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Fix repetition of satellites in conf with large number of channels

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The maximum number of channels per signal is now limited to the number of available satellites per system
This commit is contained in:
Carles Fernandez 2021-12-17 13:24:24 +01:00
parent 76805e5fe9
commit eb6d8da59a
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GPG Key ID: 4C583C52B0C3877D
4 changed files with 157 additions and 66 deletions
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6
docs/CHANGELOG.md
View File

@ -95,6 +95,12 @@ All notable changes to GNSS-SDR will be documented in this file.
- Added a new output parameter `Flag_PLL_180_deg_phase_locked` in the monitor
output that indicates if the PLL got locked at 180 degrees, so the symbol sign
is reversed.
- Fix bug in the satellite selection algorithm for configurations with a large
number of channels. The maximum number of channels per signal is now limited
to the number of available satellites per system. The number of channels
performing concurrent acquisition, `Channels.in_acquisition`, cannot be larger
than the total number of channels. The program will stop if those requirements
are not met in the configuration file.
See the definitions of concepts and metrics at
https://gnss-sdr.org/design-forces/

1
src/core/receiver/control_thread.cc
View File

@ -1207,6 +1207,7 @@ void ControlThread::keyboard_listener()
{
std::cout << "Quit keystroke order received, stopping GNSS-SDR !!\n";
control_queue_->push(pmt::make_any(command_event_make(200, 0)));
stop_ = true;
read_keys = false;
}
else

