mirror of https://github.com/gnss-sdr/gnss-sdr
1056 lines
44 KiB
C++
1056 lines
44 KiB
C++
/*!
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* \file pcps_acquisition.cc
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* \brief This class implements a Parallel Code Phase Search Acquisition
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* \authors <ul>
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* <li> Javier Arribas, 2011. jarribas(at)cttc.es
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* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
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* <li> Marc Molina, 2013. marc.molina.pena@gmail.com
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* <li> Cillian O'Driscoll, 2017. cillian(at)ieee.org
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* </ul>
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (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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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "pcps_acquisition.h"
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#include "GLONASS_L1_L2_CA.h" // for GLONASS_TWO_PI
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#include "GPS_L1_CA.h" // for GPS_TWO_PI
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#include "gnss_frequencies.h"
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#include "gnss_sdr_create_directory.h"
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#include "gnss_synchro.h"
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#include <boost/filesystem/path.hpp>
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h>
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#include <matio.h>
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#include <pmt/pmt.h> // for from_long
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#include <pmt/pmt_sugar.h> // for mp
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#include <volk/volk.h>
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#include <volk_gnsssdr/volk_gnsssdr.h>
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#include <algorithm> // for fill_n, min
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#include <cmath> // for floor, fmod, rint, ceil
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#include <cstring> // for memcpy
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#include <iostream>
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#include <map>
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pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_)
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{
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return pcps_acquisition_sptr(new pcps_acquisition(conf_));
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}
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pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acquisition",
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gr::io_signature::make(1, 1, conf_.it_size),
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gr::io_signature::make(0, 0, conf_.it_size))
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{
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this->message_port_register_out(pmt::mp("events"));
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acq_parameters = conf_;
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d_sample_counter = 0ULL; // SAMPLE COUNTER
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d_active = false;
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d_positive_acq = 0;
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d_state = 0;
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d_old_freq = 0LL;
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d_num_noncoherent_integrations_counter = 0U;
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d_consumed_samples = acq_parameters.sampled_ms * acq_parameters.samples_per_ms * (acq_parameters.bit_transition_flag ? 2 : 1);
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if (acq_parameters.sampled_ms == acq_parameters.ms_per_code)
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{
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d_fft_size = d_consumed_samples;
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}
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else
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{
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d_fft_size = d_consumed_samples * 2;
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}
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// d_fft_size = next power of two? ////
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d_mag = 0;
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d_input_power = 0.0;
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d_num_doppler_bins = 0U;
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d_threshold = 0.0;
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d_doppler_step = 0U;
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d_doppler_center_step_two = 0.0;
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d_test_statistics = 0.0;
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d_channel = 0U;
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if (conf_.it_size == sizeof(gr_complex))
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{
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d_cshort = false;
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}
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else
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{
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d_cshort = true;
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}
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// COD:
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// Experimenting with the overlap/save technique for handling bit trannsitions
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// The problem: Circular correlation is asynchronous with the received code.
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// In effect the first code phase used in the correlation is the current
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// estimate of the code phase at the start of the input buffer. If this is 1/2
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// of the code period a bit transition would move all the signal energy into
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// adjacent frequency bands at +/- 1/T where T is the integration time.
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//
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// We can avoid this by doing linear correlation, effectively doubling the
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// size of the input buffer and padding the code with zeros.
