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

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This commit is contained in:
Carles Fernandez 2019-04-25 15:37:34 +02:00
commit f1520dacd9
17 changed files with 354 additions and 44 deletions
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120
CMakeLists.txt
View File

@ -1257,6 +1257,19 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
endif()
endif()
set(GLOG_MAKE_PROGRAM ${CMAKE_MAKE_PROGRAM})
if(GLOG_MAKE_PROGRAM MATCHES "ninja")
find_program(GLOG_MAKE_EXECUTABLE make
HINTS
/usr/bin/
/usr/local/bin/
)
if(NOT GLOG_MAKE_EXECUTABLE)
message(FATAL_ERROR "make is required to build Glog from source.")
endif()
set(GLOG_MAKE_PROGRAM ${GLOG_MAKE_EXECUTABLE})
endif()
if(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add(glog-${GNSSSDR_GLOG_LOCAL_VERSION}
DEPENDS ${TARGET_GFLAGS}
@ -1266,7 +1279,7 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
CONFIGURE_COMMAND ${GLOG_CONFIGURE} --prefix=<INSTALL_DIR>
BUILD_COMMAND "${CMAKE_MAKE_PROGRAM}"
BUILD_COMMAND "${GLOG_MAKE_PROGRAM}"
UPDATE_COMMAND ""
PATCH_COMMAND ""
INSTALL_COMMAND ""
@ -1280,7 +1293,7 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
CONFIGURE_COMMAND ${GLOG_CONFIGURE} --prefix=<INSTALL_DIR>
BUILD_COMMAND "${CMAKE_MAKE_PROGRAM}"
BUILD_COMMAND "${GLOG_MAKE_PROGRAM}"
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/.libs/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}
UPDATE_COMMAND ""
PATCH_COMMAND ""
@ -1664,6 +1677,19 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
endif()
endif()
set(MATIO_MAKE_PROGRAM ${CMAKE_MAKE_PROGRAM})
if(MATIO_MAKE_PROGRAM MATCHES "ninja")
find_program(MATIO_MAKE_EXECUTABLE make
HINTS
/usr/bin/
/usr/local/bin/
)
if(NOT MATIO_MAKE_EXECUTABLE)
message(FATAL_ERROR "make is required to build Matio from source.")
endif()
set(MATIO_MAKE_PROGRAM ${MATIO_MAKE_EXECUTABLE})
endif()
if(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add(matio-${GNSSSDR_MATIO_LOCAL_VERSION}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/matio
@ -1672,7 +1698,7 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/autogen.sh
CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/configure --with-hdf5=${HDF5_BASE_DIR} --with-zlib=${ZLIB_BASE_DIR} --with-default-file-ver=7.3 --enable-mat73=yes --prefix=<INSTALL_DIR>
BUILD_COMMAND ${CMAKE_MAKE_PROGRAM}
BUILD_COMMAND ${MATIO_MAKE_PROGRAM}
)
else()
ExternalProject_Add(matio-${GNSSSDR_MATIO_LOCAL_VERSION}
@ -1682,8 +1708,8 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/autogen.sh
CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/configure --with-hdf5=${HDF5_BASE_DIR} --with-zlib=${ZLIB_BASE_DIR} --with-default-file-ver=7.3 --enable-mat73=yes --prefix=<INSTALL_DIR>
BUILD_COMMAND $(MAKE)
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_STATIC_LIBRARY_SUFFIX}
BUILD_COMMAND ${MATIO_MAKE_PROGRAM}
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_SHARED_LIBRARY_SUFFIX}
)
endif()
set(MATIO_LOCAL true)
@ -1695,8 +1721,8 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
set_target_properties(Matio::matio PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_SHARED_LIBRARY_SUFFIX}"
INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_BINARY_DIR}/matio/include"
INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_SHARED_LIBRARY_SUFFIX}"
INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_BINARY_DIR}/matio/include
INTERFACE_LINK_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_SHARED_LIBRARY_SUFFIX}
)
endif()
else()
@ -1789,7 +1815,6 @@ endif()
################################################################################
# Protocol Buffers https://github.com/protocolbuffers/protobuf
################################################################################
set(Protobuf_VERSION "0.0.0")
find_package(Protobuf)
set_package_properties(Protobuf PROPERTIES
URL "https://developers.google.com/protocol-buffers/"
@ -1797,6 +1822,9 @@ set_package_properties(Protobuf PROPERTIES
PURPOSE "Used to serialize output data in a way that can be read by other applications."
TYPE REQUIRED
)
if(NOT Protobuf_VERSION)
set(Protobuf_VERSION "0.0.0")
endif()
if(CMAKE_VERSION VERSION_LESS 3.6)
if(PROTOBUF_FOUND)
set(Protobuf_FOUND ${PROTOBUF_FOUND})
@ -1846,8 +1874,8 @@ endif()
if(Protobuf_FOUND AND CMAKE_CROSSCOMPILING)
find_program(PROTOC_EXECUTABLE protoc
HINTS
/usr/local/bin/
/usr/bin/
/usr/local/bin/
/usr/bin/
NO_SYSTEM_ENVIRONMENT_PATH
)
if(PROTOC_EXECUTABLE)
@ -1856,7 +1884,7 @@ if(Protobuf_FOUND AND CMAKE_CROSSCOMPILING)
