_dll_bw_hz = dll_bw_hz;
d_pll_bw_hz = pll_bw_hz;
d_dll_bw_init_hz = dll_bw_init_hz;
d_pll_bw_init_hz = pll_bw_init_hz;
// Initialize tracking ==========================================
d_code_loop_filter.set_DLL_BW(d_dll_bw_init_hz);
d_carrier_loop_filter.set_PLL_BW(d_pll_bw_init_hz);
//--- DLL variables --------------------------------------------------------
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
// Initialization of local code replica
// Get space for a vector with the E5a primary code replicas sampled 1x/chip
d_codeQ = new gr_complex[(int)Galileo_E5a_CODE_LENGTH_CHIPS + 2];
d_codeI = new gr_complex[(int)Galileo_E5a_CODE_LENGTH_CHIPS + 2];
/* If an array is partitioned for more than one thread to operate on,
* having the sub-array boundaries unaligned to cache lines could lead
* to performance degradation. Here we allocate memory
* (gr_comlex array of size 2*d_vector_length) aligned to cache of 16 bytes
*/
// todo: do something if posix_memalign fails
// Get space for the resampled early / prompt / late local replicas
if (posix_memalign((void**)&d_early_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
if (posix_memalign((void**)&d_late_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
if (posix_memalign((void**)&d_prompt_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
if (posix_memalign((void**)&d_prompt_data_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
// space for carrier wipeoff and signal baseband vectors
if (posix_memalign((void**)&d_carr_sign, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
if (posix_memalign((void**)&d_Early, 16, sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_Prompt, 16, sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_Late, 16, sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_Prompt_data, 16, sizeof(gr_complex)) == 0){};
//--- Perform initializations ------------------------------
// define initial code frequency basis of NCO
d_code_freq_chips = Galileo_E5a_CODE_CHIP_RATE_HZ;
// define residual code phase (in chips)
d_rem_code_phase_samples = 0.0;
// define residual carrier phase
d_rem_carr_phase_rad = 0.0;
//Filter error vars
d_code_error_filt_secs = 0.0;
// sample synchronization
d_sample_counter = 0;
d_acq_sample_stamp = 0;
d_last_seg = 0;
d_first_transition = false;
d_secondary_lock=false;
d_secondary_delay=0;
d_integration_counter = 0;
d_current_prn_length_samples = (int)d_vector_length;
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
systemName["G"] = std::string("GPS");
systemName["R"] = std::string("GLONASS");
systemName["S"] = std::string("SBAS");
systemName["E"] = std::string("Galileo");
systemName["C"] = std::string("Compass");
}
Galileo_E5a_Dll_Pll_Tracking_cc::~Galileo_E5a_Dll_Pll_Tracking_cc ()
{
d_dump_file.close();
free(d_prompt_code);
free(d_late_code);
free(d_early_code);
free(d_carr_sign);
delete[] d_codeQ;
delete[] d_codeI;
delete[] d_Prompt_buffer;
}
void Galileo_E5a_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;
long int acq_trk_diff_samples;
float acq_trk_diff_seconds;
acq_trk_diff_samples = (long int)d_sample_counter - (long int)d_acq_sample_stamp;//-d_vector_length;
LOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
acq_trk_diff_seconds = (float)acq_trk_diff_samples / (float)d_fs_in;
//doppler effect
// Fd=(C/(C+Vr))*F
float radial_velocity;
radial_velocity = (Galileo_E5a_FREQ_HZ + d_acq_carrier_doppler_hz)/Galileo_E5a_FREQ_HZ;
// new chip and prn sequence periods based on acq Doppler
float T_chip_mod_seconds;
float T_prn_mod_seconds;
float T_prn_mod_samples;
d_code_freq_chips = radial_velocity * Galileo_E5a_CODE_CHIP_RATE_HZ;
T_chip_mod_seconds = 1/d_code_freq_chips;
T_prn_mod_seconds = T_chip_mod_seconds * Galileo_E5a_CODE_LENGTH_CHIPS;
T_prn_mod_samples = T_prn_mod_seconds * (float)d_fs_in;
d_current_prn_length_samples = round(T_prn_mod_samples);
float T_prn_true_seconds = Galileo_E5a_CODE_LENGTH_CHIPS / Galileo_E5a_CODE_CHIP_RATE_HZ;
float T_prn_true_samples = T_prn_true_seconds * (float)d_fs_in;
float T_prn_diff_seconds;
T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
float N_prn_diff;
N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
float corrected_acq_phase_samples, delay_correction_samples;
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * (float)d_fs_in), T_prn_true_samples);
if (corrected_acq_phase_samples < 0)
{
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
}
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
d_acq_code_phase_samples = corrected_acq_phase_samples;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); // initialize the carrier filter
d_code_loop_filter.initialize(); // initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
char sig[3];
strcpy(sig,"5Q");
galileo_e5_a_code_gen_complex_primary(&d_codeQ[1], d_acquisition_gnss_synchro->PRN, sig);
d_codeQ[0] = d_codeQ[(int)Galileo_E5a_CODE_LENGTH_CHIPS];
d_codeQ[(int)Galileo_E5a_CODE_LENGTH_CHIPS + 1] = d_codeQ[1];
strcpy(sig,"5I");
galileo_e5_a_code_gen_complex_primary(&d_codeI[1], d_acquisition_gnss_synchro->PRN, sig);
d_codeI[0] = d_codeI[(int)Galileo_E5a_CODE_LENGTH_CHIPS];
d_codeI[(int)Galileo_E5a_CODE_LENGTH_CHIPS + 1] = d_codeI[1];
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0;
d_rem_carr_phase_rad = 0;
d_acc_carrier_phase_rad = 0;
d_acc_code_phase_secs = 0;
d_code_phase_samples = d_acq_code_phase_samples;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0,1);
// DEBUG OUTPUT
std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
// enable tracking
d_state = 1;
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
<< " Code Phase correction [samples]=" << delay_correction_samples
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
}
void Galileo_E5a_Dll_Pll_Tracking_cc::acquire_secondary()
{
// 1. Transform replica to 1 and -1
int sec_code_signed[Galileo_E5a_Q_SECONDARY_CODE_LENGTH];
for (unsigned int i=0; i<Galileo_E5a_Q_SECONDARY_CODE_LENGTH; i++)
{
if (Galileo_E5a_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN-1].at(i) == '0')
{
sec_code_signed[i]=1;
}
else
{
sec_code_signed[i]=-1;
}
}
// 2. Transform buffer to 1 and -1
int in_corr[CN0_ESTIMATION_SAMPLES];
for (unsigned int i=0; i<CN0_ESTIMATION_SAMPLES; i++)
{
if (d_Prompt_buffer[i].real() >0)
{
in_corr[i]=1;
}
else
{
in_corr[i]=-1;
}
}
// 3. Serial search
int out_corr;
int current_best_=0;
for (unsigned int i=0; i<Galileo_E5a_Q_SECONDARY_CODE_LENGTH; i++)
{
out_corr=0;
for (unsigned int j=0; j<CN0_ESTIMATION_SAMPLES; j++)
{
//reverse replica sign since i*i=-1 (conjugated complex)
out_corr += in_corr[j] * -sec_code_signed[(j+i)%Galileo_E5a_Q_SECONDARY_CODE_LENGTH];
}
if (abs(out_corr) > current_best_)
{
current_best_ = abs(out_corr);
d_secondary_delay=i;
}
}
if (current_best_ == CN0_ESTIMATION_SAMPLES) // all bits correlate
{
d_secondary_lock = true;
d_secondary_delay = (d_secondary_delay+CN0_ESTIMATION_SAMPLES-1)%Galileo_E5a_Q_SECONDARY_CODE_LENGTH;
}
}
void Galileo_E5a_Dll_Pll_Tracking_cc::update_local_code()
{
double tcode_chips;
double rem_code_phase_chips;
int associated_chip_index;
int associated_chip_index_data;
int code_length_chips = (int)Galileo_E5a_CODE_LENGTH_CHIPS;
double code_phase_step_chips;
int early_late_spc_samples;
int epl_loop_length_samples;
// unified loop for E, P, L code vectors
code_phase_step_chips = ((double)d_code_freq_chips) / ((double)d_fs_in);
rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / d_fs_in);
tcode_chips = -rem_code_phase_chips;
// Alternative EPL code generation (40% of speed improvement!)
early_late_spc_samples = round(d_early_late_spc_chips / code_phase_step_chips);
epl_loop_length_samples = d_current_prn_length_samples + early_late_spc_samples*2;
for (int i = 0; i < epl_loop_length_samples; i++)
{
associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_spc_chips, code_length_chips));
associated_chip_index_data = 1 + round(fmod(tcode_chips, code_length_chips));
d_early_code[i] = d_codeQ[associated_chip_index];
d_prompt_data_code[i] = d_codeI[associated_chip_index_data];
tcode_chips = tcode_chips + code_phase_step_chips;
}
memcpy(d_prompt_code,&d_early_code[early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_late_code,&d_early_code[early_late_spc_samples*2],d_current_prn_length_samples* sizeof(gr_complex));
}
void Galileo_E5a_Dll_Pll_Tracking_cc::update_local_carrier()
{
float phase_rad, phase_step_rad;
phase_step_rad = (float)2*GALILEO_PI*d_carrier_doppler_hz / (float)d_fs_in;
phase_rad = d_rem_carr_phase_rad;
for(int i = 0; i < d_current_prn_length_samples; i++)
{
d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
phase_rad += phase_step_rad;
}
}
int Galileo_E5a_Dll_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)
{
// process vars
float carr_error_hz;
float carr_error_filt_hz;
float code_error_chips;
float code_error_filt_chips;
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
// 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;
/* States: 0 Tracking not enabled
* 1 Pull-in of primary code (alignment).
* 3 Tracking algorithm. Correlates EPL each loop and accumulates the result
* until it reaches integration time.
*/
switch (d_state)
{
case 0:
{
// ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
/*!
* \todo The stop timer has to be moved to the signal source!
*/
// stream to collect cout calls to improve thread safety
std::stringstream tmp_str_stream;
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
{
d_last_seg = floor(d_sample_counter / d_fs_in);
if (d_channel == 0)
{
// debug: Second counter in channel 0
tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
std::cout << tmp_str_stream.rdbuf() << std::flush;
}
}
d_Early = gr_complex(0,0);
d_Prompt = gr_complex(0,0);
d_Late = gr_complex(0,0);
d_Prompt_data = gr_complex(0,0);
*out[0] = *d_acquisition_gnss_synchro;
break;
}
case 1:
{
int samples_offset;
float acq_trk_shif_correction_samples;
int acq_to_trk_delay_samples;
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_current_prn_length_samples);
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
std::cout<<" samples_offset="<<samples_offset<<"\r\n";
d_state = 2; // start in Ti = 1 code, until secondary code lock.
// make an output to not stop the rest of the processing blocks
current_synchro_data.Prompt_I = 0.0;
current_synchro_data.Prompt_Q = 0.0;
current_synchro_data.Tracking_timestamp_secs = (double)d_sample_counter/d_fs_in;
current_synchro_data.Carrier_phase_rads = 0.0;
current_synchro_data.Code_phase_secs = 0.0;
current_synchro_data.CN0_dB_hz = 0.0;
current_synchro_data.Flag_valid_tracking = false;
*out[0] = current_synchro_data;
consume_each(samples_offset); //shift input to perform alignment with local replica
return 1;
}
case 2:
{
// Block input data and block output stream pointers
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
gr_complex sec_sign_Q;
gr_complex sec_sign_I;
// Secondary code Chip
if (d_secondary_lock)
{
// sec_sign_Q = gr_complex((Galileo_E5a_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN-1].at(d_secondary_delay)=='0' ? 1 : -1),0);
// sec_sign_I = gr_complex((Galileo_E5a_I_SECONDARY_CODE.at(d_secondary_delay%Galileo_E5a_I_SECONDARY_CODE_LENGTH)=='0' ? 1 : -1),0);
sec_sign_Q = gr_complex((Galileo_E5a_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN-1].at(d_secondary_delay)=='0' ? -1 : 1),0);
sec_sign_I = gr_complex((Galileo_E5a_I_SECONDARY_CODE.at(d_secondary_delay%Galileo_E5a_I_SECONDARY_CODE_LENGTH)=='0' ? -1 : 1),0);
}
else
{
sec_sign_Q = gr_complex(1.0,0.0);
sec_sign_I = gr_complex(1.0,0.0);
}
// Reset integration counter
if (d_integration_counter == d_current_ti_ms)
{
d_integration_counter = 0;
}
//Generate local code and carrier replicas (using \hat{f}_d(k-1))
if (d_integration_counter == 0)
{
update_local_code();
update_local_carrier();
// Reset accumulated values
d_Early = gr_complex(0,0);
d_Prompt = gr_complex(0,0);
d_Late = gr_complex(0,0);
}
gr_complex single_early;
gr_complex single_prompt;
gr_complex single_late;
// perform carrier wipe-off and compute Early, Prompt and Late
// correlation of 1 primary code
d_correlator.Carrier_wipeoff_and_EPL_volk_IQ(d_current_prn_length_samples,
in,
d_carr_sign,
d_early_code,
d_prompt_code,
d_late_code,
d_prompt_data_code,
&single_early,
&single_prompt,
&single_late,
&d_Prompt_data,
is_unaligned());
// Accumulate results (coherent integration since there are no bit transitions in pilot signal)
d_Early += single_early * sec_sign_Q;
d_Prompt += single_prompt * sec_sign_Q;
d_Late += single_late * sec_sign_Q;
d_Prompt_data *= sec_sign_I;
d_integration_counter++;
// check for samples consistency (this should be done before in the receiver / here only if the source is a file)
if (std::isnan((d_Prompt).real()) == true or std::isnan((d_Prompt).imag()) == true ) // or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
{
const int samples_available = ninput_items[0];
d_sample_counter = d_sample_counter + samples_available;
LOG(WARNING) << "Detected NaN samples at sample number " << d_sample_counter;
consume_each(samples_available);
// make an output to not stop the rest of the processing blocks
current_synchro_data.Prompt_I = 0.0;
current_synchro_data.Prompt_Q = 0.0;
current_synchro_data.Tracking_timestamp_secs = (double)d_sample_counter/(double)d_fs_in;
current_synchro_data.Carrier_phase_rads = 0.0;
current_synchro_data.Code_phase_secs = 0.0;
current_synchro_data.CN0_dB_hz = 0.0;
current_synchro_data.Flag_valid_tracking = false;
*out[0] = current_synchro_data;
return 1;
}
// ################## PLL ##########################################################
// PLL discriminator
if (d_integration_counter == d_current_ti_ms)
{
if (d_secondary_lock == true)
{
carr_error_hz = pll_four_quadrant_atan(d_Prompt) / (float)GALILEO_PI*2;
}
else
{
carr_error_hz = pll_cloop_two_quadrant_atan(d_Prompt) / (float)GALILEO_PI*2;
}
// Carrier discriminator filter
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
// New carrier Doppler frequency estimation
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
// New code Doppler frequency estimation
d_code_freq_chips = Galileo_E5a_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E5a_CODE_CHIP_RATE_HZ) / Galileo_E5a_FREQ_HZ);
}
//carrier phase accumulator for (K) doppler estimation
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + 2*GALILEO_PI*d_carrier_doppler_hz*GALILEO_E5a_CODE_PERIOD;
//remanent carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad = d_rem_carr_phase_rad+2*GALILEO_PI*d_carrier_doppler_hz*GALILEO_E5a_CODE_PERIOD;
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, 2*GALILEO_PI);
// ################## DLL ##########################################################
if (d_integration_counter == d_current_ti_ms)
{
// DLL discriminator
code_error_chips = dll_nc_e_minus_l_normalized(d_Early, d_Late); //[chips/Ti]
// Code discriminator filter
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
//Code phase accumulator
d_code_error_filt_secs = (GALILEO_E5a_CODE_PERIOD*code_error_filt_chips)/Galileo_E5a_CODE_CHIP_RATE_HZ; //[seconds]
}
d_acc_code_phase_secs = d_acc_code_phase_secs + d_code_error_filt_secs;
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
// keep alignment parameters for the next input buffer
double T_chip_seconds;
double T_prn_seconds;
// float T_prn_samples;
// float K_blk_samples;
//double T_chip_seconds;
// double T_prn_seconds;
double T_prn_samples;
double K_blk_samples;
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
T_chip_seconds = 1 / (double)d_code_freq_chips;
T_prn_seconds = T_chip_seconds * Galileo_E5a_CODE_LENGTH_CHIPS;
T_prn_samples = T_prn_seconds * (double)d_fs_in;
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + d_code_error_filt_secs*(float)d_fs_in;
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES-1)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = d_Prompt;
d_cn0_estimation_counter++;
}
else
{
d_Prompt_buffer[d_cn0_estimation_counter] = d_Prompt;
// ATTEMPT SECONDARY CODE ACQUISITION
if (d_secondary_lock == false)
{
acquire_secondary(); // changes d_secondary_lock and d_secondary_delay
if (d_secondary_lock == true)
{
std::cout << "Secondary code locked." << std::endl;
d_current_ti_ms = d_ti_ms;
// Change loop parameters ==========================================
d_code_loop_filter.set_pdi(d_current_ti_ms * GALILEO_E5a_CODE_PERIOD);
d_carrier_loop_filter.set_pdi(d_current_ti_ms * GALILEO_E5a_CODE_PERIOD);
// d_code_loop_filter.initialize();
// d_carrier_loop_filter.initialize();
d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
d_carrier_loop_filter.set_PLL_BW(d_pll_bw_hz);
}
else
{
std::cout << "Secondary code delay couldn't be resolved." << std::endl;
d_carrier_lock_fail_counter++;
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
ControlMessageFactory* cmf = new ControlMessageFactory();
if (d_queue != gr::msg_queue::sptr())
{
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
delete cmf;
d_carrier_lock_fail_counter = 0;
d_state = 0; // TODO: check if disabling tracking is consistent with the channel state machine
}
}
}
else // Secondary lock achieved, monitor carrier lock.
{
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in,d_current_ti_ms * Galileo_E5a_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
ControlMessageFactory* cmf = new ControlMessageFactory();
if (d_queue != gr::msg_queue::sptr())
{
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
}
delete cmf;
d_carrier_lock_fail_counter = 0;
d_state = 0;
}
}
}
d_cn0_estimation_counter = 0;
}
if (d_secondary_lock && (d_secondary_delay%Galileo_E5a_I_SECONDARY_CODE_LENGTH)==0)
{
d_first_transition = true;
}
// ########### Output the tracking data to navigation and PVT ##########
// The first Prompt output not equal to 0 is synchronized with the transition of a navigation data bit.
if (d_secondary_lock && d_first_transition)
{
current_synchro_data.Prompt_I = (double)(d_Prompt_data.real());
current_synchro_data.Prompt_Q = (double)(d_Prompt_data.imag());
// Tracking_timestamp_secs is aligned with the PRN start sample
current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples)/(double)d_fs_in;
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
current_synchro_data.Code_phase_secs = 0;
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = (double)d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
}
else
{
// make an output to not stop the rest of the processing blocks
current_synchro_data.Prompt_I = 0.0;
current_synchro_data.Prompt_Q = 0.0;
current_synchro_data.Tracking_timestamp_secs = (double)d_sample_counter/d_fs_in;
current_synchro_data.Carrier_phase_rads = 0.0;
current_synchro_data.Code_phase_secs = 0.0;
current_synchro_data.CN0_dB_hz = 0.0;
current_synchro_data.Flag_valid_tracking = false;
}
*out[0] = current_synchro_data;
}
}
if(d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
float prompt_I;
float prompt_Q;
float tmp_float;
double tmp_double;
prompt_I = d_Prompt_data.real();
prompt_Q = d_Prompt_data.imag();
if (d_integration_counter == d_current_ti_ms)
{
tmp_E = std::abs<float>(d_Early);
tmp_P = std::abs<float>(d_Prompt);
tmp_L = std::abs<float>(d_Late);
}
try
{
// EPR
d_dump_file.write((char*)&tmp_E, sizeof(float));
d_dump_file.write((char*)&tmp_P, sizeof(float));
d_dump_file.write((char*)&tmp_L, sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
d_dump_file.write((char*)&prompt_I, sizeof(float));
d_dump_file.write((char*)&prompt_Q, sizeof(float));
// PRN start sample stamp
d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float));
// carrier and code frequency
d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
d_dump_file.write((char*)&d_code_freq_chips, sizeof(float));
//PLL commands
d_dump_file.write((char*)&carr_error_hz, sizeof(float));
d_dump_file.write((char*)&carr_error_filt_hz, sizeof(float));
//DLL commands
d_dump_file.write((char*)&code_error_chips, sizeof(float));
d_dump_file.write((char*)&code_error_filt_chips, sizeof(float));
// CN0 and carrier lock test
d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));
d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
// AUX vars (for debug purposes)
tmp_float = d_rem_code_phase_samples;
d_dump_file.write((char*)&tmp_float, sizeof(float));
tmp_double=(double)(d_sample_counter+d_current_prn_length_samples);
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (std::ifstream::failure e)
{
LOG(WARNING) << "Exception writing trk dump file " << e.what();
}
}
d_secondary_delay = (d_secondary_delay + 1)%Galileo_E5a_Q_SECONDARY_CODE_LENGTH;
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
}
void Galileo_E5a_Dll_Pll_Tracking_cc::set_channel(unsigned int channel)
{
d_channel = channel;
LOG(INFO) << "Tracking Channel set to " << d_channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
}
catch (std::ifstream::failure e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
}
}
}
}
void Galileo_E5a_Dll_Pll_Tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{
d_channel_internal_queue = channel_internal_queue;
}
void Galileo_E5a_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_acquisition_gnss_synchro = p_gnss_synchro;
}

