mirror of https://github.com/gnss-sdr/gnss-sdr
2092 lines
100 KiB
C++
2092 lines
100 KiB
C++
/*!
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* \file kf_vtl_tracking.cc
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* \brief Implementation of a Kalman filter based tracking with optional Vector Tracking Loop message receiver block.
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* \author Javier Arribas, 2020. 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_vtl_tracking.h"
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#include "Beidou_B1I.h"
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#include "Beidou_B3I.h"
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#include "GPS_L1_CA.h"
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#include "GPS_L2C.h"
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#include "GPS_L5.h"
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#include "Galileo_E1.h"
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#include "Galileo_E5a.h"
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#include "Galileo_E5b.h"
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#include "MATH_CONSTANTS.h"
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#include "beidou_b1i_signal_replica.h"
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#include "beidou_b3i_signal_replica.h"
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#include "galileo_e1_signal_replica.h"
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#include "galileo_e5_signal_replica.h"
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#include "galileo_e6_signal_replica.h"
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#include "gnss_satellite.h"
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#include "gnss_sdr_create_directory.h"
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#include "gnss_synchro.h"
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#include "gps_l2c_signal_replica.h"
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#include "gps_l5_signal_replica.h"
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#include "gps_sdr_signal_replica.h"
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#include "lock_detectors.h"
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#include "tracking_discriminators.h"
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#include "trackingcmd.h"
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h> // for io_signature
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#include <gnuradio/thread/thread.h> // for scoped_lock
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#include <matio.h> // for Mat_VarCreate
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#include <pmt/pmt_sugar.h> // for mp
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#include <volk_gnsssdr/volk_gnsssdr.h>
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#include <algorithm> // for fill_n
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#include <array>
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#include <cmath> // for fmod, round, floor
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#include <exception> // for exception
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#include <iostream> // for cout, cerr
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#include <map>
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#include <numeric>
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#include <vector>
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#if HAS_GENERIC_LAMBDA
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#else
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#include <boost/bind/bind.hpp>
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#endif
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#if HAS_STD_FILESYSTEM
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#if HAS_STD_FILESYSTEM_EXPERIMENTAL
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#include <experimental/filesystem>
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namespace fs = std::experimental::filesystem;
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#else
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#include <filesystem>
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namespace fs = std::filesystem;
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#endif
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#else
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#include <boost/filesystem/path.hpp>
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namespace fs = boost::filesystem;
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#endif
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kf_vtl_tracking_sptr kf_vtl_make_tracking(const Kf_Conf &conf_)
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{
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return kf_vtl_tracking_sptr(new kf_vtl_tracking(conf_));
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}
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kf_vtl_tracking::kf_vtl_tracking(const Kf_Conf &conf_) : gr::block("kf_vtl_tracking", gr::io_signature::make(1, 1, sizeof(gr_complex)),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
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{
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// prevent telemetry symbols accumulation in output buffers
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this->set_max_noutput_items(1);
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d_trk_parameters = conf_;
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// Telemetry bit synchronization message port input
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this->message_port_register_out(pmt::mp("events"));
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this->set_relative_rate(1.0 / static_cast<double>(d_trk_parameters.vector_length));
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// Telemetry message port input
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this->message_port_register_in(pmt::mp("telemetry_to_trk"));
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this->set_msg_handler(
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pmt::mp("telemetry_to_trk"),
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#if HAS_GENERIC_LAMBDA
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[this](auto &&PH1) { msg_handler_telemetry_to_trk(PH1); });
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#else
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#if USE_BOOST_BIND_PLACEHOLDERS
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boost::bind(&kf_vtl_tracking::msg_handler_telemetry_to_trk, this, boost::placeholders::_1));
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#else
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boost::bind(&kf_vtl_tracking::msg_handler_telemetry_to_trk, this, _1));
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#endif
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#endif
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// PVT message port input
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this->message_port_register_in(pmt::mp("pvt_to_trk"));
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this->set_msg_handler(
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pmt::mp("pvt_to_trk"),
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#if HAS_GENERIC_LAMBDA
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[this](auto &&PH1) { msg_handler_pvt_to_trk(PH1); });
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#else
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#if USE_BOOST_BIND_PLACEHOLDERS
