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

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Carles Fernandez 2019-03-27 08:20:46 +01:00
commit f04e63f4de
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GPG Key ID: 4C583C52B0C3877D
16 changed files with 547 additions and 98 deletions
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6
conf/gnss-sdr_BDS_B1I_byte.conf
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@ -47,6 +47,8 @@ InputFilter.filter_type=bandpass
InputFilter.grid_density=16 InputFilter.grid_density=16
InputFilter.sampling_frequency=25000000 InputFilter.sampling_frequency=25000000
InputFilter.IF=6250000 InputFilter.IF=6250000
InputFilter.dump = false
InputFilter.dump_filename=/home/dmiralles/Documents/gnss-sdr/src/tests/signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
Resampler.sample_freq_in=25000000 Resampler.sample_freq_in=25000000
Resampler.sample_freq_out=25000000 Resampler.sample_freq_out=25000000
@ -77,7 +79,7 @@ Acquisition_B1.threshold=0.0038
;Acquisition_B1.pfa=0.0000001; ;Acquisition_B1.pfa=0.0000001;
Acquisition_B1.doppler_max=10000 Acquisition_B1.doppler_max=10000
Acquisition_B1.doppler_step=100 Acquisition_B1.doppler_step=100
Acquisition_B1.dump=false Acquisition_B1.dump=true
Acquisition_B1.dump_filename=./bds_acq Acquisition_B1.dump_filename=./bds_acq
Acquisition_B1.blocking=false; Acquisition_B1.blocking=false;
Acquisition_B1.use_CFAR_algorithm=true; Acquisition_B1.use_CFAR_algorithm=true;
@ -89,7 +91,7 @@ Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
Tracking_B1.item_type=gr_complex Tracking_B1.item_type=gr_complex
Tracking_B1.pll_bw_hz=25.0; Tracking_B1.pll_bw_hz=25.0;
Tracking_B1.dll_bw_hz=2.50; Tracking_B1.dll_bw_hz=2.50;
Tracking_B1.dump=false; Tracking_B1.dump=true;
Tracking_B1.dump_filename=./epl_tracking_ch_ Tracking_B1.dump_filename=./epl_tracking_ch_

7
conf/gnss-sdr_BDS_B3I_byte.conf
View File

@ -23,6 +23,7 @@ SignalSource.samples=0
SignalSource.repeat=false SignalSource.repeat=false
SignalSource.dump=false SignalSource.dump=false
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
;SignalSource.samples=200000
;######### SIGNAL_CONDITIONER CONFIG ############ ;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner SignalConditioner.implementation=Signal_Conditioner
@ -47,6 +48,8 @@ InputFilter.filter_type=bandpass
InputFilter.grid_density=16 InputFilter.grid_density=16
InputFilter.sampling_frequency=50000000 InputFilter.sampling_frequency=50000000
InputFilter.IF=12500000 InputFilter.IF=12500000
InputFilter.dump = false
InputFilter.dump_filename=/home/dmiralles/Documents/gnss-sdr/src/tests/signal_samples/BdsB3IStr01_fs50e6_if0_4ms.dat
Resampler.implementation=Pass_Through Resampler.implementation=Pass_Through
Resampler.sample_freq_in=50000000 Resampler.sample_freq_in=50000000
Resampler.sample_freq_out=50000000 Resampler.sample_freq_out=50000000
@ -55,7 +58,7 @@ Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
Channels_B3.count=10 Channels_B3.count=10
Channels.in_acquisition=10 Channels.in_acquisition=1
Channel.signal=B3 Channel.signal=B3
Channel0.satellite = 6; Channel0.satellite = 6;
@ -74,7 +77,7 @@ Acquisition_B3.implementation=BEIDOU_B3I_PCPS_Acquisition
Acquisition_B3.item_type=gr_complex Acquisition_B3.item_type=gr_complex
Acquisition_B3.coherent_integration_time_ms=3 Acquisition_B3.coherent_integration_time_ms=3
Acquisition_B3.max_dwells = 2 Acquisition_B3.max_dwells = 2
Acquisition_B3.threshold=0.0004 Acquisition_B3.threshold=0.0005
Acquisition_B3.doppler_max=10000 Acquisition_B3.doppler_max=10000
Acquisition_B3.doppler_step=100 Acquisition_B3.doppler_step=100
Acquisition_B3.dump=false Acquisition_B3.dump=false

10
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -892,6 +892,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
if ((valid_obs + glo_valid_obs) > 3) if ((valid_obs + glo_valid_obs) > 3)
{ {
int result = 0; int result = 0;
int sat = 0;
nav_t nav_data; nav_t nav_data;
nav_data.eph = eph_data; nav_data.eph = eph_data;
nav_data.geph = geph_data; nav_data.geph = geph_data;
@ -903,6 +904,15 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
i[0] = SPEED_OF_LIGHT / FREQ1; // L1/E1 i[0] = SPEED_OF_LIGHT / FREQ1; // L1/E1
i[1] = SPEED_OF_LIGHT / FREQ2; // L2 i[1] = SPEED_OF_LIGHT / FREQ2; // L2
i[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5 i[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
// Keep update on sat number
sat++;
if (sat > NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS and sat < NSYSGPS + NSYSGLO + NSYSGAL + NSYSQZS + NSYSBDS)
{
i[0] = SPEED_OF_LIGHT / FREQ1_BDS; // B1I
i[1] = SPEED_OF_LIGHT / FREQ3_BDS; // B3I
i[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
}
} }
result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data); result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);

3
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
View File

@ -26,7 +26,7 @@
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
@ -57,7 +57,6 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type); item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000); int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_; acq_parameters.fs_in = fs_in_;