216
src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.h Normal file
View File

@ -0,0 +1,216 @@
/*!
* \file galileo_e5a_dll_fll_pll_tracking_cc.h
* \brief Implementation of a code DLL + carrier PLL
* tracking block for Galileo E5a signals
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_CC_H_
#define GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_CC_H_
#include <fstream>
#include <queue>
#include <map>
#include <string>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include "concurrent_queue.h"
#include "gps_sdr_signal_processing.h" //
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include "correlator.h"
class Galileo_E5a_Dll_Pll_Tracking_cc;
typedef boost::shared_ptr<Galileo_E5a_Dll_Pll_Tracking_cc>
galileo_e5a_dll_pll_tracking_cc_sptr;
galileo_e5a_dll_pll_tracking_cc_sptr
galileo_e5a_dll_pll_make_tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float pll_bw_init_hz,
float dll_bw_init_hz,
int ti_ms,
float early_late_space_chips);
/*!
* \brief This class implements a DLL + PLL tracking loop block
*/
class Galileo_E5a_Dll_Pll_Tracking_cc: public gr::block
{
public:
~Galileo_E5a_Dll_Pll_Tracking_cc();
void set_channel(unsigned int channel);
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
void start_tracking();
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
void forecast (int noutput_items, gr_vector_int &ninput_items_required);
private:
friend galileo_e5a_dll_pll_tracking_cc_sptr
galileo_e5a_dll_pll_make_tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float pll_bw_init_hz,
float dll_bw_init_hz,
int ti_ms,
float early_late_space_chips);
Galileo_E5a_Dll_Pll_Tracking_cc(long if_freq,
long fs_in, unsigned
int vector_length,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float pll_bw_init_hz,
float dll_bw_init_hz,
int ti_ms,
float early_late_space_chips);
void update_local_code();
void update_local_carrier();
void acquire_secondary();
// tracking configuration vars
boost::shared_ptr<gr::msg_queue> d_queue;
concurrent_queue<int> *d_channel_internal_queue;
unsigned int d_vector_length;
int d_current_ti_ms;
int d_ti_ms;
bool d_dump;
Gnss_Synchro* d_acquisition_gnss_synchro;
unsigned int d_channel;
int d_last_seg;
long d_if_freq;
long d_fs_in;
double d_early_late_spc_chips;
float d_dll_bw_hz;
float d_pll_bw_hz;
float d_dll_bw_init_hz;
float d_pll_bw_init_hz;
gr_complex* d_codeQ;
gr_complex* d_codeI;
gr_complex* d_early_code;
gr_complex* d_late_code;
gr_complex* d_prompt_code;
gr_complex* d_prompt_data_code;
gr_complex* d_carr_sign;
gr_complex d_Early;
gr_complex d_Prompt;
gr_complex d_Late;
gr_complex d_Prompt_data;
float tmp_E;
float tmp_P;
float tmp_L;
// remaining code phase and carrier phase between tracking loops
float d_rem_code_phase_samples;
float d_rem_carr_phase_rad;
// PLL and DLL filter library
Tracking_2nd_DLL_filter d_code_loop_filter;
Tracking_2nd_PLL_filter d_carrier_loop_filter;
// acquisition
float d_acq_code_phase_samples;
float d_acq_carrier_doppler_hz;
// correlator
Correlator d_correlator;
// tracking vars
float d_code_freq_chips;
float d_carrier_doppler_hz;
float d_acc_carrier_phase_rad;
float d_code_phase_samples;
float d_acc_code_phase_secs;
float d_code_error_filt_secs;
//PRN period in samples
int d_current_prn_length_samples;
//processing samples counters
unsigned long int d_sample_counter;
unsigned long int d_acq_sample_stamp;
// CN0 estimation and lock detector
int d_cn0_estimation_counter;
gr_complex* d_Prompt_buffer;
float d_carrier_lock_test;
float d_CN0_SNV_dB_Hz;
float d_carrier_lock_threshold;
int d_carrier_lock_fail_counter;
// control vars
int d_state;
bool d_first_transition;
// Secondary code acquisition
bool d_secondary_lock;
int d_secondary_delay;
int d_integration_counter;
// file dump
std::string d_dump_filename;
std::ofstream d_dump_file;
std::map<std::string, std::string> systemName;
std::string sys;
};
#endif /* GNSS_SDR_GALILEO_E5A_DLL_PLL_TRACKING_CC_H_ */

74
src/algorithms/tracking/libs/correlator.cc
View File

@ -113,6 +113,80 @@ void Correlator::Carrier_wipeoff_and_EPL_volk(int signal_length_samples, const g
//}
}
//void Correlator::Carrier_wipeoff_and_EPL_volk_IQ(int prn_length_samples,int integration_time ,const gr_complex* input, gr_complex* carrier, gr_complex* E_code, gr_complex* P_code, gr_complex* L_code, gr_complex* P_data_code, gr_complex* E_out, gr_complex* P_out, gr_complex* L_out, gr_complex* P_data_out, bool input_vector_unaligned)
//{
// gr_complex* bb_signal;
// //gr_complex* input_aligned;
//
// //todo: do something if posix_memalign fails
// if (posix_memalign((void**)&bb_signal, 16, integration_time * prn_length_samples * sizeof(gr_complex)) == 0) {};
//
// if (input_vector_unaligned == true)
// {
// //todo: do something if posix_memalign fails
// //if (posix_memalign((void**)&input_aligned, 16, signal_length_samples * sizeof(gr_complex)) == 0){};
// //memcpy(input_aligned,input,signal_length_samples * sizeof(gr_complex));
//
// volk_32fc_x2_multiply_32fc_u(bb_signal, input, carrier, integration_time * prn_length_samples);
// }
// else
// {
// /*
// * todo: There is a problem with the aligned version of volk_32fc_x2_multiply_32fc_a.
// * It crashes even if the is_aligned() work function returns true. Im keeping the unaligned version in both cases..
// */
// //use directly the input vector
// volk_32fc_x2_multiply_32fc_u(bb_signal, input, carrier, integration_time * prn_length_samples);
// }
//
// volk_32fc_x2_dot_prod_32fc_a(E_out, bb_signal, E_code, integration_time * prn_length_samples);
// volk_32fc_x2_dot_prod_32fc_a(P_out, bb_signal, P_code, integration_time * prn_length_samples);
// volk_32fc_x2_dot_prod_32fc_a(L_out, bb_signal, L_code, integration_time * prn_length_samples);
// // Vector of Prompts of I code
// for (int i = 0; i < integration_time; i++)
// {
// volk_32fc_x2_dot_prod_32fc_a(&P_data_out[i], &bb_signal[i*prn_length_samples], P_data_code, prn_length_samples);
// }
//
// free(bb_signal);
//
//}
void Correlator::Carrier_wipeoff_and_EPL_volk_IQ(int signal_length_samples ,const gr_complex* input, gr_complex* carrier, gr_complex* E_code, gr_complex* P_code, gr_complex* L_code, gr_complex* P_data_code, gr_complex* E_out, gr_complex* P_out, gr_complex* L_out, gr_complex* P_data_out, bool input_vector_unaligned)
{
gr_complex* bb_signal;
//gr_complex* input_aligned;
//todo: do something if posix_memalign fails
if (posix_memalign((void**)&bb_signal, 16, signal_length_samples * sizeof(gr_complex)) == 0) {};
if (input_vector_unaligned == true)
{
//todo: do something if posix_memalign fails
//if (posix_memalign((void**)&input_aligned, 16, signal_length_samples * sizeof(gr_complex)) == 0){};
//memcpy(input_aligned,input,signal_length_samples * sizeof(gr_complex));
volk_32fc_x2_multiply_32fc_u(bb_signal, input, carrier, signal_length_samples);
}
else
{
/*
* todo: There is a problem with the aligned version of volk_32fc_x2_multiply_32fc_a.
* It crashes even if the is_aligned() work function returns true. Im keeping the unaligned version in both cases..
*/
//use directly the input vector
volk_32fc_x2_multiply_32fc_u(bb_signal, input, carrier, signal_length_samples);
}
volk_32fc_x2_dot_prod_32fc_a(E_out, bb_signal, E_code, signal_length_samples);
volk_32fc_x2_dot_prod_32fc_a(P_out, bb_signal, P_code, signal_length_samples);
volk_32fc_x2_dot_prod_32fc_a(L_out, bb_signal, L_code, signal_length_samples);
volk_32fc_x2_dot_prod_32fc_a(P_data_out, bb_signal, P_data_code, signal_length_samples);
free(bb_signal);
}
void Correlator::Carrier_wipeoff_and_EPL_volk_custom(int signal_length_samples, const gr_complex* input, gr_complex* carrier,gr_complex* E_code, gr_complex* P_code, gr_complex* L_code, gr_complex* E_out, gr_complex* P_out, gr_complex* L_out, bool input_vector_unaligned)
{
volk_cw_epl_corr_u(input, carrier, E_code, P_code, L_code, E_out, P_out, L_out, signal_length_samples);

2
src/algorithms/tracking/libs/correlator.h
View File

@ -57,6 +57,8 @@ public:
void Carrier_wipeoff_and_EPL_volk(int signal_length_samples, const gr_complex* input, gr_complex* carrier, gr_complex* E_code, gr_complex* P_code, gr_complex* L_code, gr_complex* E_out, gr_complex* P_out, gr_complex* L_out, bool input_vector_unaligned);
void Carrier_wipeoff_and_EPL_volk_custom(int signal_length_samples, const gr_complex* input, gr_complex* carrier, gr_complex* E_code, gr_complex* P_code, gr_complex* L_code, gr_complex* E_out, gr_complex* P_out, gr_complex* L_out, bool input_vector_unaligned);
void Carrier_wipeoff_and_VEPL_volk(int signal_length_samples, const gr_complex* input, gr_complex* carrier, gr_complex* VE_code, gr_complex* E_code, gr_complex* P_code, gr_complex* L_code, gr_complex* VL_code, gr_complex* VE_out, gr_complex* E_out, gr_complex* P_out, gr_complex* L_out, gr_complex* VL_out, bool input_vector_unaligned);
// void Carrier_wipeoff_and_EPL_volk_IQ(int prn_length_samples,int integration_time ,const gr_complex* input, gr_complex* carrier, gr_complex* E_code, gr_complex* P_code, gr_complex* L_code, gr_complex* P_data_code, gr_complex* E_out, gr_complex* P_out, gr_complex* L_out, gr_complex* P_data_out, bool input_vector_unaligned);
void Carrier_wipeoff_and_EPL_volk_IQ(int signal_length_samples, const gr_complex* input, gr_complex* carrier, gr_complex* E_code, gr_complex* P_code, gr_complex* L_code, gr_complex* P_data_code, gr_complex* E_out, gr_complex* P_out, gr_complex* L_out, gr_complex* P_data_out, bool input_vector_unaligned);
Correlator();
~Correlator();
private:

7
src/algorithms/tracking/libs/tracking_2nd_DLL_filter.cc
View File

@ -71,7 +71,8 @@ void Tracking_2nd_DLL_filter::initialize()
float Tracking_2nd_DLL_filter::get_code_nco(float DLL_discriminator)
{
float code_nco;
code_nco = d_old_code_nco + (d_tau2_code/d_tau1_code)*(DLL_discriminator - d_old_code_error) + DLL_discriminator * (d_pdi_code/d_tau1_code);
code_nco = d_old_code_nco + (d_tau2_code/d_tau1_code)*(DLL_discriminator - d_old_code_error) + (DLL_discriminator+d_old_code_error) * (d_pdi_code/(2*d_tau1_code));
//code_nco = d_old_code_nco + (d_tau2_code/d_tau1_code)*(DLL_discriminator - d_old_code_error) + DLL_discriminator * (d_pdi_code/d_tau1_code);
d_old_code_nco = code_nco;
d_old_code_error = DLL_discriminator; //[chips]
return code_nco;
@ -92,3 +93,7 @@ Tracking_2nd_DLL_filter::Tracking_2nd_DLL_filter ()
Tracking_2nd_DLL_filter::~Tracking_2nd_DLL_filter ()
{}
void Tracking_2nd_DLL_filter::set_pdi(float pdi_code)
{
d_pdi_code = pdi_code; // Summation interval for code
}

1
src/algorithms/tracking/libs/tracking_2nd_DLL_filter.h
View File

@ -60,6 +60,7 @@ private:
public:
void set_DLL_BW(float dll_bw_hz); //! Set DLL filter bandwidth [Hz]
void set_pdi(float pdi_code); //! Set Summation interval for code [s]
void initialize(); //! Start tracking with acquisition information
float get_code_nco(float DLL_discriminator); //! Numerically controlled oscillator
Tracking_2nd_DLL_filter(float pdi_code);

11
src/algorithms/tracking/libs/tracking_2nd_PLL_filter.cc
View File

@ -74,7 +74,8 @@ void Tracking_2nd_PLL_filter::initialize()
float Tracking_2nd_PLL_filter::get_carrier_nco(float PLL_discriminator)
{
float carr_nco;
carr_nco = d_old_carr_nco + (d_tau2_carr/d_tau1_carr)*(PLL_discriminator - d_old_carr_error) + PLL_discriminator * (d_pdi_carr/d_tau1_carr);
carr_nco = d_old_carr_nco + (d_tau2_carr/d_tau1_carr)*(PLL_discriminator - d_old_carr_error) + (PLL_discriminator + d_old_carr_error) * (d_pdi_carr/(2*d_tau1_carr));
//carr_nco = d_old_carr_nco + (d_tau2_carr/d_tau1_carr)*(PLL_discriminator - d_old_carr_error) + PLL_discriminator * (d_pdi_carr/d_tau1_carr);
d_old_carr_nco = carr_nco;
d_old_carr_error = PLL_discriminator;
return carr_nco;
@ -84,7 +85,8 @@ Tracking_2nd_PLL_filter::Tracking_2nd_PLL_filter (float pdi_carr)
{
//--- PLL variables --------------------------------------------------------
d_pdi_carr = pdi_carr;// Summation interval for carrier
d_plldampingratio = 0.65;
//d_plldampingratio = 0.65;
d_plldampingratio = 0.7;
}
@ -100,3 +102,8 @@ Tracking_2nd_PLL_filter::Tracking_2nd_PLL_filter ()
Tracking_2nd_PLL_filter::~Tracking_2nd_PLL_filter ()
{}
void Tracking_2nd_PLL_filter::set_pdi(float pdi_carr)
{
d_pdi_carr = pdi_carr; // Summation interval for code
}

1
src/algorithms/tracking/libs/tracking_2nd_PLL_filter.h
View File

@ -62,6 +62,7 @@ private:
public:
void set_PLL_BW(float pll_bw_hz); //! Set PLL loop bandwidth [Hz]
void set_pdi(float pdi_carr); //! Set Summation interval for code [s]
void initialize();
float get_carrier_nco(float PLL_discriminator);
Tracking_2nd_PLL_filter(float pdi_carr);

50
src/core/receiver/gnss_block_factory.cc
View File

@ -67,14 +67,17 @@
#include "galileo_e1_pcps_tong_ambiguous_acquisition.h"
#include "galileo_e1_pcps_cccwsr_ambiguous_acquisition.h"
#include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_dll_pll_optim_tracking.h"
#include "gps_l1_ca_dll_fll_pll_tracking.h"
#include "gps_l1_ca_tcp_connector_tracking.h"
#include "galileo_e1_dll_pll_veml_tracking.h"
#include "galileo_e1_tcp_connector_tracking.h"
#include "galileo_e5a_dll_pll_tracking.h"
#include "gps_l1_ca_telemetry_decoder.h"
#include "galileo_e1b_telemetry_decoder.h"
#include "galileo_e5a_telemetry_decoder.h"
#include "sbas_l1_telemetry_decoder.h"
#include "gps_l1_ca_observables.h"
#include "galileo_e1_observables.h"
@ -526,6 +529,14 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_E5a_Noncoherent_IQ_Acquisition_CAF") == 0)
{
std::unique_ptr<GNSSBlockInterface> block_(new GalileoE5aNoncoherentIQAcquisitionCaf(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition") == 0)
{
std::unique_ptr<GNSSBlockInterface> block_( new GalileoE1PcpsQuickSyncAmbiguousAcquisition(configuration.get(), role, in_streams,
@ -533,6 +544,14 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
block = std::move(block_);
}
else if (implementation.compare("Galileo_E5a_Noncoherent_IQ_Acquisition_CAF") == 0)
{
std::unique_ptr<GNSSBlockInterface> block_(new GalileoE5aNoncoherentIQAcquisitionCaf(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
// TRACKING BLOCKS -------------------------------------------------------------
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking") == 0)
{
@ -570,6 +589,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking") == 0)
{
std::unique_ptr<GNSSBlockInterface> block_(new GalileoE5aDllPllTracking(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
// TELEMETRY DECODERS ----------------------------------------------------------
else if (implementation.compare("GPS_L1_CA_Telemetry_Decoder") == 0)
@ -590,6 +615,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_E5a_Telemetry_Decoder") == 0)
{
std::unique_ptr<GNSSBlockInterface> block_(new GalileoE5aTelemetryDecoder(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
// OBSERVABLES -----------------------------------------------------------------
else if (implementation.compare("GPS_L1_CA_Observables") == 0)
@ -738,12 +769,19 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition") == 0)
{
std::unique_ptr<AcquisitionInterface> block_( new GalileoE1PcpsQuickSyncAmbiguousAcquisition(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_E5a_Noncoherent_IQ_Acquisition_CAF") == 0)
{
std::unique_ptr<AcquisitionInterface> block_(new GalileoE5aNoncoherentIQAcquisitionCaf(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
else
{
// Log fatal. This causes execution to stop.
@ -798,6 +836,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking") == 0)
{
std::unique_ptr<TrackingInterface> block_(new GalileoE5aDllPllTracking(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
else
{
// Log fatal. This causes execution to stop.
@ -834,6 +878,12 @@ std::unique_ptr<TelemetryDecoderInterface> GNSSBlockFactory::GetTlmBlock(
out_streams, queue));
block = std::move(block_);
}
else if (implementation.compare("Galileo_E5a_Telemetry_Decoder") == 0)
{
std::unique_ptr<TelemetryDecoderInterface> block_(new GalileoE5aTelemetryDecoder(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
else
{
// Log fatal. This causes execution to stop.