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boost::bind(&kf_vtl_tracking::msg_handler_pvt_to_trk, this, boost::placeholders::_1));
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#else
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boost::bind(&kf_vtl_tracking::msg_handler_pvt_to_trk, this, _1));
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#endif
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#endif
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// initialize internal vars
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d_veml = false;
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d_cloop = true;
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d_pull_in_transitory = true;
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d_code_chip_rate = 0.0;
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d_secondary_code_length = 0U;
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d_data_secondary_code_length = 0U;
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d_preamble_length_symbols = 0;
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d_interchange_iq = false;
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d_signal_type = std::string(d_trk_parameters.signal);
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std::map<std::string, std::string> map_signal_pretty_name;
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map_signal_pretty_name["1C"] = "L1 C/A";
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map_signal_pretty_name["1B"] = "E1";
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map_signal_pretty_name["1G"] = "L1 C/A";
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map_signal_pretty_name["2S"] = "L2C";
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map_signal_pretty_name["2G"] = "L2 C/A";
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map_signal_pretty_name["5X"] = "E5a";
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map_signal_pretty_name["7X"] = "E5b";
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map_signal_pretty_name["L5"] = "L5";
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map_signal_pretty_name["B1"] = "B1I";
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map_signal_pretty_name["B3"] = "B3I";
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d_signal_pretty_name = map_signal_pretty_name[d_signal_type];
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if (d_trk_parameters.system == 'G')
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{
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d_systemName = "GPS";
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if (d_signal_type == "1C")
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{
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d_signal_carrier_freq = GPS_L1_FREQ_HZ;
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d_code_period = GPS_L1_CA_CODE_PERIOD_S;
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d_code_chip_rate = GPS_L1_CA_CODE_RATE_CPS;
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d_correlation_length_ms = 1;
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d_code_samples_per_chip = 1;
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d_code_length_chips = static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS);
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// GPS L1 C/A does not have pilot component nor secondary code
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d_secondary = false;
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d_trk_parameters.track_pilot = false;
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d_trk_parameters.slope = 1.0;
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d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
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d_trk_parameters.y_intercept = 1.0;
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// symbol integration: 20 trk symbols (20 ms) = 1 tlm bit
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// set the preamble in the secondary code acquisition to obtain tlm symbol synchronization
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d_secondary_code_length = static_cast<uint32_t>(GPS_CA_PREAMBLE_LENGTH_SYMBOLS);
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d_secondary_code_string = GPS_CA_PREAMBLE_SYMBOLS_STR;
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d_symbols_per_bit = GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
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}
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else if (d_signal_type == "2S")
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{
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d_signal_carrier_freq = GPS_L2_FREQ_HZ;
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d_code_period = GPS_L2_M_PERIOD_S;
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d_code_chip_rate = GPS_L2_M_CODE_RATE_CPS;
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d_code_length_chips = static_cast<int32_t>(GPS_L2_M_CODE_LENGTH_CHIPS);
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// GPS L2C has 1 trk symbol (20 ms) per tlm bit, no symbol integration required
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d_symbols_per_bit = GPS_L2_SAMPLES_PER_SYMBOL;
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d_correlation_length_ms = 20;
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d_code_samples_per_chip = 1;
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// GPS L2 does not have pilot component nor secondary code
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d_secondary = false;
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d_trk_parameters.track_pilot = false;
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d_trk_parameters.slope = 1.0;
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d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
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d_trk_parameters.y_intercept = 1.0;
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}
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else if (d_signal_type == "L5")
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{
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d_signal_carrier_freq = GPS_L5_FREQ_HZ;
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d_code_period = GPS_L5I_PERIOD_S;
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d_code_chip_rate = GPS_L5I_CODE_RATE_CPS;
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// symbol integration: 10 trk symbols (10 ms) = 1 tlm bit
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d_symbols_per_bit = GPS_L5_SAMPLES_PER_SYMBOL;
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d_correlation_length_ms = 1;
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d_code_samples_per_chip = 1;
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d_code_length_chips = static_cast<int32_t>(GPS_L5I_CODE_LENGTH_CHIPS);
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d_secondary = true;
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d_trk_parameters.slope = 1.0;
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d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
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d_trk_parameters.y_intercept = 1.0;
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if (d_trk_parameters.track_pilot)
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{
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// synchronize pilot secondary code
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d_secondary_code_length = static_cast<uint32_t>(GPS_L5Q_NH_CODE_LENGTH);
