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bds b1i: Bug fixes in navigation code 

Fixes bugs with the conversion to rtklib standard from gnss-sdr.
This commit is contained in:
Damian Miralles 2018-12-03 09:39:39 -06:00
parent 287c93e5b8
commit e40999572f
11 changed files with 62 additions and 49 deletions
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20
conf/gnss-sdr_BDS_B1I_byte.conf
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@ -58,16 +58,16 @@ Channels_B1.count=10
Channels.in_acquisition=1
Channel.signal=B1
Channel0.satellite = 1;
Channel1.satellite = 2;
Channel2.satellite = 3;
Channel3.satellite = 4;
Channel4.satellite = 5;
Channel5.satellite = 6;
Channel6.satellite = 8;
Channel7.satellite = 9;
Channel8.satellite = 13;
Channel9.satellite = 17;
Channel0.satellite = 6;
Channel1.satellite = 8;
Channel2.satellite = 9;
Channel3.satellite = 13;
Channel4.satellite = 17;
Channel5.satellite = 1;
Channel6.satellite = 2;
Channel7.satellite = 3;
Channel8.satellite = 4;
Channel9.satellite = 5;
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_B1.implementation=BEIDOU_B1I_PCPS_Acquisition

3
src/algorithms/PVT/libs/rtklib_solver.h
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@ -60,13 +60,14 @@
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
#include "beidou_dnav_navigation_message.h"
#include "galileo_almanac.h"
#include "gnss_synchro.h"
#include "pvt_solution.h"
#include <fstream>
#include <map>
#include <string>
#include "../../../core/system_parameters/beidou_dnav_navigation_message.h"
/*!

18
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@ -66,13 +66,23 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro
rtklib_obs.sat = gnss_synchro.PRN + NSATGPS;
break;
case 'C':
rtklib_obs.sat = gnss_synchro.PRN + NSATGPS + NSATGLO + NSATGAL;
rtklib_obs.sat = gnss_synchro.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
break;
default:
rtklib_obs.sat = gnss_synchro.PRN;
}
rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
// Mote that BeiDou week numbers do not need adjustment for foreseeable future. Consider change
// to more elegant solution
if(gnss_synchro.System == 'C')
{
rtklib_obs.time = bdt2time(week, gnss_synchro.RX_time);
}
else
{
rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
}
rtklib_obs.rcv = 1;
return rtklib_obs;
}
@ -247,7 +257,7 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph)
rtklib_sat.Adot = 0; //only in CNAV;
rtklib_sat.ndot = 0; //only in CNAV;
rtklib_sat.week = adjgpsweek(bei_eph.i_BEIDOU_week); /* week of tow */
rtklib_sat.week = bei_eph.i_BEIDOU_week; /* week of tow */
rtklib_sat.cic = bei_eph.d_Cic;
rtklib_sat.cis = bei_eph.d_Cis;
rtklib_sat.cuc = bei_eph.d_Cuc;
@ -258,7 +268,7 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph)
rtklib_sat.f1 = bei_eph.d_A_f1;
rtklib_sat.f2 = bei_eph.d_A_f2;
rtklib_sat.tgd[0] = bei_eph.d_TGD1;
rtklib_sat.tgd[1] = 0.0;
rtklib_sat.tgd[1] = bei_eph.d_TGD2;
rtklib_sat.tgd[2] = 0.0;
rtklib_sat.tgd[3] = 0.0;
rtklib_sat.toes = bei_eph.d_Toe;

