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Merge branch 'Tracking' of https://github.com/piyush0411/gnss-sdr into piyush0411-Tracking

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Carles Fernandez 2020-07-21 08:21:09 +02:00
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8 changed files with 480 additions and 3 deletions
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2
src/algorithms/tracking/adapters/CMakeLists.txt
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@ -43,6 +43,7 @@ set(TRACKING_ADAPTER_SOURCES
gps_l1_ca_dll_pll_tracking.cc
gps_l1_ca_tcp_connector_tracking.cc
galileo_e5a_dll_pll_tracking.cc
galileo_e5b_dll_pll_tracking.cc
gps_l2_m_dll_pll_tracking.cc
glonass_l1_ca_dll_pll_tracking.cc
glonass_l1_ca_dll_pll_c_aid_tracking.cc
@ -61,6 +62,7 @@ set(TRACKING_ADAPTER_HEADERS
gps_l1_ca_dll_pll_tracking.h
gps_l1_ca_tcp_connector_tracking.h
galileo_e5a_dll_pll_tracking.h
galileo_e5b_dll_pll_tracking.h
gps_l2_m_dll_pll_tracking.h
glonass_l1_ca_dll_pll_tracking.h
glonass_l1_ca_dll_pll_c_aid_tracking.h

145
src/algorithms/tracking/adapters/galileo_e5b_dll_pll_tracking.cc Normal file
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@ -0,0 +1,145 @@
/*!
* \file galileo_e5b_dll_pll_tracking.cc
* \brief Adapts a code DLL + carrier PLL
* tracking block to a TrackingInterface for Galileo E5b signals
* \author Piyush Gupta, 2020. piyush04111999@gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas@cttc.es
* <li> Luis Esteve, 2012. luis@epsilon-formacion.com
* <li> Marc Sales, 2014. marcsales92@gmail.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2020 (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.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -------------------------------------------------------------------------
*/
#include "galileo_e5b_dll_pll_tracking.h"
#include "Galileo_E5b.h"
#include "configuration_interface.h"
#include "display.h"
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include <glog/logging.h>
#include <array>
GalileoE5bDllPllTracking::GalileoE5bDllPllTracking(
const ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
trk_params.SetFromConfiguration(configuration, role);
auto vector_length = static_cast<int>(std::round(trk_params.fs_in / (GALILEO_E5B_CODE_CHIP_RATE_CPS / GALILEO_E5B_CODE_LENGTH_CHIPS)));
trk_params.vector_length = vector_length;
if (trk_params.extend_correlation_symbols < 1)
{
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E5b. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << '\n';
}
else if (!trk_params.track_pilot and trk_params.extend_correlation_symbols > GALILEO_E5B_I_SECONDARY_CODE_LENGTH)
{
trk_params.extend_correlation_symbols = GALILEO_E5B_I_SECONDARY_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: Galileo E5b. extend_correlation_symbols must be lower than 5 when tracking the data component. Coherent integration has been set to 4 symbols (4 ms)" << TEXT_RESET << '\n';
}
if ((trk_params.extend_correlation_symbols > 1) and (trk_params.pll_bw_narrow_hz > trk_params.pll_bw_hz or trk_params.dll_bw_narrow_hz > trk_params.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E5b. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << '\n';
}
trk_params.system = 'E';
std::array<char, 3> sig_{'7', 'X', '\0'};
std::memcpy(trk_params.signal, sig_.data(), 3);
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
}
if (out_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one output stream";
}
}
void GalileoE5bDllPllTracking::stop_tracking()
{
tracking_->stop_tracking();
}
void GalileoE5bDllPllTracking::start_tracking()
{
tracking_->start_tracking();
}
/*
* Set tracking channel unique ID
*/
void GalileoE5bDllPllTracking::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_->set_channel(channel);
}
void GalileoE5bDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_->set_gnss_synchro(p_gnss_synchro);
}
void GalileoE5bDllPllTracking::connect(gr::top_block_sptr top_block)
{
if (top_block)
{
/* top_block is not null */
};
// nothing to connect, now the tracking uses gr_sync_decimator
}
void GalileoE5bDllPllTracking::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{
/* top_block is not null */
};
// nothing to disconnect, now the tracking uses gr_sync_decimator
}
gr::basic_block_sptr GalileoE5bDllPllTracking::get_left_block()
{
return tracking_;
}
gr::basic_block_sptr GalileoE5bDllPllTracking::get_right_block()
{
return tracking_;
}