15
src/algorithms/libs/rtklib/rtklib_conversions.cc
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@ -43,12 +43,17 @@
#include "rtklib_rtkcmn.h" #include "rtklib_rtkcmn.h"
#include <cmath> #include <cmath>
#include <cstdint> #include <cstdint>
#include <string>
obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro, int week, int band) obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro, int week, int band)
{ {
// Get signal type info to adjust code type based on constellation
std::string sig_ = gnss_synchro.Signal;
rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz; rtklib_obs.D[band] = gnss_synchro.Carrier_Doppler_hz;
rtklib_obs.P[band] = gnss_synchro.Pseudorange_m; rtklib_obs.P[band] = gnss_synchro.Pseudorange_m;
rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / PI_2; rtklib_obs.L[band] = gnss_synchro.Carrier_phase_rads / PI_2;
switch (band) switch (band)
{ {
case 0: case 0:
@ -86,6 +91,16 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro
break; break;
case 'C': case 'C':
rtklib_obs.sat = gnss_synchro.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS; rtklib_obs.sat = gnss_synchro.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
// Update signal code
if (sig_ == "B1")
{
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L2I);
}
else if (sig_ == "B3")
{
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L6I);
}
break; break;
default: default:

6
src/algorithms/libs/rtklib/rtklib_pntpos.cc
View File

@ -210,7 +210,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
} }
} }
/* fL1^2 / fL2(orL5)^2 . See IS-GPS-200, p. 103 and Galileo ICD p. 48 */ /* fL1^2 / fL2(orL5)^2 . See IS-GPS-200, p. 103 and Galileo ICD p. 48 */
if (sys == SYS_GPS or sys == SYS_GAL or sys == SYS_GLO) if (sys == SYS_GPS or sys == SYS_GAL or sys == SYS_GLO or sys == SYS_BDS)
{ {
gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0); gamma_ = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0);
} }
@ -282,7 +282,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
PC = P2 + P1_P2 - ISCl5i; PC = P2 + P1_P2 - ISCl5i;
} }
} }
else if (sys == SYS_GAL or sys == SYS_GLO) // Gal. E5a single freq. else if (sys == SYS_GAL or sys == SYS_GLO or sys == SYS_BDS) // Gal. E5a single freq.
{ {
P2 += P2_C2; /* C2->P2 */ P2 += P2_C2; /* C2->P2 */
PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_); PC = P2 - gamma_ * P1_P2 / (1.0 - gamma_);
@ -306,7 +306,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
PC = P1 + P1_P2; PC = P1 + P1_P2;
} }
} }
else if (sys == SYS_GAL or sys == SYS_GLO) /* E1 + E5a */ else if (sys == SYS_GAL or sys == SYS_GLO or sys == SYS_BDS) /* E1 + E5a */
{ {
P1 += P1_C1; P1 += P1_C1;
P2 += P2_C2; P2 += P2_C2;

8
src/algorithms/telemetry_decoder/adapters/beidou_b3i_telemetry_decoder.h
View File

@ -48,7 +48,7 @@ class BeidouB3iTelemetryDecoder : public TelemetryDecoderInterface
{ {
public: public:
BeidouB3iTelemetryDecoder(ConfigurationInterface *configuration, BeidouB3iTelemetryDecoder(ConfigurationInterface *configuration,
const std::string& role, unsigned int in_streams, const std::string &role, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
virtual ~BeidouB3iTelemetryDecoder(); virtual ~BeidouB3iTelemetryDecoder();
@ -72,7 +72,11 @@ public:
telemetry_decoder_->set_channel(channel); telemetry_decoder_->set_channel(channel);
} }
inline void reset() override { return; } inline void reset() override
{
telemetry_decoder_->reset();
return;
}
inline size_t item_size() override { return 0; } inline size_t item_size() override { return 0; }

5
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
View File

@ -56,6 +56,7 @@ beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
new beidou_b3i_telemetry_decoder_gs(satellite, dump)); new beidou_b3i_telemetry_decoder_gs(satellite, dump));
} }
beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs( beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
const Gnss_Satellite &satellite, bool dump) const Gnss_Satellite &satellite, bool dump)
: gr::block("beidou_b3i_telemetry_decoder_gs", : gr::block("beidou_b3i_telemetry_decoder_gs",
@ -64,6 +65,9 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
{ {
// Ephemeris data port out // Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry")); this->message_port_register_out(pmt::mp("telemetry"));
// Control messages to tracking block
this->message_port_register_out(pmt::mp("telemetry_to_trk"));
// initialize internal vars // initialize internal vars
d_dump = dump; d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@ -396,6 +400,7 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(
} }
} }
void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel) void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel)
{ {
d_channel = channel; d_channel = channel;

5
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.h
View File

@ -60,7 +60,10 @@ public:
~beidou_b3i_telemetry_decoder_gs(); //!< Class destructor ~beidou_b3i_telemetry_decoder_gs(); //!< Class destructor
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel void set_channel(int channel); //!< Set receiver's channel
inline void reset()
{
return;
}
/*! /*!
* \brief This is where all signal processing takes place * \brief This is where all signal processing takes place
*/ */

