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Partial merge commit, to be fixed in next commit

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This commit is contained in:
Javier Arribas 2019-07-01 11:00:38 +02:00
parent 72f8b9e212
commit e17472d986
12 changed files with 413 additions and 666 deletions
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109
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
View File

@ -72,56 +72,27 @@ beidou_b1i_telemetry_decoder_gs::beidou_b1i_telemetry_decoder_gs(
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "Initializing BeiDou B1I Telemetry Decoding for satellite " << this->d_satellite;
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D1NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
d_secondary_code_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
// Setting samples of secondary code
for (int32_t i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++)
{
if (BEIDOU_B1I_SECONDARY_CODE.at(i) == '1')
{
d_secondary_code_symbols[i] = 1;
}
else
{
d_secondary_code_symbols[i] = -1;
}
}
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
int32_t m = 0;
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
d_preamble_samples[i] = 1;
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
d_preamble_samples[i] = -1;
}
}
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols + 1);
d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols);
// Generic settings
d_sample_counter = 0;
@ -141,7 +112,6 @@ beidou_b1i_telemetry_decoder_gs::beidou_b1i_telemetry_decoder_gs(
beidou_b1i_telemetry_decoder_gs::~beidou_b1i_telemetry_decoder_gs()
{
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols);
if (d_dump_file.is_open() == true)
@ -189,7 +159,7 @@ void beidou_b1i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits, in
void beidou_b1i_telemetry_decoder_gs::decode_word(
int32_t word_counter,
const double *enc_word_symbols,
const float *enc_word_symbols,
int32_t *dec_word_symbols)
{
int32_t bitsbch[30], first_branch[15], second_branch[15];
@ -229,7 +199,7 @@ void beidou_b1i_telemetry_decoder_gs::decode_word(
}
void beidou_b1i_telemetry_decoder_gs::decode_subframe(double *frame_symbols)
void beidou_b1i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
{
// 1. Transform from symbols to bits
std::string data_bits;
@ -319,41 +289,29 @@ void beidou_b1i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satell
{
// Clear values from previous declaration
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols);
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D2NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
d_secondary_code_symbols = nullptr;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = 1;
n++;
}
d_preamble_samples[i] = 1;
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -1;
n++;
}
d_preamble_samples[i] = -1;
}
}
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols + 1);
d_subframe_symbols = static_cast<float *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(float), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS + d_samples_per_preamble;
d_symbol_history.set_capacity(d_required_symbols);
}
}
@ -403,7 +361,8 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
d_flag_preamble = false;
if (d_symbol_history.size() > d_required_symbols)
//std::cout << "size: " << d_symbol_history.size() << " in " << current_symbol.Prompt_I << std::endl;
if (d_symbol_history.size() >= d_required_symbols)
{
//******* preamble correlation ********
for (int32_t i = 0; i < d_samples_per_preamble; i++)
@ -416,9 +375,15 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
{
corr_value += d_preamble_samples[i];
}
//std::cout << "corr: " << corr_value << ",";
}
//std::cout << " final corr: " << corr_value << std::endl;
}
if (abs(corr_value) >= d_samples_per_preamble)
{
std::cout << " preamble corr: " << corr_value << std::endl;
}
//******* frame sync ******************
if (d_stat == 0) // no preamble information
{
@ -461,53 +426,38 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
// ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
{
int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = 0;
// integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += d_symbol_history.at(i * d_samples_per_symbol + m);
d_subframe_symbols[i] = d_symbol_history.at(i);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
d_subframe_symbols[i] = d_symbol_history.at(i);
}
}
}
else // 180 deg. inverted carrier phase PLL lock
{
int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = 0;
// integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= d_symbol_history.at(i * d_samples_per_symbol + m);
d_subframe_symbols[i] = -d_symbol_history.at(i);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
d_subframe_symbols[i] = -d_symbol_history.at(i);
}
}
}
// call the decoder
decode_subframe(d_subframe_symbols);
@ -536,7 +486,6 @@ int beidou_b1i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
}
}
}
// UPDATE GNSS SYNCHRO DATA
// 2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true)

8
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.h
View File

@ -77,19 +77,17 @@ private:
beidou_b1i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
beidou_b1i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
void decode_subframe(double *symbols);
void decode_word(int32_t word_counter, const double *enc_word_symbols, int32_t *dec_word_symbols);
void decode_subframe(float *symbols);
void decode_word(int32_t word_counter, const float *enc_word_symbols, int32_t *dec_word_symbols);
void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
// Preamble decoding
int32_t *d_preamble_samples;
int32_t *d_secondary_code_symbols;
uint32_t d_samples_per_symbol;
int32_t d_symbols_per_preamble;
int32_t d_samples_per_preamble;
int32_t d_preamble_period_samples;
double *d_subframe_symbols;
float *d_subframe_symbols;
uint32_t d_required_symbols;
// Storage for incoming data