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if (acq_parameters.bit_transition_flag)
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{
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d_fft_size = d_consumed_samples * 2;
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acq_parameters.max_dwells = 1; // Activation of acq_parameters.bit_transition_flag invalidates the value of acq_parameters.max_dwells
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}
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d_tmp_buffer = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
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d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
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d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
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d_input_signal = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
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// Direct FFT
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d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
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// Inverse FFT
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d_ifft = new gr::fft::fft_complex(d_fft_size, false);
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d_gnss_synchro = nullptr;
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d_grid_doppler_wipeoffs = nullptr;
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d_grid_doppler_wipeoffs_step_two = nullptr;
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d_magnitude_grid = nullptr;
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d_worker_active = false;
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d_data_buffer = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_consumed_samples * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
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if (d_cshort)
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{
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d_data_buffer_sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(d_consumed_samples * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
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}
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else
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{
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d_data_buffer_sc = nullptr;
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}
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grid_ = arma::fmat();
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narrow_grid_ = arma::fmat();
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d_step_two = false;
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d_num_doppler_bins_step2 = acq_parameters.num_doppler_bins_step2;
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d_samplesPerChip = acq_parameters.samples_per_chip;
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d_buffer_count = 0U;
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// todo: CFAR statistic not available for non-coherent integration
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if (acq_parameters.max_dwells == 1)
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{
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d_use_CFAR_algorithm_flag = acq_parameters.use_CFAR_algorithm_flag;
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}
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else
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{
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d_use_CFAR_algorithm_flag = false;
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}
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d_dump_number = 0LL;
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d_dump_channel = acq_parameters.dump_channel;
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d_dump = acq_parameters.dump;
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d_dump_filename = acq_parameters.dump_filename;
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if (d_dump)
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{
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std::string dump_path;
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// Get path
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if (d_dump_filename.find_last_of('/') != std::string::npos)
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{
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std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1);
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dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/'));
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d_dump_filename = dump_filename_;
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}
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else
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{
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dump_path = std::string(".");
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}
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if (d_dump_filename.empty())
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{
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d_dump_filename = "acquisition";
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}
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// remove extension if any
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if (d_dump_filename.substr(1).find_last_of('.') != std::string::npos)
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{
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d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of('.'));
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}
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d_dump_filename = dump_path + boost::filesystem::path::preferred_separator + d_dump_filename;
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// create directory
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if (!gnss_sdr_create_directory(dump_path))
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{
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std::cerr << "GNSS-SDR cannot create dump file for the Acquisition block. Wrong permissions?" << std::endl;
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d_dump = false;
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}
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}
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}
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pcps_acquisition::~pcps_acquisition()
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{