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d_secondary_code_string = GPS_L5Q_NH_CODE_STR;
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// remove data secondary code
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// remove Neuman-Hofman Code (see IS-GPS-705D)
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d_data_secondary_code_length = static_cast<uint32_t>(GPS_L5I_NH_CODE_LENGTH);
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d_data_secondary_code_string = GPS_L5I_NH_CODE_STR;
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d_signal_pretty_name = d_signal_pretty_name + "Q";
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}
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else
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{
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// synchronize and remove data secondary code
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// remove Neuman-Hofman Code (see IS-GPS-705D)
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d_secondary_code_length = static_cast<uint32_t>(GPS_L5I_NH_CODE_LENGTH);
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d_secondary_code_string = GPS_L5I_NH_CODE_STR;
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d_signal_pretty_name = d_signal_pretty_name + "I";
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d_interchange_iq = true;
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}
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}
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else
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{
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LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks";
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std::cerr << "Invalid Signal argument when instantiating tracking blocks\n";
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d_correlation_length_ms = 1;
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d_secondary = false;
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d_signal_carrier_freq = 0.0;
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d_code_period = 0.0;
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d_code_length_chips = 0;
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d_code_samples_per_chip = 0U;
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d_symbols_per_bit = 0;
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}
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}
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else if (d_trk_parameters.system == 'E')
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{
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d_systemName = "Galileo";
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if (d_signal_type == "1B")
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{
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d_signal_carrier_freq = GALILEO_E1_FREQ_HZ;
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d_code_period = GALILEO_E1_CODE_PERIOD_S;
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d_code_chip_rate = GALILEO_E1_CODE_CHIP_RATE_CPS;
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d_code_length_chips = static_cast<int32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS);
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// Galileo E1b has 1 trk symbol (4 ms) per tlm bit, no symbol integration required
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d_symbols_per_bit = 1;
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d_correlation_length_ms = 4;
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d_code_samples_per_chip = 2; // CBOC disabled: 2 samples per chip. CBOC enabled: 12 samples per chip
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d_veml = true;
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d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
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d_trk_parameters.slope = static_cast<float>(-CalculateSlopeAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc));
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d_trk_parameters.y_intercept = static_cast<float>(GetYInterceptAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc));
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if (d_trk_parameters.track_pilot)
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{
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d_secondary = true;
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d_secondary_code_length = static_cast<uint32_t>(GALILEO_E1_C_SECONDARY_CODE_LENGTH);
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d_secondary_code_string = GALILEO_E1_C_SECONDARY_CODE;
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d_signal_pretty_name = d_signal_pretty_name + "C";
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}
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else
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{
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d_secondary = false;
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d_signal_pretty_name = d_signal_pretty_name + "B";
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}
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// Note that E1-B and E1-C are in anti-phase, NOT IN QUADRATURE. See Galileo ICD.
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}
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else if (d_signal_type == "5X")
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{
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d_signal_carrier_freq = GALILEO_E5A_FREQ_HZ;
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d_code_period = GALILEO_E5A_CODE_PERIOD_S;
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d_code_chip_rate = GALILEO_E5A_CODE_CHIP_RATE_CPS;
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d_symbols_per_bit = 20;
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d_correlation_length_ms = 1;
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d_code_samples_per_chip = 1;
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d_code_length_chips = static_cast<int32_t>(GALILEO_E5A_CODE_LENGTH_CHIPS);
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d_secondary = true;
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d_trk_parameters.slope = 1.0;
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d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
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d_trk_parameters.y_intercept = 1.0;
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if (d_trk_parameters.track_pilot)
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{
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// synchronize pilot secondary code
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d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_Q_SECONDARY_CODE_LENGTH);
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d_signal_pretty_name = d_signal_pretty_name + "Q";
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// remove data secondary code
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d_data_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
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d_data_secondary_code_string = GALILEO_E5A_I_SECONDARY_CODE;
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}
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else
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{
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// synchronize and remove data secondary code
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d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