213
src/core/receiver/gnss_flowgraph.cc
View File

@ -410,6 +410,15 @@ void GNSSFlowgraph::disconnect()
int GNSSFlowgraph::connect_desktop_flowgraph()
{
// Connect blocks to the top_block
const int max_channels_in_acq = configuration_->property("Channels.in_acquisition", 0);
if (max_channels_in_acq > channels_count_)
{
help_hint_ += " * The maximum number of channels with concurrent signal acquisition is set to Channels.in_acquisition=" + std::to_string(max_channels_in_acq) + ",\n";
help_hint_ += " but the total number of channels is set to " + std::to_string(channels_count_) + ".\n";
help_hint_ += " Please set Channels.in_acquisition to " + std::to_string(channels_count_) + " or lower, or increment the number of channels in your configuration file.\n";
return 1;
}
if (connect_signal_sources() != 0)
{
return 1;
@ -458,7 +467,10 @@ int GNSSFlowgraph::connect_desktop_flowgraph()
check_signal_conditioners();
assign_channels();
if (assign_channels() != 0)
{
return 1;
}
if (connect_observables_to_pvt() != 0)
{
@ -563,6 +575,15 @@ int GNSSFlowgraph::disconnect_desktop_flowgraph()
#if ENABLE_FPGA
int GNSSFlowgraph::connect_fpga_flowgraph()
{
const int max_channels_in_acq = configuration_->property("Channels.in_acquisition", 0);
if (max_channels_in_acq != 1)
{
help_hint_ += " * The maximum number of channels with concurrent signal acquisition is set to Channels.in_acquisition=" + std::to_string(max_channels_in_acq) + ",\n";
help_hint_ += " but it must be set to 1 in the FPGA flow graph.\n";
help_hint_ += " Please set Channels.in_acquisition=1 in your configuration file.\n";
return 1;
}
// Check that the Signal Source has been instantiated successfully
for (auto& src : sig_source_)
{
@ -610,7 +631,10 @@ int GNSSFlowgraph::connect_fpga_flowgraph()
return 1;
}
assign_channels();
if (assign_channels() != 0)
{
return 1;
}
if (connect_observables_to_pvt() != 0)
{
@ -1709,7 +1733,7 @@ void GNSSFlowgraph::check_signal_conditioners()
}
void GNSSFlowgraph::assign_channels()
int GNSSFlowgraph::assign_channels()
{
// Put channels fixed to a given satellite at the beginning of the vector, then the rest
std::vector<unsigned int> vector_of_channels;
@ -1735,6 +1759,95 @@ void GNSSFlowgraph::assign_channels()
}
}
if (configuration_->property("Channels_1C.count", 0ULL) > available_GPS_1C_signals_.size())
{
help_hint_ += " * The number of GPS L1 channels is set to Channels_1C.count=" + std::to_string(configuration_->property("Channels_1C.count", 0));
help_hint_ += " but the maximum number of available GPS satellites is " + std::to_string(available_GPS_1C_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_1C.count=" + std::to_string(available_GPS_1C_signals_.size()) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_2S.count", 0ULL) > available_GPS_2S_signals_.size())
{
help_hint_ += " * The number of GPS L2 channels is set to Channels_2S.count=" + std::to_string(configuration_->property("Channels_2S.count", 0));
help_hint_ += " but the maximum number of available GPS satellites is " + std::to_string(available_GPS_2S_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_2S.count=" + std::to_string(available_GPS_2S_signals_.size()) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_L5.count", 0ULL) > available_GPS_L5_signals_.size())
{
help_hint_ += " * The number of GPS L5 channels is set to Channels_L5.count=" + std::to_string(configuration_->property("Channels_L5.count", 0));
help_hint_ += " but the maximum number of available GPS satellites is " + std::to_string(available_GPS_L5_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_L5.count=" + std::to_string(available_GPS_L5_signals_.size()) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_1B.count", 0ULL) > available_GAL_1B_signals_.size())
{
help_hint_ += " * The number of Galileo E1 channels is set to Channels_1B.count=" + std::to_string(configuration_->property("Channels_1B.count", 0));
help_hint_ += " but the maximum number of available Galileo satellites is " + std::to_string(available_GAL_1B_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_1B.count=" + std::to_string(available_GAL_1B_signals_.size()) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_5X.count", 0ULL) > available_GAL_5X_signals_.size())
{
help_hint_ += " * The number of Galileo E5a channels is set to Channels_5X.count=" + std::to_string(configuration_->property("Channels_5X.count", 0));
help_hint_ += " but the maximum number of available Galileo satellites is " + std::to_string(available_GAL_5X_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_5X.count=" + std::to_string(available_GAL_5X_signals_.size()) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_7X.count", 0ULL) > available_GAL_7X_signals_.size())
{
help_hint_ += " * The number of Galileo E5b channels is set to Channels_7X.count=" + std::to_string(configuration_->property("Channels_7X.count", 0));