107
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
View File

@ -85,15 +85,13 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
case 1: // INAV
{
d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E1_CODE_PERIOD_MS);
d_samples_per_symbol = GALILEO_E1_B_SAMPLES_PER_SYMBOL;
d_bits_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS;
// set the preamble
d_samples_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
d_samples_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS;
d_preamble_period_symbols = GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS;
d_required_symbols = static_cast<uint32_t>(GALILEO_INAV_PAGE_SYMBOLS) + d_samples_per_preamble;
// preamble bits to sampled symbols
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_secondary_code_samples = nullptr;
d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm;
@ -103,31 +101,18 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
}
case 2: // FNAV
{
d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5A_CODE_PERIOD_MS);
d_samples_per_symbol = GALILEO_FNAV_CODES_PER_SYMBOL;
d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5A_CODE_PERIOD_MS * GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
d_bits_per_preamble = GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
// set the preamble
d_samples_per_preamble = GALILEO_FNAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
d_preamble_period_symbols = GALILEO_FNAV_CODES_PER_PAGE;
d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) * d_samples_per_symbol + d_samples_per_preamble;
d_samples_per_preamble = GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
d_preamble_period_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE;
d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) + d_samples_per_preamble;
// preamble bits to sampled symbols
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_secondary_code_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(GALILEO_E5A_I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm;
for (int32_t i = 0; i < GALILEO_E5A_I_SECONDARY_CODE_LENGTH; i++)
{
if (GALILEO_E5A_I_SECONDARY_CODE.at(i) == '1')
{
d_secondary_code_samples[i] = 1;
}
else
{
d_secondary_code_samples[i] = -1;
}
}
d_max_symbols_without_valid_frame = GALILEO_FNAV_CODES_PER_PAGE * 10; //rise alarm 100 seconds without valid tlm
d_max_symbols_without_valid_frame = GALILEO_FNAV_SYMBOLS_PER_PAGE * 10; //rise alarm 100 seconds without valid tlm
break;
}
default:
@ -135,8 +120,6 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_samples_per_preamble = 0;
d_preamble_period_symbols = 0;
d_preamble_samples = nullptr;
d_secondary_code_samples = nullptr;
d_samples_per_symbol = 0U;
d_PRN_code_period_ms = 0U;
d_required_symbols = 0U;
d_frame_length_symbols = 0U;
@ -147,7 +130,6 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
}
d_page_part_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_frame_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
int32_t n = 0;
for (int32_t i = 0; i < d_bits_per_preamble; i++)
{
switch (d_frame_type)
@ -156,45 +138,23 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
{
if (GALILEO_INAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = 1;
n++;
}
d_preamble_samples[i] = 1;
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -1;
n++;
}
d_preamble_samples[i] = -1;
}
break;
}
case 2: // FNAV for E5a-I
{
// Galileo E5a data channel (E5a-I) still has a secondary code
int m = 0;
if (GALILEO_FNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = d_secondary_code_samples[m];
n++;
m++;
m = m % GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
}
d_preamble_samples[i] = 1;
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -d_secondary_code_samples[m];
n++;
m++;
m = m % GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
}
d_preamble_samples[i] = -1;
}
break;
}
@ -235,10 +195,6 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
galileo_telemetry_decoder_gs::~galileo_telemetry_decoder_gs()
{
volk_gnsssdr_free(d_preamble_samples);
if (d_frame_type == 2)
{
volk_gnsssdr_free(d_secondary_code_samples);
}
volk_gnsssdr_free(d_page_part_symbols);
volk_gnsssdr_free(out0);
volk_gnsssdr_free(out1);
@ -497,7 +453,24 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
// 1. Copy the current tracking output
current_symbol = in[0][0];
// add new symbol to the symbol queue
switch (d_frame_type)
{
case 1: // INAV
{
d_symbol_history.push_back(current_symbol.Prompt_I);
break;
}
case 2: //FNAV
{
d_symbol_history.push_back(current_symbol.Prompt_Q);
break;
}
default:
{
d_symbol_history.push_back(current_symbol.Prompt_I);
break;
}
}
d_sample_counter++; // count for the processed symbols
consume_each(1);
d_flag_preamble = false;
@ -626,29 +599,21 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
// 0. fetch the symbols into an array
if (flag_PLL_180_deg_phase_locked == false) // normal PLL lock
{
int k = 0;
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
{
d_page_part_symbols[i] = 0;
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
{
d_page_part_symbols[i] += static_cast<float>(d_secondary_code_samples[k]) * d_symbol_history.at(i * d_samples_per_symbol + d_samples_per_preamble + m); // because last symbol of the preamble is just received now!
k++;
k = k % GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
d_page_part_symbols[i] = d_symbol_history.at(i + d_samples_per_preamble); // because last symbol of the preamble is just received now!
}
}
}
else // 180 deg. inverted carrier phase PLL lock
{
int k = 0;
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
{
d_page_part_symbols[i] = 0;
for (uint32_t m = 0; m < d_samples_per_symbol; m++) // integrate samples into symbols
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
{
d_page_part_symbols[i] -= static_cast<float>(d_secondary_code_samples[k]) * d_symbol_history.at(i * d_samples_per_symbol + d_samples_per_preamble + m); // because last symbol of the preamble is just received now!
k++;
k = k % GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
d_page_part_symbols[i] = -d_symbol_history.at(i + d_samples_per_preamble); // because last symbol of the preamble is just received now!
}
}
}
@ -732,7 +697,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
if (d_fnav_nav.flag_TOW_1 == true)
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.FNAV_TOW_1 * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_E5A_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
//d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
d_fnav_nav.flag_TOW_1 = false;
}
@ -740,26 +705,26 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.FNAV_TOW_2 * 1000.0);
//d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_E5A_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
d_fnav_nav.flag_TOW_2 = false;
}
else if (d_fnav_nav.flag_TOW_3 == true)
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.FNAV_TOW_3 * 1000.0);
//d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_E5A_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
d_fnav_nav.flag_TOW_3 = false;
}
else if (d_fnav_nav.flag_TOW_4 == true)
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.FNAV_TOW_4 * 1000.0);
//d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_E5A_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
d_fnav_nav.flag_TOW_4 = false;
}
else
{
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(GALILEO_E5A_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
}
break;
}

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

@ -85,8 +85,6 @@ private:
int32_t d_samples_per_preamble;
int32_t d_preamble_period_symbols;
int32_t *d_preamble_samples;
int32_t *d_secondary_code_samples;
uint32_t d_samples_per_symbol;
uint32_t d_PRN_code_period_ms;
uint32_t d_required_symbols;
uint32_t d_frame_length_symbols;

49
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
View File

@ -76,10 +76,11 @@ gps_l1_ca_telemetry_decoder_gs::gps_l1_ca_telemetry_decoder_gs(
DLOG(INFO) << "Initializing GPS L1 TELEMETRY DECODER";
d_bits_per_preamble = GPS_CA_PREAMBLE_LENGTH_BITS;
d_samples_per_preamble = d_bits_per_preamble * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
d_preamble_period_symbols = GPS_SUBFRAME_BITS * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
//d_samples_per_preamble = d_bits_per_preamble * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
d_samples_per_preamble = d_bits_per_preamble;
d_preamble_period_symbols = GPS_SUBFRAME_BITS; // * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
// set the preamble
d_required_symbols = GPS_SUBFRAME_BITS * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
d_required_symbols = GPS_SUBFRAME_BITS; // * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
// preamble bits to sampled symbols
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_frame_length_symbols = GPS_SUBFRAME_BITS * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
@ -89,19 +90,19 @@ gps_l1_ca_telemetry_decoder_gs::gps_l1_ca_telemetry_decoder_gs(
{
if (GPS_CA_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
{
// for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
// {
d_preamble_samples[n] = 1;
n++;
}
// }
}
else
{
for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
{
// for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
// {
d_preamble_samples[n] = -1;
n++;
}
// }
}
}
d_sample_counter = 0ULL;
@ -209,33 +210,18 @@ void gps_l1_ca_telemetry_decoder_gs::set_channel(int32_t channel)
bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
{
char subframe[GPS_SUBFRAME_LENGTH];
int32_t symbol_accumulator_counter = 0;
int32_t frame_bit_index = 0;
int32_t word_index = 0;
uint32_t GPS_frame_4bytes = 0;
float symbol_accumulator = 0;
bool subframe_synchro_confirmation = true;
for (float subframe_symbol : d_symbol_history)
{
// ******* SYMBOL TO BIT *******
// extended correlation to bit period is enabled in tracking!
symbol_accumulator += subframe_symbol; // accumulate the input value in d_symbol_accumulator
symbol_accumulator_counter++;
if (symbol_accumulator_counter == 20)
{
// symbol to bit
if (symbol_accumulator > 0)
if (subframe_symbol > 0)
{
GPS_frame_4bytes += 1; // insert the telemetry bit in LSB
//std::cout << "1";
}
else
{
//std::cout << "0";
}
symbol_accumulator = 0;
symbol_accumulator_counter = 0;
// ******* bits to words ******
frame_bit_index++;
@ -278,7 +264,6 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
GPS_frame_4bytes <<= 1; // shift 1 bit left the telemetry word
}
}
}
// decode subframe
// NEW GPS SUBFRAME HAS ARRIVED!
@ -378,10 +363,10 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
{
// correlate with preamble
int32_t corr_value = 0;
if (d_symbol_history.size() >= GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
if (d_symbol_history.size() >= GPS_CA_PREAMBLE_LENGTH_BITS)
{
// ******* preamble correlation ********
for (int32_t i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS; i++)
for (int32_t i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++)
{
if (d_symbol_history[i] < 0.0) // symbols clipping
{
@ -397,6 +382,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
{
d_preamble_index = d_sample_counter; // record the preamble sample stamp
DLOG(INFO) << "Preamble detection for GPS L1 satellite " << this->d_satellite;
decode_subframe();
d_stat = 1; // enter into frame pre-detection status
}
flag_TOW_set = false;
@ -407,10 +393,10 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
// correlate with preamble
int32_t corr_value = 0;
int32_t preamble_diff = 0;
if (d_symbol_history.size() >= GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
if (d_symbol_history.size() >= GPS_CA_PREAMBLE_LENGTH_BITS)
{
// ******* preamble correlation ********
for (int32_t i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS; i++)
for (int32_t i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++)
{
if (d_symbol_history[i] < 0.0) // symbols clipping
{
@ -438,6 +424,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
{
flag_PLL_180_deg_phase_locked = false;
}
decode_subframe();
d_stat = 2;
}
else
@ -510,7 +497,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
{
if (flag_TOW_set == true)
{
d_TOW_at_current_symbol_ms += GPS_L1_CA_CODE_PERIOD_MS;
d_TOW_at_current_symbol_ms += GPS_L1_CA_BIT_PERIOD_MS;
}
}