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if (d_num_doppler_bins > 0)
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{
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for (uint32_t i = 0; i < d_num_doppler_bins; i++)
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{
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volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
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volk_gnsssdr_free(d_magnitude_grid[i]);
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}
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delete[] d_grid_doppler_wipeoffs;
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delete[] d_magnitude_grid;
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}
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if (acq_parameters.make_2_steps)
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{
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for (uint32_t i = 0; i < d_num_doppler_bins_step2; i++)
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{
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volk_gnsssdr_free(d_grid_doppler_wipeoffs_step_two[i]);
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}
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delete[] d_grid_doppler_wipeoffs_step_two;
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}
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volk_gnsssdr_free(d_fft_codes);
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volk_gnsssdr_free(d_magnitude);
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volk_gnsssdr_free(d_tmp_buffer);
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volk_gnsssdr_free(d_input_signal);
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delete d_ifft;
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delete d_fft_if;
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volk_gnsssdr_free(d_data_buffer);
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if (d_cshort)
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{
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volk_gnsssdr_free(d_data_buffer_sc);
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}
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}
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void pcps_acquisition::set_resampler_latency(uint32_t latency_samples)
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{
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gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
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acq_parameters.resampler_latency_samples = latency_samples;
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}
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void pcps_acquisition::set_local_code(std::complex<float>* code)
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{
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// reset the intermediate frequency
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d_old_freq = 0LL;
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// This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
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if (is_fdma())
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{
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update_grid_doppler_wipeoffs();
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}
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// COD
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// Here we want to create a buffer that looks like this:
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// [ 0 0 0 ... 0 c_0 c_1 ... c_L]
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// where c_i is the local code and there are L zeros and L chips
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gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
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if (acq_parameters.bit_transition_flag)
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{
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int32_t offset = d_fft_size / 2;
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std::fill_n(d_fft_if->get_inbuf(), offset, gr_complex(0.0, 0.0));
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memcpy(d_fft_if->get_inbuf() + offset, code, sizeof(gr_complex) * offset);
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}
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else
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{
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if (acq_parameters.sampled_ms == acq_parameters.ms_per_code)
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{
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memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_consumed_samples);
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}
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else
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{
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std::fill_n(d_fft_if->get_inbuf(), d_fft_size - d_consumed_samples, gr_complex(0.0, 0.0));
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memcpy(d_fft_if->get_inbuf() + d_consumed_samples, code, sizeof(gr_complex) * d_consumed_samples);
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}
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}
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d_fft_if->execute(); // We need the FFT of local code
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volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
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}
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bool pcps_acquisition::is_fdma()
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{
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// Dealing with FDMA system
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if (strcmp(d_gnss_synchro->Signal, "1G") == 0)
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{
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d_old_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
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LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_old_freq << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
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return true;
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}
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if (strcmp(d_gnss_synchro->Signal, "2G") == 0)
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{
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d_old_freq += DFRQ2_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