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d_secondary_code_string = GALILEO_E5A_I_SECONDARY_CODE;
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d_signal_pretty_name = d_signal_pretty_name + "I";
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d_interchange_iq = true;
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}
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}
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else if (d_signal_type == "7X")
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{
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d_signal_carrier_freq = GALILEO_E5B_FREQ_HZ;
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d_code_period = GALILEO_E5B_CODE_PERIOD_S;
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d_code_chip_rate = GALILEO_E5B_CODE_CHIP_RATE_CPS;
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d_symbols_per_bit = 4;
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d_correlation_length_ms = 1;
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d_code_samples_per_chip = 1;
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d_code_length_chips = static_cast<int32_t>(GALILEO_E5B_CODE_LENGTH_CHIPS);
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d_secondary = true;
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d_trk_parameters.slope = 1.0;
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d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
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d_trk_parameters.y_intercept = 1.0;
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if (d_trk_parameters.track_pilot)
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{
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// synchronize pilot secondary code
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d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5B_Q_SECONDARY_CODE_LENGTH);
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d_signal_pretty_name = d_signal_pretty_name + "Q";
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// remove data secondary code
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d_data_secondary_code_length = static_cast<uint32_t>(GALILEO_E5B_I_SECONDARY_CODE_LENGTH);
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d_data_secondary_code_string = GALILEO_E5B_I_SECONDARY_CODE;
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}
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else
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{
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// synchronize and remove data secondary code
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d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5B_I_SECONDARY_CODE_LENGTH);
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d_secondary_code_string = GALILEO_E5B_I_SECONDARY_CODE;
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d_signal_pretty_name = d_signal_pretty_name + "I";
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d_interchange_iq = true;
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}
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}
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else
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{
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LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks";
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std::cout << "Invalid Signal argument when instantiating tracking blocks\n";
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d_correlation_length_ms = 1;
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d_secondary = false;
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d_signal_carrier_freq = 0.0;
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d_code_period = 0.0;
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d_code_length_chips = 0;
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d_code_samples_per_chip = 0U;
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d_symbols_per_bit = 0;
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}
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}
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else if (d_trk_parameters.system == 'C')
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{
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d_systemName = "Beidou";
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if (d_signal_type == "B1")
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{
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// GEO Satellites use different secondary code
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d_signal_carrier_freq = BEIDOU_B1I_FREQ_HZ;
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d_code_period = BEIDOU_B1I_CODE_PERIOD_S;
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d_code_chip_rate = BEIDOU_B1I_CODE_RATE_CPS;
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d_code_length_chips = static_cast<int32_t>(BEIDOU_B1I_CODE_LENGTH_CHIPS);
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d_symbols_per_bit = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization
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d_correlation_length_ms = 1;
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d_code_samples_per_chip = 1;
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d_secondary = true;
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d_trk_parameters.track_pilot = false;
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d_trk_parameters.slope = 1.0;
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d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
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d_trk_parameters.y_intercept = 1.0;
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// synchronize and remove data secondary code
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d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
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d_secondary_code_string = BEIDOU_B1I_SECONDARY_CODE_STR;
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d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
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d_data_secondary_code_string = BEIDOU_B1I_SECONDARY_CODE_STR;
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}
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else if (d_signal_type == "B3")
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{
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// GEO Satellites use different secondary code
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d_signal_carrier_freq = BEIDOU_B3I_FREQ_HZ;
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d_code_period = BEIDOU_B3I_CODE_PERIOD_S;
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d_code_chip_rate = BEIDOU_B3I_CODE_RATE_CPS;
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d_code_length_chips = static_cast<int32_t>(BEIDOU_B3I_CODE_LENGTH_CHIPS);
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d_symbols_per_bit = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization
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d_correlation_length_ms = 1;
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d_code_samples_per_chip = 1;
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d_secondary = false;
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d_trk_parameters.track_pilot = false;
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d_trk_parameters.slope = 1.0;
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d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