75
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_gs.cc
View File

@ -64,7 +64,7 @@ gps_l5_telemetry_decoder_gs::gps_l5_telemetry_decoder_gs(
this->message_port_register_out(pmt::mp("telemetry_to_trk"));
d_last_valid_preamble = 0;
d_sent_tlm_failed_msg = false;
d_max_symbols_without_valid_frame = GPS_L5_CNAV_DATA_PAGE_BITS * GPS_L5_SAMPLES_PER_SYMBOL * GPS_L5_SYMBOLS_PER_BIT * 10; //rise alarm if 20 consecutive subframes have no valid CRC
d_max_symbols_without_valid_frame = GPS_L5_CNAV_DATA_PAGE_BITS * GPS_L5_SYMBOLS_PER_BIT * 10; //rise alarm if 20 consecutive subframes have no valid CRC
// initialize internal vars
d_dump = dump;
@ -74,23 +74,8 @@ gps_l5_telemetry_decoder_gs::gps_l5_telemetry_decoder_gs(
d_flag_valid_word = false;
d_TOW_at_current_symbol_ms = 0U;
d_TOW_at_Preamble_ms = 0U;
sym_hist.set_capacity(GPS_L5I_NH_CODE_LENGTH);
// initialize the CNAV frame decoder (libswiftcnav)
cnav_msg_decoder_init(&d_cnav_decoder);
for (int32_t aux = 0; aux < GPS_L5I_NH_CODE_LENGTH; aux++)
{
if (GPS_L5I_NH_CODE[aux] == 0)
{
bits_NH[aux] = -1.0;
}
else
{
bits_NH[aux] = 1.0;
}
}
sync_NH = false;
new_sym = false;
d_sample_counter = 0;
}
@ -171,9 +156,6 @@ int gps_l5_telemetry_decoder_gs::general_work(int noutput_items __attribute__((u
// 1. Copy the current tracking output
current_synchro_data = in[0];
consume_each(1); // one by one
sym_hist.push_back(in[0].Prompt_I);
int32_t corr_NH = 0;
int32_t symbol_value = 0;
// check if there is a problem with the telemetry of the current satellite
d_sample_counter++; // count for the processed symbols
@ -187,61 +169,18 @@ int gps_l5_telemetry_decoder_gs::general_work(int noutput_items __attribute__((u
}
}
// Search correlation with Neuman-Hofman Code (see IS-GPS-705D)
if (sym_hist.size() == GPS_L5I_NH_CODE_LENGTH)
{
for (int32_t i = 0; i < GPS_L5I_NH_CODE_LENGTH; i++)
{
if ((bits_NH[i] * sym_hist[i]) > 0.0)
{
corr_NH += 1;
}
else
{
corr_NH -= 1;
}
}
if (abs(corr_NH) == GPS_L5I_NH_CODE_LENGTH)
{
sync_NH = true;
if (corr_NH > 0)
{
symbol_value = 1;
}
else
{
symbol_value = -1;
}
new_sym = true;
//sym_hist.clear();
}
else
{
sync_NH = false;
new_sym = false;
}
}
bool flag_new_cnav_frame = false;
cnav_msg_t msg;
uint32_t delay = 0;
// add the symbol to the decoder
if (new_sym)
{
uint8_t symbol_clip = static_cast<uint8_t>(symbol_value > 0) * 255;
flag_new_cnav_frame = cnav_msg_decoder_add_symbol(&d_cnav_decoder, symbol_clip, &msg, &delay);
new_sym = false;
}
uint32_t delay;
uint8_t symbol_clip = static_cast<uint8_t>(current_synchro_data.Prompt_Q > 0) * 255;
// 2. Add the telemetry decoder information
// check if new CNAV frame is available
if (flag_new_cnav_frame == true)
if (cnav_msg_decoder_add_symbol(&d_cnav_decoder, symbol_clip, &msg, &delay) == true)
{
std::bitset<GPS_L5_CNAV_DATA_PAGE_BITS> raw_bits;
// Expand packet bits to bitsets. Notice the reverse order of the bits sequence, required by the CNAV message decoder
for (uint32_t i = 0; i < GPS_L5_CNAV_DATA_PAGE_BITS; i++)
{
raw_bits[GPS_L5_CNAV_DATA_PAGE_BITS - 1 - i] = ((msg.raw_msg[i / 8] >> (7 - i % 8)) & 1U);
raw_bits[GPS_L5_CNAV_DATA_PAGE_BITS - 1 - i] = ((msg.raw_msg[i / 8] >> (7 - i % 8)) & 1u);
}
d_CNAV_Message.decode_page(raw_bits);
@ -279,7 +218,7 @@ int gps_l5_telemetry_decoder_gs::general_work(int noutput_items __attribute__((u
//check TOW update consistency
uint32_t last_d_TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
d_TOW_at_current_symbol_ms = msg.tow * 6000 + (delay + 12) * GPS_L5I_SYMBOL_PERIOD_MS;
if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > 1)
if (last_d_TOW_at_current_symbol_ms != 0 and abs(static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms)) > GPS_L5I_SYMBOL_PERIOD_MS)
{
DLOG(INFO) << "Warning: GPS L5 TOW update in ch " << d_channel
<< " does not match the TLM TOW counter " << static_cast<int64_t>(d_TOW_at_current_symbol_ms) - int64_t(last_d_TOW_at_current_symbol_ms) << " ms "
@ -298,7 +237,7 @@ int gps_l5_telemetry_decoder_gs::general_work(int noutput_items __attribute__((u
{
if (d_flag_valid_word)
{
d_TOW_at_current_symbol_ms += GPS_L5I_PERIOD_MS;
d_TOW_at_current_symbol_ms += GPS_L5I_SYMBOL_PERIOD_MS;
if (current_synchro_data.Flag_valid_symbol_output == false)
{
d_flag_valid_word = false;