41
src/core/receiver/gnss_block_factory.cc
View File

@ -39,6 +39,12 @@
#include "acquisition_interface.h" // for AcquisitionInterface #include "acquisition_interface.h" // for AcquisitionInterface
#include "array_signal_conditioner.h" #include "array_signal_conditioner.h"
#include "beamformer_filter.h" #include "beamformer_filter.h"
#include "beidou_b1i_dll_pll_tracking.h"
#include "beidou_b1i_pcps_acquisition.h"
#include "beidou_b1i_telemetry_decoder.h"
#include "beidou_b3i_dll_pll_tracking.h"
#include "beidou_b3i_pcps_acquisition.h"
#include "beidou_b3i_telemetry_decoder.h"
#include "byte_to_short.h" #include "byte_to_short.h"
#include "channel.h" #include "channel.h"
#include "configuration_interface.h" #include "configuration_interface.h"
@ -66,12 +72,6 @@
#include "glonass_l2_ca_dll_pll_tracking.h" #include "glonass_l2_ca_dll_pll_tracking.h"
#include "glonass_l2_ca_pcps_acquisition.h" #include "glonass_l2_ca_pcps_acquisition.h"
#include "glonass_l2_ca_telemetry_decoder.h" #include "glonass_l2_ca_telemetry_decoder.h"
#include "beidou_b1i_pcps_acquisition.h"
#include "beidou_b1i_dll_pll_tracking.h"
#include "beidou_b1i_telemetry_decoder.h"
#include "beidou_b3i_pcps_acquisition.h"
#include "beidou_b3i_dll_pll_tracking.h"
#include "beidou_b3i_telemetry_decoder.h"
#include "gnss_block_interface.h" #include "gnss_block_interface.h"
#include "gps_l1_ca_dll_pll_c_aid_tracking.h" #include "gps_l1_ca_dll_pll_c_aid_tracking.h"
#include "gps_l1_ca_dll_pll_tracking.h" #include "gps_l1_ca_dll_pll_tracking.h"
@ -289,12 +289,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetObservables(const std::
Galileo_channels + Galileo_channels +
GPS_channels + GPS_channels +
Glonass_channels + Glonass_channels +
Beidou_channels + Beidou_channels +
extra_channels, extra_channels,
Galileo_channels + Galileo_channels +
GPS_channels + GPS_channels +
Glonass_channels + Glonass_channels +
Beidou_channels); Beidou_channels);
} }
@ -313,7 +313,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetPVT(const std::shared_p
unsigned int Beidou_channels = configuration->property("Channels_B1.count", 0); unsigned int Beidou_channels = configuration->property("Channels_B1.count", 0);
Beidou_channels += configuration->property("Channels_B3.count", 0); Beidou_channels += configuration->property("Channels_B3.count", 0);
return GetBlock(configuration, "PVT", implementation, return GetBlock(configuration, "PVT", implementation,
Galileo_channels + GPS_channels + Glonass_channels + Beidou_channels, 0); Galileo_channels + GPS_channels + Glonass_channels + Beidou_channels, 0);
} }
@ -948,7 +948,7 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
Channels_5X_count + Channels_5X_count +
Channels_L5_count + Channels_L5_count +
Channels_B1_count + Channels_B1_count +
Channels_B3_count; Channels_B3_count;
std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels(new std::vector<std::unique_ptr<GNSSBlockInterface>>(total_channels)); std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels(new std::vector<std::unique_ptr<GNSSBlockInterface>>(total_channels));
try try
@ -1218,7 +1218,6 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
queue); queue);
channel_absolute_id++; channel_absolute_id++;
} }
} }
catch (const std::exception& e) catch (const std::exception& e)
{ {
@ -1704,8 +1703,8 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
block = std::move(block_); block = std::move(block_);
} }
else if (implementation == "BEIDOU_B3I_PCPS_Acquisition") else if (implementation == "BEIDOU_B3I_PCPS_Acquisition")
{ {
std::unique_ptr<AcquisitionInterface> block_(new BeidouB3iPcpsAcquisition(configuration.get(), role, in_streams, std::unique_ptr<AcquisitionInterface> block_(new BeidouB3iPcpsAcquisition(configuration.get(), role, in_streams,
out_streams)); out_streams));
block = std::move(block_); block = std::move(block_);
} }
@ -1720,7 +1719,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
else if (implementation == "GPS_L1_CA_KF_Tracking") else if (implementation == "GPS_L1_CA_KF_Tracking")
{ {
std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaKfTracking(configuration.get(), role, in_streams, std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaKfTracking(configuration.get(), role, in_streams,
out_streams)); out_streams));
block = std::move(block_); block = std::move(block_);
} }
else if (implementation == "GPS_L1_CA_DLL_PLL_C_Aid_Tracking") else if (implementation == "GPS_L1_CA_DLL_PLL_C_Aid_Tracking")
@ -1844,11 +1843,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
block = std::move(block_); block = std::move(block_);
} }
else if (implementation == "BEIDOU_B3I_DLL_PLL_Tracking") else if (implementation == "BEIDOU_B3I_DLL_PLL_Tracking")
{ {
std::unique_ptr<GNSSBlockInterface> block_(new BeidouB3iDllPllTracking(configuration.get(), role, in_streams, std::unique_ptr<GNSSBlockInterface> block_(new BeidouB3iDllPllTracking(configuration.get(), role, in_streams,
out_streams)); out_streams));
block = std::move(block_); block = std::move(block_);
} }
// TELEMETRY DECODERS ---------------------------------------------------------- // TELEMETRY DECODERS ----------------------------------------------------------
else if (implementation == "GPS_L1_CA_Telemetry_Decoder") else if (implementation == "GPS_L1_CA_Telemetry_Decoder")
{ {
@ -2138,7 +2137,7 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
else if (implementation == "GPS_L1_CA_KF_Tracking") else if (implementation == "GPS_L1_CA_KF_Tracking")
{ {
std::unique_ptr<TrackingInterface> block_(new GpsL1CaKfTracking(configuration.get(), role, in_streams, std::unique_ptr<TrackingInterface> block_(new GpsL1CaKfTracking(configuration.get(), role, in_streams,
out_streams)); out_streams));
block = std::move(block_); block = std::move(block_);
} }
else if (implementation == "GPS_L1_CA_DLL_PLL_C_Aid_Tracking") else if (implementation == "GPS_L1_CA_DLL_PLL_C_Aid_Tracking")