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LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_old_freq << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
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return true;
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}
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return false;
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}
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void pcps_acquisition::update_local_carrier(gr_complex* carrier_vector, int32_t correlator_length_samples, float freq)
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{
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float phase_step_rad;
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if (acq_parameters.use_automatic_resampler)
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{
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phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(acq_parameters.resampled_fs);
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}
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else
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{
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phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(acq_parameters.fs_in);
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}
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float _phase[1];
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_phase[0] = 0.0;
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volk_gnsssdr_s32f_sincos_32fc(carrier_vector, -phase_step_rad, _phase, correlator_length_samples);
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}
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void pcps_acquisition::init()
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{
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d_gnss_synchro->Flag_valid_acquisition = false;
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d_gnss_synchro->Flag_valid_symbol_output = false;
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d_gnss_synchro->Flag_valid_pseudorange = false;
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d_gnss_synchro->Flag_valid_word = false;
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d_gnss_synchro->Acq_doppler_step = 0U;
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d_gnss_synchro->Acq_delay_samples = 0.0;
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d_gnss_synchro->Acq_doppler_hz = 0.0;
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d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
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d_mag = 0.0;
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d_input_power = 0.0;
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d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(acq_parameters.doppler_max) - static_cast<int32_t>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
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// Create the carrier Doppler wipeoff signals
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if (d_grid_doppler_wipeoffs == nullptr)
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{
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d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
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}
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if (acq_parameters.make_2_steps && (d_grid_doppler_wipeoffs_step_two == nullptr))
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{
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d_grid_doppler_wipeoffs_step_two = new gr_complex*[d_num_doppler_bins_step2];
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for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
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{
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d_grid_doppler_wipeoffs_step_two[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
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}
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}
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if (d_magnitude_grid == nullptr)
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{
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d_magnitude_grid = new float*[d_num_doppler_bins];
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for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
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{
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d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
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d_magnitude_grid[doppler_index] = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
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}
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}
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for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
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{
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for (uint32_t k = 0; k < d_fft_size; k++)
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{
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d_magnitude_grid[doppler_index][k] = 0.0;
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}
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int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
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update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_old_freq + doppler);
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}
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d_worker_active = false;
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if (d_dump)
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{
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uint32_t effective_fft_size = (acq_parameters.bit_transition_flag ? (d_fft_size / 2) : d_fft_size);
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grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins, arma::fill::zeros);
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narrow_grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins_step2, arma::fill::zeros);
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}
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}
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void pcps_acquisition::update_grid_doppler_wipeoffs()
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{
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for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
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{
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int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