4
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_gs.h
View File

@ -91,10 +91,6 @@ private:
uint32_t d_max_symbols_without_valid_frame;
Gps_CNAV_Navigation_Message d_CNAV_Message;
float bits_NH[GPS_L5I_NH_CODE_LENGTH]{};
boost::circular_buffer<float> sym_hist;
bool sync_NH;
bool new_sym;
};

562
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -63,11 +63,9 @@
#include <algorithm> // for fill_n
#include <cmath> // for fmod, round, floor
#include <exception> // for exception
#include <gsl/gsl>
#include <iostream> // for cout, cerr
#include <map>
#include <numeric>
#include <vector>
#if HAS_STD_FILESYSTEM
#if HAS_STD_FILESYSTEM_EXPERIMENTAL
@ -109,6 +107,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_chip_rate = 0.0;
d_secondary_code_length = 0U;
d_secondary_code_string = nullptr;
d_data_secondary_code_length = 0U;
d_data_secondary_code_string = nullptr;
d_preambles_symbols = nullptr;
d_preamble_length_symbols = 0;
signal_type = std::string(trk_parameters.signal);
@ -134,39 +134,17 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_signal_carrier_freq = GPS_L1_FREQ_HZ;
d_code_period = GPS_L1_CA_CODE_PERIOD;
d_code_chip_rate = GPS_L1_CA_CODE_RATE_HZ;
d_symbols_per_bit = GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
d_correlation_length_ms = 1;
d_code_samples_per_chip = 1;
d_code_length_chips = static_cast<uint32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS);
// GPS L1 C/A does not have pilot component nor secondary code
d_secondary = false;
trk_parameters.track_pilot = false;
interchange_iq = false;
// set the preamble
uint16_t preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS] = GPS_PREAMBLE;
// preamble bits to sampled symbols
d_preamble_length_symbols = GPS_CA_PREAMBLE_LENGTH_SYMBOLS;
d_preambles_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(GPS_CA_PREAMBLE_LENGTH_SYMBOLS * sizeof(int32_t), volk_gnsssdr_get_alignment()));
int32_t n = 0;
for (uint16_t preambles_bit : preambles_bits)
{
for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
{
if (preambles_bit == 1)
{
d_preambles_symbols[n] = 1;
}
else
{
d_preambles_symbols[n] = -1;
}
n++;
}
}
d_symbol_history.set_capacity(GPS_CA_PREAMBLE_LENGTH_SYMBOLS); // Change fixed buffer size
d_symbol_history.clear(); // Clear all the elements in the buffer
// symbol integration: 20 trk symbols (20 ms) = 1 tlm bit
// set the preamble in the secondary code acquisition to obtain tlm symbol synchronization
d_secondary_code_length = static_cast<uint32_t>(GPS_CA_PREAMBLE_LENGTH_SYMBOLS);
d_secondary_code_string = const_cast<std::string *>(&GPS_CA_PREAMBLE_SYMBOLS_STR);
d_symbols_per_bit = GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
}
else if (signal_type == "2S")
{
@ -174,19 +152,20 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_period = GPS_L2_M_PERIOD;
d_code_chip_rate = GPS_L2_M_CODE_RATE_HZ;
d_code_length_chips = static_cast<uint32_t>(GPS_L2_M_CODE_LENGTH_CHIPS);
//GPS L2C has 1 trk symbol (20 ms) per tlm bit, no symbol integration required
d_symbols_per_bit = GPS_L2_SAMPLES_PER_SYMBOL;
d_correlation_length_ms = 20;
d_code_samples_per_chip = 1;
// GPS L2 does not have pilot component nor secondary code
d_secondary = false;
trk_parameters.track_pilot = false;
interchange_iq = false;
}
else if (signal_type == "L5")
{
d_signal_carrier_freq = GPS_L5_FREQ_HZ;
d_code_period = GPS_L5I_PERIOD;
d_code_chip_rate = GPS_L5I_CODE_RATE_HZ;
// symbol integration: 10 trk symbols (10 ms) = 1 tlm bit
d_symbols_per_bit = GPS_L5_SAMPLES_PER_SYMBOL;
d_correlation_length_ms = 1;
d_code_samples_per_chip = 1;
@ -194,17 +173,22 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_secondary = true;
if (trk_parameters.track_pilot)
{
//synchronize pilot secondary code
d_secondary_code_length = static_cast<uint32_t>(GPS_L5Q_NH_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&GPS_L5Q_NH_CODE_STR);
//remove data secondary code
//remove Neuman-Hofman Code (see IS-GPS-705D)
d_data_secondary_code_length = static_cast<uint32_t>(GPS_L5I_NH_CODE_LENGTH);
d_data_secondary_code_string = const_cast<std::string *>(&GPS_L5I_NH_CODE_STR);
signal_pretty_name = signal_pretty_name + "Q";
interchange_iq = true;
}
else
{
//synchronize and remove data secondary code
//remove Neuman-Hofman Code (see IS-GPS-705D)
d_secondary_code_length = static_cast<uint32_t>(GPS_L5I_NH_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&GPS_L5I_NH_CODE_STR);
signal_pretty_name = signal_pretty_name + "I";
interchange_iq = false;
}
}
else
@ -213,7 +197,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
std::cerr << "Invalid Signal argument when instantiating tracking blocks" << std::endl;
d_correlation_length_ms = 1;
d_secondary = false;
interchange_iq = false;
d_signal_carrier_freq = 0.0;
d_code_period = 0.0;
d_code_length_chips = 0U;
@ -230,6 +213,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_period = GALILEO_E1_CODE_PERIOD;
d_code_chip_rate = GALILEO_E1_CODE_CHIP_RATE_HZ;
d_code_length_chips = static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS);
//Galileo E1b has 1 trk symbol (4 ms) per tlm bit, no symbol integration required
d_symbols_per_bit = 1;
d_correlation_length_ms = 4;
d_code_samples_per_chip = 2; // CBOC disabled: 2 samples per chip. CBOC enabled: 12 samples per chip
@ -246,7 +230,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_secondary = false;
signal_pretty_name = signal_pretty_name + "B";
}
interchange_iq = false; // Note that E1-B and E1-C are in anti-phase, NOT IN QUADRATURE. See Galileo ICD.
// Note that E1-B and E1-C are in anti-phase, NOT IN QUADRATURE. See Galileo ICD.
}
else if (signal_type == "5X")
{
@ -257,20 +241,22 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_correlation_length_ms = 1;
d_code_samples_per_chip = 1;
d_code_length_chips = static_cast<uint32_t>(GALILEO_E5A_CODE_LENGTH_CHIPS);
d_secondary = true;
if (trk_parameters.track_pilot)
{
d_secondary = true;
//synchronize pilot secondary code
d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_Q_SECONDARY_CODE_LENGTH);
signal_pretty_name = signal_pretty_name + "Q";
interchange_iq = true;
//remove data secondary code
d_data_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
d_data_secondary_code_string = const_cast<std::string *>(&GALILEO_E5A_I_SECONDARY_CODE);
}
else
{
//Do not acquire secondary code in data component. It is done in telemetry decoder
d_secondary = false;
//synchronize and remove data secondary code
d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&GALILEO_E5A_I_SECONDARY_CODE);
signal_pretty_name = signal_pretty_name + "I";
interchange_iq = false;
}
}
else
@ -279,7 +265,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
std::cout << "Invalid Signal argument when instantiating tracking blocks" << std::endl;
d_correlation_length_ms = 1;
d_secondary = false;
interchange_iq = false;
d_signal_carrier_freq = 0.0;
d_code_period = 0.0;
d_code_length_chips = 0U;
@ -302,9 +287,11 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_samples_per_chip = 1;
d_secondary = true;
trk_parameters.track_pilot = false;
interchange_iq = false;
//synchronize and remove data secondary code
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
d_data_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
}
else if (signal_type == "B3")
{