44
src/core/receiver/gnss_flowgraph.cc
View File

@ -332,6 +332,9 @@ void GNSSFlowgraph::connect()
top_block_->dump();
}
void GNSSFlowgraph::wait()
{
if (!running_)
@ -344,6 +347,10 @@ void GNSSFlowgraph::wait()
running_ = false;
}
/*
* Applies an action to the flowgraph
*
@ -493,15 +500,16 @@ void GNSSFlowgraph::set_signals_list()
*/
/*
* Read GNSS-SDR default GNSS system
* Read GNSS-SDR default GNSS system and signal
*/
std::string default_system = configuration_->property("Channel.system", std::string("GPS"));
std::string default_signal = configuration_->property("Channel.signal", std::string("1C"));
/*
* Loop to create the list of GNSS Signals
* To add signals from other systems, add another loop 'for'
*/
if (default_system.find(std::string("GPS")) != std::string::npos)
if (default_system.compare(std::string("GPS")) == 0 )
{
/*
* Loop to create GPS L1 C/A signals
@ -520,7 +528,7 @@ void GNSSFlowgraph::set_signals_list()
}
if (default_system.find(std::string("SBAS")) != std::string::npos)
if (default_system.compare(std::string("SBAS")) == 0 )
{
/*
* Loop to create SBAS L1 C/A signals
@ -537,7 +545,7 @@ void GNSSFlowgraph::set_signals_list()
}
if (default_system.find(std::string("Galileo")) != std::string::npos)
if (default_system.find(std::string("Galileo")) )
{
/*
* Loop to create the list of Galileo E1 B signals
@ -550,15 +558,16 @@ void GNSSFlowgraph::set_signals_list()
available_gnss_prn_iter != available_galileo_prn.end();
available_gnss_prn_iter++)
{
// available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Galileo"),
// *available_gnss_prn_iter), std::string("1B")));
available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Galileo"),
*available_gnss_prn_iter), std::string("1B")));
*available_gnss_prn_iter), default_signal));
}
}
/*
* Ordering the list of signals from configuration file
*/
std::string default_signal = configuration_->property("Channel.signal", std::string("1C"));
std::list<Gnss_Signal>::iterator gnss_it = available_GNSS_signals_.begin();
@ -589,16 +598,19 @@ void GNSSFlowgraph::set_signals_list()
available_GNSS_signals_.insert(gnss_it, signal_value);
}
}
// **** FOR DEBUGGING THE LIST OF GNSS SIGNALS ****
//
std::cout<<"default_system="<<default_system<<std::endl;
std::cout<<"default_signal="<<default_signal<<std::endl;
std::list<Gnss_Signal>::iterator available_gnss_list_iter;
for (available_gnss_list_iter = available_GNSS_signals_.begin(); available_gnss_list_iter
!= available_GNSS_signals_.end(); available_gnss_list_iter++)
{
std::cout << *available_gnss_list_iter << std::endl;
}
// **** FOR DEBUGGING THE LIST OF GNSS SIGNALS ****
// std::cout<<"default_system="<<default_system<<std::endl;
// std::cout<<"default_signal="<<default_signal<<std::endl;
// std::list<Gnss_Signal>::iterator available_gnss_list_iter;
// for (available_gnss_list_iter = available_GNSS_signals_.begin(); available_gnss_list_iter
// != available_GNSS_signals_.end(); available_gnss_list_iter++)
// {
// std::cout << *available_gnss_list_iter << std::endl;
// }
}

1
src/core/system_parameters/CMakeLists.txt
View File

@ -36,6 +36,7 @@ set(SYSTEM_PARAMETERS_SOURCES
sbas_ionospheric_correction.cc
sbas_satellite_correction.cc
sbas_telemetry_data.cc
galileo_fnav_message.cc
)

380
src/core/system_parameters/Galileo_E5a.h Normal file
View File

@ -0,0 +1,380 @@
/*
* \file Galileo_E5a.h
* \brief Defines system parameters for Galileo E5a signal and NAV data
* \author Marc Sales, 2014. marcsales92@gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E5A_H_
#define GNSS_SDR_GALILEO_E5A_H_
#include <complex>
#include <gnss_satellite.h>
#include <string>
#include <vector>
#include <utility> // std::pair
#include "MATH_CONSTANTS.h"
// Physical constants already defined in E1
// Carrier and code frequencies
const double Galileo_E5a_FREQ_HZ = 1.176450e9; //!< Galileo E5a carrier frequency [Hz]
const double Galileo_E5a_CODE_CHIP_RATE_HZ = 1.023e7; //!< Galileo E5a code rate [chips/s]
const double Galileo_E5a_I_TIERED_CODE_PERIOD = 0.020; //!< Galileo E5a-I tiered code period [s]
const double Galileo_E5a_Q_TIERED_CODE_PERIOD = 0.100; //!< Galileo E5a-Q tiered code period [s]
const int Galileo_E5a_CODE_LENGTH_CHIPS = 10230; //!< Galileo E5a primary code length [chips]
const int Galileo_E5a_I_SECONDARY_CODE_LENGTH = 20; //!< Galileo E5a-I secondary code length [chips]
const int Galileo_E5a_Q_SECONDARY_CODE_LENGTH = 100; //!< Galileo E5a-Q secondary code length [chips]
const double GALILEO_E5a_CODE_PERIOD = 0.001;
const int Galileo_E5a_SYMBOL_RATE_BPS = 50; //!< Galileo E5a symbol rate [bits/second]
const int Galileo_E5a_NUMBER_OF_CODES = 50;
// F/NAV message structure
const int GALILEO_FNAV_PREAMBLE_LENGTH_BITS = 12;
const std::string GALILEO_FNAV_PREAMBLE = {"101101110000"};
const int GALILEO_FNAV_CODES_PER_SYMBOL = 20; // (chip rate/ code length)/telemetry bps
const int GALILEO_FNAV_CODES_PER_PREAMBLE = 240; // bits preamble * codes/symbol
const int GALILEO_FNAV_SYMBOLS_PER_PAGE = 500; //Total symbols per page including preamble. See Galileo ICD 4.2.2
const int GALILEO_FNAV_SECONDS_PER_PAGE = 10;
const int GALILEO_FNAV_CODES_PER_PAGE = 10000; // symbols * codes/symbol, where code stands for primary code
const int GALILEO_FNAV_INTERLEAVER_ROWS = 8;
const int GALILEO_FNAV_INTERLEAVER_COLS = 61;
const int GALILEO_FNAV_PAGE_TYPE_BITS = 6;
const int GALILEO_FNAV_DATA_FRAME_BITS = 214;
const int GALILEO_FNAV_DATA_FRAME_BYTES = 27;
const std::vector<std::pair<int,int>> FNAV_PAGE_TYPE_bit({{1,6}});
/* WORD 1 iono corrections. FNAV (Galileo E5a message)*/
const std::vector<std::pair<int,int>> FNAV_SV_ID_PRN_1_bit({{6,6}});
const std::vector<std::pair<int,int>> FNAV_IODnav_1_bit({{12,10}});
const std::vector<std::pair<int,int>> FNAV_t0c_1_bit({{22,14}});
const double FNAV_t0c_1_LSB = 60;
const std::vector<std::pair<int,int>> FNAV_af0_1_bit({{36,31}});
const double FNAV_af0_1_LSB = TWO_N34;
const std::vector<std::pair<int,int>> FNAV_af1_1_bit({{67,21}});
const double FNAV_af1_1_LSB = TWO_N46;
const std::vector<std::pair<int,int>> FNAV_af2_1_bit({{88,6}});
const double FNAV_af2_1_LSB = TWO_N59;
const std::vector<std::pair<int,int>> FNAV_SISA_1_bit({{94,8}});
const std::vector<std::pair<int,int>> FNAV_ai0_1_bit({{102,11}});
const double FNAV_ai0_1_LSB = TWO_N2;
const std::vector<std::pair<int,int>> FNAV_ai1_1_bit({{113,11}});
const double FNAV_ai1_1_LSB = TWO_N8;
const std::vector<std::pair<int,int>> FNAV_ai2_1_bit({{124,14}});
const double FNAV_ai2_1_LSB = TWO_N15;
const std::vector<std::pair<int,int>> FNAV_region1_1_bit({{138,1}});
const std::vector<std::pair<int,int>> FNAV_region2_1_bit({{139,1}});
const std::vector<std::pair<int,int>> FNAV_region3_1_bit({{140,1}});
const std::vector<std::pair<int,int>> FNAV_region4_1_bit({{141,1}});
const std::vector<std::pair<int,int>> FNAV_region5_1_bit({{142,1}});
const std::vector<std::pair<int,int>> FNAV_BGD_1_bit({{143,10}});
const double FNAV_BGD_1_LSB = TWO_N32;
const std::vector<std::pair<int,int>> FNAV_E5ahs_1_bit({{153,2}});
const std::vector<std::pair<int,int>> FNAV_WN_1_bit({{155,12}});
const std::vector<std::pair<int,int>> FNAV_TOW_1_bit({{167,20}});
const std::vector<std::pair<int,int>> FNAV_E5advs_1_bit({{187,1}});
// WORD 2 Ephemeris (1/3)
const std::vector<std::pair<int,int>> FNAV_IODnav_2_bit({{6,10}});
const std::vector<std::pair<int,int>> FNAV_M0_2_bit({{16,32}});
const double FNAV_M0_2_LSB = PI_TWO_N31;
const std::vector<std::pair<int,int>> FNAV_omegadot_2_bit({{48,24}});
const double FNAV_omegadot_2_LSB = PI_TWO_N43;
const std::vector<std::pair<int,int>> FNAV_e_2_bit({{72,32}});
const double FNAV_e_2_LSB = TWO_N33;
const std::vector<std::pair<int,int>> FNAV_a12_2_bit({{104,32}});
const double FNAV_a12_2_LSB = TWO_N19;
const std::vector<std::pair<int,int>> FNAV_omega0_2_bit({{136,32}});
const double FNAV_omega0_2_LSB = PI_TWO_N31;
const std::vector<std::pair<int,int>> FNAV_idot_2_bit({{168,14}});
const double FNAV_idot_2_LSB = PI_TWO_N43;
const std::vector<std::pair<int,int>> FNAV_WN_2_bit({{182,12}});
const std::vector<std::pair<int,int>> FNAV_TOW_2_bit({{194,20}});
// WORD 3 Ephemeris (2/3)
const std::vector<std::pair<int,int>> FNAV_IODnav_3_bit({{6,10}});
const std::vector<std::pair<int,int>> FNAV_i0_3_bit({{16,32}});
const double FNAV_i0_3_LSB = PI_TWO_N31;
const std::vector<std::pair<int,int>> FNAV_w_3_bit({{48,32}});
const double FNAV_w_3_LSB = PI_TWO_N31;
const std::vector<std::pair<int,int>> FNAV_deltan_3_bit({{80,16}});
const double FNAV_deltan_3_LSB = PI_TWO_N43;
const std::vector<std::pair<int,int>> FNAV_Cuc_3_bit({{96,16}});
const double FNAV_Cuc_3_LSB = TWO_N29;
const std::vector<std::pair<int,int>> FNAV_Cus_3_bit({{112,16}});
const double FNAV_Cus_3_LSB = TWO_N29;
const std::vector<std::pair<int,int>> FNAV_Crc_3_bit({{128,16}});
const double FNAV_Crc_3_LSB = TWO_N5;
const std::vector<std::pair<int,int>> FNAV_Crs_3_bit({{144,16}});
const double FNAV_Crs_3_LSB = TWO_N5;
const std::vector<std::pair<int,int>> FNAV_t0e_3_bit({{160,14}});
const double FNAV_t0e_3_LSB = 60;
const std::vector<std::pair<int,int>> FNAV_WN_3_bit({{174,12}});
const std::vector<std::pair<int,int>> FNAV_TOW_3_bit({{186,20}});
// WORD 4 Ephemeris (3/3)
const std::vector<std::pair<int,int>> FNAV_IODnav_4_bit({{6,10}});
const std::vector<std::pair<int,int>> FNAV_Cic_4_bit({{16,16}});
const double FNAV_Cic_4_LSB = TWO_N29;
const std::vector<std::pair<int,int>> FNAV_Cis_4_bit({{32,16}});
const double FNAV_Cis_4_LSB = TWO_N29;
const std::vector<std::pair<int,int>> FNAV_A0_4_bit({{48,32}});
const double FNAV_A0_4_LSB = TWO_N30;
const std::vector<std::pair<int,int>> FNAV_A1_4_bit({{80,24}});
const double FNAV_A1_4_LSB = TWO_N50;
const std::vector<std::pair<int,int>> FNAV_deltatls_4_bit({{104,8}});
const std::vector<std::pair<int,int>> FNAV_t0t_4_bit({{112,8}});
const double FNAV_t0t_4_LSB = 3600;
const std::vector<std::pair<int,int>> FNAV_WNot_4_bit({{120,8}});
const std::vector<std::pair<int,int>> FNAV_WNlsf_4_bit({{128,8}});
const std::vector<std::pair<int,int>> FNAV_DN_4_bit({{136,3}});
const std::vector<std::pair<int,int>> FNAV_deltatlsf_4_bit({{139,8}});
const std::vector<std::pair<int,int>> FNAV_t0g_4_bit({{147,8}});
const double FNAV_t0g_4_LSB = 3600;
const std::vector<std::pair<int,int>> FNAV_A0g_4_bit({{155,16}});
const double FNAV_A0g_4_LSB = TWO_N35;
const std::vector<std::pair<int,int>> FNAV_A1g_4_bit({{171,12}});
const double FNAV_A1g_4_LSB = TWO_N51;
const std::vector<std::pair<int,int>> FNAV_WN0g_4_bit({{183,6}});
const std::vector<std::pair<int,int>> FNAV_TOW_4_bit({{189,20}});
// WORD 5 Almanac SVID1 SVID2(1/2)
const std::vector<std::pair<int,int>> FNAV_IODa_5_bit({{6,4}});
const std::vector<std::pair<int,int>> FNAV_WNa_5_bit({{10,2}});
const std::vector<std::pair<int,int>> FNAV_t0a_5_bit({{12,10}});
const double FNAV_t0a_5_LSB = 600;
const std::vector<std::pair<int,int>> FNAV_SVID1_5_bit({{22,6}});
const std::vector<std::pair<int,int>> FNAV_Deltaa12_1_5_bit({{28,13}});
const double FNAV_Deltaa12_5_LSB = TWO_N9;
const std::vector<std::pair<int,int>> FNAV_e_1_5_bit({{41,11}});
const double FNAV_e_5_LSB = TWO_N16;
const std::vector<std::pair<int,int>> FNAV_w_1_5_bit({{52,16}});
const double FNAV_w_5_LSB = TWO_N15;
const std::vector<std::pair<int,int>> FNAV_deltai_1_5_bit({{68,11}});
const double FNAV_deltai_5_LSB = TWO_N14;
const std::vector<std::pair<int,int>> FNAV_Omega0_1_5_bit({{79,16}});
const double FNAV_Omega0_5_LSB = TWO_N15;
const std::vector<std::pair<int,int>> FNAV_Omegadot_1_5_bit({{95,11}});
const double FNAV_Omegadot_5_LSB = TWO_N33;
const std::vector<std::pair<int,int>> FNAV_M0_1_5_bit({{106,16}});
const double FNAV_M0_5_LSB = TWO_N15;
const std::vector<std::pair<int,int>> FNAV_af0_1_5_bit({{122,16}});
const double FNAV_af0_5_LSB = TWO_N19;
const std::vector<std::pair<int,int>> FNAV_af1_1_5_bit({{138,13}});
const double FNAV_af1_5_LSB = TWO_N38;
const std::vector<std::pair<int,int>> FNAV_E5ahs_1_5_bit({{151,2}});
const std::vector<std::pair<int,int>> FNAV_SVID2_5_bit({{153,6}});
const std::vector<std::pair<int,int>> FNAV_Deltaa12_2_5_bit({{159,13}});
const std::vector<std::pair<int,int>> FNAV_e_2_5_bit({{172,11}});
const std::vector<std::pair<int,int>> FNAV_w_2_5_bit({{183,16}});
const std::vector<std::pair<int,int>> FNAV_deltai_2_5_bit({{199,11}});
//const std::vector<std::pair<int,int>> FNAV_Omega012_2_5_bit({{210,4}});
// WORD 6 Almanac SVID2(1/2) SVID3
const std::vector<std::pair<int,int>> FNAV_IODa_6_bit({{6,4}});
//const std::vector<std::pair<int,int>> FNAV_Omega022_2_6_bit({{10,12}});
const std::vector<std::pair<int,int>> FNAV_Omegadot_2_6_bit({{22,11}});
const std::vector<std::pair<int,int>> FNAV_M0_2_6_bit({{33,16}});
const std::vector<std::pair<int,int>> FNAV_af0_2_6_bit({{49,16}});
const std::vector<std::pair<int,int>> FNAV_af1_2_6_bit({{65,13}});
const std::vector<std::pair<int,int>> FNAV_E5ahs_2_6_bit({{78,2}});
const std::vector<std::pair<int,int>> FNAV_SVID3_6_bit({{80,6}});
const std::vector<std::pair<int,int>> FNAV_Deltaa12_3_6_bit({{86,13}});
const std::vector<std::pair<int,int>> FNAV_e_3_6_bit({{99,11}});
const std::vector<std::pair<int,int>> FNAV_w_3_6_bit({{110,16}});
const std::vector<std::pair<int,int>> FNAV_deltai_3_6_bit({{126,11}});
const std::vector<std::pair<int,int>> FNAV_Omega0_3_6_bit({{137,16}});
const std::vector<std::pair<int,int>> FNAV_Omegadot_3_6_bit({{153,11}});
const std::vector<std::pair<int,int>> FNAV_M0_3_6_bit({{164,16}});
const std::vector<std::pair<int,int>> FNAV_af0_3_6_bit({{180,16}});
const std::vector<std::pair<int,int>> FNAV_af1_3_6_bit({{196,13}});
const std::vector<std::pair<int,int>> FNAV_E5ahs_3_6_bit({{209,2}});
// Galileo E5a-I primary codes
const std::string Galileo_E5a_I_PRIMARY_CODE[Galileo_E5a_NUMBER_OF_CODES] = {
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
};
// Galileo E5a-Q primary codes
const std::string Galileo_E5a_Q_PRIMARY_CODE[Galileo_E5a_NUMBER_OF_CODES] = {
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};
// Galileo E5a-I secondary code
const std::string Galileo_E5a_I_SECONDARY_CODE = "10000100001011101001";
// Galileo E5a-Q secondary codes
const std::string Galileo_E5a_Q_SECONDARY_CODE[Galileo_E5a_NUMBER_OF_CODES] = {
"1000001111110110111101101001110110001111011011100001010101000001000111111011100011001001101100011100",
"0110011001010101100010111101001111001110000011000111011110010010111010000011001101010000010100100101",
"0101100110100000001001011010100111000001101011110000011001010001101101110111100110101000001110000001",
"1101001110100011001001100100000001111000001011110111101100011000111001001101111101110101010010110111",
"1011100100011111110010101101011101110110000011000010000110001111101001011001001101001000101010010011",
"1011101011000111011111101001001100111010011101111001000101000000111100001001010011111011111110011000",
"0101001101110111100001011101111000101000000010010010011111000110101101011000101110100110011101110110",
"1110111111001010101101001011011001011111001110000101001100011110110010100010001000100101011111100010",
"0111100111111000110010101110100000111000010001110101111010100101010110000100101111101111110010011011",
"1100101001010001011100001111111010100011101010000001000011101100011000000110101101100110010010010100",
"0001111111000011001001000001000001100101001010100010110001001001101111011000010001011110010101100111",
"1111111000001010100110100111101011111101101011000100010011100100001011001011100101011101001001100001",
"1011000000110000011000101101110000101011011100011001100101011101010110101101100010110111110110111110",
"1111011011000011100110001001100100111111010110011000111000101101111101000010001101011101001111010101",
"0001101110110010111110111000101101011011111100100100001110010101110000101110111100111100010110100001",
"0010111110010010000001101000011111010010001110001100110001110000010001101110111101101010111111001001",
"0011010000010110001110001000011011111100010011101101011111110010101010010010111011111101101110111000",
"0110011010101000011100101100111001000111100000110011111110110010110111111101010101100010010110101101",
"1001100111010101101001110000000101100010110010010010000010100100101110111001110111100001110010101000",
"1000000111010111000110111101011011100000011010011010011110101100110010111110110111000110011011001010",
"1010011001010100010100100100000001110100101010011110011001111000000011011011100111010011111011000110",
"1100001100111001011010100001000000011011111011011010111101100010001111001111110001011011101100110111",
"1100001111010100101010110010000100011101111100110110111100100001000100011111001000010100000111001101",
"0011110111111111001001011110101011100111011000010111001110010010011001011010111100010100010111000001",
"1001100101001001000010011110000001110101011111010111000011001101111000111000100100010000001010110101",
"1011100100111000010100110101010100100010110100010001100111110100000011000010010111111101101011101100",
"1100011100011010101101010100100111000000010010010001010100110111000000100110101100111001000010110111",
"0000110011011011100011001001111001111011010100111111010101011111010110110000101000000101100101111011",
"0110000111000101111110100010010100101111000110101111100000010001010001000111011001100100100101001111",
"0110001001100000001001110111011110001111110100111100011010111011010010111010101001111010010110011101",
"1110011101000101010000010010111111110101001111011110101111010000001111110001110010011010011000110011",
"0011010110010010101011000000100000111111001100010111010111111010011100100100011000111001000010011000",
"0101001000101000010011011001010000011100001111011100101011110010011100100001110111011011000111111101",
"0111001110110011110110001111000010101101010101011101111101001111111010000001010011101101100010010000",
"1001010010111111000101101100100000111011110101110100011000101111011001001001100011100000001010000010",
"1010100011000011110111100001101011000110011010000000100010011011000010110100010110110011010101111001",
"0010001011010110111000101010011101101000111001011111001101011111111111001000111000000001011110010110",
"0010010100110001000010100000011001100111010111101011001001110001111100101010000010011110101000011101",
"1001111101111001100100111100011000100001110101001011111011001000000110100000010100110101011100000011",
"1101011000101001100110011110101011001111000111001001100100001000001111000000101101001010010000010111",
"1111011001100101101001111110101001000100000110111010101001001110101000001101000000010000011110001100",
"0100011011110011110100110000010000111111001001001100110111101010101111010110111101111001010101000011",
"1110001011100011111010000010010101000110000101101011110110010110110011101111110010100110010100011010",
"1110010101001000001000110001101010000010111110011010000000011010000110011101101101011110000110110010",
"0010011001011100011111111001000010100001011011110100100111101101111000101010101001110000011011001000",
"0011011001001010001110101001111010110000111100000100100000011101101000000001100110011101011111101010",
"1001100000010000101001111010100010011000100101100001001001100011101000001111011101001001111101010110",
};
#endif /* GNSS_SDR_GALILEO_E5A_H_ */

