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bds b3i: Adding code to process BeiDou B3I signals
Adds code to perform acq and trk in BeiDou B3I signals. Stages of telemetry decoding, observables computation and pvt use existing code on the platform. Some further testing is required
This commit is contained in:
Damian Miralles
@@ -179,6 +179,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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* 53 | Beidou B1I + GLONASS L1 C/A
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* 54 | Beidou B1I + GPS L1 C/A + Galileo E1B
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* 55 | Beidou B1I + GPS L1 C/A + GLONASS L1 C/A + Galileo E1B
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* 56 | Beidou B1I + Beidou B3I
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* Skipped previous values to avoid overlapping
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* 60 | Beidou B3I
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* 61 | Beidou B3I + GPS L2C
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* 62 | Beidou B3I + GLONASS L2 C/A
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* 63 | Beidou B3I + GPS L2C + GLONASS L2 C/A
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*/
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int gps_1C_count = configuration->property("Channels_1C.count", 0);
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int gps_2S_count = configuration->property("Channels_2S.count", 0);
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@@ -189,48 +195,56 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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int glo_1G_count = configuration->property("Channels_1G.count", 0);
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int glo_2G_count = configuration->property("Channels_2G.count", 0);
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int bds_B1_count = configuration->property("Channels_B1.count", 0);
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int bds_B3_count = configuration->property("Channels_B3.count", 0);
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 1; // L1
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 2;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 3; // L5
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 4; // E1
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 5; // E5a
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 6;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 1; // L1
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 2;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 3; // L5
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 4; // E1
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 5; // E5a
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 6;
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if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 7;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 8; // L1+L5
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 9; // L1+E1
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 10;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 11;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 12;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 13; // L5+E5a
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 14;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 15;
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if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 7;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 8; // L1+L5
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 9; // L1+E1
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 10;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 11;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 12;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 13; // L5+E5a
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 14;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 15;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 16;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 17;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 18;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 17;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 18;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 19;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 20;
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if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 21;
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if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 21;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) pvt_output_parameters.type_of_receiver = 22;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 23;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 24;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 25;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 26;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 27;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 28;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 29;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 30;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 31;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 23;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 24;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 25;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 26;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 27;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 28;
|
||||
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 29;
|
||||
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 30;
|
||||
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 31;
|
||||
|
||||
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 32; // L1+E1+L5+E5a
|
||||
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 32; // L1+E1+L5+E5a
|
||||
// BeiDou B1I Receiver
|
||||
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0)) pvt_output_parameters.type_of_receiver = 50;
|
||||
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0)) pvt_output_parameters.type_of_receiver = 51;
|
||||
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0)) pvt_output_parameters.type_of_receiver = 52;
|
||||
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0)) pvt_output_parameters.type_of_receiver = 53;
|
||||
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0)) pvt_output_parameters.type_of_receiver = 54;
|
||||
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0)) pvt_output_parameters.type_of_receiver = 55;
|
||||
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 50;
|
||||
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 51;
|
||||
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 52;
|
||||
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 53;
|
||||
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 54;
|
||||
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 55;
|
||||
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count != 0)) pvt_output_parameters.type_of_receiver = 56;
|
||||
// BeiDou B3I Receiver
|
||||
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count != 0)) pvt_output_parameters.type_of_receiver = 60;
|
||||
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count != 0)) pvt_output_parameters.type_of_receiver = 61;
|
||||
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count != 0)) pvt_output_parameters.type_of_receiver = 62;
|
||||
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count != 0)) pvt_output_parameters.type_of_receiver = 63;
|
||||
|
||||
|
||||
// RTKLIB PVT solver options
|
||||
// Settings 1
|
||||
@@ -256,9 +270,9 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
int num_bands = 0;
|
||||
|
||||
if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) num_bands = 1;
|
||||
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0))) num_bands = 2;
|
||||
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B1_count > 0))) num_bands = 2;
|
||||
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2;
|
||||
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3;
|
||||
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B1_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3;
|
||||
|
||||
int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
|
||||
if ((number_of_frequencies < 1) || (number_of_frequencies > 3))
|
||||
|
||||
@@ -172,6 +172,10 @@ Rinex_Printer::Rinex_Printer(int32_t conf_version, const std::string& base_path)
|
||||
observationCode["COMPASS_E6_IQ"] = "6X";
|
||||
observationCode["BEIDOU_B1_I"] = "1I";
|
||||
observationCode["BEIDOU_B1_Q"] = "1Q";
|
||||
observationCode["BEIDOU_B1_IQ"] = "1X";
|
||||
observationCode["BEIDOU_B3_I"] = "6I";
|
||||
observationCode["BEIDOU_B3_Q"] = "6Q";
|
||||
observationCode["BEIDOU_B3_IQ"] = "6X";
|
||||
|
||||
observationType["PSEUDORANGE"] = "C";
|
||||
observationType["CARRIER_PHASE"] = "L";
|
||||
|
||||
@@ -35,6 +35,7 @@ set(ACQ_ADAPTER_SOURCES
|
||||
glonass_l1_ca_pcps_acquisition.cc
|
||||
glonass_l2_ca_pcps_acquisition.cc
|
||||
beidou_b1i_pcps_acquisition.cc
|
||||
beidou_b3i_pcps_acquisition.cc
|
||||
)
|
||||
|
||||
set(ACQ_ADAPTER_HEADERS
|
||||
@@ -54,6 +55,8 @@ set(ACQ_ADAPTER_HEADERS
|
||||
galileo_e5a_pcps_acquisition.h
|
||||
glonass_l1_ca_pcps_acquisition.h
|
||||
glonass_l2_ca_pcps_acquisition.h
|
||||
beidou_b1i_pcps_acquisition.h
|
||||
beidou_b3i_pcps_acquisition.h
|
||||
)
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
|
||||
@@ -0,0 +1,341 @@
|
||||
/*!
|
||||
* \file beidou_b3i_pcps_acquisition.cc
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* BeiDou B3I signals
|
||||
* \author Damian Miralles, 2019. dmiralles2009@gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "beidou_b3i_pcps_acquisition.h"
|
||||
#include "configuration_interface.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "acq_conf.h"
|
||||
#include <boost/math/distributions/exponential.hpp>
|
||||
#include <glog/logging.h>
|
||||
|
||||
#include "beidou_b3i_signal_processing.h"
|
||||
#include "Beidou_B3I.h"
|
||||
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
|
||||
ConfigurationInterface* configuration,
|
||||
std::string role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams) : role_(role),
|
||||
in_streams_(in_streams),
|
||||
out_streams_(out_streams)
|
||||
{
|
||||
Acq_Conf acq_parameters = Acq_Conf();
|
||||
configuration_ = configuration;
|
||||
std::string default_item_type = "gr_complex";
|
||||
std::string default_dump_filename = "./data/acquisition.dat";
|
||||
|
||||
DLOG(INFO) << "role " << role;
|
||||
|
||||
item_type_ = configuration_->property(role + ".item_type", default_item_type);
|
||||
|
||||
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
|
||||