113
src/algorithms/tracking/adapters/galileo_e5b_dll_pll_tracking.h Normal file
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@ -0,0 +1,113 @@
/*!
* \file galileo_e5b_dll_pll_tracking.h
* \brief Adapts a code DLL + carrier PLL
* tracking block to a TrackingInterface for Galileo E5b signals
* \author Piyush Gupta, 2020. piyush04111999@gmail.com
* \based on work from:
* <ul>
* <li> Javier Arribas, 2011. jarribas@cttc.es
* <li> Luis Esteve, 2012. luis@epsilon-formacion.com
* <li> Marc Sales, 2014. marcsales92@gmail.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2020 (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.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E5B_DLL_PLL_TRACKING_H
#define GNSS_SDR_GALILEO_E5B_DLL_PLL_TRACKING_H
#include "dll_pll_veml_tracking.h"
#include "tracking_interface.h"
#include <string>
class ConfigurationInterface;
/*!
* \brief This class implements a code DLL + carrier PLL tracking loop
*/
class GalileoE5bDllPllTracking : public TrackingInterface
{
public:
GalileoE5bDllPllTracking(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
~GalileoE5bDllPllTracking() = default;
inline std::string role() override
{
return role_;
}
//! Returns "Galileo_E5b_DLL_PLL_Tracking"
inline std::string implementation() override
{
return "Galileo_E5b_DLL_PLL_Tracking";
}
inline size_t item_size() override
{
return item_size_;
}
/*!
* \brief Connect
*/
void connect(gr::top_block_sptr top_block) override;
/*!
* \brief Disconnect
*/
void disconnect(gr::top_block_sptr top_block) override;
/*!
* \brief Get left block
*/
gr::basic_block_sptr get_left_block() override;
/*!
* \brief Get right block
*/
gr::basic_block_sptr get_right_block() override;
/*!
* \brief Set tracking channel unique ID
*/
void set_channel(unsigned int channel) override;
/*!
* \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) override;
void start_tracking() override;
/*!
* \brief Stop running tracking
*/
void stop_tracking() override;
private:
dll_pll_veml_tracking_sptr tracking_;
size_t item_size_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
};
#endif // GNSS_SDR_GALILEO_E5B_DLL_PLL_TRACKING_H

59
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
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@ -11,7 +11,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -31,6 +31,7 @@
#include "GPS_L5.h"
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "Galileo_E5b.h"
#include "MATH_CONSTANTS.h"
#include "beidou_b1i_signal_processing.h"
#include "beidou_b3i_signal_processing.h"
@ -127,6 +128,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
map_signal_pretty_name["2S"] = "L2C";
map_signal_pretty_name["2G"] = "L2 C/A";
map_signal_pretty_name["5X"] = "E5a";
map_signal_pretty_name["7X"] = "E5b";
map_signal_pretty_name["L5"] = "L5";
map_signal_pretty_name["B1"] = "B1I";
map_signal_pretty_name["B3"] = "B3I";
@ -283,6 +285,37 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_interchange_iq = true;
}
}
else if (d_signal_type == "7X")
{
d_signal_carrier_freq = GALILEO_E5B_FREQ_HZ;
d_code_period = GALILEO_E5B_CODE_PERIOD_S;
d_code_chip_rate = GALILEO_E5B_CODE_CHIP_RATE_CPS;
d_symbols_per_bit = 4;
d_correlation_length_ms = 1;
d_code_samples_per_chip = 1;
d_code_length_chips = static_cast<int32_t>(GALILEO_E5B_CODE_LENGTH_CHIPS);
d_secondary = true;
d_trk_parameters.slope = 1.0;
d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
d_trk_parameters.y_intercept = 1.0;
if (d_trk_parameters.track_pilot)
{
// synchronize pilot secondary code
d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5B_Q_SECONDARY_CODE_LENGTH);
d_signal_pretty_name = d_signal_pretty_name + "Q";
// remove data secondary code
d_data_secondary_code_length = static_cast<uint32_t>(GALILEO_E5B_I_SECONDARY_CODE_LENGTH);
d_data_secondary_code_string = GALILEO_E5B_I_SECONDARY_CODE;
}
else
{
// synchronize and remove data secondary code
d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5B_I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = GALILEO_E5B_I_SECONDARY_CODE;
d_signal_pretty_name = d_signal_pretty_name + "I";
d_interchange_iq = true;
}
}
else
{
LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks";
@ -657,6 +690,30 @@ void dll_pll_veml_tracking::start_tracking()
}
}
}
else if (d_systemName == "Galileo" and d_signal_type == "7X")
{
volk_gnsssdr::vector<gr_complex> aux_code(d_code_length_chips);
std::array<char, 3> signal_type_ = {{'7', 'X', '\0'}};
galileo_e5_b_code_gen_complex_primary(aux_code, d_acquisition_gnss_synchro->PRN, signal_type_);
if (d_trk_parameters.track_pilot)
{
d_secondary_code_string = GALILEO_E5B_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN - 1];
for (int32_t i = 0; i < d_code_length_chips; i++)
{
d_tracking_code[i] = aux_code[i].imag();
d_data_code[i] = aux_code[i].real(); // the same because it is generated the full signal (E5bI + E5bsQ)
}
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
d_correlator_data_cpu.set_local_code_and_taps(d_code_length_chips, d_data_code.data(), d_prompt_data_shift);
}
else
{
for (int32_t i = 0; i < d_code_length_chips; i++)
{
d_tracking_code[i] = aux_code[i].real();
}
}
}
else if (d_systemName == "Beidou" and d_signal_type == "B1")
{
beidou_b1i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);

2
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
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@ -6,7 +6,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver

13
src/core/receiver/gnss_block_factory.cc
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@ -55,6 +55,7 @@
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "galileo_e5a_pcps_acquisition.h"
#include "galileo_e5a_telemetry_decoder.h"
#include "galileo_e5b_dll_pll_tracking.h"
#include "galileo_e5b_pcps_acquisition.h"
#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
#include "glonass_l1_ca_dll_pll_tracking.h"
@ -1088,6 +1089,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
out_streams);
block = std::move(block_);
}
else if (implementation == "Galileo_E5b_DLL_PLL_Tracking")
{
std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<GalileoE5bDllPllTracking>(configuration, role, in_streams,
out_streams);
block = std::move(block_);
}
else if (implementation == "GLONASS_L1_CA_DLL_PLL_Tracking")
{
std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<GlonassL1CaDllPllTracking>(configuration, role, in_streams,
@ -1489,6 +1496,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
out_streams);
block = std::move(block_);
}
else if (implementation == "Galileo_E5b_DLL_PLL_Tracking")
{
std::unique_ptr<TrackingInterface> block_ = std::make_unique<GalileoE5bDllPllTracking>(configuration, role, in_streams,
out_streams);
block = std::move(block_);
}
else if (implementation == "GPS_L2_M_DLL_PLL_Tracking")
{
std::unique_ptr<TrackingInterface> block_ = std::make_unique<GpsL2MDllPllTracking>(configuration, role, in_streams,

3
src/tests/test_main.cc
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@ -6,7 +6,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -99,6 +99,7 @@ DECLARE_string(log_dir);
#include "unit-tests/signal-processing-blocks/tracking/discriminator_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/galileo_e5b_dll_pll_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/tracking_loop_filter_test.cc"

146
src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e5b_dll_pll_tracking_test.cc Normal file
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@ -0,0 +1,146 @@
/*!
* \file galileo_e5b_dll_pll_tracking_test.cc
* \brief This class implements a tracking test for Galileo_E5b_DLL_PLL_Tracking
* implementation based on some input parameters.
* \author Piyush Gupta, 2020. piyush04111999@gmail.com
* \note Code added as part of GSoC 2020 Program.
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2012-2020 (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.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -------------------------------------------------------------------------
*/
#include "concurrent_queue.h"
#include "galileo_e5b_dll_pll_tracking.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
#include "in_memory_configuration.h"
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
class GalileoE5bTrackingTest : public ::testing::Test
{
protected:
GalileoE5bTrackingTest()
{
factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
stop = false;
message = 0;
gnss_synchro = Gnss_Synchro();
}
~GalileoE5bTrackingTest() = default;
void init();
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro;
size_t item_size;
bool stop;
int message;
};
void GalileoE5bTrackingTest::init()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'E';
std::string signal = "7X";
signal.copy(gnss_synchro.Signal, 2, 0);
gnss_synchro.PRN = 11;
config->set_property("GNSS-SDR.internal_fs_sps", "32000000");
config->set_property("Tracking_7X.implementation", "Galileo_E5b_DLL_PLL_Tracking");
config->set_property("Tracking_7X.item_type", "gr_complex");
config->set_property("Tracking_7X.dump", "false");
config->set_property("Tracking_7X.dump_filename", "../data/e5b_tracking");
config->set_property("Tracking_7X.early_late_space_chips", "0.5");
config->set_property("Tracking_7X.order", "2");
config->set_property("Tracking_7X.pll_bw_hz", "20.0");
config->set_property("Tracking_7X.dll_bw_hz", "5.0");
config->set_property("Tracking_7X.pll_bw_narrow_hz", "2.0");
config->set_property("Tracking_7X.pll_bw_narrow_hz", "2.0");
config->set_property("Tracking_7X.ti_ms", "1");
}
TEST_F(GalileoE5bTrackingTest, ValidationOfResults)
{
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
int fs_in = 32000000;
int nsamples = fs_in * 5;
init();
queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Tracking test");
// Example using smart pointers and the block factory
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config.get(), "Tracking_7X", 1, 1);
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);
// REAL
gnss_synchro.Acq_delay_samples = 10; // 32 Msps
gnss_synchro.Acq_doppler_hz = 2000; // 500 Hz resolution
gnss_synchro.Acq_samplestamp_samples = 0;
ASSERT_NO_THROW({
tracking->set_channel(gnss_synchro.Channel_ID);
}) << "Failure setting channel.";
ASSERT_NO_THROW({
tracking->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro.";
ASSERT_NO_THROW({
tracking->connect(top_block);
}) << "Failure connecting tracking to the top_block.";
ASSERT_NO_THROW({
gr::analog::sig_source_c::sptr source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
auto valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue.get());
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
top_block->connect(source, 0, valve, 0);
top_block->connect(valve, 0, tracking->get_left_block(), 0);
top_block->connect(tracking->get_right_block(), 0, sink, 0);
}) << "Failure connecting the blocks of tracking test.";
tracking->start_tracking();
EXPECT_NO_THROW({
start = std::chrono::system_clock::now();
top_block->run(); // Start threads and wait
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
}) << "Failure running the top_block.";
std::cout << "Tracked " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds\n";
}