3
src/core/system_parameters/galileo_almanac.h
View File

@ -59,6 +59,7 @@ public:
double af1_8;
double E5b_HS_8;
double E1B_HS_8;
double E5a_HS_8;
int SVID2_8;
double DELTA_A_8;
double e_8;
@ -76,6 +77,7 @@ public:
double af1_9;
double E5b_HS_9;
double E1B_HS_9;
double E5a_HS_9;
int SVID3_9;
double DELTA_A_9;
double e_9;
@ -91,6 +93,7 @@ public:
double af1_10;
double E5b_HS_10;
double E1B_HS_10;
double E5a_HS_10;
/*GPS to Galileo GST conversion parameters*/
double A_0G_10 = 0;

719
src/core/system_parameters/galileo_fnav_message.cc Normal file
View File

@ -0,0 +1,719 @@
/*!
* \file galileo_fnav_message.h
* \brief Implementation of a Galileo F/NAV Data message
* as described in Galileo OS SIS ICD Issue 1.1 (Sept. 2010)
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* </ul>
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_fnav_message.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/crc.hpp> // for boost::crc_basic, boost::crc_optimal
#include <boost/dynamic_bitset.hpp>
#include <glog/logging.h>
#include <iostream>
#include <cstring>
#include <string>
typedef boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> CRC_Galileo_FNAV_type;
void Galileo_Fnav_Message::reset()
{
flag_CRC_test = false;
flag_all_ephemeris = false; //!< Flag indicating that all words containing ephemeris have been received
flag_ephemeris_1 = false; //!< Flag indicating that ephemeris 1/3 (word 2) have been received
flag_ephemeris_2 = false; //!< Flag indicating that ephemeris 2/3 (word 3) have been received
flag_ephemeris_3 = false; //!< Flag indicating that ephemeris 3/3 (word 4) have been received
flag_iono_and_GST = false; //!< Flag indicating that ionospheric and GST parameters (word 1) have been received
flag_TOW_1 = false;
flag_TOW_2 = false;
flag_TOW_3 = false;
flag_TOW_4 = false;
flag_TOW_set = false; //!< it is true when page 1,2,3 or 4 arrives
flag_utc_model = false; //!< Flag indicating that utc model parameters (word 4) have been received
flag_all_almanac = false; //!< Flag indicating that all almanac have been received
flag_almanac_1 = false; //!< Flag indicating that almanac 1/2 (word 5) have been received
flag_almanac_2 = false; //!< Flag indicating that almanac 2/2 (word 6) have been received
IOD_ephemeris = 0;
page_type = 0;
/* WORD 1 SVID, Clock correction, SISA, Ionospheric correction, BGD, GST, Signal
* health and Data validity status*/
FNAV_SV_ID_PRN_1 = 0;
FNAV_IODnav_1 = 0;
FNAV_t0c_1 = 0;
FNAV_af0_1 = 0;
FNAV_af1_1 = 0;
FNAV_af2_1 = 0;
FNAV_SISA_1 = 0;
FNAV_ai0_1 = 0;
FNAV_ai1_1 = 0;
FNAV_ai2_1 = 0;
FNAV_region1_1 = 0;
FNAV_region2_1 = 0;
FNAV_region3_1 = 0;
FNAV_region4_1 = 0;
FNAV_region5_1 = 0;
FNAV_BGD_1 = 0;
FNAV_E5ahs_1 = 0;
FNAV_WN_1 = 0;
FNAV_TOW_1 = 0;
FNAV_E5advs_1 = 0;
// WORD 2 Ephemeris (1/3) and GST
FNAV_IODnav_2 = 0;
FNAV_M0_2 = 0;
FNAV_omegadot_2 = 0;
FNAV_e_2 = 0;
FNAV_a12_2 = 0;
FNAV_omega0_2 = 0;
FNAV_idot_2 = 0;
FNAV_WN_2 = 0;
FNAV_TOW_2 = 0;
// WORD 3 Ephemeris (2/3) and GST
FNAV_IODnav_3 = 0;
FNAV_i0_3 = 0;
FNAV_w_3 = 0;
FNAV_deltan_3 = 0;
FNAV_Cuc_3 = 0;
FNAV_Cus_3 = 0;
FNAV_Crc_3 = 0;
FNAV_Crs_3 = 0;
FNAV_t0e_3 = 0;
FNAV_WN_3 = 0;
FNAV_TOW_3 = 0;
/* WORD 4 Ephemeris (3/3), GST-UTC conversion, GST-GPS conversion and TOW.
Note that the clock is repeated in this page type*/
FNAV_IODnav_4 = 0;
FNAV_Cic_4 = 0;
FNAV_Cis_4 = 0;
FNAV_A0_4 = 0;
FNAV_A1_4 = 0;
FNAV_deltatls_4 = 0;
FNAV_t0t_4 = 0;
FNAV_WNot_4 = 0;
FNAV_WNlsf_4 = 0;
FNAV_DN_4 = 0;
FNAV_deltatlsf_4 = 0;
FNAV_t0g_4 = 0;
FNAV_A0g_4 = 0;
FNAV_A1g_4 = 0;
FNAV_WN0g_4 = 0;
FNAV_TOW_4 = 0;
// WORD 5 Almanac (SVID1 and SVID2(1/2)), Week Number and almanac reference time
FNAV_IODa_5 = 0;
FNAV_WNa_5 = 0;
FNAV_t0a_5 = 0;
FNAV_SVID1_5 = 0;
FNAV_Deltaa12_1_5 = 0;
FNAV_e_1_5 = 0;
FNAV_w_1_5 = 0;
FNAV_deltai_1_5 = 0;
FNAV_Omega0_1_5 = 0;
FNAV_Omegadot_1_5 = 0;
FNAV_M0_1_5 = 0;
FNAV_af0_1_5 = 0;
FNAV_af1_1_5 = 0;
FNAV_E5ahs_1_5 = 0;
FNAV_SVID2_5 = 0;
FNAV_Deltaa12_2_5 = 0;
FNAV_e_2_5 = 0;
FNAV_w_2_5 = 0;
FNAV_deltai_2_5 = 0;
// WORD 6 Almanac (SVID2(2/2) and SVID3)
FNAV_IODa_6 = 0;
FNAV_Omega0_2_6 = 0;
FNAV_Omegadot_2_6 = 0;
FNAV_M0_2_6 = 0;
FNAV_af0_2_6 = 0;
FNAV_af1_2_6 = 0;
FNAV_E5ahs_2_6 = 0;
FNAV_SVID3_6 = 0;
FNAV_Deltaa12_3_6 = 0;
FNAV_e_3_6 = 0;
FNAV_w_3_6 = 0;
FNAV_deltai_3_6 = 0;
FNAV_Omega0_3_6 = 0;
FNAV_Omegadot_3_6 = 0;
FNAV_M0_3_6 = 0;
FNAV_af0_3_6 = 0;
FNAV_af1_3_6 = 0;
FNAV_E5ahs_3_6 = 0;
}
Galileo_Fnav_Message::Galileo_Fnav_Message()
{
reset();
}
//int Galileo_Fnav_Message::toInt(std::string bitString)
//{
// int tempInt;
// int num=0;
// int sLength = bitString.length();
// for(int i=0; i<sLength; i++)
// {
// num |= (1 << (sLength-1-i))*tempInt;
// }
//
// return num;
//}
void Galileo_Fnav_Message::split_page(std::string page_string)
{
std::string message_word = page_string.substr(0,214);
std::string CRC_data = page_string.substr(214,24);
std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> Word_for_CRC_bits(message_word);
std::bitset<24> checksum(CRC_data);
if (_CRC_test(Word_for_CRC_bits, checksum.to_ulong()) == true)
{
flag_CRC_test = true;
// CRC correct: Decode word
decode_page(message_word);
}
else
{
flag_CRC_test = false;
}
}
bool Galileo_Fnav_Message::_CRC_test(std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> bits,boost::uint32_t checksum)
{
CRC_Galileo_FNAV_type CRC_Galileo;
boost::uint32_t crc_computed;
// Galileo FNAV frame for CRC is not an integer multiple of bytes
// it needs to be filled with zeroes at the start of the frame.
// This operation is done in the transformation from bits to bytes
// using boost::dynamic_bitset.
// ToDo: Use boost::dynamic_bitset for all the bitset operations in this class
boost::dynamic_bitset<unsigned char> frame_bits(std::string(bits.to_string()));
std::vector<unsigned char> bytes;
boost::to_block_range(frame_bits, std::back_inserter(bytes));
std::reverse(bytes.begin(),bytes.end());
CRC_Galileo.process_bytes( bytes.data(), GALILEO_FNAV_DATA_FRAME_BYTES );
crc_computed = CRC_Galileo.checksum();
if (checksum == crc_computed)
{
return true;
}
else
{
return false;
}
}
void Galileo_Fnav_Message::decode_page(std::string data)
{
std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> data_bits(data);
page_type = read_navigation_unsigned(data_bits,FNAV_PAGE_TYPE_bit);
switch(page_type)
{
case 1: // SVID, Clock correction, SISA, Ionospheric correction, BGD, GST, Signal health and Data validity status
FNAV_SV_ID_PRN_1=(int)read_navigation_unsigned(data_bits,FNAV_SV_ID_PRN_1_bit);
FNAV_IODnav_1=(int)read_navigation_unsigned(data_bits,FNAV_IODnav_1_bit);
FNAV_t0c_1=(double)read_navigation_unsigned(data_bits,FNAV_t0c_1_bit);
FNAV_t0c_1 *= FNAV_t0c_1_LSB;
FNAV_af0_1=(double)read_navigation_signed(data_bits,FNAV_af0_1_bit);
FNAV_af0_1 *= FNAV_af0_1_LSB;
FNAV_af1_1=(double)read_navigation_signed(data_bits,FNAV_af1_1_bit);
FNAV_af1_1 *= FNAV_af1_1_LSB;
FNAV_af2_1=(double)read_navigation_signed(data_bits,FNAV_af2_1_bit);
FNAV_af2_1 *= FNAV_af2_1_LSB;
FNAV_SISA_1=(double)read_navigation_unsigned(data_bits,FNAV_SISA_1_bit);
FNAV_ai0_1=(double)read_navigation_unsigned(data_bits,FNAV_ai0_1_bit);
FNAV_ai0_1 *= FNAV_ai0_1_LSB;
FNAV_ai1_1=(double)read_navigation_signed(data_bits,FNAV_ai1_1_bit);
FNAV_ai1_1 *= FNAV_ai1_1_LSB;
FNAV_ai2_1=(double)read_navigation_signed(data_bits,FNAV_ai2_1_bit);
FNAV_ai2_1 *= FNAV_ai2_1_LSB;
FNAV_region1_1=(bool)read_navigation_unsigned(data_bits,FNAV_region1_1_bit);
FNAV_region2_1=(bool)read_navigation_unsigned(data_bits,FNAV_region2_1_bit);
FNAV_region3_1=(bool)read_navigation_unsigned(data_bits,FNAV_region3_1_bit);
FNAV_region4_1=(bool)read_navigation_unsigned(data_bits,FNAV_region4_1_bit);
FNAV_region5_1=(bool)read_navigation_unsigned(data_bits,FNAV_region5_1_bit);
FNAV_BGD_1=(double)read_navigation_signed(data_bits,FNAV_BGD_1_bit);
FNAV_BGD_1 *= FNAV_BGD_1_LSB;
FNAV_E5ahs_1=(double)read_navigation_unsigned(data_bits,FNAV_E5ahs_1_bit);
FNAV_WN_1=(double)read_navigation_unsigned(data_bits,FNAV_WN_1_bit);
FNAV_TOW_1=(double)read_navigation_unsigned(data_bits,FNAV_TOW_1_bit);
FNAV_E5advs_1=(double)read_navigation_unsigned(data_bits,FNAV_E5advs_1_bit);
flag_TOW_1=true;
flag_TOW_set=true;
flag_iono_and_GST = true; //set to false externally
break;
case 2: // Ephemeris (1/3) and GST
FNAV_IODnav_2=(int)read_navigation_unsigned(data_bits,FNAV_IODnav_2_bit);
FNAV_M0_2=(double)read_navigation_unsigned(data_bits,FNAV_M0_2_bit);
FNAV_M0_2 *= FNAV_M0_2_LSB;
FNAV_omegadot_2=(double)read_navigation_signed(data_bits,FNAV_omegadot_2_bit);
FNAV_omegadot_2 *= FNAV_omegadot_2_LSB;
FNAV_e_2=(double)read_navigation_unsigned(data_bits,FNAV_e_2_bit);
FNAV_e_2 *= FNAV_e_2_LSB;
FNAV_a12_2=(double)read_navigation_unsigned(data_bits,FNAV_a12_2_bit);
FNAV_a12_2 *= FNAV_a12_2_LSB;
FNAV_omega0_2=(double)read_navigation_signed(data_bits,FNAV_omega0_2_bit);
FNAV_omega0_2 *= FNAV_omega0_2_LSB;
FNAV_idot_2=(double)read_navigation_signed(data_bits,FNAV_idot_2_bit);
FNAV_idot_2 *= FNAV_idot_2_LSB;
FNAV_WN_2=(double)read_navigation_unsigned(data_bits,FNAV_WN_2_bit);
FNAV_TOW_2=(double)read_navigation_unsigned(data_bits,FNAV_TOW_2_bit);
flag_TOW_2=true;
flag_TOW_set=true;
flag_ephemeris_1=true;
break;
case 3: // Ephemeris (2/3) and GST
FNAV_IODnav_3=(int)read_navigation_unsigned(data_bits,FNAV_IODnav_3_bit);
FNAV_i0_3=(double)read_navigation_signed(data_bits,FNAV_i0_3_bit);
FNAV_i0_3 *= FNAV_i0_3_LSB;
FNAV_w_3=(double)read_navigation_signed(data_bits,FNAV_w_3_bit);
FNAV_w_3 *= FNAV_w_3_LSB;
FNAV_deltan_3=(double)read_navigation_unsigned(data_bits,FNAV_deltan_3_bit);
FNAV_deltan_3 *= FNAV_deltan_3_LSB;
FNAV_Cuc_3=(double)read_navigation_signed(data_bits,FNAV_Cuc_3_bit);
FNAV_Cuc_3 *= FNAV_Cuc_3_LSB;
FNAV_Cus_3=(double)read_navigation_signed(data_bits,FNAV_Cus_3_bit);
FNAV_Cus_3 *= FNAV_Cus_3_LSB;
FNAV_Crc_3=(double)read_navigation_signed(data_bits,FNAV_Crc_3_bit);
FNAV_Crc_3 *= FNAV_Crc_3_LSB;
FNAV_Crs_3=(double)read_navigation_signed(data_bits,FNAV_Crs_3_bit);
FNAV_Crs_3 *= FNAV_Crs_3_LSB;
FNAV_t0e_3=(double)read_navigation_unsigned(data_bits,FNAV_t0e_3_bit);
FNAV_t0e_3 *= FNAV_t0e_3_LSB;
FNAV_WN_3=(double)read_navigation_unsigned(data_bits,FNAV_WN_3_bit);
FNAV_TOW_3=(double)read_navigation_unsigned(data_bits,FNAV_TOW_3_bit);
flag_TOW_3=true;
flag_TOW_set=true;
flag_ephemeris_2=true;
break;
case 4: // Ephemeris (3/3), GST-UTC conversion, GST-GPS conversion and TOW
FNAV_IODnav_4=(int)read_navigation_unsigned(data_bits,FNAV_IODnav_4_bit);
FNAV_Cic_4=(double)read_navigation_unsigned(data_bits,FNAV_Cic_4_bit);
FNAV_Cic_4 *= FNAV_Cic_4_LSB;
FNAV_Cis_4=(double)read_navigation_unsigned(data_bits,FNAV_Cis_4_bit);
FNAV_Cis_4 *= FNAV_Cis_4_LSB;
FNAV_A0_4=(double)read_navigation_unsigned(data_bits,FNAV_A0_4_bit);
FNAV_A0_4 *= FNAV_A0_4_LSB;
FNAV_A1_4=(double)read_navigation_unsigned(data_bits,FNAV_A1_4_bit);
FNAV_A1_4 *= FNAV_A1_4_LSB;
FNAV_deltatls_4=(double)read_navigation_signed(data_bits,FNAV_deltatls_4_bit);
FNAV_t0t_4=(double)read_navigation_unsigned(data_bits,FNAV_t0t_4_bit);
FNAV_t0t_4 *= FNAV_t0t_4_LSB;
FNAV_WNot_4=(double)read_navigation_unsigned(data_bits,FNAV_WNot_4_bit);
FNAV_WNlsf_4=(double)read_navigation_unsigned(data_bits,FNAV_WNlsf_4_bit);
FNAV_DN_4=(double)read_navigation_unsigned(data_bits,FNAV_DN_4_bit);
FNAV_deltatlsf_4=(double)read_navigation_signed(data_bits,FNAV_deltatlsf_4_bit);
FNAV_t0g_4=(double)read_navigation_unsigned(data_bits,FNAV_t0g_4_bit);
FNAV_t0g_4 *= FNAV_t0g_4_LSB;
FNAV_A0g_4=(double)read_navigation_signed(data_bits,FNAV_A0g_4_bit);
FNAV_A0g_4 *= FNAV_A0g_4_LSB;
FNAV_A1g_4=(double)read_navigation_signed(data_bits,FNAV_A1g_4_bit);
FNAV_A1g_4 *= FNAV_A1g_4_LSB;
FNAV_WN0g_4=(double)read_navigation_unsigned(data_bits,FNAV_WN0g_4_bit);
FNAV_TOW_4=(double)read_navigation_unsigned(data_bits,FNAV_TOW_4_bit);
flag_TOW_4=true;
flag_TOW_set=true;
flag_ephemeris_3=true;
flag_utc_model = true; //set to false externally
break;
case 5: // Almanac (SVID1 and SVID2(1/2)), Week Number and almanac reference time
FNAV_IODa_5=(int)read_navigation_unsigned(data_bits,FNAV_IODa_5_bit);
FNAV_WNa_5=(double)read_navigation_unsigned(data_bits,FNAV_WNa_5_bit);
FNAV_t0a_5=(double)read_navigation_unsigned(data_bits,FNAV_t0a_5_bit);
FNAV_t0a_5 *= FNAV_t0a_5_LSB;
FNAV_SVID1_5=(int)read_navigation_unsigned(data_bits,FNAV_SVID1_5_bit);
FNAV_Deltaa12_1_5=(double)read_navigation_signed(data_bits,FNAV_Deltaa12_1_5_bit);
FNAV_Deltaa12_1_5 *= FNAV_Deltaa12_5_LSB;
FNAV_e_1_5=(double)read_navigation_unsigned(data_bits,FNAV_e_1_5_bit);
FNAV_e_1_5 *= FNAV_e_5_LSB;
FNAV_w_1_5=(double)read_navigation_signed(data_bits,FNAV_w_1_5_bit);
FNAV_w_1_5 *= FNAV_w_5_LSB;
FNAV_deltai_1_5=(double)read_navigation_signed(data_bits,FNAV_deltai_1_5_bit);
