mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2026-07-02 17:30:47 +00:00
The dll_pll_veml_read_tracking_dump.py file was failing as it didn't read last
two fields (TOW_ms and WN). Probably because this file was written at a time when these fields were not present in the tracking dump. This commit fixes that, and plot_tracking_quality_indicator.py is operational now. This script now also lays out a _RECORD_FORMAT such that it is easily maintainable if the structure changes again in future in the dll_pll_veml_tracking.cc Thanks! Signed-off-by: minhaj <minhaj.sixbyte@gmail.com>
This commit is contained in:
minhaj
@@ -6,6 +6,7 @@
|
||||
Opens GNSS-SDR tracking binary log file .dat and returns the contents
|
||||
|
||||
Irene Pérez Riega, 2023. iperrie@inta.es
|
||||
Minhaj Uddin Ahmad, 2026. mahmad12@crimson.ua.edu
|
||||
|
||||
Args:
|
||||
filename: path to file .dat with the raw data
|
||||
@@ -25,198 +26,61 @@
|
||||
"""
|
||||
|
||||
import struct
|
||||
import sys
|
||||
|
||||
# Binary layout of one tracking dump record, matching the writer in
|
||||
# src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
|
||||
#
|
||||
# Fields are written back-to-back.
|
||||
# '<' selects little-endian / standard sizes / no alignment padding.
|
||||
_RECORD_FORMAT = '<' + (
|
||||
'f' # VE -> Magnitude of the Very Early correlator.
|
||||
'f' # E -> Magnitude of the Early correlator.
|
||||
'f' # P -> Magnitude of the Prompt correlator.
|
||||
'f' # L -> Magnitude of the Late correlator.
|
||||
'f' # VL -> Magnitude of the Very Late correlator.
|
||||
'f' # prompt_I -> Prompt correlator, In-phase component.
|
||||
'f' # prompt_Q -> Prompt correlator, Quadrature component.
|
||||
'Q' # PRN_start_sample -> Sample counter from tracking start.
|
||||
'f' # acc_carrier_phase_rad -> Accumulated carrier phase, in rad.
|
||||
'f' # carrier_doppler_hz -> Doppler shift, in Hz.
|
||||
'f' # carrier_doppler_rate_hz_s -> Doppler rate, in Hz/s.
|
||||
'f' # code_freq_hz -> Code frequency, in chips/s.
|
||||
'f' # code_freq_rate_hz_s -> Code frequency rate, in chips/s^2.
|
||||
'f' # carr_error -> Raw carrier error at the PLL output, in Hz.
|
||||
'f' # carr_nco -> Carrier error at the output of the PLL filter, in Hz.
|
||||
'f' # code_error -> Raw code error at the DLL output, in chips.
|
||||
'f' # code_nco -> Code error at the output of the DLL filter, in chips.
|
||||
'f' # CN0_SNV_dB_Hz -> C/N0 estimation, in dB-Hz.
|
||||
'f' # carrier_lock_test -> Output of the carrier lock test.
|
||||
'f' # var1 -> aux variable.
|
||||
'd' # var2 -> aux variable.
|
||||
'I' # PRN -> Satellite ID.
|
||||
'Q' # TOW_ms -> Time of week, in ms.
|
||||
'I' # WN -> Week number.
|
||||
)
|
||||
|
||||
_FIELD_NAMES = [
|
||||
'VE', 'E', 'P', 'L', 'VL', 'prompt_I', 'prompt_Q', 'PRN_start_sample',
|
||||
'acc_carrier_phase_rad', 'carrier_doppler_hz', 'carrier_doppler_rate_hz_s',
|
||||
'code_freq_hz', 'code_freq_rate_hz_s', 'carr_error', 'carr_nco',
|
||||
'code_error', 'code_nco', 'CN0_SNV_dB_Hz', 'carrier_lock_test',
|
||||
'var1', 'var2', 'PRN', 'TOW_ms', 'WN',
|
||||
]
|
||||
|
||||
|
||||
def dll_pll_veml_read_tracking_dump (filename):
|
||||
|
||||
v1 = []
|
||||
v2 = []
|
||||
v3 = []
|
||||
v4 = []
|
||||
v5 = []
|
||||
v6 = []
|
||||
v7 = []
|
||||
v8 = []
|
||||
v9 = []
|
||||
v10= []
|
||||
v11 = []
|
||||
v12 = []
|
||||
v13 = []
|
||||
v14 = []
|
||||
v15 = []
|
||||
v16 = []
|
||||
v17 = []
|
||||
v18 = []
|
||||
v19 = []
|
||||
v20 = []
|
||||
v21 = []
|
||||
v22 = []
|
||||
GNSS_tracking = {}
|
||||
record_size = struct.calcsize(_RECORD_FORMAT)
|
||||
columns = [[] for _ in _FIELD_NAMES]
|
||||
|
||||
bytes_shift = 0
|
||||
|
||||
if sys.maxsize > 2 ** 36: # 64 bits computer
|
||||
float_size_bytes = 4
|
||||
unsigned_long_int_size_bytes = 8
|
||||
double_size_bytes = 8
|
||||
unsigned_int_size_bytes = 4
|
||||
|
||||
else: # 32 bits
|
||||
float_size_bytes = 4
|
||||
unsigned_long_int_size_bytes = 4
|
||||
double_size_bytes = 8
|
||||
unsigned_int_size_bytes = 4
|
||||
|
||||
f = open(filename, 'rb')
|
||||
if f is None:
|
||||
return None
|
||||
else:
|
||||
with open(filename, 'rb') as f:
|
||||
while True:
|
||||
f.seek(bytes_shift, 0)