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update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_old_freq + doppler);
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}
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}
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void pcps_acquisition::update_grid_doppler_wipeoffs_step2()
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{
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for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
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{
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float doppler = (static_cast<float>(doppler_index) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2;
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update_local_carrier(d_grid_doppler_wipeoffs_step_two[doppler_index], d_fft_size, d_doppler_center_step_two + doppler);
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}
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}
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void pcps_acquisition::set_state(int32_t state)
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{
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gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
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d_state = state;
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if (d_state == 1)
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{
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d_gnss_synchro->Acq_delay_samples = 0.0;
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d_gnss_synchro->Acq_doppler_hz = 0.0;
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d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
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d_gnss_synchro->Acq_doppler_step = 0U;
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d_mag = 0.0;
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d_input_power = 0.0;
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d_test_statistics = 0.0;
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d_active = true;
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}
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else if (d_state == 0)
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{
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}
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else
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{
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LOG(ERROR) << "State can only be set to 0 or 1";
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}
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}
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|
|
|
|
|
void pcps_acquisition::send_positive_acquisition()
|
|
{
|
|
// Declare positive acquisition using a message port
|
|
// 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
|
|
DLOG(INFO) << "positive acquisition"
|
|
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
|
|
<< ", sample_stamp " << d_sample_counter
|
|
<< ", test statistics value " << d_test_statistics
|
|
<< ", test statistics threshold " << d_threshold
|
|
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
|
|
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
|
|
<< ", magnitude " << d_mag
|
|
<< ", input signal power " << d_input_power;
|
|
d_positive_acq = 1;
|
|
|
|
if (!d_channel_fsm.expired())
|
|
{
|
|
//the channel FSM is set, so, notify it directly the positive acquisition to minimize delays
|
|
d_channel_fsm.lock()->Event_valid_acquisition();
|
|
}
|
|
else
|
|
{
|
|
this->message_port_pub(pmt::mp("events"), pmt::from_long(1));
|
|
}
|
|
}
|
|
|
|
|
|
void pcps_acquisition::send_negative_acquisition()
|
|
{
|
|
// Declare negative acquisition using a message port
|
|
// 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
|
|
DLOG(INFO) << "negative acquisition"
|
|
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
|
|
<< ", sample_stamp " << d_sample_counter
|
|
<< ", test statistics value " << d_test_statistics
|
|
<< ", test statistics threshold " << d_threshold
|
|
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
|
|
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
|
|
<< ", magnitude " << d_mag
|
|
<< ", input signal power " << d_input_power;
|
|
d_positive_acq = 0;
|
|
this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
|
|
}
|
|
|
|
|
|
void pcps_acquisition::dump_results(int32_t effective_fft_size)
|
|
{
|
|
d_dump_number++;
|
|
std::string filename = d_dump_filename;
|
|
filename.append("_");
|
|
filename.append(1, d_gnss_synchro->System);
|
|
filename.append("_");
|
|
filename.append(1, d_gnss_synchro->Signal[0]);
|
|
filename.append(1, d_gnss_synchro->Signal[1]);
|
|
filename.append("_ch_");
|
|
filename.append(std::to_string(d_channel));
|
|
filename.append("_");
|
|
filename.append(std::to_string(d_dump_number));
|
|
filename.append("_sat_");
|
|
filename.append(std::to_string(d_gnss_synchro->PRN));
|
|
filename.append(".mat");
|
|
|
|
mat_t* matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
|
|
if (matfp == nullptr)
|
|
{
|
|
std::cout << "Unable to create or open Acquisition dump file" << std::endl;
|
|
//acq_parameters.dump = false;
|
|
}
|
|
else
|
|
{
|
|
size_t dims[2] = {static_cast<size_t>(effective_fft_size), static_cast<size_t>(d_num_doppler_bins)};
|
|
matvar_t* matvar = Mat_VarCreate("acq_grid", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, grid_.memptr(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
dims[0] = static_cast<size_t>(1);
|
|
dims[1] = static_cast<size_t>(1);
|
|
matvar = Mat_VarCreate("doppler_max", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &acq_parameters.doppler_max, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("doppler_step", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_doppler_step, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("d_positive_acq", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_positive_acq, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
auto aux = static_cast<float>(d_gnss_synchro->Acq_doppler_hz);
|
|
matvar = Mat_VarCreate("acq_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
aux = static_cast<float>(d_gnss_synchro->Acq_delay_samples);
|
|
matvar = Mat_VarCreate("acq_delay_samples", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("test_statistic", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &d_test_statistics, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("threshold", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &d_threshold, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("input_power", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &d_input_power, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("sample_counter", MAT_C_UINT64, MAT_T_UINT64, 1, dims, &d_sample_counter, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_gnss_synchro->PRN, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("num_dwells", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_num_noncoherent_integrations_counter, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