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
|
||||
acq_parameters.fs_in = fs_in_;
|
||||
dump_ = configuration_->property(role + ".dump", false);
|
||||
acq_parameters.dump = dump_;
|
||||
blocking_ = configuration_->property(role + ".blocking", true);
|
||||
acq_parameters.blocking = blocking_;
|
||||
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
|
||||
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
|
||||
acq_parameters.doppler_max = doppler_max_;
|
||||
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
|
||||
acq_parameters.sampled_ms = sampled_ms_;
|
||||
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
|
||||
acq_parameters.bit_transition_flag = bit_transition_flag_;
|
||||
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
|
||||
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
|
||||
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
|
||||
acq_parameters.max_dwells = max_dwells_;
|
||||
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
|
||||
acq_parameters.dump_filename = dump_filename_;
|
||||
//--- Find number of samples per spreading code -------------------------
|
||||
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / ( BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS)));
|
||||
|
||||
vector_length_ = code_length_ * sampled_ms_;
|
||||
|
||||
if (bit_transition_flag_)
|
||||
{
|
||||
vector_length_ *= 2;
|
||||
}
|
||||
|
||||
code_ = new gr_complex[vector_length_];
|
||||
|
||||
if (item_type_.compare("cshort") == 0)
|
||||
{
|
||||
item_size_ = sizeof(lv_16sc_t);
|
||||
}
|
||||
else
|
||||
{
|
||||
item_size_ = sizeof(gr_complex);
|
||||
}
|
||||
acq_parameters.it_size = item_size_;
|
||||
acq_parameters.sampled_ms = sampled_ms_;
|
||||
acq_parameters.samples_per_ms = code_length_;
|
||||
acq_parameters.samples_per_code = code_length_;
|
||||
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
|
||||
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
|
||||
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
|
||||
acquisition_ = pcps_make_acquisition(acq_parameters);
|
||||
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
|
||||
|
||||
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
|
||||
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
|
||||
|
||||
if (item_type_.compare("cbyte") == 0)
|
||||
{
|
||||
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
|
||||
float_to_complex_ = gr::blocks::float_to_complex::make();
|
||||
}
|
||||
|
||||
channel_ = 0;
|
||||
threshold_ = 0.0;
|
||||
doppler_step_ = 0;
|
||||
gnss_synchro_ = 0;
|
||||
if (in_streams_ > 1)
|
||||
{
|
||||
LOG(ERROR) << "This implementation only supports one input stream";
|
||||
}
|
||||
if (out_streams_ > 0)
|
||||
{
|
||||
LOG(ERROR) << "This implementation does not provide an output stream";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
BeidouB3iPcpsAcquisition::~BeidouB3iPcpsAcquisition()
|
||||
{
|
||||
delete[] code_;
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iPcpsAcquisition::stop_acquisition()
|
||||
{
|
||||
}
|
||||
|
||||
void BeidouB3iPcpsAcquisition::set_channel(unsigned int channel)
|
||||
{
|
||||
channel_ = channel;
|
||||
acquisition_->set_channel(channel_);
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iPcpsAcquisition::set_threshold(float threshold)
|
||||
{
|
||||
float pfa = configuration_->property(role_ + ".pfa", 0.0);
|
||||
|
||||
if (pfa == 0.0)
|
||||
{
|
||||
threshold_ = threshold;
|
||||
}
|
||||
else
|
||||
{
|
||||
threshold_ = calculate_threshold(pfa);
|
||||
}
|
||||
|
||||
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
|
||||
|
||||
acquisition_->set_threshold(threshold_);
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
|
||||
{
|
||||
doppler_max_ = doppler_max;
|
||||
|
||||
acquisition_->set_doppler_max(doppler_max_);
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
|
||||
{
|
||||
doppler_step_ = doppler_step;
|
||||
|
||||
acquisition_->set_doppler_step(doppler_step_);
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
|
||||
{
|
||||
gnss_synchro_ = gnss_synchro;
|
||||
|
||||
acquisition_->set_gnss_synchro(gnss_synchro_);
|
||||
}
|
||||
|
||||
|
||||
signed int BeidouB3iPcpsAcquisition::mag()
|
||||
{
|
||||
return acquisition_->mag();
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iPcpsAcquisition::init()
|
||||
{
|
||||
acquisition_->init();
|
||||
set_local_code();
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iPcpsAcquisition::set_local_code()
|
||||
{
|
||||
std::complex<float>* code = new std::complex<float>[code_length_];
|
||||
|
||||
beidou_b3i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
|
||||
|
||||
for (unsigned int i = 0; i < sampled_ms_; i++)
|
||||
{
|
||||
memcpy(&(code_[i * code_length_]), code,
|
||||
sizeof(gr_complex) * code_length_);
|
||||
}
|
||||
|
||||
acquisition_->set_local_code(code_);
|
||||
delete[] code;
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iPcpsAcquisition::reset()
|
||||
{
|
||||
acquisition_->set_active(true);
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iPcpsAcquisition::set_state(int state)
|
||||
{
|
||||
acquisition_->set_state(state);
|
||||
}
|
||||
|
||||
|
||||
float BeidouB3iPcpsAcquisition::calculate_threshold(float pfa)
|
||||
{
|
||||
//Calculate the threshold
|
||||
unsigned int frequency_bins = 0;
|
||||
/*
|
||||
for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
|
||||
{
|
||||
frequency_bins++;
|
||||
}
|
||||
*/
|
||||
|
||||
frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
|
||||
|
||||
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
|
||||
unsigned int ncells = vector_length_ * frequency_bins;
|
||||
double exponent = 1 / static_cast<double>(ncells);
|
||||
double val = pow(1.0 - pfa, exponent);
|
||||
double lambda = static_cast<double>(vector_length_);
|
||||
boost::math::exponential_distribution<double> mydist(lambda);
|
||||
float threshold = static_cast<float>(quantile(mydist, val));
|
||||
|
||||
return threshold;
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iPcpsAcquisition::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
// nothing to connect
|
||||
}
|
||||
else if (item_type_.compare("cshort") == 0)
|
||||
{
|
||||
// nothing to connect
|
||||
}
|
||||
else if (item_type_.compare("cbyte") == 0)
|
||||
{
|
||||
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
|
||||
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
|
||||
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG(WARNING) << item_type_ << " unknown acquisition item type";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
// nothing to disconnect
|
||||
}
|
||||
else if (item_type_.compare("cshort") == 0)
|
||||
{
|
||||
// nothing to disconnect
|
||||
}
|
||||
else if (item_type_.compare("cbyte") == 0)
|
||||
{
|
||||
// Since a byte-based acq implementation is not available,
|
||||
// we just convert cshorts to gr_complex
|
||||
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
|
||||
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
|
||||
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG(WARNING) << item_type_ << " unknown acquisition item type";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr BeidouB3iPcpsAcquisition::get_left_block()
|
||||
{
|
||||
if (item_type_.compare("gr_complex") == 0)
|
||||
{
|
||||
return acquisition_;
|
||||
}
|
||||
else if (item_type_.compare("cshort") == 0)
|
||||
{
|
||||
return acquisition_;
|
||||
}
|
||||
else if (item_type_.compare("cbyte") == 0)
|
||||
{
|
||||
return cbyte_to_float_x2_;
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG(WARNING) << item_type_ << " unknown acquisition item type";
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr BeidouB3iPcpsAcquisition::get_right_block()
|
||||
{
|
||||
return acquisition_;
|
||||
}
|
||||
|
||||
void BeidouB3iPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
|
||||
{
|
||||
acquisition_->set_resampler_latency(latency_samples);
|
||||
}
|
||||
@@ -0,0 +1,178 @@
|
||||
/*!
|
||||
* \file beidou_b3i_pcps_acquisition.h
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Beidou B3I signals
|
||||
* \author Damian Miralles, 2019. dmiralles2009@gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_BEIDOU_B3I_PCPS_ACQUISITION_H_
|
||||
#define GNSS_SDR_BEIDOU_B3I_PCPS_ACQUISITION_H_
|
||||
|
||||
#include "acq_conf.h"
|
||||
#include "acquisition_interface.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "pcps_acquisition.h"
|
||||
#include "complex_byte_to_float_x2.h"
|
||||
#include <gnuradio/blocks/stream_to_vector.h>
|
||||
#include <gnuradio/blocks/float_to_complex.h>
|
||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
||||
#include <string>
|
||||
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
|
||||
* for BeiDou B3I signals
|
||||
*/
|
||||
class BeidouB3iPcpsAcquisition : public AcquisitionInterface
|
||||
{
|
||||
public:
|
||||
BeidouB3iPcpsAcquisition(ConfigurationInterface* configuration,
|
||||
std::string role, unsigned int in_streams,
|
||||
unsigned int out_streams);
|
||||
|
||||
virtual ~BeidouB3iPcpsAcquisition();
|
||||
|
||||
inline std::string role() override
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns "BEIDOU_B1I_PCPS_Acquisition"
|
||||
*/
|
||||
inline std::string implementation() override
|
||||
{
|
||||
return "BEIDOU_B3I_PCPS_Acquisition";
|
||||
}
|
||||
|
||||
inline size_t item_size() override
|
||||
{
|
||||
return item_size_;
|
||||
}
|
||||
|
||||
void connect(gr::top_block_sptr top_block) override;
|
||||
void disconnect(gr::top_block_sptr top_block) override;
|
||||
gr::basic_block_sptr get_left_block() override;
|
||||
gr::basic_block_sptr get_right_block() 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;
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition channel unique ID
|
||||
*/
|
||||
void set_channel(unsigned int channel) override;
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm
|
||||
*/
|
||||
void set_threshold(float threshold) override;
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler off grid search
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max) override;
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step) override;
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init() override;
|
||||
|
||||
/*!
|
||||
* \brief Sets local code for GPS L1/CA PCPS acquisition algorithm.
|
||||
*/
|
||||
void set_local_code() override;
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search
|
||||
*/
|
||||
signed int mag() override;
|
||||
|
||||
/*!
|
||||
* \brief Restart acquisition algorithm
|
||||
*/
|
||||
void reset() override;
|
||||
|
||||
/*!
|
||||
* \brief If state = 1, it forces the block to start acquiring from the first sample
|
||||
*/
|
||||
void set_state(int state) override;
|
||||
|
||||
/*!
|
||||
* \brief Stop running acquisition
|
||||
*/
|
||||
void stop_acquisition() override;
|
||||
|
||||
/*!