32
src/tests/CMakeLists.txt
View File

@ -309,21 +309,41 @@ endif()
if(ENABLE_UNIT_TESTING_EXTRA) if(ENABLE_UNIT_TESTING_EXTRA)
add_definitions(-DEXTRA_TESTS) add_definitions(-DEXTRA_TESTS)
message(STATUS "Downloading some data files for testing...")
if(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat) if(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat)
message(STATUS "Downloading some data files for testing...") message(STATUS "Downloading file: gps_l2c_m_prn7_5msps.dat")
file(DOWNLOAD https://sourceforge.net/projects/gnss-sdr/files/data/gps_l2c_m_prn7_5msps.dat ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat file(DOWNLOAD https://sourceforge.net/projects/gnss-sdr/files/data/gps_l2c_m_prn7_5msps.dat ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat
SHOW_PROGRESS SHOW_PROGRESS
EXPECTED_HASH MD5=a6fcbefe155137945d3c33c5ef7bd0f9) EXPECTED_HASH MD5=a6fcbefe155137945d3c33c5ef7bd0f9
)
endif() endif()
if(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat) if(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat)
message(STATUS "Downloading some data files for testing...") message(STATUS "Downloading file: Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat")
file(DOWNLOAD https://sourceforge.net/projects/gnss-sdr/files/data/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat file(DOWNLOAD https://sourceforge.net/projects/gnss-sdr/files/data/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat
SHOW_PROGRESS SHOW_PROGRESS
EXPECTED_HASH MD5=ffb72fc63c116be58d5e5ccb1daaed3a) EXPECTED_HASH MD5=ffb72fc63c116be58d5e5ccb1daaed3a
)
endif() endif()
if(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat)
message(STATUS "Downloading file: BdsB1IStr01_fs25e6_if0_4ms.dat")
file(DOWNLOAD https://sourceforge.net/projects/gnss-sdr/files/data/BdsB1IStr01_fs25e6_if0_4ms.dat ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat
SHOW_PROGRESS
EXPECTED_HASH MD5=5a4336dad9d80f3313a16dec4fff9233
)
endif()
if(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/BdsB3IStr01_fs50e6_if0_4ms.dat)
message(STATUS "Downloading file: BdsB3IStr01_fs50e6_if0_4ms.dat")
file(DOWNLOAD https://sourceforge.net/projects/gnss-sdr/files/data/BdsB3IStr01_fs50e6_if0_4ms.dat ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/BdsB3IStr01_fs50e6_if0_4ms.dat
SHOW_PROGRESS
EXPECTED_HASH MD5=066d0d8434a8bc81e161778b7c34cc07
)
endif()
message(STATUS "Done.")
if(ENABLE_INSTALL_TESTS) if(ENABLE_INSTALL_TESTS)
install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat DESTINATION share/gnss-sdr/signal_samples) install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat DESTINATION share/gnss-sdr/signal_samples)
install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples) install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/Glonass_L1_CA_SIM_Fs_62Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
endif() endif()
endif() endif()

3
src/tests/test_main.cc
View File

@ -92,7 +92,6 @@ DECLARE_string(log_dir);
#include "unit-tests/signal-processing-blocks/sources/gnss_sdr_valve_test.cc" #include "unit-tests/signal-processing-blocks/sources/gnss_sdr_valve_test.cc"
#include "unit-tests/signal-processing-blocks/sources/unpack_2bit_samples_test.cc" #include "unit-tests/signal-processing-blocks/sources/unpack_2bit_samples_test.cc"
// #include "unit-tests/signal-processing-blocks/acquisition/glonass_l2_ca_pcps_acquisition_test.cc" // #include "unit-tests/signal-processing-blocks/acquisition/glonass_l2_ca_pcps_acquisition_test.cc"
// #include "unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc"
#if OPENCL_BLOCKS_TEST #if OPENCL_BLOCKS_TEST
#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc"
@ -127,6 +126,8 @@ DECLARE_string(log_dir);
#if EXTRA_TESTS #if EXTRA_TESTS
#include "unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc"
//#include "unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc"
//#include "unit-tests/signal-processing-blocks/acquisition/beidou_b3i_pcps_acquisition_test.cc"
#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
#include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
#include "unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc" #include "unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc"