if (acq_parameters.make_2_steps)
|
|
{
|
|
dims[0] = static_cast<size_t>(effective_fft_size);
|
|
dims[1] = static_cast<size_t>(d_num_doppler_bins_step2);
|
|
matvar = Mat_VarCreate("acq_grid_narrow", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, narrow_grid_.memptr(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
dims[0] = static_cast<size_t>(1);
|
|
dims[1] = static_cast<size_t>(1);
|
|
matvar = Mat_VarCreate("doppler_step_narrow", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &acq_parameters.doppler_step2, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
aux = d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * acq_parameters.doppler_step2;
|
|
matvar = Mat_VarCreate("doppler_grid_narrow_min", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
}
|
|
|
|
Mat_Close(matfp);
|
|
}
|
|
}
|
|
|
|
|
|
float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, float input_power, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step)
|
|
{
|
|
float grid_maximum = 0.0;
|
|
uint32_t index_doppler = 0U;
|
|
uint32_t tmp_intex_t = 0U;
|
|
uint32_t index_time = 0U;
|
|
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
|
|
|
|
// Find the correlation peak and the carrier frequency
|
|
for (uint32_t i = 0; i < num_doppler_bins; i++)
|
|
{
|
|
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i], d_fft_size);
|
|
if (d_magnitude_grid[i][tmp_intex_t] > grid_maximum)
|
|
{
|
|
grid_maximum = d_magnitude_grid[i][tmp_intex_t];
|
|
index_doppler = i;
|
|
index_time = tmp_intex_t;
|
|
}
|
|
}
|
|
indext = index_time;
|
|
if (!d_step_two)
|
|
{
|
|
doppler = -static_cast<int32_t>(doppler_max) + doppler_step * static_cast<int32_t>(index_doppler);
|
|
}
|
|
else
|
|
{
|
|
doppler = static_cast<int32_t>(d_doppler_center_step_two + (static_cast<float>(index_doppler) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2);
|
|
}
|
|
|
|
float magt = grid_maximum / (fft_normalization_factor * fft_normalization_factor);
|
|
return magt / input_power;
|
|
}
|
|
|
|
|
|
float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step)
|
|
{
|
|
// Look for correlation peaks in the results
|
|
// Find the highest peak and compare it to the second highest peak
|
|
// The second peak is chosen not closer than 1 chip to the highest peak
|
|
|
|
float firstPeak = 0.0;
|
|
uint32_t index_doppler = 0U;
|
|
uint32_t tmp_intex_t = 0U;
|
|
uint32_t index_time = 0U;
|
|
|
|
// Find the correlation peak and the carrier frequency
|
|
for (uint32_t i = 0; i < num_doppler_bins; i++)
|
|
{
|
|
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i], d_fft_size);
|
|
if (d_magnitude_grid[i][tmp_intex_t] > firstPeak)
|
|
{
|
|
firstPeak = d_magnitude_grid[i][tmp_intex_t];
|
|
index_doppler = i;
|
|
index_time = tmp_intex_t;
|
|
}
|
|
}
|
|
indext = index_time;
|
|
|
|
if (!d_step_two)
|
|
{
|
|
doppler = -static_cast<int32_t>(doppler_max) + doppler_step * static_cast<int32_t>(index_doppler);
|
|
}
|
|
else
|
|
{
|
|
doppler = static_cast<int32_t>(d_doppler_center_step_two + (static_cast<float>(index_doppler) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2);
|
|
}
|
|
|
|
// Find 1 chip wide code phase exclude range around the peak
|
|
int32_t excludeRangeIndex1 = index_time - d_samplesPerChip;
|
|
int32_t excludeRangeIndex2 = index_time + d_samplesPerChip;
|
|
|
|
// Correct code phase exclude range if the range includes array boundaries
|
|
if (excludeRangeIndex1 < 0)
|
|
{
|
|
excludeRangeIndex1 = d_fft_size + excludeRangeIndex1;
|
|
}
|
|
else if (excludeRangeIndex2 >= static_cast<int32_t>(d_fft_size))
|
|
{
|
|
excludeRangeIndex2 = excludeRangeIndex2 - d_fft_size;
|
|
}
|
|
|
|
int32_t idx = excludeRangeIndex1;
|
|
memcpy(d_tmp_buffer, d_magnitude_grid[index_doppler], d_fft_size);
|
|
do
|
|
{
|
|
d_tmp_buffer[idx] = 0.0;
|
|
idx++;
|
|
if (idx == static_cast<int32_t>(d_fft_size))
|
|
{
|
|
idx = 0;
|
|
}
|
|
}
|
|
while (idx != excludeRangeIndex2);
|
|
|
|
// Find the second highest correlation peak in the same freq. bin ---
|
|
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_tmp_buffer, d_fft_size);
|
|
float secondPeak = d_tmp_buffer[tmp_intex_t];
|
|
|
|
// Compute the test statistics and compare to the threshold
|
|
return firstPeak / secondPeak;
|
|
}
|
|
|
|
|
|
void pcps_acquisition::acquisition_core(uint64_t samp_count)
|
|
{
|
|
gr::thread::scoped_lock lk(d_setlock);
|
|
|
|
// Initialize acquisition algorithm
|
|
int32_t doppler = 0;
|
|
uint32_t indext = 0U;
|
|
int32_t effective_fft_size = (acq_parameters.bit_transition_flag ? d_fft_size / 2 : d_fft_size);
|
|
if (d_cshort)
|
|
{
|
|
volk_gnsssdr_16ic_convert_32fc(d_data_buffer, d_data_buffer_sc, d_consumed_samples);
|
|
}
|
|
memcpy(d_input_signal, d_data_buffer, d_consumed_samples * sizeof(gr_complex));
|
|
if (d_fft_size > d_consumed_samples)
|
|
{
|
|
for (uint32_t i = d_consumed_samples; i < d_fft_size; i++)
|
|
{
|
|
d_input_signal[i] = gr_complex(0.0, 0.0);
|
|
}
|
|
}
|
|
const gr_complex* in = d_input_signal; // Get the input samples pointer
|
|
|
|
d_input_power = 0.0;
|
|
d_mag = 0.0;
|
|
d_num_noncoherent_integrations_counter++;
|
|
|
|
DLOG(INFO) << "Channel: " << d_channel
|
|
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
|
|
<< " ,sample stamp: " << samp_count << ", threshold: "
|
|
<< d_threshold << ", doppler_max: " << acq_parameters.doppler_max
|
|
<< ", doppler_step: " << d_doppler_step
|
|
<< ", use_CFAR_algorithm_flag: " << (d_use_CFAR_algorithm_flag ? "true" : "false");
|
|
|
|
lk.unlock();
|
|
|
|
if (d_use_CFAR_algorithm_flag or acq_parameters.bit_transition_flag)
|
|
{
|
|
// Compute the input signal power estimation
|
|
volk_32fc_magnitude_squared_32f(d_tmp_buffer, in, d_fft_size);
|
|
volk_32f_accumulator_s32f(&d_input_power, d_tmp_buffer, d_fft_size);
|
|
d_input_power /= static_cast<float>(d_fft_size);
|
|
}
|
|
|
|
// Doppler frequency grid loop
|
|
if (!d_step_two)
|
|
{
|
|
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
|
|
{
|
|
// Remove Doppler
|
|
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
|
|
|
|
// Perform the FFT-based convolution (parallel time search)
|
|
// Compute the FFT of the carrier wiped--off incoming signal
|
|
d_fft_if->execute();
|
|
|
|
// Multiply carrier wiped--off, Fourier transformed incoming signal with the local FFT'd code reference
|
|
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
|
|
|
|
