- CHANGELOG: document Tracking_<Sig>.f_error_dump (default: false) and the
new Octave/MATLAB scripts
- f_error_sim.m: match cn0_m2m4_estimator when sqrt argument is negative,
seed with rng() (fallback for Octave < 7), fix stale comments
- plot_all_f_error_scans.m: do not require gnuplot, restore the previous
graphics toolkit on exit
- Use fprintf instead of printf for MATLAB compatibility
Build system:
- Drop hardcoded sm_30 (Kepler) nvcc flags rejected by CUDA >= 11; honour
CMAKE_CUDA_ARCHITECTURES, auto-detect Jetson SoCs from the device tree
(Orin 87, Xavier 72, TX2 62, Nano 53) or use "native" with CMake >= 3.24.
- CUDA standard follows the host C++ standard (C++17).
- find_package(CUDAToolkit) and explicit CUDA::cudart / CUDA::cufft links.
- Define CUDA_GPU_ACCEL project-wide; keep -Wno-psabi away from nvcc.
Acquisition:
- New CudaPcpsEngine (acquisition/libs/cuda_pcps_engine.{h,cu}): batched
cuFFT evaluation of the Doppler x code-phase grid, one stream per block.
- pcps_acquisition::doppler_grid() dispatches to the engine when
Acquisition_XX.use_cuda=true (or GNSS-SDR.use_cuda_acquisition=true),
falling back to the CPU loop on any failure. Peak search and statistics
are unchanged.
Tracking (GPS_L1_CA_DLL_PLL_Tracking_GPU):
- Split the racy single-launch wipe-off + correlator kernel into two
launches on the same stream.
- cudaHostAllocMapped || cudaHostAllocWriteCombined -> cudaHostAllocMapped.
- No cudaDeviceReset() in the per-channel teardown; do not cudaFree()
device aliases of host-mapped buffers; const-correct GPU_Complex.
Tests/docs:
- CudaPcpsEngineTest (GPU grid vs CPU reference incl. accumulation,
bit-transition mode, 4 ms integration) and GpsL1CaPcpsAcquisitionCudaTest
(full adapter on a real capture, CPU vs GPU estimates).
- benchmark_pcps_grid: CPU baseline vs GPU sweep.
- docs/JETSON.md build/verify/benchmark guide; README, changelog, sample
config updates.
Signed-off-by: Phillip Vu <36169227+phillipvu@users.noreply.github.com>
TrackedSatelliteInfo.used only says whether a tracked satellite/signal
contributed to the fix, not why it didn't -- below PVT.elevation_mask,
RAIM FDE, and broadcast-unhealthy are all indistinguishable to a monitor
client. Add a `healthy` field (proto field 8, default true) alongside it.
GPS health comes from the decoded ephemeris's SV_health, falling back to
the almanac (broadcast by every satellite) when no ephemeris has been
decoded yet. Galileo health is resolved per-signal via the existing
get_galileo_signal_health(), with the same almanac fallback when no
ephemeris is available for that signal's service. Other systems default
to healthy=true.
Visibility-aware acquisition search (GNSS-SDR.enable_visibility_aware_search):
- Classify GLONASS and QZSS satellites too. GLONASS positions come from the
GNAV almanac (new Glonass_Gnav_Almanac::satellite_position with the
standard perturbation model), so the search order benefits before any
GLONASS ephemeris is decoded.
- PVT publishes a lock-free navigation snapshot (ephemeris, almanac, UTC
models per system) that the classifier reads instead of locking the PVT
maps on every recompute.
- Recompute on new navigation data, on position changes larger than
visibility_recompute_position_threshold_m, every
visibility_recompute_interval_s, and when the almanac ages out; fix the
periodic and position-triggered recomputes that never fired, and the
off-by-one that excluded satellites in [mask, mask+1) degrees.
- Enter the start-up standby only when the feature is enabled, so the
default search order is untouched.
Secondary-frequency acquisition assistance:
- Do not start an acquisition on the PRN 0 placeholder left on assisted
channels at connect time; it threw inside the control thread and left the
flowgraph running headless with the secondary band never acquired.