14
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.cc
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@ -58,7 +58,7 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
// set the preamble
unsigned short int preambles_bits[BEIDOU_B1I_PREAMBLE_LENGTH_BITS] = BEIDOU_PREAMBLE;
unsigned short int preambles_bits[BEIDOU_B1I_PREAMBLE_LENGTH_BITS] = BEIDOU_DNAV_PREAMBLE;
// preamble bits to sampled symbols
d_preambles_symbols = static_cast<int *>(volk_gnsssdr_malloc(BEIDOU_B1I_PREAMBLE_LENGTH_SYMBOLS * sizeof(int), volk_gnsssdr_get_alignment()));
@ -94,16 +94,16 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
d_preamble_time_samples = 0;
d_TOW_at_current_symbol_ms = 0;
d_symbol_history.resize(BEIDOU_B1I_PREAMBLE_LENGTH_BITS); // Change fixed buffer size
d_symbol_nh_history.resize(BEIDOU_B1I_NH_CODE_LENGTH); // Change fixed buffer size
d_symbol_nh_history.resize(BEIDOU_B1I_SECONDARY_CODE_LENGTH); // Change fixed buffer size
d_bit_buffer.resize(30); // Change fixed buffer size
d_symbol_history.clear(); // Clear all the elements in the buffer
d_symbol_nh_history.clear();
d_bit_buffer.clear();
d_make_correlation = true;
d_symbol_counter_corr = 0;
for (int aux = 0; aux < BEIDOU_B1I_NH_CODE_LENGTH; aux++)
for (int aux = 0; aux < BEIDOU_B1I_SECONDARY_CODE_LENGTH; aux++)
{
if (BEIDOU_B1I_NH_CODE[aux] == 0)
if (BEIDOU_B1I_SECONDARY_CODE[aux] == 0)
{
bits_NH[aux] = -1.0;
}
@ -270,9 +270,9 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
d_symbol_nh_history.push_back(current_symbol.Prompt_I); //add new symbol to the symbol queue
consume_each(1);
if (d_symbol_nh_history.size() == BEIDOU_B1I_NH_CODE_LENGTH)
if (d_symbol_nh_history.size() == BEIDOU_B1I_SECONDARY_CODE_LENGTH)
{
for (int i = 0; i < BEIDOU_B1I_NH_CODE_LENGTH; i++)
for (int i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++)
{
if ((bits_NH[i] * d_symbol_nh_history.at(i)) > 0.0)
{
@ -283,7 +283,7 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
corr_NH -= 1;
}
}
if (abs(corr_NH) == BEIDOU_B1I_NH_CODE_LENGTH)
if (abs(corr_NH) == BEIDOU_B1I_SECONDARY_CODE_LENGTH)
{
sync_NH = true;
if (corr_NH > 0)

2
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.h
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@ -96,7 +96,7 @@ private:
//bits and frame
unsigned short int d_frame_bit_index;
double bits_NH[BEIDOU_B1I_NH_CODE_LENGTH];
double bits_NH[BEIDOU_B1I_SECONDARY_CODE_LENGTH];
unsigned int d_BEIDOU_frame_4bytes;
unsigned int d_prev_BEIDOU_frame_4bytes;
bool d_flag_parity;

9
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@ -49,6 +49,8 @@
#include "gps_l2c_signal.h"
#include "GPS_L5.h"
#include "gps_l5_signal.h"
#include "Beidou_B1I.h"
#include "beidou_b1i_signal_processing.h"
#include "gnss_sdr_create_directory.h"
#include <boost/filesystem/path.hpp>
#include <glog/logging.h>
@ -60,8 +62,7 @@
#include <iostream>
#include <sstream>
#include <numeric>
#include "../../../core/system_parameters/Beidou_B1I.h"
#include "../../libs/beidou_b1i_signal_processing.h"
using google::LogMessage;
@ -288,8 +289,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_secondary = true;
trk_parameters.track_pilot = false;
interchange_iq = false;
d_secondary_code_length = static_cast<unsigned int>(BEIDOU_B1I_NH_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_NH_CODE_STR);
d_secondary_code_length = static_cast<unsigned int>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
}
else