// Compute the inverse FFT
|
|
d_ifft->execute();
|
|
|
|
// Compute squared magnitude (and accumulate in case of non-coherent integration)
|
|
size_t offset = (acq_parameters.bit_transition_flag ? effective_fft_size : 0);
|
|
if (d_num_noncoherent_integrations_counter == 1)
|
|
{
|
|
volk_32fc_magnitude_squared_32f(d_magnitude_grid[doppler_index], d_ifft->get_outbuf() + offset, effective_fft_size);
|
|
}
|
|
else
|
|
{
|
|
volk_32fc_magnitude_squared_32f(d_tmp_buffer, d_ifft->get_outbuf() + offset, effective_fft_size);
|
|
volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size);
|
|
}
|
|
// Record results to file if required
|
|
if (d_dump and d_channel == d_dump_channel)
|
|
{
|
|
memcpy(grid_.colptr(doppler_index), d_magnitude_grid[doppler_index], sizeof(float) * effective_fft_size);
|
|
}
|
|
}
|
|
|
|
// Compute the test statistic
|
|
if (d_use_CFAR_algorithm_flag)
|
|
{
|
|
d_test_statistics = max_to_input_power_statistic(indext, doppler, d_input_power, d_num_doppler_bins, acq_parameters.doppler_max, d_doppler_step);
|
|
}
|
|
else
|
|
{
|
|
d_test_statistics = first_vs_second_peak_statistic(indext, doppler, d_num_doppler_bins, acq_parameters.doppler_max, d_doppler_step);
|
|
}
|
|
if (acq_parameters.use_automatic_resampler)
|
|
{
|
|
//take into account the acquisition resampler ratio
|
|
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code)) * acq_parameters.resampler_ratio;
|
|
d_gnss_synchro->Acq_delay_samples -= static_cast<double>(acq_parameters.resampler_latency_samples); //account the resampler filter latency
|
|
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
|
|
d_gnss_synchro->Acq_samplestamp_samples = rint(static_cast<double>(samp_count) * acq_parameters.resampler_ratio);
|
|
}
|
|
else
|
|
{
|
|
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
|
|
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
|
|
d_gnss_synchro->Acq_samplestamp_samples = samp_count;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
|
|
{
|
|
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs_step_two[doppler_index], d_fft_size);
|
|
|
|
// Perform the FFT-based convolution (parallel time search)
|
|
// Compute the FFT of the carrier wiped--off incoming signal
|
|
d_fft_if->execute();
|
|
|
|
// Multiply carrier wiped--off, Fourier transformed incoming signal
|
|
// with the local FFT'd code reference using SIMD operations with VOLK library
|
|
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
|
|
|
|
// compute the inverse FFT
|
|
d_ifft->execute();
|
|
|
|
size_t offset = (acq_parameters.bit_transition_flag ? effective_fft_size : 0);
|
|
if (d_num_noncoherent_integrations_counter == 1)
|
|
{
|
|
volk_32fc_magnitude_squared_32f(d_magnitude_grid[doppler_index], d_ifft->get_outbuf() + offset, effective_fft_size);
|
|
}
|
|
else
|
|
{
|
|
volk_32fc_magnitude_squared_32f(d_tmp_buffer, d_ifft->get_outbuf() + offset, effective_fft_size);
|
|
volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size);
|
|
}
|
|
// Record results to file if required
|
|
if (d_dump and d_channel == d_dump_channel)
|
|
{
|
|
memcpy(narrow_grid_.colptr(doppler_index), d_magnitude_grid[doppler_index], sizeof(float) * effective_fft_size);
|
|
}
|
|
}
|
|
// Compute the test statistic
|
|
if (d_use_CFAR_algorithm_flag)
|
|
{
|
|
d_test_statistics = max_to_input_power_statistic(indext, doppler, d_input_power, d_num_doppler_bins_step2, static_cast<int32_t>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
|
|
}
|
|
else
|
|
{
|
|
d_test_statistics = first_vs_second_peak_statistic(indext, doppler, d_num_doppler_bins_step2, static_cast<int32_t>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
|
|
}
|
|
|
|
if (acq_parameters.use_automatic_resampler)
|
|
{
|
|
//take into account the acquisition resampler ratio
|
|
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code)) * acq_parameters.resampler_ratio;
|
|
d_gnss_synchro->Acq_delay_samples -= static_cast<double>(acq_parameters.resampler_latency_samples); //account the resampler filter latency
|
|
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
|
|
d_gnss_synchro->Acq_samplestamp_samples = rint(static_cast<double>(samp_count) * acq_parameters.resampler_ratio);
|
|
d_gnss_synchro->Acq_doppler_step = acq_parameters.doppler_step2;
|
|
}
|
|
else
|
|
{
|
|
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
|
|
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
|
|
d_gnss_synchro->Acq_samplestamp_samples = samp_count;
|
|
d_gnss_synchro->Acq_doppler_step = acq_parameters.doppler_step2;
|
|
}
|
|
}
|
|
|
|
lk.lock();
|
|
if (!acq_parameters.bit_transition_flag)
|
|
{
|
|
if (d_test_statistics > d_threshold)
|
|
{
|
|
d_active = false;
|
|
if (acq_parameters.make_2_steps)
|
|
{
|
|
if (d_step_two)
|
|
{
|
|
send_positive_acquisition();
|
|
d_step_two = false;
|
|
d_state = 0; // Positive acquisition
|
|
}
|
|
else
|
|
{
|
|
d_step_two = true; // Clear input buffer and make small grid acquisition
|
|
d_num_noncoherent_integrations_counter = 0;
|
|
d_positive_acq = 0;
|
|
d_state = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
send_positive_acquisition();
|
|
d_state = 0; // Positive acquisition
|
|
}
|
|
}
|
|
else
|
|
{
|
|
d_buffer_count = 0;
|
|
d_state = 1;
|
|
}
|
|
|
|
if (d_num_noncoherent_integrations_counter == acq_parameters.max_dwells)
|
|
{
|
|
if (d_state != 0)
|
|
{
|
|
send_negative_acquisition();
|
|
}
|
|
d_state = 0;
|
|
d_active = false;
|
|
d_step_two = false;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
d_active = false;
|
|
if (d_test_statistics > d_threshold)
|
|
{
|
|
if (acq_parameters.make_2_steps)
|
|
{
|
|
if (d_step_two)
|
|
{
|
|
send_positive_acquisition();
|
|
d_step_two = false;
|
|
d_state = 0; // Positive acquisition
|
|
}
|
|
else
|
|
{
|
|
d_step_two = true; // Clear input buffer and make small grid acquisition
|
|
d_num_noncoherent_integrations_counter = 0U;
|
|
d_state = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
send_positive_acquisition();
|
|
d_state = 0; // Positive acquisition
|
|
}
|
|
}
|
|
else
|
|
{
|
|
d_state = 0; // Negative acquisition
|
|
d_step_two = false;
|
|
send_negative_acquisition();
|
|
}
|
|
}
|
|
d_worker_active = false;
|
|
|
|
if ((d_num_noncoherent_integrations_counter == acq_parameters.max_dwells) or (d_positive_acq == 1))
|
|
{
|
|
// Record results to file if required
|
|
if (d_dump and d_channel == d_dump_channel)
|
|
{
|
|
pcps_acquisition::dump_results(effective_fft_size);
|
|
}
|
|
d_num_noncoherent_integrations_counter = 0U;
|
|
d_positive_acq = 0;
|
|
// Reset grid
|
|
for (uint32_t i = 0; i < d_num_doppler_bins; i++)
|
|
{
|
|
for (uint32_t k = 0; k < d_fft_size; k++)
|
|
{
|
|
d_magnitude_grid[i][k] = 0.0;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
// Called by gnuradio to enable drivers, etc for i/o devices.