IMPORTED_LOCATION ${PROTOC_EXECUTABLE}
)
else()
message(FATAL ERROR "Please install the Protocol Buffers compiter v{${Protobuf_VERSION}} in the host machine")
message(FATAL ERROR "Please install the Protocol Buffers compiter v${Protobuf_VERSION} in the host machine")
endif()
endif()
if((NOT Protobuf_FOUND) OR (NOT Protobuf_PROTOC_EXECUTABLE) OR (${Protobuf_VERSION} VERSION_LESS ${GNSSSDR_PROTOBUF_MIN_VERSION}))
@ -1874,10 +1902,57 @@ if((NOT Protobuf_FOUND) OR (NOT Protobuf_PROTOC_EXECUTABLE) OR (${Protobuf_VERSI
BUILD_COMMAND ${CMAKE_MAKE_PROGRAM}
INSTALL_COMMAND ${CMAKE_MAKE_PROGRAM} install
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}protobuf${CMAKE_STATIC_LIBRARY_SUFFIX}
${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/bin/protoc
${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/bin/protoc
)
endif()
else()
if(OS_IS_LINUX)
if(NOT EXISTS "/usr/bin/libtoolize")
message(" libtool has not been found.")
message(" You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo yum groupinstall 'Development Tools'")
elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
message(" sudo zypper install libtoool")
else()
message(" sudo apt-get install libtool")
endif()
message(FATAL_ERROR "libtool is required to build Protocol Buffers from source")
endif()
if(EXISTS "/usr/bin/aclocal" OR
EXISTS "/usr/bin/aclocal-1.16" OR
EXISTS "/usr/bin/aclocal-1.15" OR
EXISTS "/usr/bin/aclocal-1.14" OR
EXISTS "/usr/bin/aclocal-1.13" OR
EXISTS "/usr/bin/aclocal-1.11" OR
EXISTS "/usr/bin/aclocal-1.10")
message(STATUS "Automake found.")
else()
message(" aclocal has not been found.")
message(" You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(" sudo yum groupinstall 'Development Tools'")
elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
message(" sudo zypper install automake")
else()
message(" sudo apt-get install automake")
endif()
message(FATAL_ERROR "aclocal is required to build Protocol Buffers from source")
endif()
endif()
set(PROTOBUF_MAKE_PROGRAM ${CMAKE_MAKE_PROGRAM})
if(PROTOBUF_MAKE_PROGRAM MATCHES "ninja")
find_program(MAKE_EXECUTABLE make
HINTS
/usr/bin/
/usr/local/bin/
)
if(NOT MAKE_EXECUTABLE)
message(FATAL_ERROR "make is required to build Protocol Buffers from source.")
endif()
set(PROTOBUF_MAKE_PROGRAM ${MAKE_EXECUTABLE})
endif()
if(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add(protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
@ -1887,8 +1962,8 @@ if((NOT Protobuf_FOUND) OR (NOT Protobuf_PROTOC_EXECUTABLE) OR (${Protobuf_VERSI
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/autogen.sh
CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/configure --prefix=${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
BUILD_COMMAND ${CMAKE_MAKE_PROGRAM}
INSTALL_COMMAND ${CMAKE_MAKE_PROGRAM} install
BUILD_COMMAND ${PROTOBUF_MAKE_PROGRAM}
INSTALL_COMMAND ${PROTOBUF_MAKE_PROGRAM} install
)
else()
ExternalProject_Add(protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
@ -1899,10 +1974,10 @@ if((NOT Protobuf_FOUND) OR (NOT Protobuf_PROTOC_EXECUTABLE) OR (${Protobuf_VERSI
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/autogen.sh
CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/configure --prefix=${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
BUILD_COMMAND ${CMAKE_MAKE_PROGRAM}
INSTALL_COMMAND ${CMAKE_MAKE_PROGRAM} install
BUILD_COMMAND ${PROTOBUF_MAKE_PROGRAM}
INSTALL_COMMAND ${PROTOBUF_MAKE_PROGRAM} install
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}protobuf${CMAKE_STATIC_LIBRARY_SUFFIX}
${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/bin/protoc
${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/bin/protoc
)
endif()
@ -1931,14 +2006,19 @@ if((NOT Protobuf_FOUND) OR (NOT Protobuf_PROTOC_EXECUTABLE) OR (${Protobuf_VERSI
)
if(${Protobuf_VERSION} VERSION_LESS ${GNSSSDR_PROTOBUF_MIN_VERSION})
set_package_properties(Protobuf PROPERTIES
PURPOSE "Protocol Buffers found (v${Protobuf_VERSION}) is too old (> v${GNSSSDR_PROTOBUF_MIN_VERSION} needed)."
)
if(NOT (${Protobuf_VERSION} EQUAL "0.0.0"))
set_package_properties(Protobuf PROPERTIES
PURPOSE "Protocol Buffers found (v${Protobuf_VERSION}) is too old (> v${GNSSSDR_PROTOBUF_MIN_VERSION} needed)."
)
endif()
endif()
set_package_properties(Protobuf PROPERTIES
PURPOSE "Protocol Buffers v${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION} will be downloaded and built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'."
)
endif()
if(${Protobuf_VERSION} VERSION_EQUAL "0.0.0")
unset(Protobuf_VERSION)
endif()