FNAV_deltai_1_5 *= FNAV_deltai_5_LSB;
FNAV_Omega0_1_5=(double)read_navigation_signed(data_bits,FNAV_Omega0_1_5_bit);
FNAV_Omega0_1_5 *= FNAV_Omega0_5_LSB;
FNAV_Omegadot_1_5=(double)read_navigation_signed(data_bits,FNAV_Omegadot_1_5_bit);
FNAV_Omegadot_1_5 *= FNAV_Omegadot_5_LSB;
FNAV_M0_1_5=(double)read_navigation_signed(data_bits,FNAV_M0_1_5_bit);
FNAV_M0_1_5 *= FNAV_M0_5_LSB;
FNAV_af0_1_5=(double)read_navigation_signed(data_bits,FNAV_af0_1_5_bit);
FNAV_af0_1_5 *= FNAV_af0_5_LSB;
FNAV_af1_1_5=(double)read_navigation_signed(data_bits,FNAV_af1_1_5_bit);
FNAV_af1_1_5 *= FNAV_af1_5_LSB;
FNAV_E5ahs_1_5=(double)read_navigation_unsigned(data_bits,FNAV_E5ahs_1_5_bit);
FNAV_SVID2_5=(int)read_navigation_unsigned(data_bits,FNAV_SVID2_5_bit);
FNAV_Deltaa12_2_5=(double)read_navigation_signed(data_bits,FNAV_Deltaa12_2_5_bit);
FNAV_Deltaa12_2_5 *= FNAV_Deltaa12_5_LSB;
FNAV_e_2_5=(double)read_navigation_unsigned(data_bits,FNAV_e_2_5_bit);
FNAV_e_2_5 *= FNAV_e_5_LSB;
FNAV_w_2_5=(double)read_navigation_signed(data_bits,FNAV_w_2_5_bit);
FNAV_w_2_5 *= FNAV_w_5_LSB;
FNAV_deltai_2_5=(double)read_navigation_signed(data_bits,FNAV_deltai_2_5_bit);
FNAV_deltai_2_5 *= FNAV_deltai_5_LSB;
//TODO check this
// Omega0_2 must be decoded when the two pieces are joined
omega0_1=data.substr(210,4);
//omega_flag=true;
//
//FNAV_Omega012_2_5=(double)read_navigation_signed(data_bits,FNAV_Omega012_2_5_bit);
flag_almanac_1=true;
break;
case 6: // Almanac (SVID2(2/2) and SVID3)
FNAV_IODa_6=(int)read_navigation_unsigned(data_bits,FNAV_IODa_6_bit);
/* Don't worry about omega pieces. If page 5 has not been received, all_ephemeris
* flag will be set to false and the data won't be recorded.*/
std::string omega0_2 = data.substr(10,12);
std::string Omega0 = omega0_1 + omega0_2;
std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> omega_bits(Omega0);
const std::vector<std::pair<int,int>> om_bit({{0,12}});
FNAV_Omega0_2_6=(double)read_navigation_signed(omega_bits,om_bit);
FNAV_Omega0_2_6 *= FNAV_Omega0_5_LSB;
//
FNAV_Omegadot_2_6=(double)read_navigation_signed(data_bits,FNAV_Omegadot_2_6_bit);
FNAV_Omegadot_2_6 *= FNAV_Omegadot_5_LSB;
FNAV_M0_2_6=(double)read_navigation_signed(data_bits,FNAV_M0_2_6_bit);
FNAV_M0_2_6 *= FNAV_M0_5_LSB;
FNAV_af0_2_6=(double)read_navigation_signed(data_bits,FNAV_af0_2_6_bit);
FNAV_af0_2_6 *= FNAV_af0_5_LSB;
FNAV_af1_2_6=(double)read_navigation_signed(data_bits,FNAV_af1_2_6_bit);
FNAV_af1_2_6 *= FNAV_af1_5_LSB;
FNAV_E5ahs_2_6=(double)read_navigation_unsigned(data_bits,FNAV_E5ahs_2_6_bit);
FNAV_SVID3_6=(int)read_navigation_unsigned(data_bits,FNAV_SVID3_6_bit);
FNAV_Deltaa12_3_6=(double)read_navigation_signed(data_bits,FNAV_Deltaa12_3_6_bit);
FNAV_Deltaa12_3_6 *= FNAV_Deltaa12_5_LSB;
FNAV_e_3_6=(double)read_navigation_unsigned(data_bits,FNAV_e_3_6_bit);
FNAV_e_3_6 *= FNAV_e_5_LSB;
FNAV_w_3_6=(double)read_navigation_signed(data_bits,FNAV_w_3_6_bit);
FNAV_w_3_6 *= FNAV_w_5_LSB;
FNAV_deltai_3_6=(double)read_navigation_signed(data_bits,FNAV_deltai_3_6_bit);
FNAV_deltai_3_6 *= FNAV_deltai_5_LSB;
FNAV_Omega0_3_6=(double)read_navigation_signed(data_bits,FNAV_Omega0_3_6_bit);
FNAV_Omega0_3_6 *= FNAV_Omega0_5_LSB;
FNAV_Omegadot_3_6=(double)read_navigation_signed(data_bits,FNAV_Omegadot_3_6_bit);
FNAV_Omegadot_3_6 *= FNAV_Omegadot_5_LSB;
FNAV_M0_3_6=(double)read_navigation_signed(data_bits,FNAV_M0_3_6_bit);
FNAV_M0_3_6 *= FNAV_M0_5_LSB;
FNAV_af0_3_6=(double)read_navigation_signed(data_bits,FNAV_af0_3_6_bit);
FNAV_af0_3_6 *= FNAV_af0_5_LSB;
FNAV_af1_3_6=(double)read_navigation_signed(data_bits,FNAV_af1_3_6_bit);
FNAV_af1_3_6 *= FNAV_af1_5_LSB;
FNAV_E5ahs_3_6=(double)read_navigation_unsigned(data_bits,FNAV_E5ahs_3_6_bit);
flag_almanac_2=true;
break;
}
}
unsigned long int Galileo_Fnav_Message::read_navigation_unsigned(std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> bits, const std::vector<std::pair<int,int>> parameter)
{
unsigned long int value = 0;
int num_of_slices = parameter.size();
for (int i=0; i<num_of_slices; i++)
{
for (int j=0; j<parameter[i].second; j++)
{
value <<= 1; //shift left
if (bits[GALILEO_FNAV_DATA_FRAME_BITS - parameter[i].first - j] == 1)
{
value += 1; // insert the bit
}
}
}
return value;
}
signed long int Galileo_Fnav_Message::read_navigation_signed(std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> bits, const std::vector<std::pair<int,int>> parameter)
{
signed long int value = 0;
int num_of_slices = parameter.size();
// Discriminate between 64 bits and 32 bits compiler
int long_int_size_bytes = sizeof(signed long int);
if (long_int_size_bytes == 8) // if a long int takes 8 bytes, we are in a 64 bits system
{
// read the MSB and perform the sign extension
if (bits[GALILEO_FNAV_DATA_FRAME_BITS - parameter[0].first] == 1)
{
value ^= 0xFFFFFFFFFFFFFFFF; //64 bits variable
}
else
{
value &= 0;
}
for (int i=0; i<num_of_slices; i++)
{
for (int j=0; j<parameter[i].second; j++)
{
value <<= 1; //shift left
value &= 0xFFFFFFFFFFFFFFFE; //reset the corresponding bit (for the 64 bits variable)
if (bits[GALILEO_FNAV_DATA_FRAME_BITS - parameter[i].first - j] == 1)
{
value += 1; // insert the bit
}
}
}
}
else // we assume we are in a 32 bits system
{
// read the MSB and perform the sign extension
if (bits[GALILEO_FNAV_DATA_FRAME_BITS - parameter[0].first] == 1)
{
value ^= 0xFFFFFFFF;
}
else
{
value &= 0;
}
for (int i=0; i<num_of_slices; i++)
{
for (int j=0; j<parameter[i].second; j++)
{
value <<= 1; //shift left
value &= 0xFFFFFFFE; //reset the corresponding bit
if (bits[GALILEO_FNAV_DATA_FRAME_BITS - parameter[i].first - j] == 1)
{
value += 1; // insert the bit
}
}
}
}
return value;
}
bool Galileo_Fnav_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
{
if ((flag_ephemeris_1 == true) and (flag_ephemeris_2 == true) and (flag_ephemeris_3 == true) and (flag_iono_and_GST == true))
{
//if all ephemeris pages have the same IOD, then they belong to the same block
if ((FNAV_IODnav_1 == FNAV_IODnav_2) and (FNAV_IODnav_3 == FNAV_IODnav_4) and (FNAV_IODnav_1 == FNAV_IODnav_3))
{
std::cout << "Ephemeris (1, 2, 3) have been received and belong to the same batch" << std::endl;
flag_ephemeris_1 = false;// clear the flag
flag_ephemeris_2 = false;// clear the flag
flag_ephemeris_3 = false;// clear the flag
flag_all_ephemeris = true;
IOD_ephemeris = FNAV_IODnav_1;
std::cout << "Batch number: "<< IOD_ephemeris << std::endl;
return true;
}
else
{
return false;
}
}
else
return false;
}
bool Galileo_Fnav_Message::have_new_iono_and_GST() //Check if we have a new iono data set stored in the galileo navigation class
{
if ((flag_iono_and_GST == true) and (flag_utc_model == true)) //the condition on flag_utc_model is added to have a time stamp for iono
{
flag_iono_and_GST = false; // clear the flag
return true;
}
else
return false;
}
bool Galileo_Fnav_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class
{
if (flag_utc_model == true)
{
flag_utc_model = false; // clear the flag
return true;
}
else
return false;
}
bool Galileo_Fnav_Message::have_new_almanac() //Check if we have a new almanac data set stored in the galileo navigation class
{
if ((flag_almanac_1 == true) and (flag_almanac_2 == true))
{
//All almanac have been received
flag_almanac_1 = false;
flag_almanac_2 = false;
flag_all_almanac = true;
return true;
}
else
return false;
}
Galileo_Ephemeris Galileo_Fnav_Message::get_ephemeris()
{
Galileo_Ephemeris ephemeris;
ephemeris.flag_all_ephemeris = flag_all_ephemeris;
ephemeris.IOD_ephemeris = IOD_ephemeris;
ephemeris.SV_ID_PRN_4 = FNAV_SV_ID_PRN_1;
ephemeris.i_satellite_PRN = FNAV_SV_ID_PRN_1;
ephemeris.M0_1 = FNAV_M0_2; // Mean anomaly at reference time [semi-circles]
ephemeris.delta_n_3 = FNAV_deltan_3;// Mean motion difference from computed value [semi-circles/sec]
ephemeris.e_1 = FNAV_e_2; // Eccentricity
ephemeris.A_1 = FNAV_a12_2; // Square root of the semi-major axis [metres^1/2]
ephemeris.OMEGA_0_2 = FNAV_omega0_2;// Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
ephemeris.i_0_2 = FNAV_i0_3; // Inclination angle at reference time [semi-circles]
ephemeris.omega_2 = FNAV_w_3; // Argument of perigee [semi-circles]
ephemeris.OMEGA_dot_3 = FNAV_omegadot_2; // Rate of right ascension [semi-circles/sec]
ephemeris.iDot_2 = FNAV_idot_2; // Rate of inclination angle [semi-circles/sec]
ephemeris.C_uc_3 = FNAV_Cuc_3; // Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
ephemeris.C_us_3 = FNAV_Cus_3; // Amplitude of the sine harmonic correction term to the argument of latitude [radians]
ephemeris.C_rc_3 = FNAV_Crc_3; // Amplitude of the cosine harmonic correction term to the orbit radius [meters]
ephemeris.C_rs_3 = FNAV_Crs_3; // Amplitude of the sine harmonic correction term to the orbit radius [meters]
ephemeris.C_ic_4 = FNAV_Cic_4; // Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
ephemeris.C_is_4 = FNAV_Cis_4; // Amplitude of the sine harmonic correction term to the angle of inclination [radians]
ephemeris.t0e_1 = FNAV_t0e_3; // Ephemeris reference time [s]
/*Clock correction parameters*/
ephemeris.t0c_4 = FNAV_t0c_1; // Clock correction data reference Time of Week [sec]
ephemeris.af0_4 = FNAV_af0_1; // SV clock bias correction coefficient [s]
ephemeris.af1_4 = FNAV_af1_1; // SV clock drift correction coefficient [s/s]
ephemeris.af2_4 = FNAV_af2_1; // SV clock drift rate correction coefficient [s/s^2]
/*GST*/
ephemeris.WN_5 = FNAV_WN_3; // Week number
ephemeris.TOW_5 = FNAV_TOW_3; // Time of Week
return ephemeris;
}
Galileo_Iono Galileo_Fnav_Message::get_iono()
{
Galileo_Iono iono;
/*Ionospheric correction*/
/*Az*/
iono.ai0_5 = FNAV_ai0_1; // Effective Ionisation Level 1st order parameter [sfu]
iono.ai1_5 = FNAV_ai1_1; // Effective Ionisation Level 2st order parameter [sfu/degree]
iono.ai2_5 = FNAV_ai2_1; // Effective Ionisation Level 3st order parameter [sfu/degree]
/*Ionospheric disturbance flag*/
iono.Region1_flag_5 = FNAV_region1_1; // Ionospheric Disturbance Flag for region 1
iono.Region2_flag_5 = FNAV_region2_1; // Ionospheric Disturbance Flag for region 2
iono.Region3_flag_5 = FNAV_region3_1; // Ionospheric Disturbance Flag for region 3
iono.Region4_flag_5 = FNAV_region4_1; // Ionospheric Disturbance Flag for region 4
iono.Region5_flag_5 = FNAV_region5_1; // Ionospheric Disturbance Flag for region 5
/*GST*/
iono.TOW_5 = FNAV_TOW_1;
iono.WN_5 = FNAV_WN_1;
return iono;
}
Galileo_Utc_Model Galileo_Fnav_Message::get_utc_model()
{
Galileo_Utc_Model utc_model;
//Gal_utc_model.valid = flag_utc_model_valid;
/*Word type 6: GST-UTC conversion parameters*/
utc_model.A0_6 = FNAV_A0_4;
utc_model.A1_6 = FNAV_A1_4;
utc_model.Delta_tLS_6 = FNAV_deltatls_4;
utc_model.t0t_6 = FNAV_t0t_4;
utc_model.WNot_6 = FNAV_WNot_4;
utc_model.WN_LSF_6 = FNAV_WNlsf_4;
utc_model.DN_6 = FNAV_DN_4;
utc_model.Delta_tLSF_6 = FNAV_deltatlsf_4;
utc_model.flag_utc_model = flag_utc_model;
/*GST*/
//utc_model.WN_5 = WN_5; //Week number
//utc_model.TOW_5 = WN_5; //Time of Week
return utc_model;
}
Galileo_Almanac Galileo_Fnav_Message::get_almanac()
{
Galileo_Almanac almanac;
/*FNAV equivalent of INAV Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number*/
almanac.IOD_a_7 = FNAV_IODa_5;
almanac.WN_a_7 = FNAV_WNa_5;
almanac.t0a_7 = FNAV_t0a_5;
almanac.SVID1_7 = FNAV_SVID1_5;
almanac.DELTA_A_7 = FNAV_Deltaa12_1_5;
almanac.e_7 = FNAV_e_1_5;
almanac.omega_7 = FNAV_w_1_5;
almanac.delta_i_7 = FNAV_deltai_1_5;
almanac.Omega0_7 = FNAV_Omega0_1_5;
almanac.Omega_dot_7 = FNAV_Omegadot_1_5;
almanac.M0_7 = FNAV_M0_1_5;
/*FNAV equivalent of INAV Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)*/
almanac.IOD_a_8 = FNAV_IODa_5;
almanac.af0_8 = FNAV_af0_1_5;
almanac.af1_8 = FNAV_af1_1_5;
almanac.E5a_HS_8 = FNAV_E5ahs_1_5;
almanac.SVID2_8 = FNAV_SVID2_5;
almanac.DELTA_A_8 = FNAV_Deltaa12_2_5;
almanac.e_8 = FNAV_e_2_5;
almanac.omega_8 = FNAV_w_2_5;
almanac.delta_i_8 = FNAV_deltai_2_5;
almanac.Omega0_8 = FNAV_Omega0_2_6;
almanac.Omega_dot_8 = FNAV_Omegadot_2_6;
/*FNAV equivalent of INAV Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)*/
almanac.IOD_a_9 = FNAV_IODa_6;
almanac.WN_a_9 = FNAV_WNa_5;
almanac.t0a_9 = FNAV_t0a_5;
almanac.M0_9 = FNAV_M0_2_6;
almanac.af0_9 = FNAV_af0_2_6;
almanac.af1_9 = FNAV_af1_2_6;
almanac.E5a_HS_9 = FNAV_E5ahs_2_6;
almanac.SVID3_9 = FNAV_SVID3_6;
almanac.DELTA_A_9 = FNAV_Deltaa12_3_6;
almanac.e_9 = FNAV_e_3_6;
almanac.omega_9 = FNAV_w_3_6;
almanac.delta_i_9 = FNAV_deltai_3_6;
/*FNAV equivalent of INAV Word type 10: Almanac for SVID3 (2/2)*/
almanac.IOD_a_10 = FNAV_IODa_6;
almanac.Omega0_10 = FNAV_Omega0_3_6;
almanac.Omega_dot_10 = FNAV_Omegadot_3_6;
almanac.M0_10 = FNAV_M0_3_6;
almanac.af0_10 = FNAV_af0_3_6;
almanac.af1_10 = FNAV_af1_3_6;
almanac.E5a_HS_10 = FNAV_E5ahs_3_6;
return almanac;
}