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d_trk_parameters.y_intercept = 1.0;
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d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
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d_secondary_code_string = BEIDOU_B3I_SECONDARY_CODE_STR;
|
|
d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
|
|
d_data_secondary_code_string = BEIDOU_B3I_SECONDARY_CODE_STR;
|
|
}
|
|
else
|
|
{
|
|
LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks";
|
|
std::cout << "Invalid Signal argument when instantiating tracking blocks\n";
|
|
d_correlation_length_ms = 1;
|
|
d_secondary = false;
|
|
d_signal_carrier_freq = 0.0;
|
|
d_code_period = 0.0;
|
|
d_code_length_chips = 0;
|
|
d_code_samples_per_chip = 0;
|
|
d_symbols_per_bit = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(WARNING) << "Invalid System argument when instantiating tracking blocks";
|
|
std::cerr << "Invalid System argument when instantiating tracking blocks\n";
|
|
d_correlation_length_ms = 1;
|
|
d_secondary = false;
|
|
d_signal_carrier_freq = 0.0;
|
|
d_code_period = 0.0;
|
|
d_code_length_chips = 0;
|
|
d_code_samples_per_chip = 0U;
|
|
d_symbols_per_bit = 0;
|
|
}
|
|
d_T_chip_seconds = 0.0;
|
|
d_T_prn_seconds = 0.0;
|
|
d_T_prn_samples = 0.0;
|
|
d_K_blk_samples = 0.0;
|
|
|
|
// Initialize tracking ==========================================
|
|
|
|
// Initialization of local code replica
|
|
// Get space for a vector with the sinboc(1,1) replica sampled 2x/chip
|
|
d_tracking_code.resize(2 * d_code_length_chips, 0.0);
|
|
// correlator outputs (scalar)
|
|
if (d_veml)
|
|
{
|
|
// Very-Early, Early, Prompt, Late, Very-Late
|
|
d_n_correlator_taps = 5;
|
|
}
|
|
else
|
|
{
|
|
// Early, Prompt, Late
|
|
d_n_correlator_taps = 3;
|
|
}
|
|
|
|
d_correlator_outs.reserve(d_n_correlator_taps);
|
|
d_local_code_shift_chips.reserve(d_n_correlator_taps);
|
|
// map memory pointers of correlator outputs
|
|
if (d_veml)
|
|
{
|
|
d_Very_Early = &d_correlator_outs[0];
|
|
d_Early = &d_correlator_outs[1];
|
|
d_Prompt = &d_correlator_outs[2];
|
|
d_Late = &d_correlator_outs[3];
|
|
d_Very_Late = &d_correlator_outs[4];
|
|
d_local_code_shift_chips[0] = -d_trk_parameters.very_early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[1] = -d_trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[2] = 0.0;
|
|
d_local_code_shift_chips[3] = d_trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[4] = d_trk_parameters.very_early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_prompt_data_shift = &d_local_code_shift_chips[2];
|
|
}
|
|
else
|
|
{
|
|
d_Very_Early = nullptr;
|
|
d_Early = &d_correlator_outs[0];
|
|
d_Prompt = &d_correlator_outs[1];
|
|
d_Late = &d_correlator_outs[2];
|
|
d_Very_Late = nullptr;
|
|
d_local_code_shift_chips[0] = -d_trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[1] = 0.0;
|
|
d_local_code_shift_chips[2] = d_trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_prompt_data_shift = &d_local_code_shift_chips[1];
|
|
}
|
|
|
|
d_multicorrelator_cpu.init(static_cast<int>(2 * d_trk_parameters.vector_length), d_n_correlator_taps);
|
|
|
|
if (d_trk_parameters.extend_correlation_symbols > 1)
|
|
{
|
|
d_enable_extended_integration = true;
|
|
}
|
|
else
|
|
{
|
|
d_enable_extended_integration = false;
|
|
d_trk_parameters.extend_correlation_symbols = 1;
|
|
}
|
|
|
|
// Enable Data component prompt correlator (slave to Pilot prompt) if tracking uses Pilot signal
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
// Extra correlator for the data component
|
|
d_correlator_data_cpu.init(static_cast<int>(2 * d_trk_parameters.vector_length), 1);
|
|
d_correlator_data_cpu.set_high_dynamics_resampler(d_trk_parameters.high_dyn);
|
|
d_data_code.resize(2 * d_code_length_chips, 0.0);
|
|
}
|
|
|
|
// --- Initializations ---
|
|
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
|
|
d_multicorrelator_cpu.set_high_dynamics_resampler(d_trk_parameters.high_dyn);
|
|
// Initial code frequency basis of NCO
|
|
d_code_freq_kf_chips_s = d_code_chip_rate;
|
|
// Residual code phase (in chips)
|
|
d_rem_code_phase_samples = 0.0;
|
|
// Residual carrier phase
|
|
d_rem_carr_phase_rad = 0.0;
|
|
|
|
// sample synchronization
|
|
d_sample_counter = 0ULL;
|
|
d_acq_sample_stamp = 0ULL;
|
|
|
|
d_current_prn_length_samples = static_cast<int32_t>(d_trk_parameters.vector_length);
|
|
d_current_correlation_time_s = 0.0;
|
|
|
|
// CN0 estimation and lock detector buffers
|
|
d_cn0_estimation_counter = 0;
|
|
d_Prompt_buffer.reserve(d_trk_parameters.cn0_samples);
|
|
d_carrier_lock_test = 1.0;
|
|
d_CN0_SNV_dB_Hz = 0.0;
|
|
d_carrier_lock_fail_counter = 0;
|
|
d_code_lock_fail_counter = 0;
|
|
d_carrier_lock_threshold = d_trk_parameters.carrier_lock_th;
|
|
d_Prompt_Data.reserve(1);
|
|
d_cn0_smoother = Exponential_Smoother();
|
|
d_cn0_smoother.set_alpha(d_trk_parameters.cn0_smoother_alpha);
|
|
|
|
if (d_code_period > 0.0)
|
|
{
|
|
d_cn0_smoother.set_samples_for_initialization(d_trk_parameters.cn0_smoother_samples / static_cast<int>(d_code_period * 1000.0));
|
|
}
|
|
|
|
d_carrier_lock_test_smoother = Exponential_Smoother();
|
|
d_carrier_lock_test_smoother.set_alpha(d_trk_parameters.carrier_lock_test_smoother_alpha);
|
|
d_carrier_lock_test_smoother.set_min_value(-1.0);
|
|
d_carrier_lock_test_smoother.set_offset(0.0);
|
|
d_carrier_lock_test_smoother.set_samples_for_initialization(d_trk_parameters.carrier_lock_test_smoother_samples);
|
|
|
|
d_acquisition_gnss_synchro = nullptr;
|
|
d_channel = 0;
|
|
d_acq_code_phase_samples = 0.0;
|
|
d_acq_carrier_doppler_hz = 0.0;
|
|
d_carrier_phase_kf_rad = 0;
|
|
d_carrier_doppler_kf_hz = 0.0;
|
|
d_carrier_doppler_rate_kf_hz_s = 0.0;
|
|
d_acc_carrier_phase_rad = 0.0;
|
|
|
|
d_extend_correlation_symbols_count = 0;
|
|
d_code_phase_step_chips = 0.0;
|
|
d_code_phase_rate_step_chips = 0.0;
|
|
d_carrier_phase_step_rad = 0.0;
|
|
d_carrier_phase_rate_step_rad = 0.0;
|
|
d_rem_code_phase_chips = 0.0;
|
|
d_state = 0; // initial state: standby
|
|
clear_tracking_vars();
|
|
|
|
d_dump = d_trk_parameters.dump;
|
|
d_dump_mat = d_trk_parameters.dump_mat and d_dump;
|
|
if (d_dump)
|
|
{
|
|
d_dump_filename = d_trk_parameters.dump_filename;
|
|
std::string dump_path;
|
|
// Get path
|
|
if (d_dump_filename.find_last_of('/') != std::string::npos)
|
|
{
|
|
std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1);
|
|
dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/'));
|
|
d_dump_filename = dump_filename_;
|
|
}
|
|
else
|
|
{
|
|
dump_path = std::string(".");
|
|
}
|
|
if (d_dump_filename.empty())
|
|
{
|
|
d_dump_filename = "trk_channel_";
|
|
}
|
|
// remove extension if any
|
|
if (d_dump_filename.substr(1).find_last_of('.') != std::string::npos)
|
|
{
|
|
d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of('.'));
|
|
}
|
|
|
|
d_dump_filename = dump_path + fs::path::preferred_separator + d_dump_filename;
|
|
// create directory
|
|
if (!gnss_sdr_create_directory(dump_path))
|
|
{
|
|
std::cerr << "GNSS-SDR cannot create dump files for the tracking block. Wrong permissions?\n";
|
|
d_dump = false;
|
|
}
|
|
}
|
|
d_corrected_doppler = false;
|
|
d_acc_carrier_phase_initialized = false;
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::forecast(int noutput_items,
|
|
gr_vector_int &ninput_items_required)
|
|
{
|
|
if (noutput_items != 0)
|
|
{
|
|
ninput_items_required[0] = static_cast<int32_t>(d_trk_parameters.vector_length) * 2;
|
|
}
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
|
|
{
|
|
try
|
|
{
|
|
if (pmt::any_ref(msg).type().hash_code() == int_type_hash_code)
|
|
{
|
|
const int tlm_event = boost::any_cast<int>(pmt::any_ref(msg));
|
|
if (tlm_event == 1)
|
|
{
|
|
DLOG(INFO) << "Telemetry fault received in ch " << this->d_channel;