2
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -725,7 +725,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
pvt_output_parameters.kml_output_enabled = configuration->property(role + ".kml_output_enabled", default_output_enabled);
pvt_output_parameters.xml_output_enabled = configuration->property(role + ".xml_output_enabled", default_output_enabled);
pvt_output_parameters.nmea_output_file_enabled = configuration->property(role + ".nmea_output_file_enabled", default_output_enabled);
pvt_output_parameters.rtcm_output_file_enabled = configuration->property(role + ".rtcm_output_file_enabled", default_output_enabled);
pvt_output_parameters.rtcm_output_file_enabled = configuration->property(role + ".rtcm_output_file_enabled", false);
std::string default_output_path = configuration->property(role + ".output_path", std::string("."));
pvt_output_parameters.output_path = default_output_path;

2
src/algorithms/input_filter/adapters/CMakeLists.txt
View File

@ -62,7 +62,7 @@ target_include_directories(input_filter_adapters
${CMAKE_SOURCE_DIR}/src/core/interfaces
)
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4")
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.20")
target_compile_definitions(input_filter_adapters PUBLIC -DGR_GREATER_38=1)
endif()

2
src/algorithms/resampler/adapters/CMakeLists.txt
View File

@ -52,7 +52,7 @@ target_include_directories(resampler_adapters
${CMAKE_SOURCE_DIR}/src/core/interfaces
)
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4")
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.20")
target_compile_definitions(resampler_adapters PUBLIC -DGR_GREATER_38=1)
endif()

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc
View File

@ -488,7 +488,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
// 2. Add the telemetry decoder information
if (d_flag_preamble == true)
{
if (!d_nav.d_TOW == 0)
if (!(d_nav.d_TOW == 0))
{
d_TOW_at_current_symbol_ms = static_cast<uint32_t>(d_nav.d_TOW * 1000.0);
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_nav.d_TOW * 1000.0);