|
||||
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
|
||||
*/
|
||||
void set_resampler_latency(uint32_t latency_samples) override;
|
||||
|
||||
|
||||
private:
|
||||
ConfigurationInterface* configuration_;
|
||||
pcps_acquisition_sptr acquisition_;
|
||||
gr::blocks::stream_to_vector::sptr stream_to_vector_;
|
||||
gr::blocks::float_to_complex::sptr float_to_complex_;
|
||||
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
|
||||
size_t item_size_;
|
||||
std::string item_type_;
|
||||
unsigned int vector_length_;
|
||||
unsigned int code_length_;
|
||||
bool bit_transition_flag_;
|
||||
bool use_CFAR_algorithm_flag_;
|
||||
unsigned int channel_;
|
||||
float threshold_;
|
||||
unsigned int doppler_max_;
|
||||
unsigned int doppler_step_;
|
||||
unsigned int sampled_ms_;
|
||||
unsigned int max_dwells_;
|
||||
long fs_in_;
|
||||
bool dump_;
|
||||
bool blocking_;
|
||||
std::string dump_filename_;
|
||||
std::complex<float>* code_;
|
||||
Gnss_Synchro* gnss_synchro_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
|
||||
float calculate_threshold(float pfa);
|
||||
};
|
||||
|
||||
#endif /* GNSS_SDR_BEIDOU_B3I_PCPS_ACQUISITION_H_ */
|
||||
@@ -31,6 +31,7 @@ set(GNSS_SPLIBS_SOURCES
|
||||
pass_through.cc
|
||||
galileo_e5_signal_processing.cc
|
||||
beidou_b1i_signal_processing.cc
|
||||
beidou_b3i_signal_processing.cc
|
||||
complex_byte_to_float_x2.cc
|
||||
byte_x2_to_complex_byte.cc
|
||||
cshort_to_float_x2.cc
|
||||
@@ -56,6 +57,7 @@ set(GNSS_SPLIBS_HEADERS
|
||||
pass_through.h
|
||||
galileo_e5_signal_processing.h
|
||||
beidou_b1i_signal_processing.h
|
||||
beidou_b1i_signal_processing.h
|
||||
complex_byte_to_float_x2.h
|
||||
byte_x2_to_complex_byte.h
|
||||
cshort_to_float_x2.h
|
||||
|
||||
194
src/algorithms/libs/beidou_b3i_signal_processing.cc
Normal file
194
src/algorithms/libs/beidou_b3i_signal_processing.cc
Normal file
@@ -0,0 +1,194 @@
|
||||
/*!
|
||||
* \file beidou_b3i_signal_processing.cc
|
||||
* \brief This class implements various functions for BeiDou B1I signal
|
||||
* \author Damian Miralles, 2019. dmiralles2009@gmail.com
|
||||
*
|
||||
* Detailed description of the file here if needed.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "beidou_b3i_signal_processing.h"
|
||||
|
||||
auto auxCeil = [](float x) { return static_cast<int>(static_cast<long>((x) + 1)); };
|
||||
|
||||
void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shift)
|
||||
{
|
||||
const unsigned int _code_length = 10230;
|
||||
int8_t G1[_code_length];
|
||||
int8_t G2[_code_length];
|
||||
std::array<int8_t,13> G1_register = {{-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}};
|
||||
std::array<int8_t,13> G2_register = {{-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}};
|
||||
std::array<int8_t,13> G1_register_reset = {{-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,1,1}};
|
||||
int8_t feedback1, feedback2;
|
||||
uint32_t lcv, lcv2;
|
||||
int32_t prn_idx = _prn - 1;
|
||||
|
||||
std::array<std::array<int8_t, 13>, 63> G2_register_shifted = {{
|
||||
{{-1,1,-1,1,-1,-1,-1,-1,-1,-1,-1,-1,-1}}, {{-1,-1,-1,-1,1,1,1,-1,1,-1,1,-1,-1}},
|
||||
{{-1,1,-1,-1,-1,-1,1,1,1,-1,1,-1,1}}, {{-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,1,-1,-1}},
|
||||
{{-1,-1,1,1,-1,1,1,1,-1,-1,-1,-1,-1}}, {{-1,1,1,-1,1,1,-1,-1,1,1,-1,1,1}},
|
||||
{{-1,-1,-1,-1,-1,-1,-1,1,-1,1,1,-1,1}}, {{-1,-1,-1,1,-1,-1,-1,-1,-1,-1,-1,1,-1}},
|
||||
{{-1,1,-1,1,1,1,1,1,1,1,1,-1,1}}, {{1,1,-1,1,1,1,1,1,-1,-1,1,-1,-1}},
|
||||
{{-1,-1,-1,1,-1,1,-1,-1,-1,1,1,1,1}}, {{1,1,-1,1,-1,-1,1,1,-1,-1,-1,-1,1}},
|
||||
{{1,-1,-1,1,1,-1,1,1,-1,1,-1,1,-1}}, {{1,-1,-1,-1,1,1,1,-1,1,1,-1,-1,1}},
|
||||
{{-1,1,1,1,-1,-1,1,1,1,-1,1,1,-1}}, {{-1,-1,-1,1,1,1,-1,-1,-1,-1,-1,1,1}},
|
||||
{{1,1,-1,1,1,-1,-1,1,1,1,-1,1,-1}}, {{1,1,1,1,1,-1,-1,-1,1,-1,-1,1,1}},
|
||||
{{-1,1,1,1,-1,1,-1,1,-1,1,-1,-1,-1}}, {{1,1,1,-1,1,-1,-1,1,-1,-1,-1,-1,1}},
|
||||
{{1,1,-1,1,1,1,1,-1,1,-1,-1,1,-1}}, {{1,1,-1,1,-1,-1,1,1,1,-1,1,-1,1}},
|
||||
{{1,1,1,-1,1,-1,-1,1,1,-1,-1,-1,-1}}, {{1,1,-1,-1,1,1,-1,-1,1,1,1,-1,1}},
|
||||
{{1,1,-1,-1,-1,1,-1,1,1,-1,1,1,1}}, {{1,-1,1,1,-1,1,1,-1,1,-1,1,1,-1}},
|
||||
{{-1,1,-1,-1,1,-1,-1,1,-1,1,1,-1,-1}}, {{-1,1,-1,1,-1,-1,-1,-1,1,1,1,-1,1}},
|
||||
{{1,1,1,-1,1,-1,-1,-1,-1,1,-1,1,-1}}, {{1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}},
|
||||
{{1,-1,-1,1,-1,-1,1,1,1,-1,-1,-1,-1}}, {{-1,1,-1,1,-1,-1,1,1,1,-1,1,1,-1}},
|
||||
{{-1,1,1,-1,1,-1,1,-1,1,-1,1,-1,-1}}, {{-1,-1,1,1,-1,-1,1,-1,1,1,-1,1,-1}},
|
||||
{{-1,-1,1,-1,1,1,-1,1,-1,-1,-1,1,-1}}, {{-1,-1,-1,-1,-1,1,-1,-1,-1,1,-1,1,1}},
|
||||
{{1,1,-1,1,-1,1,-1,-1,1,1,-1,-1,-1}}, {{-1,-1,-1,1,-1,1,1,1,-1,1,1,1,1}},
|
||||
{{-1,-1,1,-1,-1,-1,1,1,-1,1,1,1,1}}, {{-1,-1,1,-1,1,-1,-1,1,1,-1,-1,-1,1}},
|
||||
{{-1,1,1,1,1,1,1,-1,-1,1,-1,1,1}}, {{1,-1,1,-1,-1,-1,-1,1,-1,-1,1,1,-1}},
|
||||
{{1,-1,-1,1,-1,-1,1,-1,-1,-1,-1,1,1}}, {{-1,-1,1,-1,1,1,-1,-1,-1,1,1,1,-1}},
|
||||
{{1,1,-1,-1,-1,1,1,-1,1,1,1,-1,1}}, {{1,-1,1,-1,1,-1,-1,1,1,1,-1,1,-1}},
|
||||
{{-1,1,1,-1,-1,-1,-1,-1,1,1,-1,-1,1}}, {{-1,-1,-1,-1,-1,1,-1,1,1,-1,1,1,1}},
|
||||
{{1,1,1,1,-1,1,-1,1,1,-1,1,1,-1}}, {{-1,1,1,1,1,-1,1,-1,1,-1,-1,1,1}},
|
||||
{{-1,-1,-1,-1,1,1,-1,1,1,-1,-1,1,1}}, {{1,-1,1,1,-1,-1,1,1,1,-1,-1,-1,-1}},
|
||||
{{1,1,1,1,1,1,1,1,-1,-1,1,1,1}}, {{-1,1,1,1,1,1,1,1,1,1,-1,1,1}},
|
||||
{{1,1,-1,-1,1,-1,1,-1,1,1,-1,-1,1}}, {{-1,1,-1,-1,1,1,-1,1,1,1,-1,-1,1}},
|
||||
{{1,-1,-1,-1,1,1,-1,-1,-1,-1,1,1,1}}, {{1,1,-1,1,-1,-1,-1,1,1,-1,1,-1,1}},
|
||||
{{-1,-1,1,1,-1,-1,-1,-1,-1,1,-1,-1,1}}, {{-1,1,1,-1,1,1,-1,1,1,1,-1,1,-1}},
|
||||
{{1,-1,-1,-1,1,1,1,-1,1,1,1,1,1}}, {{1,1,-1,-1,1,1,-1,1,1,1,1,-1,1}},
|
||||
{{1,1,-1,1,1,1,-1,1,1,-1,-1,-1,1}}}};
|
||||
|
||||
/* A simple error check */
|
||||
if ((prn_idx < 0) || (prn_idx > 64))
|
||||
return;
|
||||
|
||||
/*Assign shifted G2 register based on prn number*/
|
||||
G2_register = G2_register_shifted[prn_idx];
|
||||
|
||||
/* Generate G1 and G2 Register */
|
||||
for (lcv = 0; lcv < _code_length; lcv++)
|
||||
{
|
||||
G1[lcv] = G1_register[12];
|
||||
