mirror of https://github.com/gnss-sdr/gnss-sdr
164 lines
8.7 KiB
C++
164 lines
8.7 KiB
C++
/*!
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* \file Kf_conf.cc
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* \brief Class that contains all the configuration parameters for generic
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* tracking block based on a DLL and a PLL.
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* \author Javier Arribas, 2018. jarribas(at)cttc.es
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*
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* -----------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "kf_conf.h"
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#include "gnss_sdr_flags.h"
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#include "item_type_helpers.h"
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#include <glog/logging.h>
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Kf_Conf::Kf_Conf() : item_type("gr_complex"),
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dump_filename("./Kf_dump.dat"),
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fs_in(2000000.0),
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carrier_lock_th(FLAGS_carrier_lock_th),
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expected_cn0_dbhz(42.0),
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code_disc_sd_chips(0.01),
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carrier_disc_sd_rads(0.1),
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code_phase_sd_chips(0.001),
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code_rate_sd_chips_s(0.001),
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carrier_phase_sd_rad(0.001),
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carrier_freq_sd_hz(0.1),
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carrier_freq_rate_sd_hz_s(1),
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narrow_code_phase_sd_chips(0.001),
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narrow_code_rate_sd_chips_s(0.001),
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narrow_carrier_phase_sd_rad(0.001),
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narrow_carrier_freq_sd_hz(0.1),
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narrow_carrier_freq_rate_sd_hz_s(1),
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init_code_phase_sd_chips(1),
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init_code_rate_sd_chips_s(100),
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init_carrier_phase_sd_rad(10),
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init_carrier_freq_sd_hz(1000),
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init_carrier_freq_rate_sd_hz_s(1000),
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early_late_space_chips(0.25),
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very_early_late_space_chips(0.5),
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early_late_space_narrow_chips(0.15),
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very_early_late_space_narrow_chips(0.5),
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slope(1.0),
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spc(0.5),
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y_intercept(1.0),
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cn0_smoother_alpha(0.002),
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carrier_lock_test_smoother_alpha(0.002),
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pull_in_time_s(10),
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bit_synchronization_time_limit_s(70),
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vector_length(0U),
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smoother_length(10),
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extend_correlation_symbols(1),
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cn0_samples(FLAGS_cn0_samples),
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cn0_smoother_samples(200),
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carrier_lock_test_smoother_samples(25),
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cn0_min(FLAGS_cn0_min),
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max_code_lock_fail(FLAGS_max_lock_fail),
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max_carrier_lock_fail(FLAGS_max_carrier_lock_fail),
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system('G'),
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track_pilot(true),
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enable_doppler_correction(false),
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carrier_aiding(true),
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high_dyn(false),
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dump(false),
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dump_mat(true),
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enable_dynamic_measurement_covariance(false),
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use_estimated_cn0(false)
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{
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signal[0] = '1';
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signal[1] = 'C';
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signal[2] = '\0';
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}
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void Kf_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
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const std::string &role)
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{
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item_type = configuration->property(role + ".item_type", item_type);
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if (!item_type_valid(item_type))
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{
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LOG(WARNING) << "Unknown item type: " + item_type << ". Set to gr_complex";
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item_type = "gr_complex";
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}
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double fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
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fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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high_dyn = configuration->property(role + ".high_dyn", high_dyn);
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dump = configuration->property(role + ".dump", dump);
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dump_filename = configuration->property(role + ".dump_filename", dump_filename);
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dump_mat = configuration->property(role + ".dump_mat", dump_mat);