|
|
gr::thread::scoped_lock lock(d_setlock);
|
|
d_carrier_lock_fail_counter = 200000; // force loss-of-lock condition
|
|
}
|
|
}
|
|
}
|
|
catch (const boost::bad_any_cast &e)
|
|
{
|
|
LOG(WARNING) << "msg_handler_telemetry_to_trk Bad any_cast: " << e.what();
|
|
}
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
|
|
{
|
|
try
|
|
{
|
|
if (pmt::any_ref(msg).type().hash_code() == typeid(const std::shared_ptr<TrackingCmd>).hash_code())
|
|
{
|
|
const std::shared_ptr<TrackingCmd> cmd = boost::any_cast<const std::shared_ptr<TrackingCmd>>(pmt::any_ref(msg));
|
|
// std::cout << "RX pvt-to-trk cmd with delay: "
|
|
// << static_cast<double>(nitems_read(0) - cmd->sample_counter) / d_trk_parameters.fs_in << " [s]\n";
|
|
}
|
|
else
|
|
{
|
|
std::cout << "hash code not match\n";
|
|
}
|
|
}
|
|
catch (const boost::bad_any_cast &e)
|
|
{
|
|
LOG(WARNING) << "msg_handler_pvt_to_trk Bad any_cast: " << e.what();
|
|
}
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::start_tracking()
|
|
{
|
|
gr::thread::scoped_lock l(d_setlock);
|
|
// correct the code phase according to the delay between acq and trk
|
|
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
|
|
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
|
|
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
|
|
|
|
d_carrier_doppler_kf_hz = d_acq_carrier_doppler_hz;
|
|
d_carrier_phase_step_rad = TWO_PI * d_carrier_doppler_kf_hz / d_trk_parameters.fs_in;
|
|
d_carrier_phase_rate_step_rad = 0.0;
|
|
std::array<char, 3> Signal_{};
|
|
Signal_[0] = d_acquisition_gnss_synchro->Signal[0];
|
|
Signal_[1] = d_acquisition_gnss_synchro->Signal[1];
|
|
Signal_[2] = d_acquisition_gnss_synchro->Signal[2];
|
|
|
|
if (d_systemName == "GPS" and d_signal_type == "1C")
|
|
{
|
|
gps_l1_ca_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
|
|
}
|
|
else if (d_systemName == "GPS" and d_signal_type == "2S")
|
|
{
|
|
gps_l2c_m_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN);
|
|
}
|
|
else if (d_systemName == "GPS" and d_signal_type == "L5")
|
|
{
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
gps_l5q_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN);
|
|
gps_l5i_code_gen_float(d_data_code, d_acquisition_gnss_synchro->PRN);
|
|
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
|
|
d_correlator_data_cpu.set_local_code_and_taps(d_code_length_chips, d_data_code.data(), d_prompt_data_shift);
|
|
}
|
|
else
|
|
{
|
|
gps_l5i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN);
|
|
}
|
|
}
|
|
else if (d_systemName == "Galileo" and d_signal_type == "1B")
|
|
{
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
const std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}};
|
|
galileo_e1_code_gen_sinboc11_float(d_tracking_code, pilot_signal, d_acquisition_gnss_synchro->PRN);
|
|
galileo_e1_code_gen_sinboc11_float(d_data_code, Signal_, d_acquisition_gnss_synchro->PRN);
|
|
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
|
|
d_correlator_data_cpu.set_local_code_and_taps(d_code_samples_per_chip * d_code_length_chips, d_data_code.data(), d_prompt_data_shift);
|
|
}
|
|
else
|
|
{
|
|
galileo_e1_code_gen_sinboc11_float(d_tracking_code, Signal_, d_acquisition_gnss_synchro->PRN);
|
|
}
|
|
}
|
|
else if (d_systemName == "Galileo" and d_signal_type == "5X")
|
|
{
|
|
volk_gnsssdr::vector<gr_complex> aux_code(d_code_length_chips);
|
|
const std::array<char, 3> signal_type_ = {{'5', 'X', '\0'}};
|
|
galileo_e5_a_code_gen_complex_primary(aux_code, d_acquisition_gnss_synchro->PRN, signal_type_);
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
d_secondary_code_string = GALILEO_E5A_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN - 1];
|
|
for (int32_t i = 0; i < d_code_length_chips; i++)
|
|
{
|
|
d_tracking_code[i] = aux_code[i].imag();
|
|
d_data_code[i] = aux_code[i].real(); // the same because it is generated the full signal (E5aI + E5aQ)
|
|
}
|
|
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
|
|
d_correlator_data_cpu.set_local_code_and_taps(d_code_length_chips, d_data_code.data(), d_prompt_data_shift);
|
|
}
|
|
else
|
|
{
|
|
for (int32_t i = 0; i < d_code_length_chips; i++)
|
|
{
|
|
d_tracking_code[i] = aux_code[i].real();
|
|
}
|
|
}
|
|
}
|
|
else if (d_systemName == "Galileo" and d_signal_type == "7X")
|
|
{
|
|
volk_gnsssdr::vector<gr_complex> aux_code(d_code_length_chips);
|
|
const std::array<char, 3> signal_type_ = {{'7', 'X', '\0'}};
|
|
galileo_e5_b_code_gen_complex_primary(aux_code, d_acquisition_gnss_synchro->PRN, signal_type_);
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
d_secondary_code_string = GALILEO_E5B_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN - 1];
|
|
for (int32_t i = 0; i < d_code_length_chips; i++)
|
|
{
|
|
d_tracking_code[i] = aux_code[i].imag();
|
|
d_data_code[i] = aux_code[i].real(); // the same because it is generated the full signal (E5bI + E5bsQ)
|
|
}
|
|
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
|
|
d_correlator_data_cpu.set_local_code_and_taps(d_code_length_chips, d_data_code.data(), d_prompt_data_shift);
|
|
}
|
|
else
|
|
{
|
|
for (int32_t i = 0; i < d_code_length_chips; i++)
|
|
{
|
|
d_tracking_code[i] = aux_code[i].real();
|
|
}
|
|
}
|
|
}
|
|
else if (d_systemName == "Beidou" and d_signal_type == "B1")
|
|
{
|
|
beidou_b1i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
|
|
// GEO Satellites use different secondary code
|
|
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
|
|
{
|
|
d_symbols_per_bit = BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization
|
|
d_correlation_length_ms = 1;
|
|
d_code_samples_per_chip = 1;
|
|
d_secondary = false;
|
|
d_trk_parameters.track_pilot = false;
|
|
// set the preamble in the secondary code acquisition
|
|
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_GEO_PREAMBLE_LENGTH_SYMBOLS);
|
|
d_secondary_code_string = BEIDOU_B1I_GEO_PREAMBLE_SYMBOLS_STR;
|
|
d_data_secondary_code_length = 0;
|
|
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
|
|
}
|
|
else
|
|
{
|
|
d_symbols_per_bit = BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization
|
|
d_correlation_length_ms = 1;
|
|
d_code_samples_per_chip = 1;
|
|
d_secondary = true;
|
|
d_trk_parameters.track_pilot = false;
|
|
// synchronize and remove data secondary code
|
|
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
|
|
d_secondary_code_string = BEIDOU_B1I_SECONDARY_CODE_STR;
|
|
d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
|
|
d_data_secondary_code_string = BEIDOU_B1I_SECONDARY_CODE_STR;
|
|
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
|
|
}
|
|
}
|
|
|
|
else if (d_systemName == "Beidou" and d_signal_type == "B3")
|
|
{
|
|
beidou_b3i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
|
|
// Update secondary code settings for geo satellites
|
|
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
|
|
{
|
|
d_symbols_per_bit = BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization
|
|
d_correlation_length_ms = 1;
|
|
d_code_samples_per_chip = 1;
|
|
d_secondary = false;
|
|
d_trk_parameters.track_pilot = false;
|
|
// set the preamble in the secondary code acquisition
|
|
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_GEO_PREAMBLE_LENGTH_SYMBOLS);
|
|
d_secondary_code_string = BEIDOU_B3I_GEO_PREAMBLE_SYMBOLS_STR;
|
|
d_data_secondary_code_length = 0;
|
|
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
|
|
}
|
|
else
|
|
{
|
|
d_symbols_per_bit = BEIDOU_B3I_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization
|
|
d_correlation_length_ms = 1;
|
|
d_code_samples_per_chip = 1;
|
|
d_secondary = true;
|
|
d_trk_parameters.track_pilot = false;
|
|
// synchronize and remove data secondary code
|
|
d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
|
|