|
||||
# VE -> Magnitude of the Very Early correlator.
|
||||
v1.append(struct.unpack('f', f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# E -> Magnitude of the Early correlator.
|
||||
v2.append(struct.unpack('f', f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# P -> Magnitude of the Prompt correlator.
|
||||
v3.append(struct.unpack('f', f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# L -> Magnitude of the Late correlator.
|
||||
v4.append(struct.unpack('f', f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# VL -> Magnitude of the Very Late correlator.
|
||||
v5.append(struct.unpack('f', f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# promp_I -> Value of the Prompt correlator in the In-phase
|
||||
# component.
|
||||
v6.append(struct.unpack('f', f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# promp_Q -> Value of the Prompt correlator in the Quadrature
|
||||
# component.
|
||||
v7.append(struct.unpack('f',
|
||||
f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# PRN_start_sample -> Sample counter from tracking start.
|
||||
if unsigned_long_int_size_bytes == 8:
|
||||
v8.append(struct.unpack(
|
||||
'Q', f.read(unsigned_long_int_size_bytes))[0])
|
||||
bytes_shift += unsigned_long_int_size_bytes
|
||||
else:
|
||||
v8.append(struct.unpack('I',
|
||||
f.read(unsigned_int_size_bytes))[0])
|
||||
bytes_shift += unsigned_int_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# acc_carrier_phase_rad - > Accumulated carrier phase, in rad.
|
||||
v9.append(struct.unpack('f', f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# carrier doppler hz -> Doppler shift, in Hz.
|
||||
v10.append(struct.unpack('f',
|
||||
f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# carrier doppler rate hz s -> Doppler rate, in Hz/s.
|
||||
v11.append(struct.unpack('f',
|
||||
f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# code freq hz -> Code frequency, in chips/s.
|
||||
v12.append(struct.unpack('f',
|
||||
f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# code_freq_rate_hz_s -> Code frequency rate, in chips/s².
|
||||
v13.append(struct.unpack('f',
|
||||
f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# carr_error -> Raw carrier error (unfiltered) at the PLL
|
||||
# output, in Hz.
|
||||
v14.append(struct.unpack('f',
|
||||
f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# carr_nco -> Carrier error at the output of the PLL
|
||||
# filter, in Hz.
|
||||
v15.append(struct.unpack('f',
|
||||
f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# code error -> Raw code error (unfiltered) at the DLL
|
||||
# output, in chips.
|
||||
v16.append(struct.unpack('f',
|
||||
f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# code nco -> Code error at the output of the DLL
|
||||
# filter, in chips.
|
||||
v17.append(struct.unpack('f',
|
||||
f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# CN0_SNV_dB_Hz -> C/N0 estimation, in dB-Hz.
|
||||
v18.append(struct.unpack('f',
|
||||
f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# carrier lock test -> Output of the carrier lock test.
|
||||
v19.append(struct.unpack('f',
|
||||
f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# var 1 -> not used ?
|
||||
v20.append(struct.unpack('f',
|
||||
f.read(float_size_bytes))[0])
|
||||
bytes_shift += float_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# var 2 -> not used ?