76
src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc
View File

@ -3,7 +3,7 @@
* \brief This class implements an acquisition test for * \brief This class implements an acquisition test for
* BeidouB1iPcpsAcquisition class based on some input parameters. * BeidouB1iPcpsAcquisition class based on some input parameters.
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com * \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.com
* * \author Damian Miralles, 2019. dmiralles2009(at)gmail.com
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
@ -44,7 +44,6 @@
#include <boost/filesystem.hpp> #include <boost/filesystem.hpp>
#include <boost/make_shared.hpp> #include <boost/make_shared.hpp>
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/analog/sig_source_c.h>
#include <gnuradio/analog/sig_source_waveform.h> #include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h> #include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h> #include <gnuradio/blocks/null_sink.h>
@ -52,12 +51,18 @@
#include <gnuradio/top_block.h> #include <gnuradio/top_block.h>
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <chrono> #include <chrono>
#include <utility>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
// ######## GNURADIO BLOCK MESSAGE RECEVER ######### // ######## GNURADIO BLOCK MESSAGE RECEVER #########
class BeidouB1iPcpsAcquisitionTest_msg_rx; class BeidouB1iPcpsAcquisitionTest_msg_rx;
typedef boost::shared_ptr<BeidouB1iPcpsAcquisitionTest_msg_rx> BeidouB1iPcpsAcquisitionTest_msg_rx_sptr; using BeidouB1iPcpsAcquisitionTest_msg_rx_sptr = boost::shared_ptr<BeidouB1iPcpsAcquisitionTest_msg_rx>;
BeidouB1iPcpsAcquisitionTest_msg_rx_sptr BeidouB1iPcpsAcquisitionTest_msg_rx_make(); BeidouB1iPcpsAcquisitionTest_msg_rx_sptr BeidouB1iPcpsAcquisitionTest_msg_rx_make();
@ -84,7 +89,7 @@ void BeidouB1iPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
{ {
try try
{ {
long int message = pmt::to_long(msg); int64_t message = pmt::to_long(std::move(msg));
rx_message = message; rx_message = message;
} }
catch (boost::bad_any_cast &e) catch (boost::bad_any_cast &e)
@ -103,9 +108,7 @@ BeidouB1iPcpsAcquisitionTest_msg_rx::BeidouB1iPcpsAcquisitionTest_msg_rx() : gr:
} }
BeidouB1iPcpsAcquisitionTest_msg_rx::~BeidouB1iPcpsAcquisitionTest_msg_rx() BeidouB1iPcpsAcquisitionTest_msg_rx::~BeidouB1iPcpsAcquisitionTest_msg_rx() = default;
{
}
// ########################################################### // ###########################################################
@ -123,9 +126,7 @@ protected:
doppler_step = 100; doppler_step = 100;
} }
~BeidouB1iPcpsAcquisitionTest() ~BeidouB1iPcpsAcquisitionTest() = default;
{
}
void init(); void init();
void plot_grid(); void plot_grid();
@ -133,7 +134,7 @@ protected:
gr::top_block_sptr top_block; gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory; std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config; std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro; Gnss_Synchro gnss_synchro{};
size_t item_size; size_t item_size;
unsigned int doppler_max; unsigned int doppler_max;
unsigned int doppler_step; unsigned int doppler_step;
@ -159,8 +160,9 @@ void BeidouB1iPcpsAcquisitionTest::init()
{ {
config->set_property("Acquisition_B1.dump", "false"); config->set_property("Acquisition_B1.dump", "false");
} }
config->set_property("Acquisition_B1.dump_filename", "./tmp-acq-beidou1/acquisition"); config->set_property("Acquisition_B1.dump_filename", "./tmp-acq-bds-b1i/acquisition");
config->set_property("Acquisition_B1.threshold", "0.00001"); config->set_property("Acquisition_B1.dump_channel", "1");
config->set_property("Acquisition_B1.threshold", "0.0038");
config->set_property("Acquisition_B1.doppler_max", std::to_string(doppler_max)); config->set_property("Acquisition_B1.doppler_max", std::to_string(doppler_max));
config->set_property("Acquisition_B1.doppler_step", std::to_string(doppler_step)); config->set_property("Acquisition_B1.doppler_step", std::to_string(doppler_step));
config->set_property("Acquisition_B1.repeat_satellite", "false"); config->set_property("Acquisition_B1.repeat_satellite", "false");
@ -171,13 +173,16 @@ void BeidouB1iPcpsAcquisitionTest::init()
void BeidouB1iPcpsAcquisitionTest::plot_grid() void BeidouB1iPcpsAcquisitionTest::plot_grid()
{ {
//load the measured values //load the measured values
std::string basename = "./tmp-acq-beidou1/acquisition_C_B1"; std::string basename = "./tmp-acq-bds-b1i/acquisition_C_B1";
unsigned int sat = static_cast<unsigned int>(gnss_synchro.PRN); auto sat = static_cast<unsigned int>(gnss_synchro.PRN);
unsigned int samples_per_code = static_cast<unsigned int>(round(4000000 / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS))); // !! auto samples_per_code = static_cast<unsigned int>(round(25000000 / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS))); // !!
acquisition_dump_reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code); Acquisition_Dump_Reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code, 1);
if (!acq_dump.read_binary_acq()) std::cout << "Error reading files" << std::endl; if (!acq_dump.read_binary_acq())
{