@ -318,9 +305,10 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_code_samples_per_chip = 1;
d_secondary = true;
trk_parameters.track_pilot = false;
interchange_iq = false;
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR);
d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
d_data_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR);
}
else
{
@ -328,7 +316,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
std::cout << "Invalid Signal argument when instantiating tracking blocks" << std::endl;
d_correlation_length_ms = 1;
d_secondary = false;
interchange_iq = false;
d_signal_carrier_freq = 0.0;
d_code_period = 0.0;
d_code_length_chips = 0;
@ -343,7 +330,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
std::cerr << "Invalid System argument when instantiating tracking blocks" << std::endl;
d_correlation_length_ms = 1;
d_secondary = false;
interchange_iq = false;
d_signal_carrier_freq = 0.0;
d_code_period = 0.0;
d_code_length_chips = 0U;
@ -589,52 +575,48 @@ void dll_pll_veml_tracking::start_tracking()
d_carrier_phase_rate_step_rad = 0.0;
d_carr_ph_history.clear();
d_code_ph_history.clear();
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), d_acquisition_gnss_synchro->Signal, 3);
if (systemName == "GPS" and signal_type == "1C")
{
gps_l1_ca_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN, 0);
gps_l1_ca_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
}
else if (systemName == "GPS" and signal_type == "2S")
{
gps_l2c_m_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN);
gps_l2c_m_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN);
}
else if (systemName == "GPS" and signal_type == "L5")
{
if (trk_parameters.track_pilot)
{
gps_l5q_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN);
gps_l5i_code_gen_float(gsl::span<float>(d_data_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN);
gps_l5q_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN);
gps_l5i_code_gen_float(d_data_code, d_acquisition_gnss_synchro->PRN);
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
correlator_data_cpu.set_local_code_and_taps(d_code_length_chips, d_data_code, d_prompt_data_shift);
}
else
{
gps_l5i_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN);
gps_l5i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN);
}
}
else if (systemName == "Galileo" and signal_type == "1B")
{
if (trk_parameters.track_pilot)
{
std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}};
galileo_e1_code_gen_sinboc11_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), pilot_signal, d_acquisition_gnss_synchro->PRN);
galileo_e1_code_gen_sinboc11_float(gsl::span<float>(d_data_code, 2 * d_code_length_chips), Signal_, d_acquisition_gnss_synchro->PRN);
char pilot_signal[3] = "1C";
galileo_e1_code_gen_sinboc11_float(d_tracking_code, pilot_signal, d_acquisition_gnss_synchro->PRN);
galileo_e1_code_gen_sinboc11_float(d_data_code, d_acquisition_gnss_synchro->Signal, d_acquisition_gnss_synchro->PRN);
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
correlator_data_cpu.set_local_code_and_taps(d_code_samples_per_chip * d_code_length_chips, d_data_code, d_prompt_data_shift);
}
else
{
galileo_e1_code_gen_sinboc11_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), Signal_, d_acquisition_gnss_synchro->PRN);
galileo_e1_code_gen_sinboc11_float(d_tracking_code, d_acquisition_gnss_synchro->Signal, d_acquisition_gnss_synchro->PRN);
}
}
else if (systemName == "Galileo" and signal_type == "5X")
{
auto *aux_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex) * d_code_length_chips, volk_gnsssdr_get_alignment()));
std::array<char, 3> signal_type_ = {{'5', 'X', '\0'}};
galileo_e5_a_code_gen_complex_primary(gsl::span<gr_complex>(aux_code, d_code_length_chips), d_acquisition_gnss_synchro->PRN, signal_type_);
galileo_e5_a_code_gen_complex_primary(aux_code, d_acquisition_gnss_synchro->PRN, const_cast<char *>(signal_type.c_str()));
if (trk_parameters.track_pilot)
{
d_secondary_code_string = const_cast<std::string *>(&GALILEO_E5A_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN - 1]);
@ -657,7 +639,7 @@ void dll_pll_veml_tracking::start_tracking()
}
else if (systemName == "Beidou" and signal_type == "B1")
{
beidou_b1i_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN, 0);
beidou_b1i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
// Update secondary code settings for geo satellites
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
{
@ -666,38 +648,17 @@ void dll_pll_veml_tracking::start_tracking()
d_code_samples_per_chip = 1;
d_secondary = false;
trk_parameters.track_pilot = false;
interchange_iq = false;
d_secondary_code_length = 0;
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_D2_SECONDARY_CODE_STR);
// preamble bits to sampled symbols
d_preamble_length_symbols = 22;
d_preambles_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(22 * sizeof(int32_t), volk_gnsssdr_get_alignment()));
int32_t n = 0;
uint32_t preambles_bits[BEIDOU_B1I_PREAMBLE_LENGTH_BITS] = {1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0};
for (uint32_t preambles_bit : preambles_bits)
{
for (int32_t j = 0; j < d_symbols_per_bit; j++)
{
if (preambles_bit == 1)
{
d_preambles_symbols[n] = 1;
}
else
{
d_preambles_symbols[n] = -1;
}
n++;
}
}
d_symbol_history.resize(22); // Change fixed buffer size
d_symbol_history.clear();
// set the preamble in the secondary code acquisition
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_GEO_PREAMBLE_LENGTH_SYMBOLS);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_GEO_PREAMBLE_SYMBOLS_STR);
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
}
}
else if (systemName == "Beidou" and signal_type == "B3")
{
beidou_b3i_code_gen_float(gsl::span<float>(d_tracking_code, 2 * d_code_length_chips), d_acquisition_gnss_synchro->PRN, 0);
beidou_b3i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
// Update secondary code settings for geo satellites
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
{
@ -706,32 +667,11 @@ void dll_pll_veml_tracking::start_tracking()
d_code_samples_per_chip = 1;
d_secondary = false;
trk_parameters.track_pilot = false;
interchange_iq = false;
d_secondary_code_length = 0;
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_D2_SECONDARY_CODE_STR);
// preamble bits to sampled symbols
d_preamble_length_symbols = 22;
d_preambles_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(22 * sizeof(int32_t), volk_gnsssdr_get_alignment()));
int32_t n = 0;
uint32_t preambles_bits[BEIDOU_B3I_PREAMBLE_LENGTH_BITS] = {1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0};
for (uint32_t preambles_bit : preambles_bits)
{
for (int32_t j = 0; j < d_symbols_per_bit; j++)
{
if (preambles_bit == 1)
{
d_preambles_symbols[n] = 1;
}
else
{
d_preambles_symbols[n] = -1;
}
n++;
}
}
d_symbol_history.resize(22); // Change fixed buffer size
d_symbol_history.clear();
// set the preamble in the secondary code acquisition
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_GEO_PREAMBLE_LENGTH_SYMBOLS);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_GEO_PREAMBLE_SYMBOLS_STR);
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
}
}
@ -1053,6 +993,7 @@ void dll_pll_veml_tracking::clear_tracking_vars()
if (trk_parameters.track_pilot)
{
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
d_P_data_accu = gr_complex(0.0, 0.0);
}
d_P_accu_old = gr_complex(0.0, 0.0);
