mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2026-04-30 18:51:25 +00:00
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
@@ -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
165
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
Normal 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
115
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.h
Normal file
@@ -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_ */
|
||||
@@ -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(
|
||||
|
||||
@@ -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;
|
||||
}
|
||||
|
||||
@@ -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_ */
|
||||
@@ -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);
|
||||
|
||||
@@ -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:
|
||||
|
||||
@@ -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
|
||||
}
|
||||
|
||||
@@ -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);
|
||||
|
||||
@@ -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
|
||||
}
|
||||
|
||||
@@ -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);
|
||||
|
||||
Reference in New Issue
Block a user