help_hint_ += " but the maximum number of available Galileo satellites is " + std::to_string(available_GAL_7X_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_7X.count=" + std::to_string(available_GAL_7X_signals_.size()) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_E6.count", 0ULL) > available_GAL_E6_signals_.size())
{
help_hint_ += " * The number of Galileo E6 channels is set to Channels_7X.count=" + std::to_string(configuration_->property("Channels_E6.count", 0));
help_hint_ += " but the maximum number of available Galileo satellites is " + std::to_string(available_GAL_E6_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_E6.count=" + std::to_string(available_GAL_E6_signals_.size()) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_1G.count", 0ULL) > available_GLO_1G_signals_.size() + 8) // satellites sharing same frequency number
{
help_hint_ += " * The number of Glonass L1 channels is set to Channels_1G.count=" + std::to_string(configuration_->property("Channels_1G.count", 0));
help_hint_ += " but the maximum number of available Glonass satellites is " + std::to_string(available_GLO_1G_signals_.size() + 8) + ".\n";
help_hint_ += " Please set Channels_1G.count=" + std::to_string(available_GLO_1G_signals_.size() + 8) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_2G.count", 0ULL) > available_GLO_2G_signals_.size() + 8) // satellites sharing same frequency number
{
help_hint_ += " * The number of Glonass L2 channels is set to Channels_2G.count=" + std::to_string(configuration_->property("Channels_2G.count", 0));
help_hint_ += " but the maximum number of available Glonass satellites is " + std::to_string(available_GLO_2G_signals_.size() + 8) + ".\n";
help_hint_ += " Please set Channels_1G.count=" + std::to_string(available_GLO_2G_signals_.size() + 8) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_B1.count", 0ULL) > available_BDS_B1_signals_.size())
{
help_hint_ += " * The number of BeiDou B1 channels is set to Channels_B1.count=" + std::to_string(configuration_->property("Channels_B1.count", 0));
help_hint_ += " but the maximum number of available BeiDou satellites is " + std::to_string(available_BDS_B1_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_B1.count=" + std::to_string(available_BDS_B1_signals_.size()) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_B3.count", 0ULL) > available_BDS_B3_signals_.size())
{
help_hint_ += " * The number of BeiDou B3 channels is set to Channels_B1.count=" + std::to_string(configuration_->property("Channels_B3.count", 0));
help_hint_ += " but the maximum number of available BeiDou satellites is " + std::to_string(available_BDS_B3_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_B3.count=" + std::to_string(available_BDS_B3_signals_.size()) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
// Assign satellites to channels in the initialization
for (unsigned int& i : vector_of_channels)
{
@ -1754,7 +1867,7 @@ void GNSSFlowgraph::assign_channels()
float estimated_doppler;
double RX_time;
bool is_primary_freq;
channels_.at(i)->set_signal(search_next_signal(gnss_signal, false, is_primary_freq, assistance_available, estimated_doppler, RX_time));
channels_.at(i)->set_signal(search_next_signal(gnss_signal, is_primary_freq, assistance_available, estimated_doppler, RX_time));
}
else
{
@ -1839,6 +1952,7 @@ void GNSSFlowgraph::assign_channels()
channels_.at(i)->set_signal(signal_value);
}
}
return 0;
}
@ -2052,7 +2166,6 @@ void GNSSFlowgraph::acquisition_manager(unsigned int who)
if (sat_ == 0)
{
gnss_signal = search_next_signal(channels_[current_channel]->get_signal().get_signal_str(),
true,
is_primary_freq,
assistance_available,
estimated_doppler,
@ -2816,7 +2929,6 @@ bool GNSSFlowgraph::is_multiband() const
Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal,
const bool pop,
bool& is_primary_frequency,
bool& assistance_available,
float& estimated_doppler,
@ -2829,12 +2941,11 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
switch (mapStringValues_[searched_signal])
{
case evGPS_1C:
// todo: assist the satellite selection with almanac and current PVT here (rehuse priorize_satellite function used in control_thread)
// todo: assist the satellite selection with almanac and current PVT here (reuse priorize_satellite function used in control_thread)
result = available_GPS_1C_signals_.front();
available_GPS_1C_signals_.pop_front();
if (!pop)
if (available_GPS_1C_signals_.size() > 1)
{
available_GPS_1C_signals_.push_back(result);
available_GPS_1C_signals_.pop_front();
}
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
@ -2859,10 +2970,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
RX_time = current_status.second->RX_time;
// 3. return the GPS L2 satellite and remove it from list
result = *it2;
if (pop)
{
available_GPS_2S_signals_.erase(it2);
}
available_GPS_2S_signals_.erase(it2);
found_signal = true;
assistance_available = true;
break;
@ -2873,20 +2981,18 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
if (found_signal == false)
{
result = available_GPS_2S_signals_.front();
available_GPS_2S_signals_.pop_front();
if (!pop)