14
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -439,7 +439,11 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = trk_parameters.carrier_lock_th;
d_Prompt_Data = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_cn0_smoother = Exponential_Smoother();
if (d_code_period > 0.0)
{
d_cn0_smoother.set_samples_for_initialization(200 / static_cast<int>(d_code_period * 1000.0));
}
d_acquisition_gnss_synchro = nullptr;
d_channel = 0;
d_acq_code_phase_samples = 0.0;
@ -848,9 +852,12 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status(double coh_integration_
d_cn0_estimation_counter++;
return true;
}
d_cn0_estimation_counter = 0;
d_Prompt_buffer[d_cn0_estimation_counter % trk_parameters.cn0_samples] = d_P_accu;
d_cn0_estimation_counter++;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, trk_parameters.cn0_samples, coh_integration_time_s);
float d_CN0_SNV_dB_Hz_raw = cn0_svn_estimator(d_Prompt_buffer, trk_parameters.cn0_samples, static_cast<float>(coh_integration_time_s));
d_CN0_SNV_dB_Hz = d_cn0_smoother.smooth(d_CN0_SNV_dB_Hz_raw);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, trk_parameters.cn0_samples);
// Loss of lock detection
@ -1589,6 +1596,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * static_cast<double>(samples_offset);
d_state = 2;
d_sample_counter += samples_offset; // count for the processed samples
d_cn0_smoother.reset();
DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)";
DLOG(INFO) << "PULL-IN Doppler [Hz] = " << d_carrier_doppler_hz

2
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
View File

@ -34,6 +34,7 @@
#include "cpu_multicorrelator_real_codes.h"
#include "dll_pll_conf.h"
#include "exponential_smoother.h"
#include "tracking_FLL_PLL_filter.h" // for PLL/FLL filter
#include "tracking_loop_filter.h" // for DLL filter
#include <boost/circular_buffer.hpp>
@ -197,6 +198,7 @@ private:
double d_carrier_lock_threshold;
boost::circular_buffer<gr_complex> d_Prompt_circular_buffer;
gr_complex *d_Prompt_buffer;
Exponential_Smoother d_cn0_smoother;
// file dump
std::ofstream d_dump_file;

9
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
View File

@ -350,6 +350,11 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
d_Prompt_buffer = new gr_complex[trk_parameters.cn0_samples];
d_carrier_lock_test = 1.0;
d_CN0_SNV_dB_Hz = 0.0;
d_cn0_smoother = Exponential_Smoother();
if (d_code_period > 0.0)
{
d_cn0_smoother.set_samples_for_initialization(200 / static_cast<int>(d_code_period * 1000.0));
}
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = trk_parameters.carrier_lock_th;
d_Prompt_Data = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment()));
@ -582,7 +587,8 @@ bool dll_pll_veml_tracking_fpga::cn0_and_tracking_lock_status(double coh_integra
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, trk_parameters.cn0_samples, coh_integration_time_s);
float d_CN0_SNV_dB_Hz_raw = cn0_svn_estimator(d_Prompt_buffer, trk_parameters.cn0_samples, static_cast<float>(coh_integration_time_s));
d_CN0_SNV_dB_Hz = d_cn0_smoother.smooth(d_CN0_SNV_dB_Hz_raw);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, trk_parameters.cn0_samples);
// Loss of lock detection
@ -1437,6 +1443,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
int32_t samples_offset = round(d_acq_code_phase_samples);
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * static_cast<double>(samples_offset);
d_state = 2;
d_cn0_smoother.reset();
// DEBUG OUTPUT
std::cout << "Tracking of " << systemName << " " << signal_pretty_name << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;

2
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.h
View File

@ -33,6 +33,7 @@
#define GNSS_SDR_DLL_PLL_VEML_TRACKING_FPGA_H
#include "dll_pll_conf_fpga.h"
#include "exponential_smoother.h"
#include "tracking_FLL_PLL_filter.h" // for PLL/FLL filter
#include "tracking_loop_filter.h" // for DLL filter
#include <boost/circular_buffer.hpp>
@ -201,6 +202,7 @@ private:
boost::circular_buffer<gr_complex> d_Prompt_circular_buffer;
//std::deque<gr_complex> d_Prompt_buffer_deque;
gr_complex *d_Prompt_buffer;
Exponential_Smoother d_cn0_smoother;
// file dump
std::ofstream d_dump_file;