14
src/core/system_parameters/Beidou_B1I.h
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@ -53,6 +53,9 @@ const double BEIDOU_B1I_CODE_LENGTH_CHIPS = 2046.0; //!< beidou b1I code l
const double BEIDOU_B1I_CODE_PERIOD = 0.001; //!< beidou b1I code period [seconds]
const unsigned int BEIDOU_B1I_CODE_PERIOD_MS = 1; //!< GPS L1 C/A code period [ms]
const double BEIDOU_B1I_CHIP_PERIOD = 4.8875e-07; //!< beidou b1I chip period [seconds]
const int BEIDOU_B1I_SECONDARY_CODE_LENGTH = 20;
const int BEIDOU_B1I_SECONDARY_CODE[20] = {0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0};
const std::string BEIDOU_B1I_SECONDARY_CODE_STR = "00000100110101001110";
/*!
* \brief Maximum Time-Of-Arrival (TOA) difference between satellites for a receiver operated on Earth surface is 20 ms
@ -72,8 +75,7 @@ const double BEIDOU_STARTOFFSET_ms = 68.802; //**************[ms] Initial sign.
const int BEIDOU_B1I_HISTORY_DEEP = 100; // ****************
// NAVIGATION MESSAGE DEMODULATION AND DECODING
#define BEIDOU_PREAMBLE {1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0}
#define BEIDOU_DNAV_PREAMBLE {1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0}
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;
@ -87,9 +89,7 @@ const int BEIDOU_SUBFRAME_BITS = 300; //!< Number of bits per s
const int BEIDOU_SUBFRAME_SECONDS = 6; //!< Subframe duration [seconds]
const int BEIDOU_SUBFRAME_MS = 6000; //!< Subframe duration [miliseconds]
const int BEIDOU_WORD_BITS = 30; //!< Number of bits per word in the NAV message [bits]
const int BEIDOU_B1I_NH_CODE_LENGTH = 20;
const int BEIDOU_B1I_NH_CODE[20] = {0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0};
const std::string BEIDOU_B1I_NH_CODE_STR = "00000100110101001110";
// BEIDOU D1 NAVIGATION MESSAGE STRUCTURE
@ -151,11 +151,11 @@ const std::vector<std::pair<int,int> > D1_CRS( { {225,8},{241,10} } );
const double D1_CRS_LSB = TWO_N6;
const std::vector<std::pair<int,int> > D1_SQRT_A( { {251,12},{271,20} } );
const double D1_SQRT_A_LSB = TWO_N19;
const std::vector<std::pair<int,int> > D1_TOE( { {291,2} } );
const std::vector<std::pair<int,int> > D1_TOE_SF2( { {291,2} } );
const double D1_TOE_LSB = TWO_P3;
//SUBFRAME 3
const std::vector<std::pair<int,int> > D1_TOE_MSB2( { {43,10},{61,5} } );
const std::vector<std::pair<int,int> > D1_TOE_SF3( { {43,10},{61,5} } );
const std::vector<std::pair<int,int> > D1_I0( { {66,17},{91,15} } );
const double D1_I0_LSB = PI_TWO_N31;
const std::vector<std::pair<int,int> > D1_CIC( { {106,7},{121,11} } );

