Add coherent integration for GPS L2C, L5 and Galileo E1

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc

@@ -62,12 +62,13 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
     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", 4);
+    acq_parameters.ms_per_code = 4;
+    sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters.ms_per_code);
     acq_parameters.sampled_ms = sampled_ms_;
-    if ((acq_parameters.sampled_ms % 4) != 0)
+    if ((acq_parameters.sampled_ms % acq_parameters.ms_per_code) != 0)
         {
             LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of 4. Setting it to 4";
-            acq_parameters.sampled_ms = 4;
+            acq_parameters.sampled_ms = acq_parameters.ms_per_code;
         }
     bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
     acq_parameters.bit_transition_flag = bit_transition_flag_;

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc

@@ -103,6 +103,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
     acq_parameters.it_size = item_size_;
     acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
     acq_parameters.sampled_ms = sampled_ms_;
+    acq_parameters.ms_per_code = 1;
     acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GALILEO_E5a_CODE_PERIOD_MS);
     acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
     acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);

src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc

@@ -101,6 +101,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
     acq_parameters.it_size = item_size_;
     acq_parameters.sampled_ms = sampled_ms_;
     acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
+    acq_parameters.ms_per_code = 1;
     acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GLONASS_L1_CA_CODE_PERIOD * 1000.0);
     acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
     acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);

src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc

@@ -100,6 +100,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
     acq_parameters.it_size = item_size_;
     acq_parameters.sampled_ms = sampled_ms_;
     acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
+    acq_parameters.ms_per_code = 1;
     acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GLONASS_L2_CA_CODE_PERIOD * 1000.0);
     acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
     acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc

@@ -71,6 +71,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
     acq_parameters.doppler_max = doppler_max_;
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
     acq_parameters.sampled_ms = sampled_ms_;
+    acq_parameters.ms_per_code = 1;
     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

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc

@@ -79,21 +79,17 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
     acq_parameters.dump_filename = dump_filename_;
     //--- Find number of samples per spreading code -------------------------
     acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
-    acq_parameters.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 20);
+    acq_parameters.ms_per_code = 20;
-    if ((acq_parameters.sampled_ms % 20) != 0)
+    acq_parameters.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters.ms_per_code);
+    if ((acq_parameters.sampled_ms % acq_parameters.ms_per_code) != 0)
         {
             LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of 20. Setting it to 20";
-            acq_parameters.sampled_ms = 20;
+            acq_parameters.sampled_ms = acq_parameters.ms_per_code;
         }
 
-    code_length_ = acq_parameters.sampled_ms * acq_parameters.samples_per_ms * (acq_parameters.bit_transition_flag ? 2 : 1);
+    code_length_ = acq_parameters.ms_per_code * acq_parameters.samples_per_ms;
 
-    vector_length_ = code_length_;
+    vector_length_ = acq_parameters.sampled_ms * acq_parameters.samples_per_ms * (acq_parameters.bit_transition_flag ? 2 : 1);
-
-    if (bit_transition_flag_)
-        {
-            vector_length_ *= 2;
-        }
 
     code_ = new gr_complex[vector_length_];
 
@@ -129,6 +125,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
     threshold_ = 0.0;
     doppler_step_ = 0;
     gnss_synchro_ = 0;
+    num_codes_ = acq_parameters.sampled_ms / acq_parameters.ms_per_code;
     if (in_streams_ > 1)
         {
             LOG(ERROR) << "This implementation only supports one input stream";
@@ -217,9 +214,18 @@ void GpsL2MPcpsAcquisition::init()
 
 void GpsL2MPcpsAcquisition::set_local_code()
 {
-    gps_l2c_m_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_);
+    std::complex<float>* code = new std::complex<float>[code_length_];
+
+    gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
+
+    for (unsigned int i = 0; i < num_codes_; i++)
+        {
+            memcpy(&(code_[i * code_length_]), code,
+                sizeof(gr_complex) * code_length_);
+        }
 
     acquisition_->set_local_code(code_);
+    delete[] code;
 }
 
 

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h

@@ -160,6 +160,7 @@ private:
     std::string role_;
     unsigned int in_streams_;
     unsigned int out_streams_;
+    unsigned int num_codes_;
 
     float calculate_threshold(float pfa);
 };

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc

@@ -98,8 +98,10 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
         }
     acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
     acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GPS_L5i_PERIOD * 1000.0);
+    acq_parameters.ms_per_code = 1;
     acq_parameters.it_size = item_size_;
     acq_parameters.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
+    num_codes_ = acq_parameters.sampled_ms;
     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);
@@ -206,9 +208,18 @@ void GpsL5iPcpsAcquisition::init()
 
 void GpsL5iPcpsAcquisition::set_local_code()
 {
-    gps_l5i_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_);
+    std::complex<float>* code = new std::complex<float>[code_length_];
+
+    gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
+
+    for (unsigned int i = 0; i < num_codes_; i++)
+        {
+            memcpy(&(code_[i * code_length_]), code,
+                sizeof(gr_complex) * code_length_);
+        }
 
     acquisition_->set_local_code(code_);
+    delete[] code;
 }
 
 

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h

@@ -158,6 +158,7 @@ private:
     std::complex<float>* code_;
     Gnss_Synchro* gnss_synchro_;
     std::string role_;
+    unsigned int num_codes_;
     unsigned int in_streams_;
     unsigned int out_streams_;
 

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -65,7 +65,7 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
     d_old_freq = 0;
     d_num_noncoherent_integrations_counter = 0;
     d_consumed_samples = acq_parameters.sampled_ms * acq_parameters.samples_per_ms * (acq_parameters.bit_transition_flag ? 2 : 1);
-    if (acq_parameters.sampled_ms == (acq_parameters.samples_per_code / acq_parameters.samples_per_ms))  //
+    if (acq_parameters.sampled_ms == acq_parameters.ms_per_code)
         {
             d_fft_size = d_consumed_samples;
         }
@@ -205,7 +205,7 @@ void pcps_acquisition::set_local_code(std::complex<float>* code)
         }
     else
         {
-            if (acq_parameters.sampled_ms == (acq_parameters.samples_per_code / acq_parameters.samples_per_ms))
+            if (acq_parameters.sampled_ms == acq_parameters.ms_per_code)
                 {
                     memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_consumed_samples);
                 }

src/algorithms/acquisition/libs/acq_conf.cc

@@ -35,6 +35,7 @@ Acq_Conf::Acq_Conf()
 {
     /* PCPS acquisition configuration */
     sampled_ms = 0;
+    ms_per_code = 0;
     max_dwells = 0;
     samples_per_chip = 0;
     doppler_max = 0;

src/algorithms/acquisition/libs/acq_conf.h

@@ -40,6 +40,7 @@ class Acq_Conf
 public:
     /* PCPS Acquisition configuration */
     unsigned int sampled_ms;
+    unsigned int ms_per_code;
     unsigned int samples_per_chip;
     unsigned int max_dwells;
     unsigned int doppler_max;