2
src/algorithms/tracking/libs/CMakeLists.txt
View File

@ -43,6 +43,7 @@ set(TRACKING_LIB_SOURCES
tracking_loop_filter.cc
dll_pll_conf.cc
bayesian_estimation.cc
exponential_smoother.cc
)
set(TRACKING_LIB_HEADERS
@ -59,6 +60,7 @@ set(TRACKING_LIB_HEADERS
tracking_loop_filter.h
dll_pll_conf.h
bayesian_estimation.h
exponential_smoother.h
)
if(ENABLE_FPGA)

138
src/algorithms/tracking/libs/exponential_smoother.cc Normal file
View File

@ -0,0 +1,138 @@
/*!
* \file exponential_smoother.cc
* \brief Class that implements an exponential smoother
* \authors Carles Fernandez, 2019 cfernandez@cttc.es
*
* Class that implements a first-order exponential smoother.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (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 "exponential_smoother.h"
#include <iterator>
#include <numeric>
Exponential_Smoother::Exponential_Smoother()
{
alpha_ = 0.001;
old_value_ = 0.0;
one_minus_alpha_ = 1.0 - alpha_;
samples_for_initialization_ = 200;
initializing_ = true;
init_counter_ = 0;
min_value_ = 25.0;
offset_ = 12.0;
init_buffer_.reserve(samples_for_initialization_);
}
Exponential_Smoother::~Exponential_Smoother() = default;
void Exponential_Smoother::set_alpha(float alpha)
{
alpha_ = alpha;
if (alpha_ < 0)
{
alpha_ = 0;
}
if (alpha_ > 1)
{
alpha_ = 1;
}
one_minus_alpha_ = 1.0 - alpha_;
}
void Exponential_Smoother::set_offset(float offset)
{
offset_ = offset;
}
void Exponential_Smoother::set_samples_for_initialization(int num_samples)
{
int ns = num_samples;
if (ns <= 0)
{
ns = 1;
}
samples_for_initialization_ = num_samples;
init_buffer_.reserve(samples_for_initialization_);
}
void Exponential_Smoother::reset()
{
initializing_ = true;
init_counter_ = 0;
init_buffer_.clear();
}
void Exponential_Smoother::set_min_value(float value)
{
min_value_ = value;
}
double Exponential_Smoother::smooth(double raw)
{
float raw_f = static_cast<float>(raw);
double smooth_d = static_cast<double>((this)->smooth(raw_f));
return smooth_d;
}
float Exponential_Smoother::smooth(float raw)
{
float smoothed_value;
if (initializing_ == true)
{
init_counter_++;
smoothed_value = raw;
init_buffer_.push_back(smoothed_value);
if (init_counter_ == samples_for_initialization_)
{
old_value_ = std::accumulate(std::begin(init_buffer_), std::end(init_buffer_), 0.0f) / static_cast<float>(init_buffer_.size());
if (old_value_ < (min_value_ + offset_))
{
// flush buffer and start again
init_counter_ = 0;
init_buffer_.clear();
}
else
{
initializing_ = false;
}
}
}
else
{
smoothed_value = alpha_ * raw + one_minus_alpha_ * old_value_;
old_value_ = smoothed_value;
}
return smoothed_value;
}

71
src/algorithms/tracking/libs/exponential_smoother.h Normal file
View File

@ -0,0 +1,71 @@
/*!
* \file exponential_smoother.h
* \brief Class that implements an exponential smoother
* \authors Carles Fernandez, 2019 cfernandez@cttc.es
*
* Class that implements a first-order exponential smoother.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_EXPONENTIAL_SMOOTHER_H_
#define GNSS_SDR_EXPONENTIAL_SMOOTHER_H_
#include <vector>
/*! \brief
* Class that implements a first-order exponential smoother.
*
* smoothed_value[k] = alpha * raw + (1-alpha) * smoothed_value[k-1]
*
* The length of the initialization can be controlled with
* set_samples_for_initialization(int num_samples)
*/
class Exponential_Smoother
{
public:
Exponential_Smoother(); //!< Constructor
~Exponential_Smoother(); //!< Destructor
void set_alpha(float alpha); //!< 0 < alpha < 1. The higher, the most responsive, but more variance. Default value: 0.001
void set_samples_for_initialization(int num_samples); //!< Number of samples averaged for initialization. Default value: 200
void reset();
void set_min_value(float value);
void set_offset(float offset);
float smooth(float raw);
double smooth(double raw);
private:
float alpha_; // takes value 0.0001 if not set
int samples_for_initialization_;
float one_minus_alpha_;
float old_value_;
float min_value_;
float offset_;
bool initializing_;
int init_counter_;
std::vector<float> init_buffer_;
};
#endif // GNSS_SDR_EXPONENTIAL_SMOOTHER_H_