std::cout << "Error reading files" << std::endl;
}
std::vector<int> *doppler = &acq_dump.doppler; std::vector<int> *doppler = &acq_dump.doppler;
std::vector<unsigned int> *samples = &acq_dump.samples; std::vector<unsigned int> *samples = &acq_dump.samples;
@ -197,26 +202,33 @@ void BeidouB1iPcpsAcquisitionTest::plot_grid()
{ {
boost::filesystem::path p(gnuplot_executable); boost::filesystem::path p(gnuplot_executable);
boost::filesystem::path dir = p.parent_path(); boost::filesystem::path dir = p.parent_path();
std::string gnuplot_path = dir.native(); const std::string &gnuplot_path = dir.native();
Gnuplot::set_GNUPlotPath(gnuplot_path); Gnuplot::set_GNUPlotPath(gnuplot_path);
Gnuplot g1("lines"); Gnuplot g1("lines");
g1.set_title("BeiDou signal acquisition for satellite PRN #" + std::to_string(gnss_synchro.PRN)); if (FLAGS_show_plots)
{
g1.showonscreen(); // window output
}
else
{
g1.disablescreen();
}
g1.set_title("BeiDou B1I signal acquisition for satellite PRN #" + std::to_string(gnss_synchro.PRN));
g1.set_xlabel("Doppler [Hz]"); g1.set_xlabel("Doppler [Hz]");
g1.set_ylabel("Sample"); g1.set_ylabel("Sample");
//g1.cmd("set view 60, 105, 1, 1"); //g1.cmd("set view 60, 105, 1, 1");
g1.plot_grid3d(*doppler, *samples, *mag); g1.plot_grid3d(*doppler, *samples, *mag);
g1.savetops("BEIDOU_B1I_acq_grid"); g1.savetops("BeiDou_B1I_acq_grid");
g1.savetopdf("BEIDOU_BI1_acq_grid"); g1.savetopdf("BeiDou_B1I_acq_grid");
g1.showonscreen();
} }
catch (const GnuplotException &ge) catch (const GnuplotException &ge)
{ {
std::cout << ge.what() << std::endl; std::cout << ge.what() << std::endl;
} }
} }
std::string data_str = "./tmp-acq-beidou1"; std::string data_str = "./tmp-acq-bds-b1i";
if (boost::filesystem::exists(data_str)) if (boost::filesystem::exists(data_str))
{ {
boost::filesystem::remove_all(data_str); boost::filesystem::remove_all(data_str);
@ -234,7 +246,7 @@ TEST_F(BeidouB1iPcpsAcquisitionTest, Instantiate)
TEST_F(BeidouB1iPcpsAcquisitionTest, ConnectAndRun) TEST_F(BeidouB1iPcpsAcquisitionTest, ConnectAndRun)
{ {
int fs_in = 25000000; int fs_in = 25000000;
int nsamples = 4000; int nsamples = 25000;
std::chrono::time_point<std::chrono::system_clock> start, end; std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0); std::chrono::duration<double> elapsed_seconds(0);
gr::msg_queue::sptr queue = gr::msg_queue::make(0); gr::msg_queue::sptr queue = gr::msg_queue::make(0);
@ -270,14 +282,14 @@ TEST_F(BeidouB1iPcpsAcquisitionTest, ValidationOfResults)
std::chrono::duration<double> elapsed_seconds(0.0); std::chrono::duration<double> elapsed_seconds(0.0);
top_block = gr::make_top_block("Acquisition test"); top_block = gr::make_top_block("Acquisition test");
double expected_delay_samples = 524; double expected_delay_samples = 22216;
double expected_doppler_hz = 1680; double expected_doppler_hz = 125;
init(); init();
if (FLAGS_plot_acq_grid == true) if (FLAGS_plot_acq_grid == true)
{ {
std::string data_str = "./tmp-acq-beidou1"; std::string data_str = "./tmp-acq-bds-b1i";
if (boost::filesystem::exists(data_str)) if (boost::filesystem::exists(data_str))
{ {
boost::filesystem::remove_all(data_str); boost::filesystem::remove_all(data_str);
@ -297,7 +309,7 @@ TEST_F(BeidouB1iPcpsAcquisitionTest, ValidationOfResults)
}) << "Failure setting gnss_synchro."; }) << "Failure setting gnss_synchro.";
ASSERT_NO_THROW({ ASSERT_NO_THROW({
acquisition->set_threshold(0.001); acquisition->set_threshold(0.0038);
}) << "Failure setting threshold."; }) << "Failure setting threshold.";
ASSERT_NO_THROW({ ASSERT_NO_THROW({
@ -314,7 +326,7 @@ TEST_F(BeidouB1iPcpsAcquisitionTest, ValidationOfResults)
ASSERT_NO_THROW({ ASSERT_NO_THROW({
std::string path = std::string(TEST_PATH); std::string path = std::string(TEST_PATH);
std::string file = path + "signal_samples/BEIDOU_B1I_ID_1_Fs_4Msps_2ms.dat"; std::string file = path + "signal_samples/BdsB1IStr01_fs25e6_if0_4ms.dat";
const char *file_name = file.c_str(); const char *file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false); gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
top_block->connect(file_source, 0, acquisition->get_left_block(), 0); top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
@ -332,12 +344,12 @@ TEST_F(BeidouB1iPcpsAcquisitionTest, ValidationOfResults)
elapsed_seconds = end - start; elapsed_seconds = end - start;
}) << "Failure running the top_block."; }) << "Failure running the top_block.";
unsigned long int nsamples = gnss_synchro.Acq_samplestamp_samples; uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples;
std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl; std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS."; ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples); double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
float delay_error_chips = static_cast<float>(delay_error_samples * 1023 / 4000); auto delay_error_chips = static_cast<float>(delay_error_samples * BEIDOU_B1I_CODE_LENGTH_CHIPS / 25000);
double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz); double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)"; EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";