if (available_GPS_2S_signals_.size() > 1)
{
available_GPS_2S_signals_.push_back(result);
available_GPS_2S_signals_.pop_front();
}
}
}
else
{
result = available_GPS_2S_signals_.front();
available_GPS_2S_signals_.pop_front();
if (!pop)
if (available_GPS_2S_signals_.size() > 1)
{
available_GPS_2S_signals_.push_back(result);
available_GPS_2S_signals_.pop_front();
}
}
break;
@ -2912,10 +3018,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
// 3. return the GPS L5 satellite and remove it from list
result = *it2;
if (pop)
{
available_GPS_L5_signals_.erase(it2);
}
available_GPS_L5_signals_.erase(it2);
found_signal = true;
assistance_available = true;
break;
@ -2927,20 +3030,18 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
if (found_signal == false)
{
result = available_GPS_L5_signals_.front();
available_GPS_L5_signals_.pop_front();
if (!pop)
if (available_GPS_L5_signals_.size() > 1)
{
available_GPS_L5_signals_.push_back(result);
available_GPS_L5_signals_.pop_front();
}
}
break;
case evGAL_1B:
result = available_GAL_1B_signals_.front();
available_GAL_1B_signals_.pop_front();
if (!pop)
if (available_GAL_1B_signals_.size() > 1)
{
available_GAL_1B_signals_.push_back(result);
available_GAL_1B_signals_.pop_front();
}
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
@ -2966,10 +3067,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
// 3. return the Gal 5X satellite and remove it from list
result = *it2;
if (pop)
{
available_GAL_5X_signals_.erase(it2);
}
available_GAL_5X_signals_.erase(it2);
found_signal = true;
assistance_available = true;
break;
@ -2981,10 +3079,9 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
if (found_signal == false)
{
result = available_GAL_5X_signals_.front();
available_GAL_5X_signals_.pop_front();
if (!pop)
if (available_GAL_5X_signals_.size() > 1)
{
available_GAL_5X_signals_.push_back(result);
available_GAL_5X_signals_.pop_front();
}
}
break;
@ -3010,10 +3107,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
// 3. return the Gal 7X satellite and remove it from list
result = *it2;
if (pop)
{
available_GAL_7X_signals_.erase(it2);
}
available_GAL_7X_signals_.erase(it2);
found_signal = true;
assistance_available = true;
break;
@ -3025,10 +3119,9 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
if (found_signal == false)
{
result = available_GAL_7X_signals_.front();
available_GAL_7X_signals_.pop_front();
if (!pop)
if (available_GAL_7X_signals_.size() > 1)
{
available_GAL_7X_signals_.push_back(result);
available_GAL_7X_signals_.pop_front();
}
}
break;
@ -3054,10 +3147,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
// 3. return the Gal E6 satellite and remove it from list
result = *it2;
if (pop)
{
available_GAL_E6_signals_.erase(it2);
}
available_GAL_E6_signals_.erase(it2);
found_signal = true;
assistance_available = true;
break;
@ -3069,56 +3159,51 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
if (found_signal == false)
{
result = available_GAL_E6_signals_.front();
available_GAL_E6_signals_.pop_front();
if (!pop)
if (available_GAL_E6_signals_.size() > 1)
{
available_GAL_E6_signals_.push_back(result);
available_GAL_E6_signals_.pop_front();
}
}
break;
case evGLO_1G:
result = available_GLO_1G_signals_.front();
available_GLO_1G_signals_.pop_front();
if (!pop)
if (available_GLO_1G_signals_.size() > 1)
{
available_GLO_1G_signals_.push_back(result);
available_GLO_1G_signals_.pop_front();
}
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
case evGLO_2G:
result = available_GLO_2G_signals_.front();
available_GLO_2G_signals_.pop_front();
if (!pop)
if (available_GLO_2G_signals_.size() > 1)
{
available_GLO_2G_signals_.push_back(result);
available_GLO_2G_signals_.pop_front();
}
break;
case evBDS_B1:
result = available_BDS_B1_signals_.front();
available_BDS_B1_signals_.pop_front();
if (!pop)
if (available_BDS_B1_signals_.size() > 1)
{
available_BDS_B1_signals_.push_back(result);
available_BDS_B1_signals_.pop_front();
}
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
case evBDS_B3:
result = available_BDS_B3_signals_.front();
available_BDS_B3_signals_.pop_front();
if (!pop)
if (available_BDS_B3_signals_.size() > 1)
{
available_BDS_B3_signals_.push_back(result);
available_BDS_B3_signals_.pop_front();
}
break;
default:
LOG(ERROR) << "This should not happen :-(";
result = available_GPS_1C_signals_.front();
if (pop)
if (available_GPS_1C_signals_.size() > 1)
{
available_GPS_1C_signals_.pop_front();
}

3
src/core/receiver/gnss_flowgraph.h
View File

@ -205,14 +205,13 @@ private:
int disconnect_fpga_sample_counter();
#endif
void assign_channels();
int assign_channels();
void check_signal_conditioners();
void set_signals_list();
void set_channels_state(); // Initializes the channels state (start acquisition or keep standby)
// using the configuration parameters (number of channels and max channels in acquisition)
Gnss_Signal search_next_signal(const std::string& searched_signal,
const bool pop,
bool& is_primary_frequency,
bool& assistance_available,
float& estimated_doppler,