- Match GLONASS assistance by FDMA frequency channel: the search pool keeps
one slot per channel while tracked L1 channels report the decoded slot, so
L2 was never picked.
- Assist from locked channels before their telemetry is decoded: the
observables status now reports tracking-only channels and the flowgraph
keeps a separate tracking map for the assisted search.
Follow-ups to the frequency-error-reduction merge (tracking state 5):
- Anchor Flag_PLL_180_deg_phase_locked to the sign of the last Prompt
symbol. The differential bit/secondary-code detector reconstructs bits
relative to an arbitrary first bit, so the previous corr_value sign rule
was independent of the actual carrier polarity.
- Do not feed the deliberate Doppler bin hops of the scan into the
high_dyn carrier/code phase-rate smoothers: clear the histories and
zero the rate steps while scanning.
- Start the pull_in_time_s and bit_synchronization_time_limit_s budgets
at the first sample after the scan instead of at acquisition, so long
scans no longer consume the FLL pull-in or the sync time limit. Scan
completion re-arms pull-in and resets the lock-fail counters. The
non-scan path keeps the acquisition time origin.
- Clamp f_error_accumulation to at least 1, both when parsed from the
configuration and in the block constructor, to avoid an out-of-bounds
write and a scan that never advances.
- Add unit tests for polarity, rate suppression, timers, and a full L2C
scan, and document the new options in the CHANGELOG.
Follow-up to the galileo-navtype-fallback merge. The original fallback let
E5a/E5b/E6 observations use the other service's ephemeris, but the BGD index
for those signals is fixed by frequency, so an E5a range modeled with an
I/NAV clock would be off by BGD(E1,E5a) - BGD(E1,E5b). Only E1 selects its
BGD from the ephemeris clock model, so only E1 may fall back.
Drop the per-PRN locked set: I/NAV and F/NAV carry the same IODnav/toe,
so they expire together, and an E1 switch between services costs only BGD
quantization. select_galileo_ephemeris() is const again and simply prefers
the primary service while its ephemeris is fresh.
Also normalize a legacy Unknown provenance to the primary service on the
returned ephemeris, and allow E1 Reduced CED in F/NAV-primary receivers.
CI runs prettier with --prose-wrap always, which reflows Markdown
prose to the print-width regardless of existing line breaks; the
local default (preserve) had left the added bullet's original
wrapping untouched.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Jb6oqf5UHnLP1yQoMdpb3S
EVK1029 is an Evaluation Kit for SAPHYRION SAGL space-grade ASICs: the
SY1009 RF Front-End and the SY1019 ADC/DSP. The kit includes a USB 3.0
device connected to a dual-band (E1/E5a) or triple-band (E1/E5a/E6) GNSS
front-end board, a Linux application for controlling/monitoring the
EVK1029 USB device and the SY10x9 ASICs and for saving the real-time
captured GNSS data stream to a binary file, and an EVK1029-enabled
version of GNSS-SDR.
This adds a signal source that reads the EVK1029 host application's raw
capture files directly: a continuous, header-less stream of OBA-encoded
4-bit samples (two per byte, 16 samples per little-endian 64-bit word),
with no periodic block header -- distinct enough from the generic
XML-metadata-driven ION_GSMS_Signal_Source path to warrant a dedicated
reader rather than a configuration of it.
Evk1029Source (the GNU Radio block) supports emitting multiple identical
output streams from a single read/file, so a dual-band capture (e.g. two
Freq_Xlating_Fir_Filter instances tuned to different IFs from the same
raw stream) stays sample-locked between bands: GNU Radio computes
noutput_items as the minimum available space across all declared output
ports, so backpressure from whichever downstream chain is slower stalls
production for every port together, instead of two independently-read
SignalSource instances that can silently drift apart over a long run.
The scheduler's output-multiple quantum is derived from the configured
sampling_frequency (targeting ~0.7 ms of data, rounded to the nearest
power of two) rather than hardcoded, since this block runs at the raw,
pre-decimation sample rate (up to ~180 Msps) where call-frequency
overhead measurably affects both this block and downstream readers.