G2[lcv] = G2_register[12];
|
||||
|
||||
feedback1 = G1_register[0]*G1_register[2]*G1_register[3]*G1_register[12];
|
||||
feedback2 = G2_register[0]*G2_register[4]*G2_register[5]*G2_register[6]*
|
||||
G2_register[8]*G2_register[9]*G2_register[11]*G2_register[12];
|
||||
|
||||
for (lcv2 = 0; lcv2 < 12; lcv2++)
|
||||
{
|
||||
G1_register[lcv2 + 1] = G1_register[lcv2];
|
||||
G2_register[lcv2 + 1] = G2_register[lcv2];
|
||||
}
|
||||
|
||||
G1_register[0] = feedback1;
|
||||
G2_register[0] = feedback2;
|
||||
|
||||
// Reset G1 register if sequence found
|
||||
if(G1_register == G1_register_reset)
|
||||
{
|
||||
G1_register = {{-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}};
|
||||
}
|
||||
|
||||
// Generate ranging code
|
||||
_dest[lcv] = static_cast<int>(-G1[lcv]*G2[lcv]);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void beidou_b3i_code_gen_float(float* _dest, signed int _prn, unsigned int _chip_shift)
|
||||
{
|
||||
unsigned int _code_length = 10230;
|
||||
int b3i_code_int[10230];
|
||||
|
||||
beidou_b3i_code_gen_int(b3i_code_int, _prn, _chip_shift);
|
||||
|
||||
for (unsigned int ii = 0; ii < _code_length; ++ii)
|
||||
{
|
||||
_dest[ii] = static_cast<float>(b3i_code_int[ii]);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void beidou_b3i_code_gen_complex(std::complex<float>* _dest, signed int _prn, unsigned int _chip_shift)
|
||||
{
|
||||
unsigned int _code_length = 10230;
|
||||
int b3i_code_int[10230];
|
||||
|
||||
beidou_b3i_code_gen_int(b3i_code_int, _prn, _chip_shift);
|
||||
|
||||
for (unsigned int ii = 0; ii < _code_length; ++ii)
|
||||
{
|
||||
_dest[ii] = std::complex<float>(static_cast<float>(b3i_code_int[ii]), 0.0f);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void beidou_b3i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift)
|
||||
{
|
||||
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
|
||||
std::complex<float> _code[10230];
|
||||
signed int _samplesPerCode, _codeValueIndex;
|
||||
float _ts;
|
||||
float _tc;
|
||||
float aux;
|
||||
const signed int _codeFreqBasis = 10230000; //Hz
|
||||
const signed int _codeLength = 10230;
|
||||
|
||||
//--- Find number of samples per spreading code ----------------------------
|
||||
_samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
|
||||
|
||||
//--- Find time constants --------------------------------------------------
|
||||
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
|
||||
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
|
||||
beidou_b3i_code_gen_complex(_code, _prn, _chip_shift); //generate C/A code 1 sample per chip
|
||||
|
||||
for (signed int i = 0; i < _samplesPerCode; i++)
|
||||
{
|
||||
//=== Digitizing =======================================================
|
||||
|
||||
//--- Make index array to read C/A code values -------------------------
|
||||
// The length of the index array depends on the sampling frequency -
|
||||
// number of samples per millisecond (because one C/A code period is one
|
||||
// millisecond).
|
||||
|
||||
// _codeValueIndex = ceil((_ts * ((float)i + 1)) / _tc) - 1;
|
||||
aux = (_ts * (i + 1)) / _tc;
|
||||
_codeValueIndex = auxCeil(aux) - 1;
|
||||
|
||||
//--- Make the digitized version of the C/A code -----------------------
|
||||
// The "upsampled" code is made by selecting values form the CA code
|
||||
// chip array (caCode) for the time instances of each sample.
|
||||
if (i == _samplesPerCode - 1)
|
||||
{
|
||||
//--- Correct the last index (due to number rounding issues) -----------
|
||||
_dest[i] = _code[_codeLength - 1];
|
||||
}
|
||||
else
|
||||
{
|
||||
_dest[i] = _code[_codeValueIndex]; //repeat the chip -> upsample
|
||||
}
|
||||
}
|
||||
}
|
||||
56
src/algorithms/libs/beidou_b3i_signal_processing.h
Normal file
56
src/algorithms/libs/beidou_b3i_signal_processing.h
Normal file
@@ -0,0 +1,56 @@
|
||||
/*!
|
||||
* \file beidou_b3i_signal_processing.h
|
||||
* \brief This class implements various functions for BeiDou B3I signals
|
||||
* \author Damian Miralles, 2019. dmiralles2009@gmail.com
|
||||
*
|
||||
* Detailed description of the file here if needed.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef BEIDOU_B3I_SDR_SIGNAL_PROCESSING_H_
|
||||
#define BEIDOU_B3I_SDR_SIGNAL_PROCESSING_H_
|
||||
|
||||
#include <complex>
|
||||
#include <iostream>
|
||||
#include <cstdint>
|
||||
#include <array>
|
||||
|
||||
//!Generates int BeiDou B3I code for the desired SV ID and code shift
|
||||
void beidou_b3i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shift);
|
||||
|
||||
//!Generates float BeiDou B3I code for the desired SV ID and code shift
|
||||
void beidou_b3i_code_gen_float(float* _dest, signed int _prn, unsigned int _chip_shift);
|
||||
|
||||
//!Generates complex BeiDou B3I code for the desired SV ID and code shift, and sampled to specific sampling frequency
|
||||
void beidou_b3i_code_gen_complex(std::complex<float>* _dest, signed int _prn, unsigned int _chip_shift);
|
||||
|
||||
//! Generates N complex BeiDou B3I codes for the desired SV ID and code shift
|
||||
void beidou_b3i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift, unsigned int _ncodes);
|
||||
|
||||
//! Generates complex BeiDou B3I code for the desired SV ID and code shift
|
||||
void beidou_b3i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift);
|
||||
|
||||
#endif /* BEIDOU_B3I_SDR_SIGNAL_PROCESSING_H_ */
|
||||
@@ -27,6 +27,7 @@ set(TELEMETRY_DECODER_ADAPTER_SOURCES
|
||||
glonass_l1_ca_telemetry_decoder.cc
|
||||
glonass_l2_ca_telemetry_decoder.cc
|
||||
beidou_b1i_telemetry_decoder.cc
|
||||
beidou_b3i_telemetry_decoder.cc
|
||||
)
|
||||
|
||||
set(TELEMETRY_DECODER_ADAPTER_HEADERS
|
||||
@@ -38,7 +39,8 @@ set(TELEMETRY_DECODER_ADAPTER_HEADERS
|
||||
galileo_e5a_telemetry_decoder.h
|
||||
glonass_l1_ca_telemetry_decoder.h
|
||||
glonass_l2_ca_telemetry_decoder.h
|
||||
beidou_b1i_telemetry_decoder.h
|
||||
beidou_b1i_telemetry_decoder.h
|
||||
beidou_b3i_telemetry_decoder.h
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
@@ -0,0 +1,112 @@
|
||||
/*!