361
src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b3i_pcps_acquisition_test.cc Normal file
View File

@ -0,0 +1,361 @@
/*!
* \file beidou_b3i_pcps_acquisition_test.cc
* \brief This class implements an acquisition test for
* BeidouB3iPcpsAcquisition class based on some input parameters.
* \author Damian Miralles, 2019. dmiralles2009(at)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.h"
#include "acquisition_dump_reader.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
#include "gnuplot_i.h"
#include "beidou_b3i_pcps_acquisition.h"
#include "in_memory_configuration.h"
#include "test_flags.h"
#include <boost/filesystem.hpp>
#include <boost/make_shared.hpp>
#include <glog/logging.h>
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
#include <utility>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
class BeidouB3iPcpsAcquisitionTest_msg_rx;
using BeidouB3iPcpsAcquisitionTest_msg_rx_sptr = boost::shared_ptr<BeidouB3iPcpsAcquisitionTest_msg_rx>;
BeidouB3iPcpsAcquisitionTest_msg_rx_sptr BeidouB3iPcpsAcquisitionTest_msg_rx_make();
class BeidouB3iPcpsAcquisitionTest_msg_rx : public gr::block
{
private:
friend BeidouB3iPcpsAcquisitionTest_msg_rx_sptr BeidouB3iPcpsAcquisitionTest_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
BeidouB3iPcpsAcquisitionTest_msg_rx();
public:
int rx_message;
~BeidouB3iPcpsAcquisitionTest_msg_rx(); //!< Default destructor
};
BeidouB3iPcpsAcquisitionTest_msg_rx_sptr BeidouB3iPcpsAcquisitionTest_msg_rx_make()
{
return BeidouB3iPcpsAcquisitionTest_msg_rx_sptr(new BeidouB3iPcpsAcquisitionTest_msg_rx());
}
void BeidouB3iPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(std::move(msg));
rx_message = message;
}
catch (boost::bad_any_cast &e)
{
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
rx_message = 0;
}
}
BeidouB3iPcpsAcquisitionTest_msg_rx::BeidouB3iPcpsAcquisitionTest_msg_rx() : gr::block("BeidouB3iPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&BeidouB3iPcpsAcquisitionTest_msg_rx::msg_handler_events, this, _1));
rx_message = 0;
}
BeidouB3iPcpsAcquisitionTest_msg_rx::~BeidouB3iPcpsAcquisitionTest_msg_rx() = default;
// ###########################################################
class BeidouB3iPcpsAcquisitionTest : public ::testing::Test
{
protected:
BeidouB3iPcpsAcquisitionTest()
{
factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
gnss_synchro = Gnss_Synchro();
doppler_max = 5000;
doppler_step = 100;
}
~BeidouB3iPcpsAcquisitionTest() = default;
void init();
void plot_grid();
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro{};
size_t item_size;
unsigned int doppler_max;
unsigned int doppler_step;
};
void BeidouB3iPcpsAcquisitionTest::init()
{
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'C';
std::string signal = "B3";
signal.copy(gnss_synchro.Signal, 2, 0);
gnss_synchro.PRN = 1;
config->set_property("GNSS-SDR.internal_fs_sps", "50000000");
config->set_property("Acquisition_B3.implementation", "BEIDOU_B3I_PCPS_Acquisition");
config->set_property("Acquisition_B3.item_type", "gr_complex");
config->set_property("Acquisition_B3.coherent_integration_time_ms", "1");
if (FLAGS_plot_acq_grid == true)
{
config->set_property("Acquisition_B3.dump", "true");
}
else
{
config->set_property("Acquisition_B3.dump", "false");
}
config->set_property("Acquisition_B3.dump_filename", "./tmp-acq-bds-b3i/acquisition");
config->set_property("Acquisition_B3.dump_channel", "1");
config->set_property("Acquisition_B3.threshold", "0.00001");
config->set_property("Acquisition_B3.doppler_max", std::to_string(doppler_max));
config->set_property("Acquisition_B3.doppler_step", std::to_string(doppler_step));
config->set_property("Acquisition_B3.repeat_satellite", "false");
}
void BeidouB3iPcpsAcquisitionTest::plot_grid()
{
//load the measured values
std::string basename = "./tmp-acq-bds-b3i/acquisition_C_B3";
auto sat = static_cast<unsigned int>(gnss_synchro.PRN);
auto samples_per_code = static_cast<unsigned int>(round(50000000 / (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS))); // !!
Acquisition_Dump_Reader acq_dump(basename, sat, doppler_max, doppler_step, samples_per_code, 1);
if (!acq_dump.read_binary_acq())
{
std::cout << "Error reading files" << std::endl;
}
std::vector<int> *doppler = &acq_dump.doppler;
std::vector<unsigned int> *samples = &acq_dump.samples;
std::vector<std::vector<float> > *mag = &acq_dump.mag;
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if (gnuplot_executable.empty())
{
std::cout << "WARNING: Although the flag plot_acq_grid has been set to TRUE," << std::endl;
std::cout << "gnuplot has not been found in your system." << std::endl;
std::cout << "Test results will not be plotted." << std::endl;
}
else
{
std::cout << "Plotting the acquisition grid. This can take a while..." << std::endl;
try
{
boost::filesystem::path p(gnuplot_executable);
boost::filesystem::path dir = p.parent_path();
const std::string &gnuplot_path = dir.native();
Gnuplot::set_GNUPlotPath(gnuplot_path);
Gnuplot g1("lines");
if (FLAGS_show_plots)
{
g1.showonscreen(); // window output
}
else
{
g1.disablescreen();
}
g1.set_title("BeiDou B3I signal acquisition for satellite PRN #" + std::to_string(gnss_synchro.PRN));
g1.set_xlabel("Doppler [Hz]");
g1.set_ylabel("Sample");
//g1.cmd("set view 60, 105, 1, 1");
g1.plot_grid3d(*doppler, *samples, *mag);
g1.savetops("BDS_B3I_acq_grid");
g1.savetopdf("BDS_B3I_acq_grid");
}
catch (const GnuplotException &ge)
{
std::cout << ge.what() << std::endl;
}
}
std::string data_str = "./tmp-acq-bds-b3i";
if (boost::filesystem::exists(data_str))
{
boost::filesystem::remove_all(data_str);
}
}
TEST_F(BeidouB3iPcpsAcquisitionTest, Instantiate)
{
init();
boost::shared_ptr<BeidouB3iPcpsAcquisition> acquisition = boost::make_shared<BeidouB3iPcpsAcquisition>(config.get(), "Acquisition_B3", 1, 0);
}
TEST_F(BeidouB3iPcpsAcquisitionTest, ConnectAndRun)
{
int fs_in = 50000000;
int nsamples = 50000;
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
gr::msg_queue::sptr queue = gr::msg_queue::make(0);
top_block = gr::make_top_block("Acquisition test");
init();
boost::shared_ptr<BeidouB3iPcpsAcquisition> acquisition = boost::make_shared<BeidouB3iPcpsAcquisition>(config.get(), "Acquisition_B3", 1, 0);
boost::shared_ptr<BeidouB3iPcpsAcquisitionTest_msg_rx> msg_rx = BeidouB3iPcpsAcquisitionTest_msg_rx_make();
ASSERT_NO_THROW({
acquisition->connect(top_block);
boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
top_block->connect(source, 0, valve, 0);
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting the blocks of acquisition test.";
EXPECT_NO_THROW({
start = std::chrono::system_clock::now();
top_block->run(); // Start threads and wait
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
}) << "Failure running the top_block.";
std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
}
TEST_F(BeidouB3iPcpsAcquisitionTest, ValidationOfResults)
{
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0.0);
top_block = gr::make_top_block("Acquisition test");
double expected_delay_samples = 3380;
double expected_doppler_hz = 700;
init();
if (FLAGS_plot_acq_grid == true)
{
std::string data_str = "./tmp-acq-bds-b3i";
if (boost::filesystem::exists(data_str))
{
boost::filesystem::remove_all(data_str);
}
boost::filesystem::create_directory(data_str);
}
std::shared_ptr<BeidouB3iPcpsAcquisition> acquisition = std::make_shared<BeidouB3iPcpsAcquisition>(config.get(), "Acquisition_B3", 1, 0);
boost::shared_ptr<BeidouB3iPcpsAcquisitionTest_msg_rx> msg_rx = BeidouB3iPcpsAcquisitionTest_msg_rx_make();
ASSERT_NO_THROW({
acquisition->set_channel(1);
}) << "Failure setting channel.";
ASSERT_NO_THROW({
acquisition->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro.";
ASSERT_NO_THROW({
acquisition->set_threshold(0.0002);
}) << "Failure setting threshold.";
ASSERT_NO_THROW({
acquisition->set_doppler_max(doppler_max);
}) << "Failure setting doppler_max.";
ASSERT_NO_THROW({
acquisition->set_doppler_step(doppler_step);
}) << "Failure setting doppler_step.";
ASSERT_NO_THROW({
acquisition->connect(top_block);
}) << "Failure connecting acquisition to the top_block.";
ASSERT_NO_THROW({
std::string path = std::string(TEST_PATH);
std::string file = path + "signal_samples/BdsB3IStr01_fs50e6_if0_4ms.dat";
const char *file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(gr_complex), file_name, false);
top_block->connect(file_source, 0, acquisition->get_left_block(), 0);
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting the blocks of acquisition test.";
acquisition->set_local_code();
acquisition->set_state(1); // Ensure that acquisition starts at the first sample
acquisition->init();
EXPECT_NO_THROW({
start = std::chrono::system_clock::now();
top_block->run(); // Start threads and wait
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
}) << "Failure running the top_block.";
uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples;
std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
auto delay_error_chips = static_cast<float>(delay_error_samples * BEIDOU_B3I_CODE_LENGTH_CHIPS / 50000);
double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
if (FLAGS_plot_acq_grid == true)
{
plot_grid();
}
}

