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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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8
conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
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@ -27,7 +27,7 @@ Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############
Channel.signal=1G Channel.signal=1G
Channels.in_acquisition=1 Channels.in_acquisition=1
Channels_1G.count=8 Channels_1G.count=5
Channel0.satellite=24 ; k= Channel0.satellite=24 ; k=
Channel1.satellite=1 ; k=1 Channel1.satellite=1 ; k=1
@ -43,9 +43,9 @@ Acquisition_1G.pfa=0.0001
Acquisition_1G.if=0 Acquisition_1G.if=0
Acquisition_1G.doppler_max=10000 Acquisition_1G.doppler_max=10000
Acquisition_1G.doppler_step=250 Acquisition_1G.doppler_step=250
Acquisition_1G.dump=true; Acquisition_1G.dump=false;
Acquisition_1G.dump_filename=/archive/glo_acquisition.dat Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
Acquisition_1G.coherent_integration_time_ms=1 ;Acquisition_1G.coherent_integration_time_ms=1
;Acquisition_1G.max_dwells = 5 ;Acquisition_1G.max_dwells = 5
;######### TRACKING GLOBAL CONFIG ############ ;######### TRACKING GLOBAL CONFIG ############
@ -72,7 +72,7 @@ PVT.positioning_mode=Single
PVT.output_rate_ms=100 PVT.output_rate_ms=100
PVT.display_rate_ms=500 PVT.display_rate_ms=500
PVT.trop_model=Saastamoinen PVT.trop_model=Saastamoinen
PVT.flag_rtcm_server=true PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1 PVT.rtcm_dump_devname=/dev/pts/1
PVT.rtcm_tcp_port=2101 PVT.rtcm_tcp_port=2101

2
conf/gnss-sdr_GPS_L1_CA_ibyte.conf
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@ -78,7 +78,7 @@ Observables.dump_filename=/archive/gps_observables.dat
;######### PVT CONFIG ############ ;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single PVT.positioning_mode=PPP_Static
PVT.output_rate_ms=100 PVT.output_rate_ms=100
PVT.display_rate_ms=500 PVT.display_rate_ms=500
PVT.trop_model=Saastamoinen PVT.trop_model=Saastamoinen

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" #include "control_message_factory.h"
/*!
* \todo Include in definition header file
*/
#define CN0_ESTIMATION_SAMPLES 10 #define CN0_ESTIMATION_SAMPLES 10
#define MINIMUM_VALID_CN0 25 #define MINIMUM_VALID_CN0 25
#define MAXIMUM_LOCK_FAIL_COUNTER 50 #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_code_phase_samples = 0.0;
d_acq_carrier_doppler_hz = 0.0; d_acq_carrier_doppler_hz = 0.0;
d_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_carrier_frequency_hz = 0.0;
d_acc_carrier_phase_rad = 0.0; d_acc_carrier_phase_rad = 0.0;
d_code_phase_samples = 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_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_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_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 // DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); // initialize the carrier filter 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_sample_counter = d_sample_counter + samples_offset; // count for the processed samples
d_pull_in = false; d_pull_in = false;
// take into account the carrier cycles accumulated in the pull in signal alignment // 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_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.fs = d_fs_in;
current_synchro_data.correlation_length_ms = 1; current_synchro_data.correlation_length_ms = 1;
*out[0] = current_synchro_data; *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 ################################################# //################### PLL COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample] // 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); 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 // 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 = 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); d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GLONASS_TWO_PI);
// carrier phase accumulator // 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 ################################################# //################### DLL COMMANDS #################################################
// code phase step (Code resampler phase increment per sample) [chips/sample] // 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.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.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad; 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.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true; current_synchro_data.Flag_valid_symbol_output = true;
current_synchro_data.correlation_length_ms = 1; 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_freq_chips;
double d_code_phase_step_chips; double d_code_phase_step_chips;
double d_carrier_doppler_hz; double d_carrier_doppler_hz;
double d_carrier_doppler_phase_step_rad;
double d_carrier_frequency_hz; double d_carrier_frequency_hz;
double d_carrier_phase_step_rad; double d_carrier_phase_step_rad;
double d_acc_carrier_phase_rad; double d_acc_carrier_phase_rad;