/*! * \file gps_l1_ca_kf_tracking_cc.h * \brief Interface of a processing block of a DLL + Kalman carrier * tracking loop for GPS L1 C/A signals * \author Javier Arribas, 2018. jarribas(at)cttc.es * \author Jordi Vila-Valls 2018. jvila(at)cttc.es * \author Carles Fernandez-Prades 2018. cfernandez(at)cttc.es * * Reference: * J. Vila-Valls, P. Closas, M. Navarro and C. Fernandez-Prades, * "Are PLLs Dead? A Tutorial on Kalman Filter-based Techniques for Digital * Carrier Synchronization", IEEE Aerospace and Electronic Systems Magazine, * Vol. 32, No. 7, pp. 28–45, July 2017. DOI: 10.1109/MAES.2017.150260 * * ------------------------------------------------------------------------- * * 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 . * * ------------------------------------------------------------------------- */ #ifndef GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H #define GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H #if ARMA_NO_BOUND_CHECKING #define ARMA_NO_DEBUG 1 #endif #include "bayesian_estimation.h" #include "cpu_multicorrelator_real_codes.h" #include "gnss_synchro.h" #include "tracking_2nd_DLL_filter.h" #include "tracking_2nd_PLL_filter.h" #include #include #include #include #include #include class Gps_L1_Ca_Kf_Tracking_cc; using gps_l1_ca_kf_tracking_cc_sptr = boost::shared_ptr; gps_l1_ca_kf_tracking_cc_sptr gps_l1_ca_kf_make_tracking_cc(uint32_t order, int64_t if_freq, int64_t fs_in, uint32_t vector_length, bool dump, const std::string& dump_filename, float dll_bw_hz, float early_late_space_chips, bool bce_run, uint32_t bce_ptrans, uint32_t bce_strans, int32_t bce_nu, int32_t bce_kappa); /*! * \brief This class implements a DLL + PLL tracking loop block */ class Gps_L1_Ca_Kf_Tracking_cc : public gr::block { public: ~Gps_L1_Ca_Kf_Tracking_cc(); void set_channel(uint32_t channel); void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro); void start_tracking(); int general_work(int noutput_items, gr_vector_int& ninput_items, gr_vector_const_void_star& input_items, gr_vector_void_star& output_items); void forecast(int noutput_items, gr_vector_int& ninput_items_required); private: friend gps_l1_ca_kf_tracking_cc_sptr gps_l1_ca_kf_make_tracking_cc(uint32_t order, int64_t if_freq, int64_t fs_in, uint32_t vector_length, bool dump, const std::string& dump_filename, float dll_bw_hz, float early_late_space_chips, bool bce_run, uint32_t bce_ptrans, uint32_t bce_strans, int32_t bce_nu, int32_t bce_kappa); Gps_L1_Ca_Kf_Tracking_cc(uint32_t order, int64_t if_freq, int64_t fs_in, uint32_t vector_length, bool dump, const std::string& dump_filename, float dll_bw_hz, float early_late_space_chips, bool bce_run, uint32_t bce_ptrans, uint32_t bce_strans, int32_t bce_nu, int32_t bce_kappa); // tracking configuration vars uint32_t d_order; uint32_t d_vector_length; bool d_dump; Gnss_Synchro* d_acquisition_gnss_synchro; uint32_t d_channel; int64_t d_if_freq; int64_t d_fs_in; double d_early_late_spc_chips; // remaining code phase and carrier phase between tracking loops double d_rem_code_phase_samples; double d_rem_code_phase_chips; double d_rem_carr_phase_rad; // Kalman filter variables arma::mat kf_P_x_ini; // initial state error covariance matrix arma::mat kf_P_x; // state error covariance matrix arma::mat kf_P_x_pre; // Predicted state error covariance matrix arma::mat kf_P_y; // innovation covariance matrix arma::mat kf_F; // state transition matrix arma::mat kf_H; // system matrix arma::mat kf_R; // measurement error covariance matrix arma::mat kf_Q; // system error covariance matrix arma::colvec kf_x; // state vector arma::colvec kf_x_pre; // predicted state vector arma::colvec kf_y; // measurement vector arma::mat kf_K; // Kalman gain matrix // Bayesian estimator Bayesian_estimator bayes_estimator; arma::mat kf_R_est; // measurement error covariance uint32_t bayes_ptrans; uint32_t bayes_strans; int32_t bayes_nu; int32_t bayes_kappa; bool bayes_run; uint32_t kf_iter; // PLL and DLL filter library Tracking_2nd_DLL_filter d_code_loop_filter; // Tracking_2nd_PLL_filter d_carrier_loop_filter; // acquisition double d_acq_carrier_doppler_step_hz{}; double d_acq_code_phase_samples; double d_acq_carrier_doppler_hz; // correlator int32_t d_n_correlator_taps; float* d_ca_code; float* d_local_code_shift_chips; gr_complex* d_correlator_outs; Cpu_Multicorrelator_Real_Codes multicorrelator_cpu; // tracking vars double d_code_freq_chips; double d_code_phase_step_chips; double d_code_phase_rate_step_chips; double d_carrier_doppler_hz; double d_carrier_dopplerrate_hz2; double d_carrier_phase_step_rad; double d_acc_carrier_phase_rad; double d_carr_phase_error_rad{}; double d_carr_phase_sigma2; double d_code_phase_samples; double code_error_chips; double code_error_filt_chips; // PRN period in samples int32_t d_current_prn_length_samples; // processing samples counters uint64_t d_sample_counter; uint64_t d_acq_sample_stamp; // CN0 estimation and lock detector int32_t d_cn0_estimation_counter; std::vector d_Prompt_buffer; double d_carrier_lock_test; double d_CN0_SNV_dB_Hz; double d_carrier_lock_threshold; int32_t d_carrier_lock_fail_counter; // control vars bool d_enable_tracking; bool d_pull_in; // file dump std::string d_dump_filename; std::ofstream d_dump_file; std::map systemName; std::string sys; int32_t save_matfile(); }; #endif // GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H