|
||||
* \file beidou_b3i_telemetry_decoder.cc
|
||||
* \brief Implementation of an adapter of a Beidou B1I NAV data decoder block
|
||||
* to a TelemetryDecoderInterface
|
||||
* \author Damian Miralles, 2019. dmiralles2009@gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "beidou_b3i_telemetry_decoder.h"
|
||||
#include "configuration_interface.h"
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <glog/logging.h>
|
||||
#include "beidou_dnav_almanac.h"
|
||||
#include "beidou_dnav_ephemeris.h"
|
||||
#include "beidou_dnav_iono.h"
|
||||
#include "beidou_dnav_utc_model.h"
|
||||
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
BeidouB3iTelemetryDecoder::BeidouB3iTelemetryDecoder(ConfigurationInterface* configuration,
|
||||
std::string role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams) : role_(role),
|
||||
in_streams_(in_streams),
|
||||
out_streams_(out_streams)
|
||||
{
|
||||
std::string default_dump_filename = "./navigation.dat";
|
||||
DLOG(INFO) << "role " << role;
|
||||
dump_ = configuration->property(role + ".dump", false);
|
||||
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
|
||||
// make telemetry decoder object
|
||||
telemetry_decoder_ = beidou_b3i_make_telemetry_decoder_cc(satellite_, dump_); // TODO fix me
|
||||
DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
|
||||
channel_ = 0;
|
||||
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";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
BeidouB3iTelemetryDecoder::~BeidouB3iTelemetryDecoder()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iTelemetryDecoder::set_satellite(const Gnss_Satellite& satellite)
|
||||
{
|
||||
satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
telemetry_decoder_->set_satellite(satellite_);
|
||||
DLOG(INFO) << "TELEMETRY DECODER: satellite set to " << satellite_;
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iTelemetryDecoder::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (top_block)
|
||||
{ /* top_block is not null */
|
||||
};
|
||||
// Nothing to connect internally
|
||||
DLOG(INFO) << "nothing to connect internally";
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iTelemetryDecoder::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (top_block)
|
||||
{ /* top_block is not null */
|
||||
};
|
||||
// Nothing to disconnect
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_left_block()
|
||||
{
|
||||
return telemetry_decoder_;
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_right_block()
|
||||
{
|
||||
return telemetry_decoder_;
|
||||
}
|
||||
@@ -0,0 +1,95 @@
|
||||
/*!
|
||||
* \file beidou_b3i_telemetry_decoder.h
|
||||
* \brief Interface of an adapter of a Beidou B3I NAV data decoder block
|
||||
* to a TelemetryDecoderInterface
|
||||
* \author Damian Miralles, 2019. dmiralles2009@gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#ifndef GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_H_
|
||||
#define GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_H_
|
||||
|
||||
#include "telemetry_decoder_interface.h"
|
||||
#include <string>
|
||||
#include "beidou_b3i_telemetry_decoder_cc.h"
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class implements a NAV data decoder for BEIDOU B1I
|
||||
*/
|
||||
class BeidouB3iTelemetryDecoder : public TelemetryDecoderInterface
|
||||
{
|
||||
public:
|
||||
BeidouB3iTelemetryDecoder(ConfigurationInterface* configuration,
|
||||
std::string role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams);
|
||||
|
||||
virtual ~BeidouB3iTelemetryDecoder();
|
||||
|
||||
inline std::string role() override
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
//! Returns "BEIDOU_B3I_Telemetry_Decoder"
|
||||
inline std::string implementation() override
|
||||
{
|
||||
return "BEIDOU_B3I_Telemetry_Decoder";
|
||||
}
|
||||
|
||||
void connect(gr::top_block_sptr top_block) override;
|
||||
void disconnect(gr::top_block_sptr top_block) override;
|
||||
gr::basic_block_sptr get_left_block() override;
|
||||
gr::basic_block_sptr get_right_block() override;
|
||||
|
||||
void set_satellite(const Gnss_Satellite& satellite) override;
|
||||
inline void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
|
||||
|
||||
inline void reset() override
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
inline size_t item_size() override
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
private:
|
||||
beidou_b3i_telemetry_decoder_cc_sptr telemetry_decoder_;
|
||||
Gnss_Satellite satellite_;
|
||||
int channel_;
|
||||
bool dump_;
|
||||
std::string dump_filename_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -25,6 +25,7 @@ set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES
|
||||
glonass_l2_ca_telemetry_decoder_cc.cc
|
||||
galileo_telemetry_decoder_cc.cc
|
||||
beidou_b1i_telemetry_decoder_cc.cc
|
||||
beidou_b3i_telemetry_decoder_cc.cc
|
||||
)
|
||||
|
||||
set(TELEMETRY_DECODER_GR_BLOCKS_HEADERS
|
||||
@@ -36,6 +37,7 @@ set(TELEMETRY_DECODER_GR_BLOCKS_HEADERS
|
||||
glonass_l2_ca_telemetry_decoder_cc.h
|
||||
galileo_telemetry_decoder_cc.h
|
||||
beidou_b1i_telemetry_decoder_cc.h
|
||||
beidou_b3i_telemetry_decoder_cc.cc
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
@@ -182,6 +182,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(int32_t *bits, int32_t
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void beidou_b1i_telemetry_decoder_cc::decode_word(
|
||||
int32_t word_counter,
|
||||
double* enc_word_symbols,
|
||||
@@ -310,6 +311,7 @@ void beidou_b1i_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satell
|
||||
// Update satellite information for DNAV decoder
|
||||
sat_prn = d_satellite.get_PRN();
|
||||
d_nav.i_satellite_PRN = sat_prn;
|
||||
d_nav.i_signal_type = 1; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
|
||||
|
||||
// Update tel dec parameters for D2 NAV Messages
|
||||
if ( sat_prn > 0 and sat_prn < 6 )
|
||||
|
||||
@@ -42,6 +42,7 @@
|
||||
#include "gnss_satellite.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "Beidou_B1I.h"
|
||||
#include "Beidou_DNAV.h"
|
||||
#include <gnuradio/block.h>
|
||||
#include <fstream>
|
||||
#include <string>
|
||||
|
||||
@@ -0,0 +1,594 @@
|
||||
/*!
|
||||
* \file beidou_b3i_telemetry_decoder_cc.cc
|
||||
* \brief Implementation of an adapter of a BEIDOU B31 DNAV data decoder block
|
||||
* to a TelemetryDecoderInterface
|
||||
* \author Damian Miralles, 2019. dmiralles2009(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "beidou_b3i_telemetry_decoder_cc.h"
|
||||
#include "control_message_factory.h"
|
||||
#include "convolutional.h"
|
||||
#include "display.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <glog/logging.h>
|
||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
||||
#include <iostream>
|
||||
|
||||
#define CRC_ERROR_LIMIT 8
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
|
||||
beidou_b3i_telemetry_decoder_cc_sptr
|
||||
beidou_b3i_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump)
|
||||
{
|
||||
return beidou_b3i_telemetry_decoder_cc_sptr(new beidou_b3i_telemetry_decoder_cc(satellite, dump));
|
||||
}
|
||||
|
||||
|
||||
beidou_b3i_telemetry_decoder_cc::beidou_b3i_telemetry_decoder_cc(
|
||||
const Gnss_Satellite &satellite,
|
||||
bool dump) : gr::block("beidou_b3i_telemetry_decoder_cc",
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
{
|
||||
// Ephemeris data port out
|
||||
this->message_port_register_out(pmt::mp("telemetry"));
|
||||
// initialize internal vars
|
||||
d_dump = dump;
|
||||
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_B3I_CODE_RATE_HZ / BEIDOU_B3I_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_B3I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
||||
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_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
|
||||
|
||||
// Setting samples of secondary code
|
||||
for (int32_t i = 0; i < BEIDOU_B3I_SECONDARY_CODE_LENGTH; i++)
|
||||
{
|
||||
if (BEIDOU_B3I_SECONDARY_CODE.at(i) == '1')
|
||||
{
|
||||
d_secondary_code_symbols[i] = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_secondary_code_symbols[i] = -1;
|
||||
}
|
||||
}
|
||||
|
||||
// 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_B3I_SECONDARY_CODE_LENGTH;
|
||||
}
|
||||
}
|
||||
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_B3I_SECONDARY_CODE_LENGTH;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
|
||||
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
|
||||
|
||||
// Generic settings
|
||||
d_sample_counter = 0;
|
||||
d_stat = 0;
|
||||
d_preamble_index = 0;
|
||||
d_flag_frame_sync = false;
|
||||
d_TOW_at_current_symbol_ms = 0;
|
||||
Flag_valid_word = false;
|
||||
d_CRC_error_counter = 0;
|
||||
d_flag_preamble = false;
|
||||
d_channel = 0;
|
||||
flag_SOW_set = false;