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src/core/system_parameters/galileo_fnav_message.h Normal file
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/*!
* \file galileo_fnav_message.h
* \brief Implementation of a Galileo F/NAV Data message
* as described in Galileo OS SIS ICD Issue 1.1 (Sept. 2010)
* \author Marc Sales, 2014. marcsales92(at)gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* </ul>
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_FNAV_MESSAGE_H_
#define GNSS_SDR_GALILEO_FNAV_MESSAGE_H_
#include <iostream>
#include <map>
#include <vector>
#include <string>
#include <algorithm>
#include <bitset>
#include <boost/assign.hpp>
#include <boost/cstdint.hpp> // for boost::uint16_t
#include <cmath>
#include <utility>
#include "galileo_ephemeris.h"
#include "galileo_iono.h"
#include "galileo_almanac.h"
#include "galileo_utc_model.h"
#include "Galileo_E5a.h"
/*!
* \brief This class handles the Galileo F/NAV Data message, as described in the
* Galileo Open Service Signal in Space Interface Control Document (OS SIS ICD), Issue 1.1 (Sept 2010).
* See http://ec.europa.eu/enterprise/policies/satnav/galileo/files/galileo-os-sis-icd-issue1-revision1_en.pdf
*/
class Galileo_Fnav_Message
{
public:
// void Galileo_Fnav_Message::split_page(std::string page_string);
// void Galileo_Fnav_Message::reset();
// bool Galileo_Fnav_Message::have_new_ephemeris();
// bool Galileo_Fnav_Message::have_new_iono_and_GST();
// bool Galileo_Fnav_Message::have_new_utc_model();
// bool Galileo_Fnav_Message::have_new_almanac();
// Galileo_Ephemeris Galileo_Fnav_Message::get_ephemeris();
// Galileo_Iono Galileo_Fnav_Message::get_iono();
// Galileo_Utc_Model Galileo_Fnav_Message::get_utc_model();
// Galileo_Almanac Galileo_Fnav_Message::get_almanac();
//
void split_page(std::string page_string);
void reset();
bool have_new_ephemeris();
bool have_new_iono_and_GST();
bool have_new_utc_model();
bool have_new_almanac();
Galileo_Ephemeris get_ephemeris();
Galileo_Iono get_iono();
Galileo_Utc_Model get_utc_model();
Galileo_Almanac get_almanac();
Galileo_Fnav_Message();
bool flag_CRC_test;
bool flag_all_ephemeris; //!< Flag indicating that all words containing ephemeris have been received
bool flag_ephemeris_1; //!< Flag indicating that ephemeris 1/3 (word 2) have been received
bool flag_ephemeris_2; //!< Flag indicating that ephemeris 2/3 (word 3) have been received
bool flag_ephemeris_3; //!< Flag indicating that ephemeris 3/3 (word 4) have been received
bool flag_iono_and_GST; //!< Flag indicating that ionospheric and GST parameters (word 1) have been received
bool flag_TOW_1;
bool flag_TOW_2;
bool flag_TOW_3;
bool flag_TOW_4;
bool flag_TOW_set; //!< it is true when page 1,2,3 or 4 arrives
bool flag_utc_model; //!< Flag indicating that utc model parameters (word 4) have been received
bool flag_all_almanac; //!< Flag indicating that all almanac have been received
bool flag_almanac_1; //!< Flag indicating that almanac 1/2 (word 5) have been received
bool flag_almanac_2; //!< Flag indicating that almanac 2/2 (word 6) have been received
int IOD_ephemeris;
int page_type;
/* WORD 1 SVID, Clock correction, SISA, Ionospheric correction, BGD, GST, Signal
* health and Data validity status*/
int FNAV_SV_ID_PRN_1;
int FNAV_IODnav_1;
double FNAV_t0c_1;
double FNAV_af0_1;
double FNAV_af1_1;
double FNAV_af2_1;
double FNAV_SISA_1;
double FNAV_ai0_1;
double FNAV_ai1_1;
double FNAV_ai2_1;
bool FNAV_region1_1;
bool FNAV_region2_1;
bool FNAV_region3_1;
bool FNAV_region4_1;
bool FNAV_region5_1;
double FNAV_BGD_1;
double FNAV_E5ahs_1;
double FNAV_WN_1;
double FNAV_TOW_1;
double FNAV_E5advs_1;
// WORD 2 Ephemeris (1/3) and GST
int FNAV_IODnav_2;
double FNAV_M0_2;
double FNAV_omegadot_2;
double FNAV_e_2;
double FNAV_a12_2;
double FNAV_omega0_2;
double FNAV_idot_2;
double FNAV_WN_2;
double FNAV_TOW_2;
// WORD 3 Ephemeris (2/3) and GST
int FNAV_IODnav_3;
double FNAV_i0_3;
double FNAV_w_3;
double FNAV_deltan_3;
double FNAV_Cuc_3;
double FNAV_Cus_3;
double FNAV_Crc_3;
double FNAV_Crs_3;
double FNAV_t0e_3;
double FNAV_WN_3;
double FNAV_TOW_3;
/* WORD 4 Ephemeris (3/3), GST-UTC conversion, GST-GPS conversion and TOW.
Note that the clock is repeated in this page type*/
int FNAV_IODnav_4;
double FNAV_Cic_4;
double FNAV_Cis_4;
double FNAV_A0_4;
double FNAV_A1_4;
double FNAV_deltatls_4;
double FNAV_t0t_4;
double FNAV_WNot_4;
double FNAV_WNlsf_4;
double FNAV_DN_4;
double FNAV_deltatlsf_4;
double FNAV_t0g_4;
double FNAV_A0g_4;
double FNAV_A1g_4;
double FNAV_WN0g_4;
double FNAV_TOW_4;
// WORD 5 Almanac (SVID1 and SVID2(1/2)), Week Number and almanac reference time
int FNAV_IODa_5;
double FNAV_WNa_5;
double FNAV_t0a_5;
int FNAV_SVID1_5;
double FNAV_Deltaa12_1_5;
double FNAV_e_1_5;
double FNAV_w_1_5;
double FNAV_deltai_1_5;
double FNAV_Omega0_1_5;
double FNAV_Omegadot_1_5;
double FNAV_M0_1_5;
double FNAV_af0_1_5;
double FNAV_af1_1_5;
double FNAV_E5ahs_1_5;
int FNAV_SVID2_5;
double FNAV_Deltaa12_2_5;
double FNAV_e_2_5;
double FNAV_w_2_5;
double FNAV_deltai_2_5;
// WORD 6 Almanac (SVID2(2/2) and SVID3)
int FNAV_IODa_6;
double FNAV_Omega0_2_6;
double FNAV_Omegadot_2_6;
double FNAV_M0_2_6;
double FNAV_af0_2_6;
double FNAV_af1_2_6;
double FNAV_E5ahs_2_6;
int FNAV_SVID3_6;
double FNAV_Deltaa12_3_6;
double FNAV_e_3_6;
double FNAV_w_3_6;
double FNAV_deltai_3_6;
double FNAV_Omega0_3_6;
double FNAV_Omegadot_3_6;
double FNAV_M0_3_6;
double FNAV_af0_3_6;
double FNAV_af1_3_6;
double FNAV_E5ahs_3_6;
private:
bool _CRC_test(std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> bits,boost::uint32_t checksum);
void decode_page(std::string data);
unsigned long int read_navigation_unsigned(std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> bits, const std::vector<std::pair<int,int>> parameter);
signed long int read_navigation_signed(std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> bits, const std::vector<std::pair<int,int>> parameter);
std::string omega0_1;
//std::string omega0_2;
//bool omega_flag;
};
#endif /* GNSS_SDR_GALILEO_FNAV_MESSAGE_H_ */

3
src/tests/CMakeLists.txt
View File

@ -116,6 +116,9 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/algorithms/tracking/libs
${CMAKE_SOURCE_DIR}/src/algorithms/tracking/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/tracking/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs
${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/signal_generator/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/signal_generator/gnuradio_blocks

994
src/tests/gnss_block/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc Normal file
View File

