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glonass pvt: Fix bug when in PPP_Static mode

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Fixes a bug in trk module to provide right observables for position
solution computation using the accumulated carrier phase measurements.
This commit is contained in:
Damian Miralles
2017-12-22 15:08:54 -07:00
parent 0e938db54e
commit f85887ee10
4 changed files with 13 additions and 12 deletions
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14
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc
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@@ -54,9 +54,6 @@
#include "control_message_factory.h"
/*!
* \todo Include in definition header file
*/
#define CN0_ESTIMATION_SAMPLES 10
#define MINIMUM_VALID_CN0 25
#define MAXIMUM_LOCK_FAIL_COUNTER 50
@@ -175,6 +172,7 @@ Glonass_L1_Ca_Dll_Pll_Tracking_cc::Glonass_L1_Ca_Dll_Pll_Tracking_cc(
d_acq_code_phase_samples = 0.0;
d_acq_carrier_doppler_hz = 0.0;
d_carrier_doppler_hz = 0.0;
d_carrier_doppler_phase_step_rad = 0.0;
d_carrier_frequency_hz = 0.0;
d_acc_carrier_phase_rad = 0.0;
d_code_phase_samples = 0.0;
@@ -235,6 +233,7 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking()
d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
d_carrier_doppler_phase_step_rad = GLONASS_TWO_PI * (d_carrier_doppler_hz) / static_cast<double>(d_fs_in);
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); // initialize the carrier filter
@@ -554,9 +553,9 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
d_sample_counter = d_sample_counter + samples_offset; // count for the processed samples
d_pull_in = false;
// take into account the carrier cycles accumulated in the pull in signal alignment
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * samples_offset;
d_acc_carrier_phase_rad -= d_carrier_doppler_phase_step_rad * samples_offset;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_frequency_hz;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.fs = d_fs_in;
current_synchro_data.correlation_length_ms = 1;
*out[0] = current_synchro_data;
@@ -605,12 +604,13 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
//################### PLL COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample]
d_carrier_doppler_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
// remnant carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GLONASS_TWO_PI);
// carrier phase accumulator
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples;
d_acc_carrier_phase_rad -= d_carrier_doppler_phase_step_rad * d_current_prn_length_samples;
//################### DLL COMMANDS #################################################
// code phase step (Code resampler phase increment per sample) [chips/sample]
@@ -657,7 +657,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work (int noutput_items __attribu
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_frequency_hz;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
current_synchro_data.correlation_length_ms = 1;

1
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.h
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@@ -140,6 +140,7 @@ private:
double d_code_freq_chips;
double d_code_phase_step_chips;
double d_carrier_doppler_hz;
double d_carrier_doppler_phase_step_rad;
double d_carrier_frequency_hz;
double d_carrier_phase_step_rad;
double d_acc_carrier_phase_rad;