|
||||
|
||||
}
|
||||
|
||||
|
||||
beidou_b3i_telemetry_decoder_cc::~beidou_b3i_telemetry_decoder_cc()
|
||||
{
|
||||
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)
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
catch (const std::exception &ex)
|
||||
{
|
||||
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void beidou_b3i_telemetry_decoder_cc::decode_bch15_11_01(int32_t *bits, int32_t *decbits)
|
||||
{
|
||||
int bit, err, reg[4] = {1, 1, 1, 1};
|
||||
int errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
|
||||
|
||||
for (unsigned int i = 0; i < 15; i++)
|
||||
{
|
||||
decbits[i] = bits[i];
|
||||
}
|
||||
|
||||
for (unsigned int i = 0; i < 15; i++)
|
||||
{
|
||||
bit = reg[3];
|
||||
reg[3] = reg[2];
|
||||
reg[2] = reg[1];
|
||||
reg[1] = reg[0];
|
||||
reg[0] = bits[i] * bit;
|
||||
reg[1] *= bit;
|
||||
}
|
||||
|
||||
err = errind[reg[0] + reg[1]*2 + reg[2]*4 + reg[3]*8];
|
||||
|
||||
if (err > 0)
|
||||
{
|
||||
decbits[err - 1] *= -1;
|
||||
}
|
||||
}
|
||||
|
||||
void beidou_b3i_telemetry_decoder_cc::decode_word(
|
||||
int32_t word_counter,
|
||||
double* enc_word_symbols,
|
||||
int32_t* dec_word_symbols)
|
||||
{
|
||||
int32_t bitsbch[30], first_branch[15], second_branch[15];
|
||||
|
||||
if (word_counter == 1)
|
||||
{
|
||||
for (unsigned int j = 0; j < 30; j++)
|
||||
{
|
||||
dec_word_symbols[j] = (int32_t)(enc_word_symbols[j] > 0) ? (1) : (-1);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (unsigned int r = 0; r < 2; r++)
|
||||
{
|
||||
for (unsigned int c = 0; c < 15; c++)
|
||||
{
|
||||
bitsbch[r*15 + c] = (int32_t)(enc_word_symbols[c*2 + r] > 0) ? (1) : (-1);
|
||||
}
|
||||
}
|
||||
|
||||
decode_bch15_11_01(&bitsbch[0], first_branch);
|
||||
decode_bch15_11_01(&bitsbch[15], second_branch);
|
||||
|
||||
for (unsigned int j = 0; j < 11; j++)
|
||||
{
|
||||
dec_word_symbols[j] = first_branch[j];
|
||||
dec_word_symbols[j + 11] = second_branch[j];
|
||||
}
|
||||
|
||||
for (unsigned int j = 0; j < 4; j++)
|
||||
{
|
||||
dec_word_symbols[j + 22] = first_branch[11 + j];
|
||||
dec_word_symbols[j + 26] = second_branch[11 + j];
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void beidou_b3i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int32_t frame_length)
|
||||
{
|
||||
// 1. Transform from symbols to bits
|
||||
std::string data_bits;
|
||||
int32_t dec_word_bits[30];
|
||||
|
||||
// Decode each word in subframe
|
||||
for(uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++)
|
||||
{
|
||||
// decode the word
|
||||
decode_word((ii+1), &frame_symbols[ii*30], dec_word_bits);
|
||||
|
||||
// Save word to string format
|
||||
for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++)
|
||||
{
|
||||
data_bits.push_back( (dec_word_bits[jj] > 0) ? ('1') : ('0') );
|
||||
}
|
||||
}
|
||||
|
||||
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
|
||||
{
|
||||
d_nav.d2_subframe_decoder(data_bits);
|
||||
}
|
||||
else
|
||||
{
|
||||
d_nav.d1_subframe_decoder(data_bits);
|
||||
}
|
||||
|
||||
|
||||
// 3. Check operation executed correctly
|
||||
if (d_nav.flag_crc_test == true)
|
||||
{
|
||||
LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite;
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel << " from satellite " << d_satellite;
|
||||
}
|
||||
// 4. Push the new navigation data to the queues
|
||||
if (d_nav.have_new_ephemeris() == true)
|
||||
{
|
||||
// get object for this SV (mandatory)
|
||||
std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj = std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris());
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
LOG(INFO) << "BEIDOU DNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
|
||||
std::cout << "New BEIDOU B3I DNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl;
|
||||
}
|
||||
if (d_nav.have_new_utc_model() == true)
|
||||
{
|
||||
// get object for this SV (mandatory)
|
||||
std::shared_ptr<Beidou_Dnav_Utc_Model> tmp_obj = std::make_shared<Beidou_Dnav_Utc_Model>(d_nav.get_utc_model());
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
LOG(INFO) << "BEIDOU DNAV UTC Model have been received in channel" << d_channel << " from satellite " << d_satellite;
|
||||
std::cout << "New BEIDOU B3I DNAV utc model message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl;
|
||||
}
|
||||
if (d_nav.have_new_iono() == true)
|
||||
{
|
||||
// get object for this SV (mandatory)
|
||||
std::shared_ptr<Beidou_Dnav_Iono> tmp_obj = std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono());
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
LOG(INFO) << "BEIDOU DNAV Iono have been received in channel" << d_channel << " from satellite " << d_satellite;
|
||||
std::cout << "New BEIDOU B3I DNAV Iono message received in channel " << d_channel << ": Iono model parameters from satellite " << d_satellite << std::endl;
|
||||
}
|
||||
if (d_nav.have_new_almanac() == true)
|
||||
{
|
||||
// unsigned int slot_nbr = d_nav.i_alm_satellite_PRN;
|
||||
// std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj = std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr));
|
||||
// this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
LOG(INFO) << "BEIDOU DNAV Almanac have been received in channel" << d_channel << " from satellite " << d_satellite << std::endl;
|
||||
std::cout << "New BEIDOU B3I DNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void beidou_b3i_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
|
||||
{
|
||||
uint32_t sat_prn = 0;
|
||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
|
||||
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
|
||||
|
||||
// Update satellite information for DNAV decoder
|
||||
sat_prn = d_satellite.get_PRN();
|
||||
d_nav.i_satellite_PRN = sat_prn;
|
||||
d_nav.i_signal_type = 5; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
|
||||
|
||||
// Update tel dec parameters for D2 NAV Messages
|
||||
if ( sat_prn > 0 and sat_prn < 6 )
|
||||
{
|
||||
// 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_B3I_CODE_RATE_HZ / BEIDOU_B3I_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_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_subframe_length_symbols = 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++;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
||||
{
|
||||
d_preamble_samples[n] = -1;
|
||||
n++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
|
||||
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void beidou_b3i_telemetry_decoder_cc::set_channel(int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
LOG(INFO) << "Navigation channel set to " << channel;
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump == true)
|
||||
{
|
||||
if (d_dump_file.is_open() == false)
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_filename = "telemetry";
|
||||
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
||||
d_dump_filename.append(".dat");
|
||||
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
||||
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
||||
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
LOG(WARNING) << "channel " << d_channel << ": exception opening Beidou TLM dump file. " << e.what();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int beidou_b3i_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||
{
|
||||
int32_t corr_value = 0;
|
||||
int32_t preamble_diff = 0;
|
||||
|
||||
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
|
||||
const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
|
||||
|
||||
Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block
|
||||
//1. Copy the current tracking output
|
||||
current_symbol = in[0][0];
|
||||
d_symbol_history.push_back(current_symbol.Prompt_I); //add new symbol to the symbol queue
|
||||
d_sample_counter++; //count for the processed samples
|
||||
consume_each(1);
|
||||
|
||||
d_flag_preamble = false;
|
||||
|
||||
if (d_symbol_history.size() > d_required_symbols)
|
||||
{
|
||||
//******* preamble correlation ********
|
||||
for (int i = 0; i < d_samples_per_preamble; i++)
|
||||
{
|
||||
if (d_symbol_history.at(i) < 0) // symbols clipping
|
||||
{
|
||||
corr_value -= d_preamble_samples[i];
|
||||
}
|
||||
else
|
||||
{
|
||||
corr_value += d_preamble_samples[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//******* frame sync ******************
|
||||
if (d_stat == 0) //no preamble information
|
||||
{
|
||||
if (abs(corr_value) >= d_samples_per_preamble)
|
||||
{
|
||||
// Record the preamble sample stamp
|
||||
d_preamble_index = d_sample_counter;
|
||||
LOG(INFO) << "Preamble detection for BEIDOU B3I SAT " << this->d_satellite;
|
||||
// Enter into frame pre-detection status
|
||||
d_stat = 1;
|
||||
}
|
||||
}
|
||||