22
src/algorithms/tracking/libs/lock_detectors.cc
View File

@ -65,23 +65,23 @@
* where \f$T_{int}\f$ is the coherent integration time, in seconds.
*
*/
float cn0_svn_estimator(const gr_complex* Prompt_buffer, int length, double coh_integration_time_s)
float cn0_svn_estimator(const gr_complex* Prompt_buffer, int length, float coh_integration_time_s)
{
double SNR = 0.0;
double SNR_dB_Hz = 0.0;
double Psig = 0.0;
double Ptot = 0.0;
float SNR = 0.0;
float SNR_dB_Hz = 0.0;
float Psig = 0.0;
float Ptot = 0.0;
for (int i = 0; i < length; i++)
{
Psig += std::abs(static_cast<double>(Prompt_buffer[i].real()));
Ptot += static_cast<double>(Prompt_buffer[i].imag()) * static_cast<double>(Prompt_buffer[i].imag()) + static_cast<double>(Prompt_buffer[i].real()) * static_cast<double>(Prompt_buffer[i].real());
Psig += std::abs(Prompt_buffer[i].real());
Ptot += Prompt_buffer[i].imag() * Prompt_buffer[i].imag() + Prompt_buffer[i].real() * Prompt_buffer[i].real();
}
Psig /= static_cast<double>(length);
Psig /= static_cast<float>(length);
Psig = Psig * Psig;
Ptot /= static_cast<double>(length);
Ptot /= static_cast<float>(length);
SNR = Psig / (Ptot - Psig);
SNR_dB_Hz = 10.0 * log10(SNR) - 10.0 * log10(coh_integration_time_s);
return static_cast<float>(SNR_dB_Hz);
SNR_dB_Hz = 10.0 * std::log10(SNR) - 10.0 * std::log10(coh_integration_time_s);
return SNR_dB_Hz;
}

2
src/algorithms/tracking/libs/lock_detectors.h
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@ -72,7 +72,7 @@
* IEEE 10th International Symposium on Spread Spectrum Techniques and
* Applications, pp.28-30, August 2008.
*/
float cn0_svn_estimator(const gr_complex* Prompt_buffer, int length, double coh_integration_time_s);
float cn0_svn_estimator(const gr_complex* Prompt_buffer, int length, float coh_integration_time_s);
/*! \brief A carrier lock detector

4
src/core/monitor/serdes_gnss_synchro.h
View File

@ -97,8 +97,8 @@ public:
obs->set_flag_valid_symbol_output(gs.Flag_valid_symbol_output);
obs->set_correlation_length_ms(gs.correlation_length_ms);
obs->set_fs(gs.Flag_valid_word);
obs->set_fs(gs.TOW_at_current_symbol_ms);
obs->set_flag_valid_word(gs.Flag_valid_word);
obs->set_tow_at_current_symbol_ms(gs.TOW_at_current_symbol_ms);
obs->set_pseudorange_m(gs.Pseudorange_m);
obs->set_rx_time(gs.RX_time);

2
src/core/receiver/CMakeLists.txt
View File

@ -84,7 +84,7 @@ if(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
target_compile_definitions(core_receiver PRIVATE -DMODERN_GNURADIO=1)
endif()
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4")
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.20")
target_compile_definitions(core_receiver PRIVATE -DGR_GREATER_38=1)
endif()

2
src/tests/CMakeLists.txt
View File

@ -141,7 +141,7 @@ endif()
# Definitions
################################################################################
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4")
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.20")
add_definitions(-DGR_GREATER_38=1)
endif()