2
src/utils/matlab/dll_pll_veml_plot_sample.m
View File

@ -36,7 +36,7 @@ end
samplingFreq = 25000000; %[Hz] samplingFreq = 25000000; %[Hz]
coherent_integration_time_ms = 1; %[ms] coherent_integration_time_ms = 1; %[ms]
channels = 10; % Number of channels channels = 1; % Number of channels
first_channel = 0; % Number of the first channel first_channel = 0; % Number of the first channel
path = '/home/dmiralles/Documents/gnss-sdr/'; %% CHANGE THIS PATH path = '/home/dmiralles/Documents/gnss-sdr/'; %% CHANGE THIS PATH

65
src/utils/matlab/plot_acq_grid.m
View File

@ -26,15 +26,12 @@
% ------------------------------------------------------------------------- % -------------------------------------------------------------------------
% %
%%%%%%%%% ?????? CONFIGURE !!! %%%%%%%%%%%%% %% Configuration
path = '/home/dmiralles/Documents/gnss-sdr/';
path = '/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/'; %% CHANGE THIS PATH file = 'bds_acq';
file = 'bds_b3i_acq'; sat = 6;
sat = 27;
channel = 0; channel = 0;
execution = 6; execution = 4;
% Signal: % Signal:
% 1 GPS L1 % 1 GPS L1
% 2 GPS L2M % 2 GPS L2M
@ -42,17 +39,21 @@ execution = 6;
% 4 Gal. E1B % 4 Gal. E1B
% 5 Gal. E5 % 5 Gal. E5
% 6 Glo. 1G % 6 Glo. 1G
% 7 BDS B1 % 7 Glo. 2G
% 8 BDS. B1
% 9 BDS. B3
% 10 BDS. B2a
signal_type = 8; signal_type = 8;
%%% True for light acq_grid representation %%% True for light grid representation
lite_view = true; lite_view = true;
%%% If lite_view, it sets the number of samples per chip in the graphical representation %%% If lite_view, it sets the number of samples per chip in the graphical representation
n_samples_per_chip = 3; n_samples_per_chip = 3;
d_samples_per_code = 25000;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %% Load data
switch(signal_type) switch(signal_type)
case 1 case 1
@ -80,45 +81,59 @@ switch(signal_type)
system = 'R'; system = 'R';
signal = '1G'; signal = '1G';
case 7 case 7
n_chips = 2046; n_chips = 511;
system = 'R';
signal = '2G';
case 8
n_chips = 2048;
system = 'C'; system = 'C';
signal = 'B1'; signal = 'B1';
case 8 case 9
n_chips = 10230; n_chips = 10230;
system = 'C'; system = 'C';
signal = 'B3'; signal = 'B3';
case 10
n_chips = 10230;
system = 'C';
signal = '5C';
end end
filename = [path file '_' system '_' signal '_ch_' num2str(channel) '_' num2str(execution) '_sat_' num2str(sat) '.mat']; filename = [path file '_' system '_' signal '_ch_' num2str(channel) '_' num2str(execution) '_sat_' num2str(sat) '.mat'];
load(filename); load(filename);
[n_fft n_dop_bins] = size(acq_grid); [n_fft, n_dop_bins] = size(acq_grid);
[d_max f_max] = find(acq_grid == max(max(acq_grid))); [d_max, f_max] = find(acq_grid == max(max(acq_grid)));
freq = (0 : n_dop_bins - 1) * doppler_step - doppler_max; freq = (0 : n_dop_bins - 1) * double(doppler_step) - double(doppler_max);
delay = (0 : n_fft - 1) / n_fft * n_chips; delay = (0 : n_fft - 1) / n_fft * n_chips;
%% Plot data
%--- Acquisition grid (3D)
figure(1) figure(1)
if(lite_view == false) if(lite_view == false)
surf(freq, delay, acq_grid, 'FaceColor', 'interp', 'LineStyle', 'none') surf(freq, delay, acq_grid, 'FaceColor', 'interp', 'LineStyle', 'none')
ylim([min(delay) max(delay)]) ylim([min(delay) max(delay)])
else else
delay_interp = (0 : n_samples_per_chip * n_chips - 1) / n_samples_per_chip; delay_interp = (0 : n_samples_per_chip * n_chips - 1) / n_samples_per_chip;
acq_grid_interp = spline(delay, acq_grid', delay_interp)'; grid_interp = spline(delay, acq_grid', delay_interp)';
surf(freq, delay_interp, acq_grid_interp, 'FaceColor', 'interp', 'LineStyle', 'none') surf(freq, delay_interp, grid_interp, 'FaceColor', 'interp', 'LineStyle', 'none')
ylim([min(delay_interp) max(delay_interp)]) ylim([min(delay_interp) max(delay_interp)])
end end
xlabel('Doppler shift / Hz') xlabel('Doppler shift (Hz)')
xlim([min(freq) max(freq)]) xlim([min(freq) max(freq)])
ylabel('Code delay / chips') ylabel('Code delay (chips)')
zlabel('Test statistics') zlabel('Test Statistics')
%--- Acquisition grid (2D)
figure(2) figure(2)
subplot(2,1,1) subplot(2,1,1)
plot(freq, acq_grid(d_max, :)) plot(freq, acq_grid(d_max, :))
xlim([min(freq) max(freq)]) xlim([min(freq) max(freq)])
xlabel('Doppler shift / Hz') xlabel('Doppler shift (Hz)')
ylabel('Test statistics') ylabel('Test statistics')
title(['Fixed code delay to ' num2str((d_max - 1) / n_fft * n_chips) ' chips']) title(['Fixed code delay to ' num2str((d_max - 1) / n_fft * n_chips) ' chips'])
subplot(2,1,2) subplot(2,1,2)
normalization = (d_samples_per_code^4) * input_power; normalization = (d_samples_per_code^4) * input_power;
plot(delay, acq_acq_grid(:, f_max)./normalization) plot(delay, acq_grid(:, f_max)./normalization)
xlim([min(delay) max(delay)]) xlim([min(delay) max(delay)])
xlabel('Code delay / chips') xlabel('Code delay (chips)')
ylabel('Test statistics') ylabel('Test statistics')
title(['Doppler wipe-off = ' num2str((f_max - 1) * doppler_step - doppler_max) ' Hz']) title(['Doppler wipe-off = ' num2str((f_max - 1) * doppler_step - doppler_max) ' Hz'])