@ -0,0 +1,994 @@
/*!
* \file galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc
* \brief This class implements an acquisition test for
* GalileoE5a3msNoncoherentIQAcquisition class.
* \author Marc Sales, 2014. marcsales92(at)gmail.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include <ctime>
#include <iostream>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/analog/sig_source_c.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h>
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "in_memory_configuration.h"
#include "configuration_interface.h"
#include "gnss_synchro.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "signal_generator.h"
#include "signal_generator_c.h"
#include "fir_filter.h"
#include "gen_signal_source.h"
#include "gnss_sdr_valve.h"
#include "boost/shared_ptr.hpp"
#include "pass_through.h"
#include "file_output_filter.h"
#include "gnss_block_factory.h"
class GalileoE5aPcpsAcquisitionGSoC2014GensourceTest: public ::testing::Test
{
protected:
GalileoE5aPcpsAcquisitionGSoC2014GensourceTest()
{
queue = gr::msg_queue::make(0);
top_block = gr::make_top_block("Acquisition test");
item_size = sizeof(gr_complex);
stop = false;
message = 0;
}
~GalileoE5aPcpsAcquisitionGSoC2014GensourceTest()
{
}
void init();
void config_1();
void config_2();
void config_3();
void start_queue();
void wait_message();
void process_message();
void stop_queue();
gr::msg_queue::sptr queue;
gr::top_block_sptr top_block;
//std::shared_ptr<GNSSBlockFactory> factory = std::make_shared<GNSSBlockFactory>();
GalileoE5aNoncoherentIQAcquisitionCaf *acquisition;
std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro;
size_t item_size;
concurrent_queue<int> channel_internal_queue;
bool stop;
int message;
boost::thread ch_thread;
unsigned int integration_time_ms;
unsigned int fs_in;
double expected_delay_chips;
double expected_delay_sec;
double expected_doppler_hz;
double expected_delay_chips1;
double expected_delay_sec1;
double expected_doppler_hz1;
double expected_delay_chips2;
double expected_delay_sec2;
double expected_doppler_hz2;
double expected_delay_chips3;
double expected_delay_sec3;
double expected_doppler_hz3;
float max_doppler_error_hz;
float max_delay_error_chips;
int CAF_window_hz;
int Zero_padding;
unsigned int num_of_realizations;
unsigned int realization_counter;
unsigned int detection_counter;
unsigned int correct_estimation_counter;
unsigned int acquired_samples;
unsigned int mean_acq_time_us;
double mse_doppler;
double mse_delay;
double Pd;
double Pfa_p;
double Pfa_a;
int sat;
};
void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::init()
{
message = 0;
realization_counter = 0;
detection_counter = 0;
correct_estimation_counter = 0;
acquired_samples = 0;
mse_doppler = 0;
mse_delay = 0;
mean_acq_time_us = 0;
Pd = 0;
Pfa_p = 0;
Pfa_a = 0;
}
void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::config_1()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'E';
// std::string signal = "5I";
// std::string signal = "5Q";
std::string signal = "5X";
signal.copy(gnss_synchro.Signal,2,0);
integration_time_ms = 3;
//fs_in = 11e6;
//fs_in = 18e6;
fs_in = 32e6;
//fs_in = 30.69e6;
//fs_in = 20.47e6;
// unsigned int delay_samples = (delay_chips_[sat] % codelen)
// * samples_per_code_[sat] / codelen;
expected_delay_chips = round(14000*((double)10230000/(double)fs_in));
expected_doppler_hz = 2800;
//expected_doppler_hz = 0;
expected_delay_sec = 94;
// CAF_window_hz = 3000;
CAF_window_hz = 0;
Zero_padding = 0;
//expected_delay_chips = 1000;
//expected_doppler_hz = 250;
max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
max_delay_error_chips = 0.50;
//max_doppler_error_hz = 1000;
//max_delay_error_chips = 1;
num_of_realizations = 1;
config = std::make_shared<InMemoryConfiguration>();
config->set_property("Channel.signal",signal);
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
int a = config->property("GNSS-SDR.internal_fs_hz",10);
std::cout << "fs "<< a <<std::endl;
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
config->set_property("SignalSource.item_type", "gr_complex");
config->set_property("SignalSource.num_satellites", "1");
config->set_property("SignalSource.system_0", "E");
config->set_property("SignalSource.signal_0", "5X");
config->set_property("SignalSource.PRN_0", "11");
config->set_property("SignalSource.CN0_dB_0", "50");
config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
config->set_property("SignalSource.delay_sec_0", std::to_string(expected_delay_sec));
config->set_property("SignalSource.noise_flag", "false");
config->set_property("SignalSource.data_flag", "false");
config->set_property("SignalSource.BW_BB", "0.97");
config->set_property("SignalSource.dump", "true");
config->set_property("SignalSource.dump_filename", "../data/signal_source.dat");
config->set_property("InputFilter.implementation", "Fir_Filter");
config->set_property("InputFilter.input_item_type", "gr_complex");
config->set_property("InputFilter.output_item_type", "gr_complex");
config->set_property("InputFilter.taps_item_type", "float");
config->set_property("InputFilter.number_of_taps", "11");
config->set_property("InputFilter.number_of_bands", "2");
config->set_property("InputFilter.band1_begin", "0.0");
config->set_property("InputFilter.band1_end", "0.97");
config->set_property("InputFilter.band2_begin", "0.98");
config->set_property("InputFilter.band2_end", "1.0");
config->set_property("InputFilter.ampl1_begin", "1.0");
config->set_property("InputFilter.ampl1_end", "1.0");
config->set_property("InputFilter.ampl2_begin", "0.0");
config->set_property("InputFilter.ampl2_end", "0.0");
config->set_property("InputFilter.band1_error", "1.0");
config->set_property("InputFilter.band2_error", "1.0");
config->set_property("InputFilter.filter_type", "bandpass");
config->set_property("InputFilter.grid_density", "16");
config->set_property("Acquisition.item_type", "gr_complex");
config->set_property("Acquisition.if", "0");
config->set_property("Acquisition.coherent_integration_time_ms",
std::to_string(integration_time_ms));
config->set_property("Acquisition.max_dwells", "1");
config->set_property("Acquisition.CAF_window_hz",std::to_string(CAF_window_hz));
config->set_property("Acquisition.Zero_padding",std::to_string(Zero_padding));
config->set_property("Acquisition.implementation", "Galileo_E5a_Noncoherent_IQ_Acquisition_CAF");
config->set_property("Acquisition.pfa","0.003");
// config->set_property("Acquisition.threshold", "0.01");
config->set_property("Acquisition.doppler_max", "10000");
config->set_property("Acquisition.doppler_step", "250");
// config->set_property("Acquisition.doppler_step", "500");
config->set_property("Acquisition.bit_transition_flag", "false");
config->set_property("Acquisition.dump", "true");
config->set_property("SignalSource.dump_filename", "../data/acquisition.dat");
}
void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::config_2()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'E';
std::string signal = "5Q";
//std::string signal = "5X";
signal.copy(gnss_synchro.Signal,2,0);
integration_time_ms = 3;
//fs_in = 10.24e6;
//fs_in = 12e6;
fs_in = 12e6;
//expected_delay_chips = 600;
//expected_doppler_hz = 750;
expected_delay_chips = 1000;
expected_doppler_hz = 250;
max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
max_delay_error_chips = 0.50;
//max_doppler_error_hz = 1000;
//max_delay_error_chips = 1;
num_of_realizations = 1;
config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
config->set_property("Acquisition.item_type", "gr_complex");
config->set_property("Acquisition.if", "0");
config->set_property("Acquisition.coherent_integration_time_ms",
std::to_string(integration_time_ms));
config->set_property("Acquisition.max_dwells", "1");
config->set_property("Acquisition.implementation", "Galileo_E5a_PCPS_Acquisition");
//config->set_property("Acquisition.implementation", "Galileo_E5a_Pilot_3ms_Acquisition");
//config->set_property("Acquisition.implementation", "Galileo_E5ax_2ms_Pcps_Acquisition");
config->set_property("Acquisition.threshold", "0.1");
config->set_property("Acquisition.doppler_max", "10000");
config->set_property("Acquisition.doppler_step", "250");
config->set_property("Acquisition.bit_transition_flag", "false");
config->set_property("Acquisition.dump", "true");
config->set_property("SignalSource.dump_filename", "../data/acquisition.dat");
}
void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::config_3()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'E';
//std::string signal = "5Q";
std::string signal = "5X";
signal.copy(gnss_synchro.Signal,2,0);
integration_time_ms = 3;
//fs_in = 10.24e6;
//fs_in = 12e6;
fs_in = 12e6;
//expected_delay_chips = 600;
//expected_doppler_hz = 750;
expected_delay_chips = 0;
expected_delay_sec = 0;
expected_doppler_hz = 0;
expected_delay_chips1 = 6000;
expected_delay_sec1 = 10;
expected_doppler_hz1 = 700;
expected_delay_chips2 = 9000;
expected_delay_sec2 = 26;
expected_doppler_hz2 = -1500;
expected_delay_chips3 = 2000;
expected_delay_sec3 = 77;
expected_doppler_hz3 = 5000;
max_doppler_error_hz = 2/(3*integration_time_ms*1e-3);
max_delay_error_chips = 0.50;
//max_doppler_error_hz = 1000;
//max_delay_error_chips = 1;
num_of_realizations = 10;
config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(fs_in));
config->set_property("SignalSource.fs_hz", std::to_string(fs_in));
config->set_property("SignalSource.item_type", "gr_complex");
config->set_property("SignalSource.num_satellites", "4");
config->set_property("SignalSource.system_0", "E");
config->set_property("SignalSource.signal_0", "5X");
config->set_property("SignalSource.PRN_0", "11");
config->set_property("SignalSource.CN0_dB_0", "46");
config->set_property("SignalSource.doppler_Hz_0", std::to_string(expected_doppler_hz));
config->set_property("SignalSource.delay_chips_0", std::to_string(expected_delay_chips));
config->set_property("SignalSource.delay_sec_0", std::to_string(expected_delay_sec));
config->set_property("SignalSource.system_1", "E");
config->set_property("SignalSource.signal_1", "5X");
config->set_property("SignalSource.PRN_1", "12");
config->set_property("SignalSource.CN0_dB_1", "46");
config->set_property("SignalSource.doppler_Hz_1", std::to_string(expected_doppler_hz1));
config->set_property("SignalSource.delay_chips_1", std::to_string(expected_delay_chips1));
config->set_property("SignalSource.delay_sec_1", std::to_string(expected_delay_sec1));
config->set_property("SignalSource.system_2", "E");
config->set_property("SignalSource.signal_2", "5X");
config->set_property("SignalSource.PRN_2", "19");
config->set_property("SignalSource.CN0_dB_2", "43");
config->set_property("SignalSource.doppler_Hz_2", std::to_string(expected_doppler_hz2));
config->set_property("SignalSource.delay_chips_2", std::to_string(expected_delay_chips2));
config->set_property("SignalSource.delay_sec_2", std::to_string(expected_delay_sec2));
config->set_property("SignalSource.system_3", "E");
config->set_property("SignalSource.signal_3", "5X");
config->set_property("SignalSource.PRN_3", "20");
config->set_property("SignalSource.CN0_dB_3", "39");
config->set_property("SignalSource.doppler_Hz_3", std::to_string(expected_doppler_hz3));
config->set_property("SignalSource.delay_chips_3", std::to_string(expected_delay_chips3));
config->set_property("SignalSource.delay_sec_3", std::to_string(expected_delay_sec3));
config->set_property("SignalSource.noise_flag", "true");
config->set_property("SignalSource.data_flag", "true");
config->set_property("SignalSource.BW_BB", "0.97");
config->set_property("SignalSource.dump", "true");
config->set_property("SignalSource.dump_filename", "../data/signal_source.dat");
config->set_property("InputFilter.implementation", "Fir_Filter");
config->set_property("InputFilter.input_item_type", "gr_complex");
config->set_property("InputFilter.output_item_type", "gr_complex");
config->set_property("InputFilter.taps_item_type", "float");
config->set_property("InputFilter.number_of_taps", "11");
config->set_property("InputFilter.number_of_bands", "2");
config->set_property("InputFilter.band1_begin", "0.0");
config->set_property("InputFilter.band1_end", "0.97");
config->set_property("InputFilter.band2_begin", "0.98");
config->set_property("InputFilter.band2_end", "1.0");
config->set_property("InputFilter.ampl1_begin", "1.0");
config->set_property("InputFilter.ampl1_end", "1.0");
config->set_property("InputFilter.ampl2_begin", "0.0");
config->set_property("InputFilter.ampl2_end", "0.0");
config->set_property("InputFilter.band1_error", "1.0");
config->set_property("InputFilter.band2_error", "1.0");
config->set_property("InputFilter.filter_type", "bandpass");
config->set_property("InputFilter.grid_density", "16");
config->set_property("Acquisition.item_type", "gr_complex");
config->set_property("Acquisition.if", "0");
config->set_property("Acquisition.coherent_integration_time_ms",
std::to_string(integration_time_ms));
config->set_property("Acquisition.max_dwells", "1");
config->set_property("Acquisition.implementation", "Galileo_E5a_PCPS_Acquisition");
//config->set_property("Acquisition.implementation", "Galileo_E1_PCPS_Ambiguous_Acquisition");
//config->set_property("Acquisition.implementation", "Galileo_E5a_Pilot_3ms_Acquisition");
config->set_property("Acquisition.threshold", "0.5");
config->set_property("Acquisition.doppler_max", "10000");
config->set_property("Acquisition.doppler_step", "250");
config->set_property("Acquisition.bit_transition_flag", "false");
config->set_property("Acquisition.dump", "true");
config->set_property("SignalSource.dump_filename", "../data/acquisition.dat");
}
void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::start_queue()
{
stop = false;
ch_thread = boost::thread(&GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::wait_message, this);
}
void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::wait_message()
{
struct timeval tv;
long long int begin = 0;
long long int end = 0;
while (!stop)
{
acquisition->reset();
gettimeofday(&tv, NULL);
begin = tv.tv_sec *1e6 + tv.tv_usec;
channel_internal_queue.wait_and_pop(message);
gettimeofday(&tv, NULL);
end = tv.tv_sec *1e6 + tv.tv_usec;
mean_acq_time_us += (end-begin);
process_message();
}
}
void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::process_message()
{
if (message == 1)
{
double delay_error_chips;
double doppler_error_hz;
switch (sat)
{
case 0:
delay_error_chips = abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*10230.0/((double)fs_in*1e-3));
doppler_error_hz = abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
break;
case 1:
delay_error_chips = abs((double)expected_delay_chips1 - (double)(gnss_synchro.Acq_delay_samples-5)*10230.0/((double)fs_in*1e-3));
doppler_error_hz = abs(expected_doppler_hz1 - gnss_synchro.Acq_doppler_hz);
break;
case 2:
delay_error_chips = abs((double)expected_delay_chips2 - (double)(gnss_synchro.Acq_delay_samples-5)*10230.0/((double)fs_in*1e-3));
doppler_error_hz = abs(expected_doppler_hz2 - gnss_synchro.Acq_doppler_hz);
break;
case 3:
delay_error_chips = abs((double)expected_delay_chips3 - (double)(gnss_synchro.Acq_delay_samples-5)*10230.0/((double)fs_in*1e-3));
doppler_error_hz = abs(expected_doppler_hz3 - gnss_synchro.Acq_doppler_hz);
break;
default: // case 3
std::cout << "Error: message from unexpected acquisition channel" << std::endl;
break;
}
detection_counter++;
// The term -5 is here to correct the additional delay introduced by the FIR filter
/*
double delay_error_chips = abs((double)expected_delay_chips - (double)(gnss_synchro.Acq_delay_samples-5)*10230.0/((double)fs_in*1e-3));
double doppler_error_hz = abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
*/
mse_delay += std::pow(delay_error_chips, 2);
mse_doppler += std::pow(doppler_error_hz, 2);
if ((delay_error_chips < max_delay_error_chips) && (doppler_error_hz < max_doppler_error_hz))
{
correct_estimation_counter++;
}
}
realization_counter++;
std::cout << correct_estimation_counter << "correct estimation counter" << std::endl;
std::cout << "Progress: " << round((float)realization_counter/num_of_realizations*100) << "% \r" << std::flush;
std::cout << message << "message" <<std::endl;
if (realization_counter == num_of_realizations)
{
mse_delay /= num_of_realizations;
mse_doppler /= num_of_realizations;
Pd = (double)correct_estimation_counter / (double)num_of_realizations;
Pfa_a = (double)detection_counter / (double)num_of_realizations;
Pfa_p = (double)(detection_counter - correct_estimation_counter) / (double)num_of_realizations;
mean_acq_time_us /= num_of_realizations;
stop_queue();
top_block->stop();
}
}
void GalileoE5aPcpsAcquisitionGSoC2014GensourceTest::stop_queue()
{
stop = true;
}
/*
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, Instantiate)
{
config_1();
// acquisition = new GalileoE5aPilot_3msAcquisition(config.get(), "Acquisition", 1, 1, queue);
acquisition = new GalileoE5a3msNoncoherentIQAcquisition(config.get(), "Acquisition", 1, 1, queue);
delete acquisition;
}
*/
/*
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ConnectAndRun)
{
config_1();
//int nsamples = floor(5*fs_in*integration_time_ms*1e-3);
int nsamples = 21000*3;
struct timeval tv;
long long int begin = 0;
long long int end = 0;
//acquisition = new GalileoE5aPcpsAcquisition(config.get(), "Acquisition", 1, 1, queue);
//acquisition = new GalileoE5aPilot_3msAcquisition(config.get(), "Acquisition", 1, 1, queue);
acquisition = new GalileoE5a3msNoncoherentIQAcquisition(config.get(), "Acquisition", 1, 1, queue);
ASSERT_NO_THROW( {
acquisition->connect(top_block);
boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
top_block->connect(source, 0, valve, 0);
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
}) << "Failure connecting the blocks of acquisition test."<< std::endl;
EXPECT_NO_THROW( {
gettimeofday(&tv, NULL);
begin = tv.tv_sec *1e6 + tv.tv_usec;
top_block->run(); // Start threads and wait
gettimeofday(&tv, NULL);
end = tv.tv_sec *1e6 + tv.tv_usec;
}) << "Failure running the top_block."<< std::endl;
std::cout << "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
delete acquisition;
}
*/
/*
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, SOURCEValidation)
{
config_1();
ASSERT_NO_THROW( {
boost::shared_ptr<GenSignalSource> signal_source;
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
signal_source->connect(top_block);
//top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
}) << "Failure generating signal" << std::endl;
}
*/
/*
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, SOURCEValidationTOFILE)
{
config_1();
ASSERT_NO_THROW( {
std::string filename_ = "../data/Tiered_sinknull.dat";
boost::shared_ptr<gr::blocks::file_sink> file_sink_;
boost::shared_ptr<GenSignalSource> signal_source;
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
//signal_source->connect(top_block);
file_sink_=gr::blocks::file_sink::make(sizeof(gr_complex), filename_.c_str());
top_block->connect(signal_source->get_right_block(),0,file_sink_,0);
//top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
}) << "Failure generating signal" << std::endl;
}
*/
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ValidationOfSIM)
{
config_1();
//int nsamples = floor(fs_in*integration_time_ms*1e-3);
acquisition = new GalileoE5aNoncoherentIQAcquisitionCaf(config.get(), "Acquisition", 1, 1, queue);
unsigned int skiphead_sps = 28000+32000; // 32 Msps
// unsigned int skiphead_sps = 0;
// unsigned int skiphead_sps = 84000;
ASSERT_NO_THROW( {
acquisition->set_channel(1);
}) << "Failure setting channel."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_channel_queue(&channel_internal_queue);
}) << "Failure setting channel_internal_queue."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
}) << "Failure setting doppler_max."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
}) << "Failure setting doppler_step."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
}) << "Failure setting threshold."<< std::endl;
ASSERT_NO_THROW( {
acquisition->connect(top_block);
}) << "Failure connecting acquisition to the top_block."<< std::endl;
acquisition->init();
// USING SIGNAL GENERATOR
/*
ASSERT_NO_THROW( {
//std::string filename_ = "../data/Tiered_sink.dat";
//boost::shared_ptr<gr::blocks::file_sink> file_sink_;
boost::shared_ptr<GenSignalSource> signal_source;
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
signal_source->connect(top_block);
//
//signal_generator->connect(top_block);
//
//file_sink_=gr::blocks::file_sink::make(sizeof(gr_complex), filename_.c_str());
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
//top_block->connect(signal_source->get_right_block(), 0, file_sink_, 0);
//
//top_block->connect(signal_generator->get_right_block(), 0, acquisition->get_left_block(), 0);
//top_block->connect(signal_generator->get_right_block(), 0, file_sink_, 0);
//
}) << "Failure connecting the blocks of acquisition test." << std::endl;
*/
// USING SIGNAL FROM FILE SOURCE
ASSERT_NO_THROW( {
//noiseless sim
//std::string file = "/home/marc/E5a_acquisitions/sim_32M_sec94_PRN11_long.dat";
// real
std::string file = "/home/marc/E5a_acquisitions/32MS_complex.dat";
const char * file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
gr::blocks::skiphead::sptr skip_head = gr::blocks::skiphead::make(sizeof(gr_complex), skiphead_sps);
top_block->connect(file_source, 0, skip_head, 0);
top_block->connect(skip_head, 0, acquisition->get_left_block(), 0);
// top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
}) << "Failure connecting the blocks of acquisition test." << std::endl;
// i = 0 --> satellite in acquisition is visible
// i = 1 --> satellite in acquisition is not visible
for (unsigned int i = 0; i < 1; i++)
{
init();
switch (i)
{
case 0:
{
gnss_synchro.PRN = 19; //real
//gnss_synchro.PRN = 11; //sim
break;
}
// case 1:
// {
// gnss_synchro.PRN = 11;
// break;
// }
// case 2:
// {
// gnss_synchro.PRN = 12;
// break;
// }
// case 3:
// {
// gnss_synchro.PRN = 20;
// break;
// }
}
// if (i == 0)
// {
// gnss_synchro.PRN = 11;// This satellite is visible
// }
// else if (i == 1)
// {
// gnss_synchro.PRN = 19; // This satellite is not visible
// }
acquisition->set_local_code();
start_queue();
EXPECT_NO_THROW( {
top_block->run(); // Start threads and wait
}) << "Failure running he top_block."<< std::endl;
std::cout << gnss_synchro.Acq_delay_samples << "acq delay" <<std::endl;
std::cout << gnss_synchro.Acq_doppler_hz << "acq doppler" <<std::endl;
std::cout << gnss_synchro.Acq_samplestamp_samples << "acq samples" <<std::endl;
// if (i == 0)
// {
// EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
// if (message == 1)
// {
// std::cout << gnss_synchro.Acq_delay_samples << "acq delay" <<std::endl;
// EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
// }
//
// }
// else if (i == 1)
// {
// EXPECT_EQ(2, message) << "Acquisition failure. Expected message: 2=ACQ FAIL.";
// }
}
// free(acquisition);
delete acquisition;
}
/*
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ValidationOfResults)
{
config_1();
int nsamples = floor(fs_in*integration_time_ms*1e-3);
//acquisition = new GalileoE5aPcpsAcquisition(config.get(), "Acquisition", 1, 1, queue);
acquisition = new GalileoE5aPilot_3msAcquisition(config.get(), "Acquisition", 1, 1, queue);
//acquisition = new GalileoE5ax2msPcpsAcquisition(config.get(), "Acquisition", 1, 1, queue);
//unsigned int skiphead_sps = 12000000*4; // 12 Msps
unsigned int skiphead_sps = 37500000; // 12 Msps
//unsigned int skiphead_sps = 10; // 12 Msps
ASSERT_NO_THROW( {
acquisition->set_channel(0);
}) << "Failure setting channel."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_channel_queue(&channel_internal_queue);
}) << "Failure setting channel_internal_queue."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
}) << "Failure setting doppler_max."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
}) << "Failure setting doppler_step."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
}) << "Failure setting threshold."<< std::endl;
ASSERT_NO_THROW( {
acquisition->connect(top_block);
}) << "Failure connecting acquisition to the top_block."<< std::endl;
acquisition->init();
ASSERT_NO_THROW( {
//std::string path = std::string(TEST_PATH);
//std::string file = "/home/marc/E5a_acquisitions/signal_source_5X_primary.dat";
//std::string file = "/home/marc/E5a_acquisitions/Tiered_sink_4sat_stup4.dat";
//std::string file = "/home/marc/E5a_acquisitions/Tiered_4sat_down_upsampled12M_stup2.dat";
//std::string file = "/home/marc/E5a_acquisitions/Tiered_stup4_down-upsampl12.dat";
//std::string file = "/home/marc/E5a_acquisitions/Tiered_sim_4sat_stup4_2s_up.dat";
// std::string file = "/home/marc/E5a_acquisitions/Tiered_sink_4sat_setup5_down-upsampled12M.dat";
std::string file = "/home/marc/E5a_acquisitions/32Ms_complex.dat";
//std::string file = "/home/marc/E5a_acquisitions/galileo_E5_8M_r2_upsampled_12.dat";
const char * file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
gr::blocks::skiphead::sptr skip_head = gr::blocks::skiphead::make(sizeof(gr_complex), skiphead_sps);
top_block->connect(file_source, 0, skip_head, 0);
top_block->connect(skip_head, 0, acquisition->get_left_block(), 0);
}) << "Failure connecting the blocks of acquisition test." << std::endl;
for (unsigned int i = 0; i < 5; i++)
{
init();
switch (i)
{
case 0:
gnss_synchro.PRN = 10;
break;
case 1:
gnss_synchro.PRN = 19;
break;
case 2:
gnss_synchro.PRN = 12;
break;
case 3:
gnss_synchro.PRN = 20;
break;
case 4:
gnss_synchro.PRN = 11;
break;
}
acquisition->set_local_code();
start_queue();
EXPECT_NO_THROW( {
top_block->run(); // Start threads and wait
}) << "Failure running he top_block."<< std::endl;
}
delete acquisition;
}
*/
/*
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, FourSatsGen)
{
config_3();
int nsamples = floor(fs_in*integration_time_ms*1e-3);
// acquisition = new GalileoE5aPcpsAcquisition(config.get(), "Acquisition", 1, 1, queue);
acquisition = new GalileoE5aPilot_3msAcquisition(config.get(), "Acquisition", 1, 1, queue);
ASSERT_NO_THROW( {
acquisition->set_channel(0);
}) << "Failure setting channel."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_channel_queue(&channel_internal_queue);
}) << "Failure setting channel_internal_queue."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", 10000));
}) << "Failure setting doppler_max."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", 500));
}) << "Failure setting doppler_step."<< std::endl;
ASSERT_NO_THROW( {
acquisition->set_threshold(config->property("Acquisition.threshold", 0.0));
}) << "Failure setting threshold."<< std::endl;
ASSERT_NO_THROW( {
acquisition->connect(top_block);
}) << "Failure connecting acquisition to the top_block."<< std::endl;
acquisition->init();
ASSERT_NO_THROW( {
std::string filename_ = "../data/Tiered_sink_4sat.dat";
boost::shared_ptr<gr::blocks::file_sink> file_sink_;
boost::shared_ptr<GenSignalSource> signal_source;
SignalGenerator* signal_generator = new SignalGenerator(config.get(), "SignalSource", 0, 1, queue);
FirFilter* filter = new FirFilter(config.get(), "InputFilter", 1, 1, queue);
signal_source.reset(new GenSignalSource(config.get(), signal_generator, filter, "SignalSource", queue));
signal_source->connect(top_block);
//
file_sink_=gr::blocks::file_sink::make(sizeof(gr_complex), filename_.c_str());
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
top_block->connect(signal_source->get_right_block(), 0, file_sink_, 0);
}) << "Failure connecting the blocks of acquisition test." << std::endl;
// ASSERT_NO_THROW( {
// //std::string path = std::string(TEST_PATH);
// //std::string file = "/home/marc/E5a_acquisitions/signal_source_5X_primary.dat";
// std::string file = "/home/marc/E5a_acquisitions/Tiered_sink_test.dat";
// //std::string file = "/home/marc/E5a_acquisitions/galileo_E5_8M_r2_upsampled_12.dat";
// const char * file_name = file.c_str();
// gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
// top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
// }) << "Failure connecting the blocks of acquisition test." << std::endl;
// all satellite visibles but with different CN0
for (unsigned int i = 0; i < 4; i++)
{
init();
sat=i;
switch (i)
{
case 0:
gnss_synchro.PRN = 11;
break;
case 1:
gnss_synchro.PRN = 12;
break;
case 2:
gnss_synchro.PRN = 19;
break;
case 3:
gnss_synchro.PRN = 20;
break;
}
acquisition->set_local_code();
start_queue();
EXPECT_NO_THROW( {
top_block->run(); // Start threads and wait
}) << "Failure running he top_block."<< std::endl;
switch (i)
{
case 0:
//EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
if (message == 1)
{
std::cout << gnss_synchro.Acq_delay_samples << "acq delay" <<std::endl;
EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
}
break;
case 1:
//EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
if (message == 1)
{
std::cout << gnss_synchro.Acq_delay_samples << "acq delay" <<std::endl;
EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
}
break;
case 2:
//EXPECT_EQ(1, message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
if (message == 1)
{
std::cout << gnss_synchro.Acq_delay_samples << "acq delay" <<std::endl;
EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
}
break;
case 3:
if (message == 1)
{
std::cout << gnss_synchro.Acq_delay_samples << "acq delay" <<std::endl;
EXPECT_EQ((unsigned int) 1, correct_estimation_counter) << "Acquisition failure. Incorrect parameters estimation.";
}
break;
}
}
delete acquisition;
}
*/