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pull_in_time_s = configuration->property(role + ".pull_in_time_s", pull_in_time_s);
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bit_synchronization_time_limit_s = pull_in_time_s + 60;
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early_late_space_chips = configuration->property(role + ".early_late_space_chips", early_late_space_chips);
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early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", early_late_space_narrow_chips);
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very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", very_early_late_space_chips);
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very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", very_early_late_space_narrow_chips);
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extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", extend_correlation_symbols);
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track_pilot = configuration->property(role + ".track_pilot", track_pilot);
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cn0_samples = configuration->property(role + ".cn0_samples", cn0_samples);
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cn0_min = configuration->property(role + ".cn0_min", cn0_min);
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max_code_lock_fail = configuration->property(role + ".max_lock_fail", max_code_lock_fail);
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max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", max_carrier_lock_fail);
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carrier_lock_th = configuration->property(role + ".carrier_lock_th", carrier_lock_th);
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carrier_aiding = configuration->property(role + ".carrier_aiding", carrier_aiding);
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// tracking lock tests smoother parameters
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cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", cn0_smoother_samples);
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cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", cn0_smoother_alpha);
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smoother_length = configuration->property(role + ".smoother_length", smoother_length);
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if (smoother_length < 1)
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{
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smoother_length = 1;
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LOG(WARNING) << "smoother_length must be bigger than 0. It has been set to 1";
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}
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carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", carrier_lock_test_smoother_samples);
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carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", carrier_lock_test_smoother_alpha);
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// Kalman filter covariances
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// Measurement covariances (R)
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expected_cn0_dbhz = configuration->property(role + ".expected_cn0_dbhz", expected_cn0_dbhz);
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code_disc_sd_chips = configuration->property(role + ".code_disc_sd_chips", code_disc_sd_chips);
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carrier_disc_sd_rads = configuration->property(role + ".carrier_disc_sd_rads", carrier_disc_sd_rads);
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enable_dynamic_measurement_covariance = configuration->property(role + ".enable_dynamic_measurement_covariance", enable_dynamic_measurement_covariance);
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use_estimated_cn0 = configuration->property(role + ".use_estimated_cn0", use_estimated_cn0);
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// System covariances (Q)
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code_phase_sd_chips = configuration->property(role + ".code_phase_sd_chips", code_phase_sd_chips);
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code_rate_sd_chips_s = configuration->property(role + ".code_rate_sd_chips_s", code_rate_sd_chips_s);
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carrier_phase_sd_rad = configuration->property(role + ".carrier_phase_sd_rad", carrier_phase_sd_rad);
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carrier_freq_sd_hz = configuration->property(role + ".carrier_freq_sd_hz", carrier_freq_sd_hz);
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carrier_freq_rate_sd_hz_s = configuration->property(role + ".carrier_freq_rate_sd_hz_s", carrier_freq_rate_sd_hz_s);
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// System covariances (narrow) (Q)
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narrow_code_phase_sd_chips = configuration->property(role + ".narrow_code_phase_sd_chips", narrow_code_phase_sd_chips);
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narrow_code_rate_sd_chips_s = configuration->property(role + ".narrow_code_rate_sd_chips_s", narrow_code_rate_sd_chips_s);
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narrow_carrier_phase_sd_rad = configuration->property(role + ".narrow_carrier_phase_sd_rad", narrow_carrier_phase_sd_rad);
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narrow_carrier_freq_sd_hz = configuration->property(role + ".narrow_carrier_freq_sd_hz", narrow_carrier_freq_sd_hz);
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narrow_carrier_freq_rate_sd_hz_s = configuration->property(role + ".narrow_carrier_freq_rate_sd_hz_s", narrow_carrier_freq_rate_sd_hz_s);
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// initial Kalman covariance matrix (P)
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init_code_phase_sd_chips = configuration->property(role + ".init_code_phase_sd_chips", init_code_phase_sd_chips);
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init_code_rate_sd_chips_s = configuration->property(role + ".init_code_rate_sd_chips_s", init_code_rate_sd_chips_s);
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init_carrier_phase_sd_rad = configuration->property(role + ".init_carrier_phase_sd_rad", init_carrier_phase_sd_rad);
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init_carrier_freq_sd_hz = configuration->property(role + ".init_carrier_freq_sd_hz", init_carrier_freq_sd_hz);
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init_carrier_freq_rate_sd_hz_s = configuration->property(role + ".init_carrier_freq_rate_sd_hz_s", init_carrier_freq_rate_sd_hz_s);
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}
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