else if (d_stat == 1) // possible preamble lock
|
||||
{
|
||||
if (abs(corr_value) >= d_samples_per_preamble)
|
||||
{
|
||||
//check preamble separation
|
||||
preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index);
|
||||
if (abs(preamble_diff - d_preamble_period_samples) == 0)
|
||||
{
|
||||
//try to decode frame
|
||||
LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT " << this->d_satellite;
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp
|
||||
d_stat = 2;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (preamble_diff > d_preamble_period_samples)
|
||||
{
|
||||
d_stat = 0; // start again
|
||||
}
|
||||
DLOG(INFO) << "Failed BeiDou DNAV frame decoding for BeiDou B3I SAT " << this->d_satellite;
|
||||
}
|
||||
}
|
||||
}
|
||||
else if (d_stat == 2) // preamble acquired
|
||||
{
|
||||
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
|
||||
{
|
||||
//******* SAMPLES TO SYMBOLS *******
|
||||
if (corr_value > 0) //normal PLL lock
|
||||
{
|
||||
int k = 0;
|
||||
for (uint32_t i = 0; i < d_subframe_length_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);
|
||||
}
|
||||
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_B3I_SECONDARY_CODE_LENGTH;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else //180 deg. inverted carrier phase PLL lock
|
||||
{
|
||||
int k = 0;
|
||||
for (uint32_t i = 0; i < d_subframe_length_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);
|
||||
}
|
||||
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_B3I_SECONDARY_CODE_LENGTH;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//call the decoder
|
||||
decode_subframe(d_subframe_symbols, d_subframe_length_symbols);
|
||||
|
||||
if (d_nav.flag_crc_test == true)
|
||||
{
|
||||
d_CRC_error_counter = 0;
|
||||
d_flag_preamble = true; //valid preamble indicator (initialized to false every work())
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
|
||||
if (!d_flag_frame_sync)
|
||||
{
|
||||
d_flag_frame_sync = true;
|
||||
DLOG(INFO) << "BeiDou DNAV frame sync found for SAT " << this->d_satellite;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
d_CRC_error_counter++;
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp
|
||||
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
|
||||
{
|
||||
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT " << this->d_satellite;
|
||||
d_flag_frame_sync = false;
|
||||
d_stat = 0;
|
||||
flag_SOW_set = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// UPDATE GNSS SYNCHRO DATA
|
||||
//2. Add the telemetry decoder information
|
||||
if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true)
|
||||
//update TOW at the preamble instant
|
||||
{
|
||||
// Reporting sow as gps time of week
|
||||
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0);
|
||||
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * BEIDOU_B3I_CODE_PERIOD_MS);
|
||||
flag_SOW_set = true;
|
||||
d_nav.flag_new_SOW_available = false;
|
||||
}
|
||||
else //if there is not a new preamble, we define the TOW of the current symbol
|
||||
{
|
||||
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(BEIDOU_B3I_CODE_PERIOD_MS);
|
||||
}
|
||||
|
||||
|
||||
if (d_flag_frame_sync == true and flag_SOW_set == true)
|
||||
{
|
||||
current_symbol.Flag_valid_word = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
current_symbol.Flag_valid_word = false;
|
||||
}
|
||||
|
||||
current_symbol.PRN = this->d_satellite.get_PRN();
|
||||
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
|
||||
|
||||
if (d_dump == true)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
try
|
||||
{
|
||||
double tmp_double;
|
||||
unsigned long int tmp_ulong_int;
|
||||
tmp_double = d_TOW_at_current_symbol_ms;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_ulong_int = current_symbol.Tracking_sample_counter;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));
|
||||
tmp_double = 0;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
LOG(WARNING) << "Exception writing observables dump file " << e.what();
|
||||
}
|
||||
}
|
||||
|
||||
// remove used symbols from history
|
||||
if (d_symbol_history.size() > d_required_symbols)
|
||||
{
|
||||
d_symbol_history.pop_front();
|
||||
}
|
||||
//3. Make the output (copy the object contents to the GNURadio reserved memory)
|
||||
*out[0] = current_symbol;
|
||||
|
||||
return 1;
|
||||
}
|
||||
@@ -0,0 +1,124 @@
|
||||
/*!
|
||||
* \file beidou_b3i_telemetry_decoder_cc.h
|
||||
* \brief Implementation of an adapter of a BEIDOU BI1 DNAV data decoder block
|
||||
* to a TelemetryDecoderInterface
|
||||
* \author Damian Miralles, 2019. dmiralles2009(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_CC_H
|
||||
#define GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_CC_H
|
||||
|
||||
#include "beidou_dnav_navigation_message.h"
|
||||
#include "beidou_dnav_ephemeris.h"
|
||||
#include "beidou_dnav_almanac.h"
|
||||
#include "beidou_dnav_utc_model.h"
|
||||
#include "gnss_satellite.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "Beidou_B3I.h"
|
||||
#include "Beidou_DNAV.h"
|
||||
#include <gnuradio/block.h>
|
||||
#include <fstream>
|
||||
#include <string>
|
||||
|
||||
|
||||
class beidou_b3i_telemetry_decoder_cc;
|
||||
|
||||
typedef boost::shared_ptr<beidou_b3i_telemetry_decoder_cc> beidou_b3i_telemetry_decoder_cc_sptr;
|
||||
|
||||
beidou_b3i_telemetry_decoder_cc_sptr beidou_b3i_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
|
||||
|
||||
//!!!! edit
|
||||
/*!
|
||||
* \brief This class implements a block that decodes the GNAV data defined in BEIDOU ICD v5.1
|
||||
* \note Code added as part of GSoC 2018 program
|
||||
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
|
||||
*
|
||||
*/
|
||||
class beidou_b3i_telemetry_decoder_cc : public gr::block
|
||||
{
|
||||
public:
|
||||
~beidou_b3i_telemetry_decoder_cc(); //!< Class destructor
|
||||
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
|
||||
void set_channel(int channel); //!< Set receiver's channel
|
||||
|
||||
/*!
|
||||
* \brief This is where all signal processing takes place
|
||||
*/
|
||||
int general_work(int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
|
||||
|
||||
private:
|
||||
friend beidou_b3i_telemetry_decoder_cc_sptr
|
||||
beidou_b3i_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
|
||||
beidou_b3i_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
|
||||
|
||||
void decode_subframe(double *symbols, int32_t frame_length);
|
||||
void decode_word(int32_t word_counter, double* enc_word_symbols, int32_t* dec_word_symbols);
|
||||
void decode_bch15_11_01(int32_t *bits, int32_t *decbits);
|
||||
|
||||
|
||||
//!< Preamble decoding
|
||||
unsigned short int d_preambles_symbols[BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS];
|
||||
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;
|
||||
uint32_t d_subframe_length_symbols;
|
||||
uint32_t d_required_symbols;
|
||||
|
||||
//!< Storage for incoming data
|
||||
std::deque<float> d_symbol_history;
|
||||
|
||||
//!< Variables for internal functionality
|
||||
uint64_t d_sample_counter; //!< Sample counter as an index (1,2,3,..etc) indicating number of samples processed
|
||||
uint64_t d_preamble_index; //!< Index of sample number where preamble was found
|
||||
uint32_t d_stat; //!< Status of decoder
|
||||
bool d_flag_frame_sync; //!< Indicate when a frame sync is achieved
|
||||
bool d_flag_preamble; //!< Flag indicating when preamble was found
|
||||
int32_t d_CRC_error_counter; //!< Number of failed CRC operations
|
||||
bool flag_SOW_set; //!< Indicates when time of week is set
|
||||
|
||||
//!< Navigation Message variable
|
||||
Beidou_Dnav_Navigation_Message d_nav;
|
||||
|
||||
//!< Values to populate gnss synchronization structure
|
||||
uint32_t d_TOW_at_Preamble_ms;
|
||||
uint32_t d_TOW_at_current_symbol_ms;
|
||||
bool Flag_valid_word;
|
||||
|
||||
//!< Satellite Information and logging capacity
|
||||
Gnss_Satellite d_satellite;
|
||||
int32_t d_channel;
|
||||
bool d_dump;
|
||||
std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -66,6 +66,7 @@ set(TRACKING_ADAPTER_SOURCES
|
||||
glonass_l2_ca_dll_pll_tracking.cc
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking.cc
|
||||
beidou_b1i_dll_pll_tracking.cc
|
||||
beidou_b3i_dll_pll_tracking.cc
|
||||
${OPT_TRACKING_ADAPTERS_SOURCES}
|
||||
)
|
||||
|
||||
@@ -84,6 +85,7 @@ set(TRACKING_ADAPTER_HEADERS
|
||||
glonass_l2_ca_dll_pll_tracking.h
|
||||
glonass_l2_ca_dll_pll_c_aid_tracking.h
|
||||
beidou_b1i_dll_pll_tracking.h
|
||||
beidou_b3i_dll_pll_tracking.h
|
||||
${OPT_TRACKING_ADAPTERS_HEADERS}
|
||||
)
|
||||
|
||||
|
||||
203
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc
Normal file
203
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc
Normal file
@@ -0,0 +1,203 @@
|
||||
/*!