|
||||
v21.append(struct.unpack('d',
|
||||
f.read(double_size_bytes))[0])
|
||||
bytes_shift += double_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
# PRN -> Satellite ID.
|
||||
v22.append(struct.unpack('I',
|
||||
f.read(unsigned_int_size_bytes))[0])
|
||||
bytes_shift += unsigned_int_size_bytes
|
||||
f.seek(bytes_shift, 0)
|
||||
|
||||
# Check file
|
||||
linea = f.readline()
|
||||
if not linea:
|
||||
record = f.read(record_size)
|
||||
if len(record) < record_size:
|
||||
# Clean end of file (or a trailing partial record).
|
||||
break
|
||||
for column, value in zip(columns, struct.unpack(_RECORD_FORMAT,
|
||||
record)):
|
||||
column.append(value)
|
||||
|
||||
f.close()
|
||||
|
||||
GNSS_tracking['VE'] = v1
|
||||
GNSS_tracking['E'] = v2
|
||||
GNSS_tracking['P'] = v3
|
||||
GNSS_tracking['L'] = v4
|
||||
GNSS_tracking['VL'] = v5
|
||||
GNSS_tracking['prompt_I'] = v6
|
||||
GNSS_tracking['prompt_Q'] = v7
|
||||
GNSS_tracking['PRN_start_sample'] = v8
|
||||
GNSS_tracking['acc_carrier_phase_rad'] = v9
|
||||
GNSS_tracking['carrier_doppler_hz'] = v10
|
||||
GNSS_tracking['carrier_doppler_rate_hz_s'] = v11
|
||||
GNSS_tracking['code_freq_hz'] = v12
|
||||
GNSS_tracking['code_freq_rate_hz_s'] = v13
|
||||
GNSS_tracking['carr_error'] = v14
|
||||
GNSS_tracking['carr_nco'] = v15
|
||||
GNSS_tracking['code_error'] = v16
|
||||
GNSS_tracking['code_nco'] = v17
|
||||
GNSS_tracking['CN0_SNV_dB_Hz'] = v18
|
||||
GNSS_tracking['carrier_lock_test'] = v19
|
||||
GNSS_tracking['var1'] = v20
|
||||
GNSS_tracking['var2'] = v21
|
||||
GNSS_tracking['PRN'] = v22
|
||||
|
||||
return GNSS_tracking
|
||||
return dict(zip(_FIELD_NAMES, columns))
|
||||
|
||||
@@ -1,16 +1,15 @@
|
||||
"""
|
||||
plot_tracking_quality_indicators.py
|
||||
|
||||
|
||||
|
||||
Irene Pérez Riega, 2023. iperrie@inta.es
|
||||
Minhaj Uddin Ahmad, 2026. mahmad12@crimson.ua.edu
|
||||
|
||||
Modifiable in the file:
|
||||
channels - Number of channels
|
||||
firs_channel - Number of the first channel
|
||||
first_channel - Number of the first channel
|
||||
path - Path to folder which contains raw files
|
||||
fig_path - Path where doppler plots will be save
|
||||
'trk_dump_ch' - Fixed part of the tracking dump files names
|
||||
file_prefix - Fixed part of the tracking dump files names
|
||||
|
||||
-----------------------------------------------------------------------------
|
||||
|
||||
@@ -35,12 +34,13 @@ plot_names = []
|
||||
# ---------- CHANGE HERE:
|
||||
channels = 5
|
||||
first_channel = 0
|
||||
path = '/home/labnav/Desktop/TEST_IRENE/tracking'
|
||||
fig_path = '/home/labnav/Desktop/TEST_IRENE/PLOTS/TrackingQualityIndicator'
|
||||
path = '../../../out/'
|
||||
fig_path = '../../../PLOTS/TrackingQualityIndicator'
|
||||
file_prefix = "track_ch"
|
||||
|
||||
for N in range(1, channels + 1):
|
||||
tracking_log_path = os.path.join(path,
|
||||
f'trk_dump_ch{N-1+first_channel}.dat')
|
||||
f'{file_prefix}{N-1+first_channel}.dat')
|
||||
GNSS_tracking.append(dll_pll_veml_read_tracking_dump(tracking_log_path))
|
||||
|
||||
if not os.path.exists(fig_path):
|
||||
@@ -59,7 +59,7 @@ plt.legend(plot_names)
|
||||
plt.savefig(os.path.join(fig_path,
|
||||
f'carrier_lock_test '
|
||||
f'{str(round(np.mean(GNSS_tracking[n]["PRN"])))}'))
|
||||
plt.show()
|
||||
# plt.show()
|
||||
|
||||
# Second plot
|
||||
plt.figure()
|
||||
@@ -73,4 +73,4 @@ for n in range(len(GNSS_tracking)):
|
||||
plt.legend(plot_names)
|
||||
plt.savefig(os.path.join(
|
||||
fig_path, f'SV {str(round(np.mean(GNSS_tracking[n]["PRN"])))}'))
|
||||
plt.show()
|
||||
# plt.show()
|
||||
|
||||
Reference in New Issue
Block a user