Disabled by default, matching this project's convention for new
optional signal sources: build with -DENABLE_EVK1029=ON to enable it
(mirrors ENABLE_ION's wiring exactly -- CMake option, compile
definition on core_receiver, conditional registration in
gnss_block_factory.cc). Verified: clean build with the option off
(zero EVK1029 code compiled in) and with it on.
EVK1029 is being developed under an ESA contract and is expected to
become commercially available within 6-12 months.
A field named "used" inside a message called UsedSatellite read
oddly, especially since the message reports every tracked satellite
(used or excluded), not only used ones. Renamed the message and its
repeated field (tracked_satellites), plus the matching C++/protobuf
serialization types (Monitor_Pvt::TrackedSatelliteInfo,
tracked_satellites), so "used" now reads sensibly as a per-satellite
flag on a TrackedSatellite rather than inside a UsedSatellite.
Reset CNAV2 state on channel reassignment and reject PRN-mismatched
frames. Assemble MT10/MT11/clock into a candidate set keyed by broadcast
IODE/IODC instead of sticky arrival flags. Store CNAV2 independently of
CNAV1, set the B2a wavelength on the occupied RTKLIB slot, and write
RINEX 4 CNV2 (omit CNAV2 on RINEX 3).
Signed-off-by: huangchuhan <huangchh37@mail2.sysu.edu.cn>
Follow-up to the galileo-navtype-fallback merge. The original fallback let
E5a/E5b/E6 observations use the other service's ephemeris, but the BGD index
for those signals is fixed by frequency, so an E5a range modeled with an
I/NAV clock would be off by BGD(E1,E5a) - BGD(E1,E5b). Only E1 selects its
BGD from the ephemeris clock model, so only E1 may fall back.
Drop the per-PRN locked set: I/NAV and F/NAV carry the same IODnav/toe,
so they expire together, and an E1 switch between services costs only BGD
quantization. select_galileo_ephemeris() is const again and simply prefers
the primary service while its ephemeris is fresh.
Also normalize a legacy Unknown provenance to the primary service on the
returned ephemeris, and allow E1 Reduced CED in F/NAV-primary receivers.
Introduce the 5D signal chain: ICD BPSK(10) replica, PCPS acquisition,
DLL-PLL tracking (1 ms data component), and a first-cut B-CNAV2 decoder
(preamble + CRC-24Q, MT10/MT11/MT30, systematic 288 bits, no 64-ary
LDPC). GEO and BDS-2 PRNs are not assigned B2a channels. B2a-only SPP
remaps 5D onto RTKLIB slot 0 with lam[0]=c/FREQ5.
Signed-off-by: huangchuhan <huangchh37@mail2.sysu.edu.cn>
rescode() (rtklib_pntpos.cc) computes each satellite's azimuth/elevation via
satazel() before checking it against PVT.elevation_mask, and pntpos() copies
that azel into ssat[] unconditionally -- only ssat[].vs is gated by the mask
(the same applies to a satellite dropped by RAIM FDE). The used_satellites
loop in rtklib_solver.cc was keying its entire per-satellite entry on vs, so
a tracked satellite excluded from the fix (below the elevation mask, or by
RAIM) disappeared from MonitorPvt entirely -- indistinguishable from a
genuine tracking problem.
Key entries on whether azel was actually computed this epoch instead, and
add a separate `used` flag (default true) reflecting vs. A satellite that
is tracked but excluded from the fix now still reports its real az/el, with
used = false.
CI runs prettier with --prose-wrap always, which reflows Markdown
prose to the print-width regardless of existing line breaks; the
local default (preserve) had left the added bullet's original
wrapping untouched.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Jb6oqf5UHnLP1yQoMdpb3S
EVK1029 is an Evaluation Kit for SAPHYRION SAGL space-grade ASICs: the
SY1009 RF Front-End and the SY1019 ADC/DSP. The kit includes a USB 3.0
device connected to a dual-band (E1/E5a) or triple-band (E1/E5a/E6) GNSS
front-end board, a Linux application for controlling/monitoring the
EVK1029 USB device and the SY10x9 ASICs and for saving the real-time
captured GNSS data stream to a binary file, and an EVK1029-enabled
version of GNSS-SDR.