|
|
bool pcps_acquisition::start()
|
|
{
|
|
d_sample_counter = 0ULL;
|
|
return true;
|
|
}
|
|
|
|
|
|
int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
|
|
gr_vector_int& ninput_items,
|
|
gr_vector_const_void_star& input_items,
|
|
gr_vector_void_star& output_items __attribute__((unused)))
|
|
{
|
|
/*
|
|
* By J.Arribas, L.Esteve and M.Molina
|
|
* Acquisition strategy (Kay Borre book + CFAR threshold):
|
|
* 1. Compute the input signal power estimation
|
|
* 2. Doppler serial search loop
|
|
* 3. Perform the FFT-based circular convolution (parallel time search)
|
|
* 4. Record the maximum peak and the associated synchronization parameters
|
|
* 5. Compute the test statistics and compare to the threshold
|
|
* 6. Declare positive or negative acquisition using a message port
|
|
*/
|
|
gr::thread::scoped_lock lk(d_setlock);
|
|
if (!d_active or d_worker_active)
|
|
{
|
|
if (!acq_parameters.blocking_on_standby)
|
|
{
|
|
d_sample_counter += static_cast<uint64_t>(ninput_items[0]);
|
|
consume_each(ninput_items[0]);
|
|
}
|
|
if (d_step_two)
|
|
{
|
|
d_doppler_center_step_two = static_cast<float>(d_gnss_synchro->Acq_doppler_hz);
|
|
update_grid_doppler_wipeoffs_step2();
|
|
d_state = 0;
|
|
d_active = true;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
switch (d_state)
|
|
{
|
|
case 0:
|
|
{
|
|
// Restart acquisition variables
|
|
d_gnss_synchro->Acq_delay_samples = 0.0;
|
|
d_gnss_synchro->Acq_doppler_hz = 0.0;
|
|
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
|
|
d_gnss_synchro->Acq_doppler_step = 0U;
|
|
d_mag = 0.0;
|
|
d_input_power = 0.0;
|
|
d_test_statistics = 0.0;
|
|
d_state = 1;
|
|
d_buffer_count = 0U;
|
|
if (!acq_parameters.blocking_on_standby)
|
|
{
|
|
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
|
|
consume_each(ninput_items[0]);
|
|
}
|
|
break;
|
|
}
|
|
case 1:
|
|
{
|
|
uint32_t buff_increment;
|
|
if (d_cshort)
|
|
{
|
|
const auto* in = reinterpret_cast<const lv_16sc_t*>(input_items[0]); // Get the input samples pointer
|
|
if ((ninput_items[0] + d_buffer_count) <= d_consumed_samples)
|
|
{
|
|
buff_increment = ninput_items[0];
|
|
}
|
|
else
|
|
{
|
|
buff_increment = d_consumed_samples - d_buffer_count;
|
|
}
|
|
memcpy(&d_data_buffer_sc[d_buffer_count], in, sizeof(lv_16sc_t) * buff_increment);
|
|
}
|
|
else
|
|
{
|
|
const auto* in = reinterpret_cast<const gr_complex*>(input_items[0]); // Get the input samples pointer
|
|
if ((ninput_items[0] + d_buffer_count) <= d_consumed_samples)
|
|
{
|
|
buff_increment = ninput_items[0];
|
|
}
|
|
else
|
|
{
|
|
buff_increment = d_consumed_samples - d_buffer_count;
|
|
}
|
|
memcpy(&d_data_buffer[d_buffer_count], in, sizeof(gr_complex) * buff_increment);
|
|
}
|
|
|
|
// If buffer will be full in next iteration
|
|
if (d_buffer_count >= d_consumed_samples)
|
|
{
|
|
d_state = 2;
|
|
}
|
|
d_buffer_count += buff_increment;
|
|
d_sample_counter += static_cast<uint64_t>(buff_increment);
|
|
consume_each(buff_increment);
|
|
break;
|
|
}
|
|
case 2:
|
|
{
|
|
// Copy the data to the core and let it know that new data is available
|
|
if (acq_parameters.blocking)
|
|
{
|
|
lk.unlock();
|
|
acquisition_core(d_sample_counter);
|
|
}
|
|
else
|
|
{
|
|
gr::thread::thread d_worker(&pcps_acquisition::acquisition_core, this, d_sample_counter);
|
|
d_worker_active = true;
|
|
}
|
|
consume_each(0);
|
|
d_buffer_count = 0U;
|
|
break;
|
|
}
|
|
}
|
|
return 0;
|
|
}
|