d_carr_phase_error_hz = 0.0;
@ -1061,6 +1002,7 @@ void dll_pll_veml_tracking::clear_tracking_vars()
d_code_error_chips = 0.0;
d_code_error_filt_chips = 0.0;
d_current_symbol = 0;
d_current_data_symbol = 0;
d_Prompt_circular_buffer.clear();
d_carrier_phase_rate_step_rad = 0.0;
d_code_phase_rate_step_chips = 0.0;
@ -1184,12 +1126,69 @@ void dll_pll_veml_tracking::save_correlation_results()
d_E_accu += *d_Early;
d_P_accu += *d_Prompt;
d_L_accu += *d_Late;
d_current_symbol++;
d_current_symbol %= d_symbols_per_bit;
}
// If tracking pilot, disable Costas loop
//data secondary code roll-up
if (d_symbols_per_bit > 1)
{
if (d_data_secondary_code_length > 0)
{
if (trk_parameters.track_pilot)
{
if (d_data_secondary_code_string->at(d_current_data_symbol) == '0')
{
d_P_data_accu += *d_Prompt_Data;
}
else
{
d_P_data_accu -= *d_Prompt_Data;
}
}
else
{
if (d_data_secondary_code_string->at(d_current_data_symbol) == '0')
{
d_P_data_accu += *d_Prompt;
}
else
{
d_P_data_accu -= *d_Prompt;
}
}
//std::cout << "s[" << d_current_data_symbol << "]=" << (int)((*d_Prompt).real() > 0) << std::endl;
d_current_data_symbol++;
// data secondary code roll-up
d_current_data_symbol %= d_data_secondary_code_length;
}
else
{
if (trk_parameters.track_pilot)
{
d_P_data_accu += *d_Prompt_Data;
}
else
{
d_P_data_accu += *d_Prompt;
}
d_current_data_symbol++;
d_current_data_symbol %= d_symbols_per_bit;
}
}
else
{
if (trk_parameters.track_pilot)
{
d_P_data_accu = *d_Prompt_Data;
}
else
{
d_P_data_accu = *d_Prompt;
}
}
if (trk_parameters.track_pilot)
{
// If tracking pilot, disable Costas loop
d_cloop = false;
}
else
@ -1198,8 +1197,7 @@ void dll_pll_veml_tracking::save_correlation_results()
}
}
void dll_pll_veml_tracking::log_data(bool integrating)
void dll_pll_veml_tracking::log_data()
{
if (d_dump)
{
@ -1211,31 +1209,15 @@ void dll_pll_veml_tracking::log_data(bool integrating)
double tmp_double;
uint64_t tmp_long_int;
if (trk_parameters.track_pilot)
{
if (interchange_iq)
{
prompt_I = d_Prompt_Data->imag();
prompt_Q = d_Prompt_Data->real();
}
else
{
prompt_I = d_Prompt_Data->real();
prompt_Q = d_Prompt_Data->imag();
}
}
else
{
if (interchange_iq)
{
prompt_I = d_Prompt->imag();
prompt_Q = d_Prompt->real();
}
else
{
prompt_I = d_Prompt->real();
prompt_Q = d_Prompt->imag();
}
}
if (d_veml)
{
tmp_VE = std::abs<float>(d_VE_accu);
@ -1249,20 +1231,6 @@ void dll_pll_veml_tracking::log_data(bool integrating)
tmp_E = std::abs<float>(d_E_accu);
tmp_P = std::abs<float>(d_P_accu);
tmp_L = std::abs<float>(d_L_accu);
if (integrating)
{
//TODO: Improve this solution!
// It compensates the amplitude difference while integrating
if (d_extend_correlation_symbols_count > 0)
{
float scale_factor = static_cast<float>(trk_parameters.extend_correlation_symbols) / static_cast<float>(d_extend_correlation_symbols_count);
tmp_VE *= scale_factor;
tmp_E *= scale_factor;
tmp_P *= scale_factor;
tmp_L *= scale_factor;
tmp_VL *= scale_factor;
}
}
try
{
@ -1361,28 +1329,28 @@ int32_t dll_pll_veml_tracking::save_matfile()
{
return 1;
}
auto abs_VE = std::vector<float>(num_epoch);
auto abs_E = std::vector<float>(num_epoch);
auto abs_P = std::vector<float>(num_epoch);
auto abs_L = std::vector<float>(num_epoch);
auto abs_VL = std::vector<float>(num_epoch);
auto Prompt_I = std::vector<float>(num_epoch);
auto Prompt_Q = std::vector<float>(num_epoch);
auto PRN_start_sample_count = std::vector<uint64_t>(num_epoch);
auto acc_carrier_phase_rad = std::vector<float>(num_epoch);
auto carrier_doppler_hz = std::vector<float>(num_epoch);
auto carrier_doppler_rate_hz = std::vector<float>(num_epoch);
auto code_freq_chips = std::vector<float>(num_epoch);
auto code_freq_rate_chips = std::vector<float>(num_epoch);
auto carr_error_hz = std::vector<float>(num_epoch);
auto carr_error_filt_hz = std::vector<float>(num_epoch);
auto code_error_chips = std::vector<float>(num_epoch);
auto code_error_filt_chips = std::vector<float>(num_epoch);
auto CN0_SNV_dB_Hz = std::vector<float>(num_epoch);
auto carrier_lock_test = std::vector<float>(num_epoch);
auto aux1 = std::vector<float>(num_epoch);
auto aux2 = std::vector<double>(num_epoch);
auto PRN = std::vector<uint32_t>(num_epoch);
auto *abs_VE = new float[num_epoch];
auto *abs_E = new float[num_epoch];
auto *abs_P = new float[num_epoch];
auto *abs_L = new float[num_epoch];
auto *abs_VL = new float[num_epoch];
auto *Prompt_I = new float[num_epoch];
auto *Prompt_Q = new float[num_epoch];
auto *PRN_start_sample_count = new uint64_t[num_epoch];
auto *acc_carrier_phase_rad = new float[num_epoch];
auto *carrier_doppler_hz = new float[num_epoch];
auto *carrier_doppler_rate_hz = new float[num_epoch];
auto *code_freq_chips = new float[num_epoch];
auto *code_freq_rate_chips = new float[num_epoch];
auto *carr_error_hz = new float[num_epoch];
auto *carr_error_filt_hz = new float[num_epoch];
auto *code_error_chips = new float[num_epoch];
auto *code_error_filt_chips = new float[num_epoch];
auto *CN0_SNV_dB_Hz = new float[num_epoch];
auto *carrier_lock_test = new float[num_epoch];
auto *aux1 = new float[num_epoch];
auto *aux2 = new double[num_epoch];
auto *PRN = new uint32_t[num_epoch];
try
{
@ -1419,6 +1387,28 @@ int32_t dll_pll_veml_tracking::save_matfile()
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
delete[] abs_VE;
delete[] abs_E;
delete[] abs_P;
delete[] abs_L;
delete[] abs_VL;
delete[] Prompt_I;
delete[] Prompt_Q;
delete[] PRN_start_sample_count;
delete[] acc_carrier_phase_rad;
delete[] carrier_doppler_hz;
delete[] carrier_doppler_rate_hz;
delete[] code_freq_chips;
delete[] code_freq_rate_chips;
delete[] carr_error_hz;
delete[] carr_error_filt_hz;
delete[] code_error_chips;
delete[] code_error_filt_chips;
delete[] CN0_SNV_dB_Hz;
delete[] carrier_lock_test;
delete[] aux1;
delete[] aux2;
delete[] PRN;
return 1;
}
@ -1432,95 +1422,117 @@ int32_t dll_pll_veml_tracking::save_matfile()
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VE.data(), 0);
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VE, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E.data(), 0);
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P.data(), 0);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L.data(), 0);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VL.data(), 0);
matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VL, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I.data(), 0);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q.data(), 0);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count.data(), 0);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, acc_carrier_phase_rad.data(), 0);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, acc_carrier_phase_rad, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_rate_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_rate_hz.data(), 0);
matvar = Mat_VarCreate("carrier_doppler_rate_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_rate_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_rate_chips.data(), 0);
matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_rate_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_filt_hz.data(), 0);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_filt_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_chips.data(), 0);
matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_filt_chips.data(), 0);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_filt_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, CN0_SNV_dB_Hz.data(), 0);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, CN0_SNV_dB_Hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_lock_test.data(), 0);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_lock_test, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, aux1.data(), 0);
matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, aux1, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2.data(), 0);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN.data(), 0);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp);
delete[] abs_VE;
delete[] abs_E;
delete[] abs_P;
delete[] abs_L;
delete[] abs_VL;
delete[] Prompt_I;
delete[] Prompt_Q;
delete[] PRN_start_sample_count;
delete[] acc_carrier_phase_rad;
delete[] carrier_doppler_hz;
delete[] carrier_doppler_rate_hz;
delete[] code_freq_chips;
delete[] code_freq_rate_chips;
delete[] carr_error_hz;
delete[] carr_error_filt_hz;
delete[] code_error_chips;
delete[] code_error_filt_chips;
delete[] CN0_SNV_dB_Hz;
delete[] carrier_lock_test;
delete[] aux1;
delete[] aux2;
delete[] PRN;
return 0;
}
@ -1557,21 +1569,18 @@ void dll_pll_veml_tracking::set_channel(uint32_t channel)
}
}
void dll_pll_veml_tracking::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
{
gr::thread::scoped_lock l(d_setlock);
d_acquisition_gnss_synchro = p_gnss_synchro;
}
void dll_pll_veml_tracking::stop_tracking()
{
gr::thread::scoped_lock l(d_setlock);
d_state = 0;
}
int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
@ -1579,6 +1588,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]);
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
Gnss_Synchro current_synchro_data = Gnss_Synchro();
current_synchro_data.Flag_valid_symbol_output = false;
if (d_pull_in_transitory == true)
{
@ -1656,7 +1666,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
update_tracking_vars();
// enable write dump file this cycle (valid DLL/PLL cycle)
log_data(false);
log_data();
if (!d_pull_in_transitory)
{
@ -1678,42 +1688,18 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
}
else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
{
float current_tracking_time_s = static_cast<float>(d_sample_counter - d_acq_sample_stamp) / trk_parameters.fs_in;
if (current_tracking_time_s > 10)
{
d_symbol_history.push_back(d_Prompt->real());
//******* preamble correlation ********
int32_t corr_value = 0;
if ((static_cast<int32_t>(d_symbol_history.size()) == d_preamble_length_symbols)) // and (d_make_correlation or !d_flag_frame_sync))
d_Prompt_circular_buffer.push_back(*d_Prompt);
if (d_Prompt_circular_buffer.size() == d_secondary_code_length)
{
int i = 0;
for (const auto &iter : d_symbol_history)
next_state = acquire_secondary();
if (next_state)
{
if (iter < 0.0) // symbols clipping
{
corr_value -= d_preambles_symbols[i];
}
else
{
corr_value += d_preambles_symbols[i];
}
i++;
}
}
if (corr_value == d_preamble_length_symbols)
{
LOG(INFO) << systemName << " " << signal_pretty_name << " tracking preamble detected in channel " << d_channel
LOG(INFO) << systemName << " " << signal_pretty_name << " tracking bit synchronization locked in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
std::cout << systemName << " " << signal_pretty_name << " tracking bit synchronization locked in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
next_state = true;
}
else
{
next_state = false;
}
}
else
{
next_state = false;
}
}
else
@ -1725,52 +1711,17 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
{
next_state = false; //keep in state 2 during pull-in transitory
}
// ########### Output the tracking results to Telemetry block ##########
if (interchange_iq)
{
if (trk_parameters.track_pilot)
{
// Note that data and pilot components are in quadrature. I and Q are interchanged
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
}
}
else
{
if (trk_parameters.track_pilot)
{
// Note that data and pilot components are in quadrature. I and Q are interchanged
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
}
}
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
current_synchro_data.correlation_length_ms = d_correlation_length_ms;
if (next_state)
{ // reset extended correlator
d_VE_accu = gr_complex(0.0, 0.0);
d_E_accu = gr_complex(0.0, 0.0);
d_P_accu = gr_complex(0.0, 0.0);
d_P_data_accu = gr_complex(0.0, 0.0);
d_L_accu = gr_complex(0.0, 0.0);
d_VL_accu = gr_complex(0.0, 0.0);
d_Prompt_circular_buffer.clear();
d_current_symbol = 0;
d_current_data_symbol = 0;
if (d_enable_extended_integration)
{
@ -1811,48 +1762,25 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
}
case 3: // coherent integration (correlation time extension)
{
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
// perform a correlation step
do_correlation_step(in);
update_tracking_vars();
save_correlation_results();
update_tracking_vars();
if (d_current_data_symbol == 0)
{
// ########### Output the tracking results to Telemetry block ##########
if (interchange_iq)
{
if (trk_parameters.track_pilot)
{
// Note that data and pilot components are in quadrature. I and Q are interchanged
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
}
}
else
{
if (trk_parameters.track_pilot)
{
// Note that data and pilot components are in quadrature. I and Q are interchanged
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
}
}
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.real());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.imag());
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
current_synchro_data.correlation_length_ms = d_correlation_length_ms;
current_synchro_data.Flag_valid_symbol_output = true;
d_P_data_accu = gr_complex(0.0, 0.0);
}
d_extend_correlation_symbols_count++;
if (d_extend_correlation_symbols_count == (trk_parameters.extend_correlation_symbols - 1))
{
@ -1863,9 +1791,6 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
}
case 4: // narrow tracking
{
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
// perform a correlation step
do_correlation_step(in);
save_correlation_results();
@ -1880,44 +1805,23 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
{
run_dll_pll();
update_tracking_vars();
if (d_current_data_symbol == 0)
{
// ########### Output the tracking results to Telemetry block ##########
if (interchange_iq)
{
if (trk_parameters.track_pilot)
{
// Note that data and pilot components are in quadrature. I and Q are interchanged
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
}
}
else
{
if (trk_parameters.track_pilot)
{
// Note that data and pilot components are in quadrature. I and Q are interchanged
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
}
}
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.real());
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.imag());
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
current_synchro_data.correlation_length_ms = d_correlation_length_ms;
current_synchro_data.Flag_valid_symbol_output = true;
d_P_data_accu = gr_complex(0.0, 0.0);
}
// enable write dump file this cycle (valid DLL/PLL cycle)
log_data(false);
log_data();
// reset extended correlator
d_VE_accu = gr_complex(0.0, 0.0);
d_E_accu = gr_complex(0.0, 0.0);

