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fixbug: initialize the carrier track filter with proper value

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This commit is contained in:
Gastd 2018-01-21 00:30:31 -02:00
parent 50b1b615ee
commit fcd24c69da
4 changed files with 18 additions and 9 deletions
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8
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
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@ -218,6 +218,7 @@ glonass_l1_ca_dll_pll_c_aid_tracking_cc::glonass_l1_ca_dll_pll_c_aid_tracking_cc
d_preamble_timestamp_s = 0.0; d_preamble_timestamp_s = 0.0;
d_carrier_frequency_hz = 0.0; d_carrier_frequency_hz = 0.0;
d_carrier_doppler_old_hz = 0.0;
//set_min_output_buffer((long int)300); //set_min_output_buffer((long int)300);
} }
@ -270,13 +271,13 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking()
// d_carrier_doppler_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_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_doppler_hz / static_cast<double>(d_fs_in); // d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
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 * static_cast<double>(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);
// DLL/PLL filter initialization // DLL/PLL filter initialization
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator d_carrier_loop_filter.initialize(d_carrier_frequency_hz); // The carrier loop filter implements the Doppler accumulator
d_code_loop_filter.initialize(); // initialize the code filter d_code_loop_filter.initialize(); // initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip) // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
@ -709,6 +710,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __a
// ################## PLL ########################################################## // ################## PLL ##########################################################
// Update PLL discriminator [rads/Ti -> Secs/Ti] // Update PLL discriminator [rads/Ti -> Secs/Ti]
d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GLONASS_TWO_PI; // prompt output d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GLONASS_TWO_PI; // prompt output
d_carrier_doppler_old_hz = d_carrier_doppler_hz;
// Carrier discriminator filter // Carrier discriminator filter
// NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
// Input [s/Ti] -> output [Hz] // Input [s/Ti] -> output [Hz]
@ -716,7 +718,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work (int noutput_items __a
// PLL to DLL assistance [Secs/Ti] // PLL to DLL assistance [Secs/Ti]
d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch; d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
// code Doppler frequency update // code Doppler frequency update
d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch); d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
// ################## DLL ########################################################## // ################## DLL ##########################################################
// DLL discriminator // DLL discriminator

1
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
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@ -158,6 +158,7 @@ private:
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_frequency_hz; double d_carrier_frequency_hz;
double d_carrier_doppler_old_hz;
double d_carrier_phase_step_rad; double d_carrier_phase_step_rad;
double d_acc_carrier_phase_cycles; double d_acc_carrier_phase_cycles;
double d_code_phase_samples; double d_code_phase_samples;

16
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
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@ -217,6 +217,10 @@ glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc
d_code_error_filt_chips_Ti = 0.0; d_code_error_filt_chips_Ti = 0.0;
d_preamble_timestamp_s = 0.0; d_preamble_timestamp_s = 0.0;
d_carr_phase_error_secs_Ti = 0.0; d_carr_phase_error_secs_Ti = 0.0;
d_carrier_frequency_hz = 0.0;
d_carrier_doppler_old_hz = 0.0;
//set_min_output_buffer((long int)300); //set_min_output_buffer((long int)300);
} }
@ -265,13 +269,13 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
d_acq_code_phase_samples = corrected_acq_phase_samples; d_acq_code_phase_samples = corrected_acq_phase_samples;
d_carrier_doppler_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 * static_cast<double>(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_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);
// DLL/PLL filter initialization // DLL/PLL filter initialization
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator d_carrier_loop_filter.initialize(d_carrier_frequency_hz); // The carrier loop filter implements the Doppler accumulator
d_code_loop_filter.initialize(); // initialize the code filter d_code_loop_filter.initialize(); // initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip) // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
@ -700,7 +704,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __a
// ################## PLL ########################################################## // ################## PLL ##########################################################
// Update PLL discriminator [rads/Ti -> Secs/Ti] // Update PLL discriminator [rads/Ti -> Secs/Ti]
d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(),d_correlator_outs_16sc[1].imag())) / GLONASS_TWO_PI; //prompt output d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(),d_correlator_outs_16sc[1].imag())) / GLONASS_TWO_PI; //prompt output
d_carrier_doppler_old_hz = d_carrier_doppler_hz;
// Carrier discriminator filter // Carrier discriminator filter
// NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
// Input [s/Ti] -> output [Hz] // Input [s/Ti] -> output [Hz]
@ -708,7 +712,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work (int noutput_items __a
// PLL to DLL assistance [Secs/Ti] // PLL to DLL assistance [Secs/Ti]
d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch; d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
// code Doppler frequency update // code Doppler frequency update
d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch); d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_HZ + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L1_CA_CODE_RATE_HZ) / d_glonass_freq_ch);
// ################## DLL ########################################################## // ################## DLL ##########################################################
// DLL discriminator // DLL discriminator

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
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@ -160,6 +160,8 @@ 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_frequency_hz;
double d_carrier_doppler_old_hz;
double d_carrier_phase_step_rad; double d_carrier_phase_step_rad;
double d_acc_carrier_phase_cycles; double d_acc_carrier_phase_cycles;
double d_code_phase_samples; double d_code_phase_samples;