d_secondary_code_string = BEIDOU_B3I_SECONDARY_CODE_STR;
|
|
d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
|
|
d_data_secondary_code_string = BEIDOU_B3I_SECONDARY_CODE_STR;
|
|
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
|
|
}
|
|
}
|
|
|
|
d_multicorrelator_cpu.set_local_code_and_taps(d_code_samples_per_chip * d_code_length_chips, d_tracking_code.data(), d_local_code_shift_chips.data());
|
|
std::fill_n(d_correlator_outs.begin(), d_n_correlator_taps, gr_complex(0.0, 0.0));
|
|
|
|
d_carrier_lock_fail_counter = 0;
|
|
d_code_lock_fail_counter = 0;
|
|
d_rem_code_phase_samples = 0.0;
|
|
d_rem_carr_phase_rad = 0.0;
|
|
d_rem_code_phase_chips = 0.0;
|
|
d_acc_carrier_phase_rad = 0.0;
|
|
d_cn0_estimation_counter = 0;
|
|
d_carrier_lock_test = 1.0;
|
|
d_CN0_SNV_dB_Hz = 0.0;
|
|
|
|
if (d_veml)
|
|
{
|
|
d_local_code_shift_chips[0] = -d_trk_parameters.very_early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[1] = -d_trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[3] = d_trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[4] = d_trk_parameters.very_early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
|
|
}
|
|
else
|
|
{
|
|
d_local_code_shift_chips[0] = -d_trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[2] = d_trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
|
|
}
|
|
|
|
d_current_correlation_time_s = d_code_period;
|
|
|
|
// Initialize tracking ==========================================
|
|
|
|
|
|
// DEBUG OUTPUT
|
|
std::cout << "Tracking of " << d_systemName << " " << d_signal_pretty_name << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n';
|
|
DLOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
|
|
|
|
// enable tracking pull-in
|
|
d_state = 1;
|
|
d_cloop = true;
|
|
d_pull_in_transitory = true;
|
|
d_Prompt_circular_buffer.clear();
|
|
d_corrected_doppler = false;
|
|
d_acc_carrier_phase_initialized = false;
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz)
|
|
{
|
|
// Kalman Filter class variables
|
|
double Ti = d_correlation_length_ms * 0.001;
|
|
// state vector: code_phase_chips, carrier_phase_rads, carrier_freq_hz,carrier_freq_rate_hz, code_freq_chips_s
|
|
F = arma::mat(5, 5);
|
|
F << 1 << 0 << 0 << 0 << Ti << arma::endr
|
|
<< 0 << 1 << 2.0 * GNSS_PI * Ti << GNSS_PI * (Ti * Ti) << 0 << arma::endr
|
|
<< 0 << 0 << 1 << Ti << 0 << arma::endr
|
|
<< 0 << 0 << 0 << 1 << 0 << arma::endr
|
|
<< 0 << 0 << 0 << 0 << 1 << arma::endr;
|
|
|
|
double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
|
|
|
|
H = arma::mat(2, 5);
|
|
H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr
|
|
<< 0 << 1 << -GNSS_PI * Ti << GNSS_PI * (Ti * Ti) / 3.0 << 0 << arma::endr;
|
|
|
|
// Phase noise variance
|
|
double CN0_lin = pow(10.0, d_trk_parameters.expected_cn0_dbhz / 10.0); // CN0 in Hz
|
|
|
|
double N_periods = 1; // Only 1 interval
|
|
double Sigma2_Tau = 0.25 * (1.0 + 2.0 * CN0_lin * Ti) / (N_periods * pow(CN0_lin * Ti, 2.0)) * (1.0 + (1.0 + 2.0 * CN0_lin * Ti) / (pow(N_periods * (CN0_lin * Ti), 2.0)));
|
|
|
|
double Sigma2_Phase = 1.0 / (2.0 * CN0_lin * Ti) * (1.0 + 1.0 / (2.0 * CN0_lin * Ti));
|
|
|
|
// measurement covariance matrix (static)
|
|
R = arma::mat(2, 2);
|
|
// R << Sigma2_Tau << 0 << arma::endr
|
|
// << 0 << Sigma2_Phase << arma::endr;
|
|
|
|
R << pow(d_trk_parameters.code_disc_sd_chips, 2.0) << 0 << arma::endr
|
|
<< 0 << pow(d_trk_parameters.carrier_disc_sd_rads, 2.0) << arma::endr;
|
|
|
|
// system covariance matrix (static)
|
|
Q = arma::mat(5, 5);
|
|
Q << pow(d_trk_parameters.code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr
|
|
<< 0 << pow(d_trk_parameters.carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr
|
|
<< 0 << 0 << pow(d_trk_parameters.carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr
|
|
<< 0 << 0 << 0 << pow(d_trk_parameters.carrier_freq_rate_sd_hz_s, 2.0) << 0 << arma::endr
|
|
<< 0 << 0 << 0 << 0 << pow(d_trk_parameters.code_rate_sd_chips_s, 2.0) << arma::endr;
|
|
|
|
// initial Kalman covariance matrix
|
|
P_old_old = arma::mat(5, 5);
|
|
|
|
P_old_old << pow(d_trk_parameters.init_code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr
|
|
<< 0 << pow(d_trk_parameters.init_carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr
|
|
<< 0 << 0 << pow(d_trk_parameters.init_carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr
|
|
<< 0 << 0 << 0 << pow(d_trk_parameters.init_carrier_freq_rate_sd_hz_s, 2.0) << 0 << arma::endr
|
|
<< 0 << 0 << 0 << 0 << pow(d_trk_parameters.init_code_rate_sd_chips_s, 2.0) << arma::endr;
|
|
|
|
|
|
// init state vector
|
|
|
|
x_old_old = arma::vec(5);
|
|
// states: code_phase_chips, carrier_phase_rads, carrier_freq_hz, carrier_freq_rate_hz_s, code_freq_rate_chips_s
|
|
x_old_old << acq_code_phase_chips << 0 << acq_doppler_hz << 0 << 0 << arma::endr;
|
|
|
|
// std::cout << "F: " << F << "\n";
|
|
// std::cout << "H: " << H << "\n";
|
|
// std::cout << "R: " << R << "\n";
|
|
// std::cout << "Q: " << Q << "\n";
|
|
// std::cout << "P: " << P_old_old << "\n";
|
|
// std::cout << "x: " << x_old_old << "\n";
|
|
}
|
|
|
|
void kf_vtl_tracking::update_kf_narrow_intgration_time()
|
|
{
|
|
// Kalman Filter class variables
|
|
double Ti = d_current_correlation_time_s;
|
|
std::cout << "Ti:" << Ti << std::endl;
|
|
// state vector: code_phase_chips, carrier_phase_rads, carrier_freq_hz,carrier_freq_rate_hz, code_freq_chips_s
|
|
F << 1 << 0 << 0 << 0 << Ti << arma::endr
|
|
<< 0 << 1 << 2.0 * GNSS_PI * Ti << GNSS_PI * (Ti * Ti) << 0 << arma::endr
|
|
<< 0 << 0 << 1 << Ti << 0 << arma::endr
|
|
<< 0 << 0 << 0 << 1 << 0 << arma::endr
|
|
<< 0 << 0 << 0 << 0 << 1 << arma::endr;
|
|
|
|
double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
|
|
|
|
H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr
|
|
<< 0 << 1 << -GNSS_PI * Ti << GNSS_PI * (Ti * Ti) / 3.0 << 0 << arma::endr;
|
|
|
|
// Phase noise variance
|
|
double CN0_lin = pow(10.0, d_trk_parameters.expected_cn0_dbhz / 10.0); // CN0 in Hz
|
|
|
|
double N_periods = 1; // Only 1 interval
|
|
double Sigma2_Tau = 0.25 * (1.0 + 2.0 * CN0_lin * Ti) / (N_periods * pow(CN0_lin * Ti, 2.0)) * (1.0 + (1.0 + 2.0 * CN0_lin * Ti) / (pow(N_periods * (CN0_lin * Ti), 2.0)));
|
|
double Sigma2_Phase = 1.0 / (2.0 * CN0_lin * Ti) * (1.0 + 1.0 / (2.0 * CN0_lin * Ti));
|
|
|
|
// measurement covariance matrix (static)
|
|
R << pow(d_trk_parameters.code_disc_sd_chips, 2.0) << 0 << arma::endr
|
|
<< 0 << pow(d_trk_parameters.carrier_disc_sd_rads, 2.0) << arma::endr;
|
|
|
|
// system covariance matrix (static)
|
|
Q << pow(d_trk_parameters.narrow_code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr
|
|
<< 0 << pow(d_trk_parameters.narrow_carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr
|
|
<< 0 << 0 << pow(d_trk_parameters.narrow_carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr
|
|
<< 0 << 0 << 0 << pow(d_trk_parameters.narrow_carrier_freq_rate_sd_hz_s, 2.0) << 0 << arma::endr
|
|
<< 0 << 0 << 0 << 0 << pow(d_trk_parameters.narrow_code_rate_sd_chips_s, 2.0) << arma::endr;
|
|
}
|
|
|
|
void kf_vtl_tracking::update_kf_cn0(double current_cn0_dbhz)
|
|
{
|
|
// Kalman Filter class variables
|
|
double Ti = d_correlation_length_ms * 0.001;
|
|
double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
|
|
|
|
H = arma::mat(2, 5);
|
|
H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr
|
|
<< 0 << 1 << -GNSS_PI * Ti << GNSS_PI * (Ti * Ti) / 3.0 << 0 << arma::endr;
|
|
|
|
// Phase noise variance
|
|
double CN0_lin = pow(10.0, current_cn0_dbhz / 10.0); // CN0 in Hz
|
|
double N_periods = 1; // Only 1 interval
|
|
double Sigma2_Tau = 0.25 * (1.0 + 2.0 * CN0_lin * Ti) / (N_periods * pow(CN0_lin * Ti, 2.0)) * (1.0 + (1.0 + 2.0 * CN0_lin * Ti) / (pow(N_periods * (CN0_lin * Ti), 2.0)));
|
|