9
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
View File

@ -85,7 +85,7 @@ private:
void update_tracking_vars();
void clear_tracking_vars();
void save_correlation_results();
void log_data(bool integrating);
void log_data();
int32_t save_matfile();
// tracking configuration vars
@ -97,22 +97,23 @@ private:
// Signal parameters
bool d_secondary;
bool interchange_iq;
double d_signal_carrier_freq;
double d_code_period;
double d_code_chip_rate;
uint32_t d_secondary_code_length;
uint32_t d_data_secondary_code_length;
uint32_t d_code_length_chips;
uint32_t d_code_samples_per_chip; // All signals have 1 sample per chip code except Gal. E1 which has 2 (CBOC disabled) or 12 (CBOC enabled)
int32_t d_symbols_per_bit;
std::string systemName;
std::string signal_type;
std::string *d_secondary_code_string;
std::string *d_data_secondary_code_string;
std::string signal_pretty_name;
int32_t *d_preambles_symbols;
int32_t d_preamble_length_symbols;
boost::circular_buffer<float> d_symbol_history;
//boost::circular_buffer<float> d_symbol_history;
// dll filter buffer
boost::circular_buffer<float> d_dll_filt_history;
@ -144,6 +145,7 @@ private:
bool d_enable_extended_integration;
int32_t d_extend_correlation_symbols_count;
int32_t d_current_symbol;
int32_t d_current_data_symbol;
gr_complex d_VE_accu;
gr_complex d_E_accu;
@ -152,6 +154,7 @@ private:
gr_complex d_L_accu;
gr_complex d_VL_accu;
gr_complex d_P_data_accu;
gr_complex *d_Prompt_Data;
double d_code_phase_step_chips;

6
src/core/system_parameters/Beidou_B1I.h
View File

@ -57,13 +57,17 @@ const double BEIDOU_B1I_CHIP_PERIOD = 4.8875e-07; //!< beidou b1I chip period
const int32_t BEIDOU_B1I_SECONDARY_CODE_LENGTH = 20;
const std::string BEIDOU_B1I_SECONDARY_CODE = "00000100110101001110";
const std::string BEIDOU_B1I_SECONDARY_CODE_STR = "00000100110101001110";
const std::string BEIDOU_B1I_GEO_PREAMBLE_SYMBOLS_STR = {"1111110000001100001100"};
const int32_t BEIDOU_B1I_GEO_PREAMBLE_LENGTH_SYMBOLS = 22;
const std::string BEIDOU_B1I_D2_SECONDARY_CODE_STR = "00";
const int BEIDOU_B1I_PREAMBLE_LENGTH_BITS = 11;
const int BEIDOU_B1I_PREAMBLE_LENGTH_SYMBOLS = 220; // **************
const double BEIDOU_B1I_PREAMBLE_DURATION_S = 0.220;
const int BEIDOU_B1I_PREAMBLE_DURATION_MS = 220;
const int BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s]
const int BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20; // *************
const int BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20;
const int BEIDOU_B1I_TELEMETRY_SYMBOL_PERIOD_MS = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT * BEIDOU_B1I_CODE_PERIOD_MS;
const int BEIDOU_B1I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; //************!< NAV message bit rate [symbols/s]
const int BEIDOU_WORD_LENGTH = 4; //**************!< CRC + BEIDOU WORD (-2 -1 0 ... 29) Bits = 4 bytes
const int BEIDOU_SUBFRAME_LENGTH = 40; //**************!< BEIDOU_WORD_LENGTH x 10 = 40 bytes

2
src/core/system_parameters/Beidou_B3I.h
View File

@ -45,6 +45,8 @@ const uint32_t BEIDOU_B3I_CODE_PERIOD_MS = 1; //!< GPS L1 C/A code perio
const int32_t BEIDOU_B3I_SECONDARY_CODE_LENGTH = 20;
const std::string BEIDOU_B3I_SECONDARY_CODE = "00000100110101001110";
const std::string BEIDOU_B3I_SECONDARY_CODE_STR = "00000100110101001110";
const std::string BEIDOU_B3I_GEO_PREAMBLE_SYMBOLS_STR = {"1111110000001100001100"};
const int32_t BEIDOU_B3I_GEO_PREAMBLE_LENGTH_SYMBOLS = 22;
const std::string BEIDOU_B3I_D2_SECONDARY_CODE_STR = "00";
const uint32_t BEIDOU_B3I_PREAMBLE_LENGTH_BITS = 11;
const uint32_t BEIDOU_B3I_PREAMBLE_LENGTH_SYMBOLS = 220; // **************

2
src/core/system_parameters/GPS_L1_CA.h
View File

@ -55,6 +55,7 @@ const double GPS_L1_CA_CODE_RATE_HZ = 1.023e6; //!< GPS L1 C/A code rate [c
const double GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0; //!< GPS L1 C/A code length [chips]
const double GPS_L1_CA_CODE_PERIOD = 0.001; //!< GPS L1 C/A code period [seconds]
const uint32_t GPS_L1_CA_CODE_PERIOD_MS = 1U; //!< GPS L1 C/A code period [ms]
const uint32_t GPS_L1_CA_BIT_PERIOD_MS = 20U; //!< GPS L1 C/A bit period [ms]
const double GPS_L1_CA_CHIP_PERIOD = 9.7752e-07; //!< GPS L1 C/A chip period [seconds]
//optimum parameters
@ -84,6 +85,7 @@ const int32_t GPS_L1_CA_HISTORY_DEEP = 100;
1, 0, 0, 0, 1, 0, 1, 1 \
}
const std::string GPS_CA_PREAMBLE = {"10001011"};
const std::string GPS_CA_PREAMBLE_SYMBOLS_STR = {"1111111111111111111100000000000000000000000000000000000000000000000000000000000011111111111111111111000000000000000000001111111111111111111111111111111111111111"};
const int32_t GPS_CA_PREAMBLE_LENGTH_BITS = 8;
const int32_t GPS_CA_PREAMBLE_LENGTH_SYMBOLS = 160;
const double GPS_CA_PREAMBLE_DURATION_S = 0.160;