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src/tests/gnss_block/galileo_e5a_tracking_test.cc Normal file
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/*!
* \file galileo_e1_dll_pll_veml_tracking_test.cc
* \brief This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking
* implementation based on some input parameters.
* \author Marc Sales, 2014. marcsales92(at)gmail.com
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2012-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include <ctime>
#include <iostream>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/analog/sig_source_c.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "in_memory_configuration.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
//#include "galileo_e1_dll_pll_veml_tracking.h"
#include "galileo_e5a_dll_pll_tracking.h"
class GalileoE5aTrackingTest: public ::testing::Test
{
protected:
GalileoE5aTrackingTest()
{
queue = gr::msg_queue::make(0);
top_block = gr::make_top_block("Tracking test");
std::shared_ptr<GNSSBlockFactory> factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
stop = false;
message = 0;
}
~GalileoE5aTrackingTest()
{}
void init();
gr::msg_queue::sptr queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro;
size_t item_size;
concurrent_queue<int> channel_internal_queue;
bool stop;
int message;
};
void GalileoE5aTrackingTest::init()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'E';
std::string signal = "5Q";
signal.copy(gnss_synchro.Signal, 2, 0);
config->set_property("GNSS-SDR.internal_fs_hz", "32000000");
config->set_property("Tracking.item_type", "gr_complex");
config->set_property("Tracking.dump", "true");
config->set_property("Tracking.dump_filename", "../data/e5a_tracking_ch_");
config->set_property("Tracking.implementation", "Galileo_E5a_DLL_PLL_Tracking");
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.pll_bw_hz_init","20.0");
// config->set_property("Tracking.pll_bw_hz_init","5.0");
config->set_property("Tracking.dll_bw_hz_init","2.0");
config->set_property("Tracking.pll_bw_hz", "5");
config->set_property("Tracking.dll_bw_hz", "2");
config->set_property("Tracking.ti_ms","1");
// config->set_property("Tracking.pll_bw_hz", "5");
// config->set_property("Tracking.dll_bw_hz", "2");
// config->set_property("Tracking.ti_ms","1");
//config->set_property("Tracking.fll_bw_hz", "10.0");
}
/*
TEST_F(GalileoE5aTrackingTest, InstantiateTrack)
{
init();
auto tracking = factory->GetBlock(config, "Tracking", "Galileo_E5a_DLL_PLL_Tracking", 1, 1, queue);
EXPECT_STREQ("Galileo_E5a_DLL_PLL_Tracking", tracking->implementation().c_str());
// auto tracking = factory->GetBlock(config, "Tracking", "Galileo_E1_DLL_PLL_VEML_Tracking", 1, 1, queue);
// EXPECT_STREQ("Galileo_E1_DLL_PLL_VEML_Tracking", tracking->implementation().c_str());
}*/
/*
TEST_F(GalileoE5aTrackingTest, ConnectAndRun)
{
int fs_in = 21000000;
int nsamples = 21000000;
struct timeval tv;
long long int begin;
long long int end;
init();
// Example using smart pointers and the block factory
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking", "Galileo_E5a_DLL_PLL_Tracking", 1, 1, queue);
std::shared_ptr<GalileoE5aDllPllTracking> tracking = std::dynamic_pointer_cast<GalileoE5aDllPllTracking>(trk_);
ASSERT_NO_THROW( {
tracking->set_channel(gnss_synchro.Channel_ID);
}) << "Failure setting channel." << std::endl;
ASSERT_NO_THROW( {
tracking->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro." << std::endl;
ASSERT_NO_THROW( {
tracking->set_channel_queue(&channel_internal_queue);
}) << "Failure setting channel_internal_queue." << std::endl;
ASSERT_NO_THROW( {
tracking->connect(top_block);
gr::analog::sig_source_c::sptr source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
top_block->connect(source, 0, valve, 0);
top_block->connect(valve, 0, tracking->get_left_block(), 0);
top_block->connect(tracking->get_right_block(), 0, sink, 0);
}) << "Failure connecting the blocks of tracking test." << std::endl;
tracking->start_tracking();
EXPECT_NO_THROW( {
gettimeofday(&tv, NULL);
begin = tv.tv_sec *1000000 + tv.tv_usec;
top_block->run(); //Start threads and wait
gettimeofday(&tv, NULL);
end = tv.tv_sec *1000000 + tv.tv_usec;
}) << "Failure running the top_block." << std::endl;
std::cout << "Processed " << nsamples << " samples in " << (end - begin) << " microseconds" << std::endl;
}
*/
TEST_F(GalileoE5aTrackingTest, ValidationOfResults)
{
struct timeval tv;
long long int begin = 0;
long long int end = 0;
int num_samples = 320000000*1.5; // 32 Msps
//unsigned int skiphead_sps = 98000; // 1 Msample
unsigned int skiphead_sps = 0; // 1 Msampl
// unsigned int skiphead_sps = 104191; // 1 Msampl
init();
// Example using smart pointers and the block factory
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking", "Galileo_E5a_DLL_PLL_Tracking", 1, 1, queue);
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);
//REAL
gnss_synchro.Acq_delay_samples = 15579+1; // 32 Msps
// gnss_synchro.Acq_doppler_hz = 3500; // 32 Msps
gnss_synchro.Acq_doppler_hz = 3750; // 500 Hz resolution
// gnss_synchro.Acq_samplestamp_samples = 98000;
gnss_synchro.Acq_samplestamp_samples = 0;
//SIM
// gnss_synchro.Acq_delay_samples = 14001+1; // 32 Msps
// //gnss_synchro.Acq_doppler_hz = 2750; // 32 Msps (real 2800)
//// gnss_synchro.Acq_doppler_hz = 2800; // 32 Msps (real 2800)
// gnss_synchro.Acq_doppler_hz = 0; // 32 Msps (real 2800)
//// gnss_synchro.Acq_samplestamp_samples = 98000;
// gnss_synchro.Acq_samplestamp_samples = 0;
//SIM2
// gnss_synchro.Acq_delay_samples = 5810; // 32 Msps
// gnss_synchro.Acq_doppler_hz = 2800;
// gnss_synchro.Acq_samplestamp_samples = 0;
ASSERT_NO_THROW( {
tracking->set_channel(gnss_synchro.Channel_ID);
}) << "Failure setting channel." << std::endl;
ASSERT_NO_THROW( {
tracking->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro." << std::endl;
ASSERT_NO_THROW( {
tracking->set_channel_queue(&channel_internal_queue);
}) << "Failure setting channel_internal_queue." << std::endl;
ASSERT_NO_THROW( {
tracking->connect(top_block);
}) << "Failure connecting tracking to the top_block." << std::endl;
ASSERT_NO_THROW( {
std::string file = "/home/marc/E5a_acquisitions/32MS_complex.dat";
//std::string file = "/home/marc/E5a_acquisitions/sim_32M_sec94_PRN11_long.dat";
//std::string file = "/home/marc/E5a_acquisitions/sim_32M_sec94_PRN11_long_0dopp.dat";
gnss_synchro.PRN = 19;//real
//gnss_synchro.PRN = 11;//sim
const char * file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex),file_name,false);
gr::blocks::skiphead::sptr skip_head = gr::blocks::skiphead::make(sizeof(gr_complex), skiphead_sps);
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), num_samples, queue);
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
top_block->connect(file_source, 0, skip_head, 0);
top_block->connect(skip_head, 0, valve, 0);
top_block->connect(valve, 0, tracking->get_left_block(), 0);
top_block->connect(tracking->get_right_block(), 0, sink, 0);
}) << "Failure connecting the blocks of tracking test." << std::endl;
tracking->start_tracking();
EXPECT_NO_THROW( {
gettimeofday(&tv, NULL);
begin = tv.tv_sec *1000000 + tv.tv_usec;
top_block->run(); // Start threads and wait
gettimeofday(&tv, NULL);
end = tv.tv_sec *1000000 + tv.tv_usec;
}) << "Failure running the top_block." << std::endl;
std::cout << "Tracked " << num_samples << " samples in " << (end - begin) << " microseconds" << std::endl;
}

66
src/tests/test_main.cc
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@ -1,33 +1,33 @@
/*!
* \file test_main.cc
* \brief This file implements all system tests.
* \author Carles Fernandez-Prades, 2012. cfernandez(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
* \file test_main.cc
* \brief This file implements all system tests.
* \author Carles Fernandez-Prades, 2012. cfernandez(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
@ -88,7 +88,7 @@ DECLARE_string(log_dir);
#include "gnss_block/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc"
//#include "gnss_block/gps_l1_ca_pcps_multithread_acquisition_gsoc2013_test.cc"
#if OPENCL_BLOCKS_TEST
#include "gnss_block/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc"
#include "gnss_block/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc"
#endif
#include "gnss_block/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc"
#include "gnss_block/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc"
@ -104,6 +104,12 @@ DECLARE_string(log_dir);
#include "gnuradio_block/direct_resampler_conditioner_cc_test.cc"
#include "string_converter/string_converter_test.cc"
//#include "gnss_block/galileo_e5a_pcps_acquisition_test.cc"
//#include "gnss_block/galileo_e5a_pcps_acquisition_test_2.cc"
#include "gnss_block/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc"
#include "gnss_block/galileo_e5a_tracking_test.cc"
concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
concurrent_queue<Gps_Iono> global_gps_iono_queue;

90
src/utils/matlab/galileo_e5a_dll_pll_plot_sample_64bits.m Normal file
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@ -0,0 +1,90 @@
% /*!
% * \file galileo_e5a_dll_pll_plot_sample_64bits.m
% * \brief Read GNSS-SDR Tracking dump binary file using the provided
% function and plot some internal variables
% * \author Javier Arribas, Marc Sales 2014. jarribas(at)cttc.es
% marcsales92@gmail.com
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
close all;
clear all;
samplingFreq = 64e6/32; %[Hz]
channels=1;
%path='/home/javier/workspace/gnss-sdr/trunk/install/';
path='/home/marc/git/gnss-sdr/data/';
clear PRN_absolute_sample_start;
for N=1:1:channels
tracking_log_path=[path 'e5a_tracking_ch_' num2str(N-1) '.dat'];
GNSS_tracking(N)= gps_l1_ca_dll_pll_read_tracking_dump_64bits(tracking_log_path);
end
% GNSS-SDR format conversion to MATLAB GPS receiver
for N=1:1:channels
trackResults(N).status='T'; %fake track
trackResults(N).codeFreq=GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq=GNSS_tracking(N).carrier_doppler_hz.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';
trackResults(N).I_PN=GNSS_tracking(N).prompt_I.';
trackResults(N).Q_PN=GNSS_tracking(N).prompt_Q.';
trackResults(N).Q_P=zeros(1,length(GNSS_tracking(N).P));
trackResults(N).I_P=GNSS_tracking(N).P.';
trackResults(N).I_E= GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
trackResults(N).Q_L =zeros(1,length(GNSS_tracking(N).E));
trackResults(N).PRN=N; %fake PRN
% Use original MATLAB tracking plot function
settings.numberOfChannels=channels;
settings.msToProcess=length(GNSS_tracking(N).E);
plotTrackingE5a(N,trackResults,settings)
end
for N=1:1:channels
% figure;
% plot([GNSS_tracking(N).E,GNSS_tracking(N).P,GNSS_tracking(N).L],'-*');
% title(['Early, Prompt, and Late correlator absolute value output for channel ' num2str(N)']);
% figure;
% plot(GNSS_tracking(N).prompt_I,GNSS_tracking(N).prompt_Q,'+');
% title(['Navigation constellation plot for channel ' num2str(N)]);
% figure;
%
% plot(GNSS_tracking(N).prompt_Q,'r');
% hold on;
% plot(GNSS_tracking(N).prompt_I);
% title(['Navigation symbols I(red) Q(blue) for channel ' num2str(N)]);
%
figure;
t=0:length(GNSS_tracking(N).carrier_doppler_hz)-1;
t=t/1000;
plot(t,GNSS_tracking(N).carrier_doppler_hz/1000);
xlabel('Time(s)');ylabel('Doppler(KHz)');title(['Doppler frequency channel ' num2str(N)]);
end

153
src/utils/matlab/plotTrackingE5a.m Normal file
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function plotTracking(channelList, trackResults, settings)
%This function plots the tracking results for the given channel list.
%
%plotTracking(channelList, trackResults, settings)
%
% Inputs:
% channelList - list of channels to be plotted.
% trackResults - tracking results from the tracking function.
% settings - receiver settings.
%--------------------------------------------------------------------------
% SoftGNSS v3.0
%
% Copyright (C) Darius Plausinaitis
% Written by Darius Plausinaitis
%--------------------------------------------------------------------------
%This program is free software; you can redistribute it and/or
%modify it under the terms of the GNU General Public License
%as published by the Free Software Foundation; either version 2
%of the License, or (at your option) any later version.
%
%This program is distributed in the hope that it will be useful,
%but WITHOUT ANY WARRANTY; without even the implied warranty of
%MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
%GNU General Public License for more details.
%
%You should have received a copy of the GNU General Public License
%along with this program; if not, write to the Free Software
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
%USA.
%--------------------------------------------------------------------------
%CVS record:
%$Id: plotTracking.m,v 1.5.2.23 2006/08/14 14:45:14 dpl Exp $
% Protection - if the list contains incorrect channel numbers
channelList = intersect(channelList, 1:settings.numberOfChannels);
%=== For all listed channels ==============================================
for channelNr = channelList
%% Select (or create) and clear the figure ================================
% The number 200 is added just for more convenient handling of the open
% figure windows, when many figures are closed and reopened.
% Figures drawn or opened by the user, will not be "overwritten" by
% this function.
figure(channelNr +200);
clf(channelNr +200);
set(channelNr +200, 'Name', ['Channel ', num2str(channelNr), ...
' (PRN ', ...
num2str(trackResults(channelNr).PRN), ...
') results']);
%% Draw axes ==============================================================
% Row 1
handles(1, 1) = subplot(3, 3, 1);
handles(1, 2) = subplot(3, 3, [2 3]);
% Row 2
handles(2, 1) = subplot(3, 3, 4);
handles(2, 2) = subplot(3, 3, [5 6]);
% Row 3
handles(3, 1) = subplot(3, 3, 7);
handles(3, 2) = subplot(3, 3, 8);
handles(3, 3) = subplot(3, 3, 9);
%% Plot all figures =======================================================
timeAxisInSeconds = (1:settings.msToProcess)/1000;
%----- Discrete-Time Scatter Plot ---------------------------------
plot(handles(1, 1), trackResults(channelNr).I_PN,...
trackResults(channelNr).Q_PN, ...
'.');
grid (handles(1, 1));
axis (handles(1, 1), 'equal');
title (handles(1, 1), 'Discrete-Time Scatter Plot');
xlabel(handles(1, 1), 'I prompt');
ylabel(handles(1, 1), 'Q prompt');
%----- Nav bits ---------------------------------------------------
plot (handles(1, 2), timeAxisInSeconds, ...
trackResults(channelNr).I_PN);
grid (handles(1, 2));
title (handles(1, 2), 'Bits of the navigation message');
xlabel(handles(1, 2), 'Time (s)');
axis (handles(1, 2), 'tight');
%----- PLL discriminator unfiltered--------------------------------
plot (handles(2, 1), timeAxisInSeconds, ...
trackResults(channelNr).pllDiscr, 'r');
grid (handles(2, 1));
axis (handles(2, 1), 'tight');
xlabel(handles(2, 1), 'Time (s)');
ylabel(handles(2, 1), 'Amplitude');
title (handles(2, 1), 'Raw PLL discriminator');
%----- Correlation ------------------------------------------------
plot(handles(2, 2), timeAxisInSeconds, ...
[sqrt(trackResults(channelNr).I_E.^2 + ...
trackResults(channelNr).Q_E.^2)', ...
sqrt(trackResults(channelNr).I_P.^2 + ...
trackResults(channelNr).Q_P.^2)', ...
sqrt(trackResults(channelNr).I_L.^2 + ...
trackResults(channelNr).Q_L.^2)'], ...
'-*');
grid (handles(2, 2));
title (handles(2, 2), 'Correlation results');
xlabel(handles(2, 2), 'Time (s)');
axis (handles(2, 2), 'tight');
hLegend = legend(handles(2, 2), '$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
'$\sqrt{I_{L}^2 + Q_{L}^2}$');
%set interpreter from tex to latex. This will draw \sqrt correctly
set(hLegend, 'Interpreter', 'Latex');
%----- PLL discriminator filtered----------------------------------
plot (handles(3, 1), timeAxisInSeconds, ...
trackResults(channelNr).pllDiscrFilt, 'b');
grid (handles(3, 1));
axis (handles(3, 1), 'tight');
xlabel(handles(3, 1), 'Time (s)');
ylabel(handles(3, 1), 'Amplitude');
title (handles(3, 1), 'Filtered PLL discriminator');
%----- DLL discriminator unfiltered--------------------------------
plot (handles(3, 2), timeAxisInSeconds, ...
trackResults(channelNr).dllDiscr, 'r');
grid (handles(3, 2));
axis (handles(3, 2), 'tight');
xlabel(handles(3, 2), 'Time (s)');
ylabel(handles(3, 2), 'Amplitude');
title (handles(3, 2), 'Raw DLL discriminator');
%----- DLL discriminator filtered----------------------------------
plot (handles(3, 3), timeAxisInSeconds, ...
trackResults(channelNr).dllDiscrFilt, 'b');
grid (handles(3, 3));
axis (handles(3, 3), 'tight');
xlabel(handles(3, 3), 'Time (s)');
ylabel(handles(3, 3), 'Amplitude');
title (handles(3, 3), 'Filtered DLL discriminator');
end % for channelNr = channelList

137
src/utils/matlab/plot_acq_grid_gsoc_e5.m Normal file
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% /*!
% * \file plot_acq_grid_gsoc_e5.m
% * \brief Read GNSS-SDR Acquisition dump binary file using the provided
% function and plot acquisition grid of acquisition statistic of PRN sat.
% CAF input must be 0 or 1 depending if the user desires to read the file
% that resolves doppler ambiguity or not.
%
% This function analyzes a experiment performed by Marc Sales in the framework
% of the Google Summer of Code (GSoC) 2014, with the collaboration of Luis Esteve, Javier Arribas
% and Carles Fernández, related to the extension of GNSS-SDR to Galileo.
%
% * \author Marc Sales marcsales92(at)gmail.com, Luis Esteve, 2014. luis(at)epsilon-formacion.com
% * -------------------------------------------------------------------------
% *
% * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
% *
% * GNSS-SDR is a software defined Global Navigation
% * Satellite Systems receiver
% *
% * This file is part of GNSS-SDR.
% *
% * GNSS-SDR is free software: you can redistribute it and/or modify
% * it under the terms of the GNU General Public License as published by
% * the Free Software Foundation, either version 3 of the License, or
% * at your option) any later version.
% *
% * GNSS-SDR is distributed in the hope that it will be useful,
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% * GNU General Public License for more details.
% *
% * You should have received a copy of the GNU General Public License
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
% *
% * -------------------------------------------------------------------------
% */
function plot_acq_grid_gsoc_e5(sat,CAF)
path='/home/marc/git/gnss-sdr/data/';
file=[path 'test_statistics_E5a_sat_' num2str(sat) '_doppler_0.dat'];
sampling_freq_Hz=32E6
%Doppler_max_Hz = 14875
%Doppler_min_Hz = -15000
%Doppler_step_Hz = 125
Doppler_max_Hz = 10000
Doppler_min_Hz = -10000
Doppler_step_Hz = 250
% read files
%x=read_complex_binary (file);
%x=load_complex_data(file); % complex
%l_y=length(x);
myFile = java.io.File(file);
flen = length(myFile);
l_y=flen/4;% float
Doppler_axes=Doppler_min_Hz:Doppler_step_Hz:Doppler_max_Hz;
l_x=length(Doppler_axes);
acq_grid = zeros(l_x,l_y);
index=0;
for k=Doppler_min_Hz:Doppler_step_Hz:Doppler_max_Hz
index=index+1;
filename=[path 'test_statistics_E5a_sat_' num2str(sat) '_doppler_' num2str(k) '.dat'];
fid=fopen(filename,'r');
xx=fread(fid,'float');%floats from squared correlation
%xx=load_complex_data (filename); %complex
acq_grid(index,:)=abs(xx);
end
[fila,col]=find(acq_grid==max(max(acq_grid)));
if (CAF > 0)
filename=[path 'test_statistics_E5a_sat_' num2str(sat) '_CAF.dat'];
fid=fopen(filename,'r');
xx=fread(fid,'float');%floats from squared correlation
acq_grid(:,col(1))=abs(xx);
Doppler_error_Hz = Doppler_axes(xx==max(xx))
maximum_correlation_peak = max(xx)
else
Doppler_error_Hz = Doppler_axes(fila)
maximum_correlation_peak = max(max(acq_grid))
end
delay_error_sps = col -1
noise_grid=acq_grid;
delay_span=floor(3*sampling_freq_Hz/(1.023e7));
Doppler_span=floor(500/Doppler_step_Hz);
noise_grid(fila-Doppler_span:fila+Doppler_span,col-delay_span:col+delay_span)=0;
n=numel(noise_grid)-(2*delay_span+1)*(2*Doppler_span+1);
noise_floor= sum(sum(noise_grid))/n
Gain_dbs = 10*log10(maximum_correlation_peak/noise_floor)
%% Plot 3D FULL RESOLUTION
[X,Y] = meshgrid(Doppler_axes,1:1:l_y);
figure;
surf(X,Y,acq_grid');
xlabel('Doppler(Hz)');ylabel('Code Delay(samples)');title(['GLRT statistic of Galileo Parallel Code Phase Search Acquisition. PRN ' num2str(sat)]);
end
function x=load_complex_data(file)
fid = fopen(file,'r');
%fid = fopen('signal_source.dat','r');
myFile = java.io.File(file);
flen = length(myFile);
num_samples=flen/8; % 8 bytes (2 single floats) per complex sample
for k=1:num_samples
a(1:2) = fread(fid, 2, 'float');
x(k) = a(1) + a(2)*1i;
k=k+1;
end
end