|
||||
* \file beidou_b3i_dll_pll_tracking.cc
|
||||
* \brief Implementation of an adapter of a DLL+PLL tracking loop block
|
||||
* for Beidou B3I to a TrackingInterface
|
||||
* \author Damian Miralles, 2019. dmiralles2009(at)gmail.com
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
||||
* Approach, Birkhauser, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "dll_pll_conf.h"
|
||||
#include "beidou_b3i_dll_pll_tracking.h"
|
||||
#include "configuration_interface.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "display.h"
|
||||
#include <glog/logging.h>
|
||||
#include "Beidou_B3I.h"
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
|
||||
ConfigurationInterface* configuration, 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_param = Dll_Pll_Conf();
|
||||
DLOG(INFO) << "role " << role;
|
||||
//################# CONFIGURATION PARAMETERS ########################
|
||||
std::string default_item_type = "gr_complex";
|
||||
std::string item_type = configuration->property(role + ".item_type", default_item_type);
|
||||
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
|
||||
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
|
||||
trk_param.fs_in = fs_in;
|
||||
bool dump = configuration->property(role + ".dump", false);
|
||||
trk_param.dump = dump;
|
||||
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
|
||||
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
|
||||
trk_param.pll_bw_hz = pll_bw_hz;
|
||||
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
|
||||
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
|
||||
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
|
||||
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
|
||||
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
|
||||
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
|
||||
trk_param.dll_bw_hz = dll_bw_hz;
|
||||
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
|
||||
trk_param.early_late_space_chips = early_late_space_chips;
|
||||
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
|
||||
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
|
||||
std::string default_dump_filename = "./track_ch";
|
||||
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
|
||||
trk_param.dump_filename = dump_filename;
|
||||
int vector_length = std::round(fs_in / (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS));
|
||||
trk_param.vector_length = vector_length;
|
||||
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
|
||||
if (symbols_extended_correlator < 1)
|
||||
{
|
||||
symbols_extended_correlator = 1;
|
||||
std::cout << TEXT_RED << "WARNING: BEIDOU B3I. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
|
||||
}
|
||||
else if (symbols_extended_correlator > 20)
|
||||
{
|
||||
symbols_extended_correlator = 20;
|
||||
std::cout << TEXT_RED << "WARNING: BEIDOU B3I. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
|
||||
}
|
||||
trk_param.extend_correlation_symbols = symbols_extended_correlator;
|
||||
bool track_pilot = configuration->property(role + ".track_pilot", false);
|
||||
if (track_pilot)
|
||||
{
|
||||
std::cout << TEXT_RED << "WARNING: BEIDOU B3I does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
|
||||
}
|
||||
if ((symbols_extended_correlator > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
|
||||
{
|
||||
std::cout << TEXT_RED << "WARNING: BEIDOU B3I. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
|
||||
}
|
||||
trk_param.very_early_late_space_chips = 0.0;
|
||||
trk_param.very_early_late_space_narrow_chips = 0.0;
|
||||
trk_param.track_pilot = false;
|
||||
trk_param.system = 'C';
|
||||
char sig_[3] = "B1";
|
||||
std::memcpy(trk_param.signal, sig_, 3);
|
||||
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
|
||||
if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples;
|
||||
trk_param.cn0_samples = cn0_samples;
|
||||
int cn0_min = configuration->property(role + ".cn0_min", 25);
|
||||
if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min;
|
||||
trk_param.cn0_min = cn0_min;
|
||||
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
|
||||
if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail;
|
||||
trk_param.max_lock_fail = max_lock_fail;
|
||||
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
|
||||
if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th;
|
||||
trk_param.carrier_lock_th = carrier_lock_th;
|
||||
|
||||
//################# MAKE TRACKING GNURadio object ###################
|
||||
if (item_type.compare("gr_complex") == 0)
|
||||
{
|
||||
item_size_ = sizeof(gr_complex);
|
||||
tracking_ = dll_pll_veml_make_tracking(trk_param);
|
||||
}
|
||||
else
|
||||
{
|
||||
item_size_ = sizeof(gr_complex);
|
||||
LOG(WARNING) << 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";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
BeidouB3iDllPllTracking::~BeidouB3iDllPllTracking()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iDllPllTracking::start_tracking()
|
||||
{
|
||||
tracking_->start_tracking();
|
||||
}
|
||||
|
||||
void BeidouB3iDllPllTracking::stop_tracking()
|
||||
{
|
||||
tracking_->stop_tracking();
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Set tracking channel unique ID
|
||||
*/
|
||||
void BeidouB3iDllPllTracking::set_channel(unsigned int channel)
|
||||
{
|
||||
channel_ = channel;
|
||||
tracking_->set_channel(channel);
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
||||
{
|
||||
tracking_->set_gnss_synchro(p_gnss_synchro);
|
||||
}
|
||||
|
||||
|
||||
void BeidouB3iDllPllTracking::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 BeidouB3iDllPllTracking::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 BeidouB3iDllPllTracking::get_left_block()
|
||||
{
|
||||
return tracking_;
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr BeidouB3iDllPllTracking::get_right_block()
|
||||
{
|
||||
return tracking_;
|
||||
}
|
||||
106
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.h
Normal file
106
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.h
Normal file
@@ -0,0 +1,106 @@
|
||||
/*!
|
||||
* \file beidou_b3i_dll_pll_tracking.h
|
||||
* \brief Interface of an adapter of a DLL+PLL tracking loop block
|
||||
* for Beidou B3I to a TrackingInterface
|
||||
* \author Damian Miralles, 2019. dmiralles2009(at)gmail.com
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
||||
* Approach, Birkhauser, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_BEIDOU_B3I_DLL_PLL_TRACKING_H_
|
||||
#define GNSS_SDR_BEIDOU_B3I_DLL_PLL_TRACKING_H_
|
||||
|
||||
#include "tracking_interface.h"
|
||||
#include "dll_pll_veml_tracking.h"
|
||||
#include <string>
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class implements a code DLL + carrier PLL tracking loop
|
||||
*/
|
||||
class BeidouB3iDllPllTracking : public TrackingInterface
|
||||
{
|
||||
public:
|
||||
BeidouB3iDllPllTracking(ConfigurationInterface* configuration,
|
||||
std::string role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams);
|
||||
|
||||
virtual ~BeidouB3iDllPllTracking();
|
||||
|
||||
inline std::string role() override
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
inline std::string implementation() override
|
||||
{
|
||||
return "BEIDOU_B3I_DLL_PLL_Tracking";
|
||||
}
|
||||
|
||||
inline size_t item_size() override
|
||||
{
|
||||
return item_size_;
|
||||
}
|
||||
|
||||
void connect(gr::top_block_sptr top_block) override;
|
||||
void disconnect(gr::top_block_sptr top_block) override;
|
||||
gr::basic_block_sptr get_left_block() override;
|
||||
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_BEIDOU_B3I_DLL_PLL_TRACKING_H_
|
||||
@@ -41,11 +41,13 @@
|
||||
#include "Galileo_E1.h"
|
||||
#include "Galileo_E5a.h"
|
||||
#include "Beidou_B1I.h"
|
||||
#include "Beidou_B3I.h"
|
||||
#include "MATH_CONSTANTS.h"
|
||||
#include "control_message_factory.h"
|
||||
#include "galileo_e1_signal_processing.h"
|
||||
#include "galileo_e5_signal_processing.h"
|
||||
#include "beidou_b1i_signal_processing.h"
|
||||
#include "beidou_b3i_signal_processing.h"
|
||||
#include "gnss_sdr_create_directory.h"
|
||||
#include "gps_l2c_signal.h"
|
||||
#include "gps_l5_signal.h"
|
||||
@@ -110,6 +112,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
|
||||
map_signal_pretty_name["5X"] = "E5a";
|
||||
map_signal_pretty_name["L5"] = "L5";
|
||||
map_signal_pretty_name["B1"] = "B1I";
|
||||
map_signal_pretty_name["B3"] = "B3I";
|
||||
|
||||
signal_pretty_name = map_signal_pretty_name[signal_type];
|
||||
|
||||
@@ -293,6 +296,22 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
|
||||
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 if (signal_type == "B3")
|
||||
{
|
||||
// GEO Satellites use different secondary code
|
||||
d_signal_carrier_freq = BEIDOU_B3I_FREQ_HZ;
|
||||
d_code_period = BEIDOU_B3I_CODE_PERIOD;
|
||||
d_code_chip_rate = BEIDOU_B3I_CODE_RATE_HZ;
|
||||
d_code_length_chips = static_cast<unsigned int>(BEIDOU_B3I_CODE_LENGTH_CHIPS);
|
||||
d_symbols_per_bit = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT;
|
||||
d_correlation_length_ms = 1;
|
||||
d_code_samples_per_chip = 1;
|
||||
d_secondary = true;
|
||||
trk_parameters.track_pilot = false;
|
||||
interchange_iq = false;
|
||||
d_secondary_code_length = static_cast<unsigned int>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
|
||||
d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR);
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks";
|
||||
@@ -612,6 +631,47 @@ void dll_pll_veml_tracking::start_tracking()
|
||||
|
||||
}
|
||||
|
||||
else if (systemName == "Beidou" and signal_type == "B3")
|
||||
{
|
||||
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)
|
||||
{
|
||||
d_symbols_per_bit = 2;
|
||||
d_correlation_length_ms = 1;
|
||||
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;
|
||||
uint16_t preambles_bits[BEIDOU_B3I_PREAMBLE_LENGTH_BITS] = {1,1,1,0,0,0,1,0,0,1,0};
|
||||
for (uint16_t preambles_bit : preambles_bits)
|
||||
{
|
||||
for (uint32_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();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
multicorrelator_cpu.set_local_code_and_taps(d_code_samples_per_chip * d_code_length_chips, d_tracking_code, d_local_code_shift_chips);
|
||||
std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
|
||||
|
||||
|
||||
Reference in New Issue
Block a user