16
src/core/system_parameters/beidou_dnav_navigation_message.cc
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@ -53,7 +53,7 @@ void Beidou_Dnav_Navigation_Message::reset()
d_e_eccentricity = 0;
d_Cus = 0;
d_sqrt_A = 0;
d_Toe = 0;
d_Toe_sf2 = 0;
d_Toc = 0;
d_Cic = 0;
d_OMEGA0 = 0;
@ -317,7 +317,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
a = d_sqrt_A * d_sqrt_A;
// Time from ephemeris reference epoch
tk = check_t(transmitTime - d_Toe);
tk = check_t(transmitTime - d_Toe_sf2);
// Computed mean motion
n0 = sqrt(BEIDOU_GM / (a * a * a));
@ -371,7 +371,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
i = d_i_0 + d_IDOT * tk + d_Cic * cos(2 * phi) + d_Cis * sin(2 * phi);
// Compute the angle between the ascending node and the Greenwich meridian
Omega = d_OMEGA0 + (d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT) * tk - BEIDOU_OMEGA_EARTH_DOT * d_Toe;
Omega = d_OMEGA0 + (d_OMEGA_DOT - BEIDOU_OMEGA_EARTH_DOT) * tk - BEIDOU_OMEGA_EARTH_DOT * d_Toe_sf2;
// Reduce to between 0 and 2*pi rad
Omega = fmod((Omega + 2 * BEIDOU_PI), (2 * BEIDOU_PI));
@ -452,7 +452,7 @@ int Beidou_Dnav_Navigation_Message::subframe_decoder(char *subframe)
d_alpha0 = static_cast<double>(read_navigation_signed(subframe_bits, D1_ALPHA0));
d_alpha0 = d_alpha0 * D1_ALPHA0_LSB;
d_alpha1 = static_cast<double>(read_navigation_signed(subframe_bits, D1_ALPHA1));
d_alpha1 = static_cast<double>(read_navigation_signed(subframe_bits, D1_ALPHA1));
d_alpha1 = d_alpha1 * D1_ALPHA1_LSB;
d_alpha2 = static_cast<double>(read_navigation_signed(subframe_bits, D1_ALPHA2));
d_alpha2 = d_alpha2 * D1_ALPHA2_LSB;
@ -514,8 +514,8 @@ int Beidou_Dnav_Navigation_Message::subframe_decoder(char *subframe)
d_sqrt_A = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SQRT_A));
d_sqrt_A = d_sqrt_A * D1_SQRT_A_LSB;
d_Toe = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_TOE));
d_Toe = d_Toe * D1_TOE_LSB;
d_Toe_sf2 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_TOE_SF2));
d_Toe_sf2 = static_cast<double>((static_cast<int>(d_Toe_sf2) << 15));
// d_SOW = d_SOW_SF2; // Set transmission time
// b_integrity_status_flag = read_navigation_bool(subframe_bits, INTEGRITY_STATUS_FLAG);
@ -532,7 +532,7 @@ int Beidou_Dnav_Navigation_Message::subframe_decoder(char *subframe)
d_SOW_SF3 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
d_SOW = d_SOW_SF3; // Set transmission time
d_Toe = d_Toe * D1_TOE_LSB;
d_Toe_sf3 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_TOE_SF3));
d_i_0 = static_cast<double>(read_navigation_signed(subframe_bits, D1_I0));
d_i_0 = d_i_0 * D1_I0_LSB;
@ -833,7 +833,7 @@ Beidou_Dnav_Ephemeris Beidou_Dnav_Navigation_Message::get_ephemeris()
ephemeris.d_e_eccentricity = d_e_eccentricity;
ephemeris.d_Cus = d_Cus;
ephemeris.d_sqrt_A = d_sqrt_A;
ephemeris.d_Toe =static_cast<float>( (static_cast<int>(d_Toe) << 15) | static_cast<int>(d_Toe2)) ;
ephemeris.d_Toe = ((d_Toe_sf2 + d_Toe_sf3) * D1_TOE_LSB) ;
ephemeris.d_Toc = d_Toc;
ephemeris.d_Cic = d_Cic;
ephemeris.d_OMEGA0 = d_OMEGA0;

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

@ -87,7 +87,8 @@ public:
double d_Cus; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
double d_sqrt_A; //!< Square Root of the Semi-Major Axis [sqrt(m)]
//broadcast orbit 3
double d_Toe; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
double d_Toe_sf2; //!< Ephemeris data reference time of week in subframe 2
double d_Toe_sf3; //!< Ephemeris data reference time of week in subframe 3
double d_Toe2;
double d_Toc; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
double d_Cic; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]

4
src/utils/matlab/dll_pll_veml_plot_sample.m
View File

@ -34,9 +34,9 @@ if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
addpath('./libs')
end
samplingFreq = 99375000; %[Hz]
samplingFreq = 25000000; %[Hz]
coherent_integration_time_ms = 1; %[ms]
channels = 8; % Number of channels
channels = 10; % Number of channels
first_channel = 0; % Number of the first channel
path = '/home/dmiralles/Documents/gnss-sdr/';%#'; %% CHANGE THIS PATH

8
src/utils/matlab/hybrid_observables_plot_sample.m
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@ -29,10 +29,10 @@
clearvars;
close all;
addpath('./libs');
samplingFreq = 6625000; %[Hz]
channels=5;
path='/archive/';
observables_log_path=[path 'glo_observables.dat'];
samplingFreq = 25000000; %[Hz]
channels=10;
path='/home/dmiralles/Documents/gnss-sdr/';
observables_log_path=[path 'observables.dat'];
GNSS_observables= read_hybrid_observables_dump(channels,observables_log_path);
%%