This adds a signal source that reads the EVK1029 host application's raw
capture files directly: a continuous, header-less stream of OBA-encoded
4-bit samples (two per byte, 16 samples per little-endian 64-bit word),
with no periodic block header -- distinct enough from the generic
XML-metadata-driven ION_GSMS_Signal_Source path to warrant a dedicated
reader rather than a configuration of it.
Evk1029Source (the GNU Radio block) supports emitting multiple identical
output streams from a single read/file, so a dual-band capture (e.g. two
Freq_Xlating_Fir_Filter instances tuned to different IFs from the same
raw stream) stays sample-locked between bands: GNU Radio computes
noutput_items as the minimum available space across all declared output
ports, so backpressure from whichever downstream chain is slower stalls
production for every port together, instead of two independently-read
SignalSource instances that can silently drift apart over a long run.
The scheduler's output-multiple quantum is derived from the configured
sampling_frequency (targeting ~0.7 ms of data, rounded to the nearest
power of two) rather than hardcoded, since this block runs at the raw,
pre-decimation sample rate (up to ~180 Msps) where call-frequency
overhead measurably affects both this block and downstream readers.
Disabled by default, matching this project's convention for new
optional signal sources: build with -DENABLE_EVK1029=ON to enable it
(mirrors ENABLE_ION's wiring exactly -- CMake option, compile
definition on core_receiver, conditional registration in
gnss_block_factory.cc). Verified: clean build with the option off
(zero EVK1029 code compiled in) and with it on.
EVK1029 is being developed under an ESA contract and is expected to
become commercially available within 6-12 months.
An application monitoring gnss-sdr (e.g. for a sky plot or a per-satellite
status view) typically needs to know which satellites and signals actually
contributed to the current PVT solution, and their azimuth/elevation --
none of that is currently exposed on the MonitorPvt UDP interface, only the
scalar solution.
Adds a repeated UsedSatellite field to MonitorPvt (proto field 37), one
entry per satellite/signal used in the fix: PRN, constellation, signal ID,
azimuth, elevation, and whether that satellite's signals were combined
(e.g. Galileo E1+E5a iono-free). Signals are kept as separate entries
rather than merged into one per-satellite record, since a receiver may
track more than one signal of the same satellite independently and a
consumer may care which ones specifically contributed.
Populated in Rtklib_Solver::get_PVT() from RTKLIB's per-satellite azel
solution (pvt_ssat[]) intersected with the observables actually used in
that epoch.
Signed-off-by: joebre <joel.brenner@saphyrion.ch>
Add a Bladerf_Signal_Source that streams RX samples directly from
bladeRF front-ends (bladeRF x40, x115, and bladeRF 2.0 Micro xA4/xA9)
through libbladeRF, instead of going through the generic gr-osmosdr
wrapper. gr-osmosdr's bladerf backend does not expose usable per-stage
gain control on bladeRF2 hardware and has no support for the RX bias
tee used to power an active antenna on the 2.0 Micro.
The new gr::sync_block (bladerf_source) talks to libbladeRF's
synchronous streaming API directly; the adapter (BladerfSignalSource)
follows the existing SignalSourceBase pattern used by the other signal
sources, with valve and dump support wired the same way. Building it
is gated behind -DENABLE_BLADERF=ON, degrades gracefully when
libbladeRF is absent, and requires libbladeRF v2.6.0 or newer,
enforced at configure time.
Verified against a physical bladeRF 2.0 Micro: the receiver opens the
device, streams live samples, and acquires and tracks real GPS
satellites end to end using the new sample configuration file.
Only single-channel (SISO) reception is supported for now; the second
RX channel is not yet exposed.
Signed-off-by: Oleksandr Suvorov <cryosay@gmail.com>
GTEST_SKIP() does not exist before GoogleTest 1.10, which breaks the
build on Ubuntu 16.04 with the distro-provided GoogleTest. Wrap it in
a guarded macro that records a success and returns on older versions,
following the pattern already used in osnma_test_vectors.cc.¡
Carles Fernandez