double Sigma2_Phase = 1.0 / (2.0 * CN0_lin * Ti) * (1.0 + 1.0 / (2.0 * CN0_lin * Ti));
|
|
|
|
// measurement covariance matrix (static)
|
|
R = arma::mat(2, 2);
|
|
R << Sigma2_Tau << 0 << arma::endr
|
|
<< 0 << Sigma2_Phase << arma::endr;
|
|
}
|
|
|
|
kf_vtl_tracking::~kf_vtl_tracking()
|
|
{
|
|
if (d_dump_file.is_open())
|
|
{
|
|
try
|
|
{
|
|
d_dump_file.close();
|
|
}
|
|
catch (const std::exception &ex)
|
|
{
|
|
LOG(WARNING) << "Exception in Tracking block destructor: " << ex.what();
|
|
}
|
|
}
|
|
if (d_dump_mat)
|
|
{
|
|
try
|
|
{
|
|
save_matfile();
|
|
}
|
|
catch (const std::exception &ex)
|
|
{
|
|
LOG(WARNING) << "Error saving the .mat file: " << ex.what();
|
|
}
|
|
}
|
|
try
|
|
{
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
d_correlator_data_cpu.free();
|
|
}
|
|
d_multicorrelator_cpu.free();
|
|
}
|
|
catch (const std::exception &ex)
|
|
{
|
|
LOG(WARNING) << "Exception in Tracking block destructor: " << ex.what();
|
|
}
|
|
}
|
|
|
|
|
|
bool kf_vtl_tracking::acquire_secondary()
|
|
{
|
|
// ******* preamble correlation ********
|
|
int32_t corr_value = 0;
|
|
for (uint32_t i = 0; i < d_secondary_code_length; i++)
|
|
{
|
|
if (d_Prompt_circular_buffer[i].real() < 0.0) // symbols clipping
|
|
{
|
|
if (d_secondary_code_string[i] == '0')
|
|
{
|
|
corr_value++;
|
|
}
|
|
else
|
|
{
|
|
corr_value--;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (d_secondary_code_string[i] == '0')
|
|
{
|
|
corr_value--;
|
|
}
|
|
else
|
|
{
|
|
corr_value++;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (abs(corr_value) == static_cast<int32_t>(d_secondary_code_length))
|
|
{
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
|
|
bool kf_vtl_tracking::cn0_and_tracking_lock_status(double coh_integration_time_s)
|
|
{
|
|
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
|
|
if (d_cn0_estimation_counter < d_trk_parameters.cn0_samples)
|
|
{
|
|
// fill buffer with prompt correlator output values
|
|
d_Prompt_buffer[d_cn0_estimation_counter] = d_P_accu;
|
|
d_cn0_estimation_counter++;
|
|
return true;
|
|
}
|
|
|
|
d_Prompt_buffer[d_cn0_estimation_counter % d_trk_parameters.cn0_samples] = d_P_accu;
|
|
d_cn0_estimation_counter++;
|
|
// Code lock indicator
|
|
const float d_CN0_SNV_dB_Hz_raw = cn0_m2m4_estimator(d_Prompt_buffer.data(), d_trk_parameters.cn0_samples, static_cast<float>(coh_integration_time_s));
|
|
d_CN0_SNV_dB_Hz = d_cn0_smoother.smooth(d_CN0_SNV_dB_Hz_raw);
|
|
// Carrier lock indicator
|
|
d_carrier_lock_test = d_carrier_lock_test_smoother.smooth(carrier_lock_detector(d_Prompt_buffer.data(), 1));
|
|
// Loss of lock detection
|
|
if (!d_pull_in_transitory)
|
|
{
|
|
if (d_carrier_lock_test < d_carrier_lock_threshold)
|
|
{
|
|
d_carrier_lock_fail_counter++;
|
|
}
|
|
else
|
|
{
|
|
if (d_carrier_lock_fail_counter > 0)
|
|
{
|
|
d_carrier_lock_fail_counter--;
|
|
}
|
|
}
|
|
|
|
if (d_CN0_SNV_dB_Hz < d_trk_parameters.cn0_min)
|
|
{
|
|
d_code_lock_fail_counter++;
|
|
}
|
|
else
|
|
{
|
|
if (d_code_lock_fail_counter > 0)
|
|
{
|
|
d_code_lock_fail_counter--;
|
|
}
|
|
}
|
|
}
|
|
if (d_carrier_lock_fail_counter > d_trk_parameters.max_carrier_lock_fail or d_code_lock_fail_counter > d_trk_parameters.max_code_lock_fail)
|
|
{
|
|
std::cout << "Loss of lock in channel " << d_channel << "!\n";
|
|
LOG(INFO) << "Loss of lock in channel " << d_channel
|
|
<< " (carrier_lock_fail_counter:" << d_carrier_lock_fail_counter
|
|
<< " code_lock_fail_counter : " << d_code_lock_fail_counter << ")";
|
|
this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock
|
|
d_carrier_lock_fail_counter = 0;
|
|
d_code_lock_fail_counter = 0;
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
// correlation requires:
|
|
// - updated remnant carrier phase in radians (rem_carr_phase_rad)
|
|
// - updated remnant code phase in samples (d_rem_code_phase_samples)
|
|
// - d_code_freq_chips
|
|
// - d_carrier_doppler_hz
|
|
void kf_vtl_tracking::do_correlation_step(const gr_complex *input_samples)
|
|
{
|
|
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
|
|
// perform carrier wipe-off and compute Early, Prompt and Late correlation
|
|
d_multicorrelator_cpu.set_input_output_vectors(d_correlator_outs.data(), input_samples);
|
|
d_multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(
|
|
d_rem_carr_phase_rad,
|
|
static_cast<float>(d_carrier_phase_step_rad), static_cast<float>(d_carrier_phase_rate_step_rad),
|
|
static_cast<float>(d_rem_code_phase_chips) * static_cast<float>(d_code_samples_per_chip),
|
|
static_cast<float>(d_code_phase_step_chips) * static_cast<float>(d_code_samples_per_chip),
|
|
static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip),
|
|
d_trk_parameters.vector_length);
|
|
|
|
// DATA CORRELATOR (if tracking tracks the pilot signal)
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
d_correlator_data_cpu.set_input_output_vectors(d_Prompt_Data.data(), input_samples);
|
|
d_correlator_data_cpu.Carrier_wipeoff_multicorrelator_resampler(
|
|
d_rem_carr_phase_rad,
|
|
static_cast<float>(d_carrier_phase_step_rad), static_cast<float>(d_carrier_phase_rate_step_rad),
|
|
static_cast<float>(d_rem_code_phase_chips) * static_cast<float>(d_code_samples_per_chip),
|
|
static_cast<float>(d_code_phase_step_chips) * static_cast<float>(d_code_samples_per_chip),
|
|
static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip),
|
|
d_trk_parameters.vector_length);
|
|
}
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::run_Kf()
|
|
{
|
|
// Carrier discriminator
|
|
if (d_cloop)
|
|
{
|
|
// Costas loop discriminator, insensitive to 180 deg phase transitions
|
|
d_carr_phase_error_disc_hz = pll_cloop_two_quadrant_atan(d_P_accu) / TWO_PI;
|
|
}
|
|
else
|
|
{
|
|
// Secondary code acquired. No symbols transition should be present in the signal
|
|
d_carr_phase_error_disc_hz = pll_four_quadrant_atan(d_P_accu) / TWO_PI;
|
|
}
|
|
|
|
// Code discriminator
|
|
if (d_veml)
|
|
{
|
|
d_code_error_disc_chips = dll_nc_vemlp_normalized(d_VE_accu, d_E_accu, d_L_accu, d_VL_accu); // [chips/Ti]
|
|
}
|
|
else
|
|
{
|
|
d_code_error_disc_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu, d_trk_parameters.spc, d_trk_parameters.slope, d_trk_parameters.y_intercept); // [chips/Ti]
|
|
}
|
|
|
|
// Kalman loop
|
|
|
|
// Prediction
|
|
x_new_old = F * x_old_old;
|
|
P_new_old = F * P_old_old * F.t() + Q;
|
|
|
|
// Innovation
|
|
arma::vec z = {d_code_error_disc_chips, d_carr_phase_error_disc_hz * TWO_PI};
|
|
|
|
// Measurement update
|
|
arma::mat K = P_new_old * H.t() * arma::inv(H * P_new_old * H.t() + R); // Kalman gain
|
|
|
|
x_new_new = x_new_old + K * z;
|
|
|
|
P_new_new = (arma::eye(5, 5) - K * H) * P_new_old;
|
|
|
|
// new code phase estimation
|
|
d_code_error_kf_chips = x_new_new(0);
|
|
x_new_new(0) = 0; // reset error estimation because the NCO corrects the code phase
|
|
|
|
// new carrier phase estimation
|
|
d_carrier_phase_kf_rad = x_new_new(1);
|
|
|
|
// New carrier Doppler frequency estimation
|
|
d_carrier_doppler_kf_hz = x_new_new(2); // d_carrier_loop_filter.get_carrier_error(0, static_cast<float>(d_carr_phase_error_hz), static_cast<float>(d_current_correlation_time_s));
|
|
|
|
d_carrier_doppler_rate_kf_hz_s = x_new_new(3);
|
|
|
|
// std::cout << "d_carrier_doppler_hz: " << d_carrier_doppler_hz << '\n';
|
|
// std::cout << "d_CN0_SNV_dB_Hz: " << this->d_CN0_SNV_dB_Hz << '\n';
|
|
|
|
// New code Doppler frequency estimation
|
|
if (d_trk_parameters.carrier_aiding)
|
|
{
|
|
// estimate the code rate exclusively based on the carrier Doppler
|
|
d_code_freq_kf_chips_s = d_code_chip_rate + d_carrier_doppler_kf_hz * d_code_chip_rate / d_signal_carrier_freq;
|
|
}
|
|
else
|
|
{
|
|
// use its own KF code rate estimation
|
|
d_code_freq_kf_chips_s -= x_new_new(4);
|
|
}
|
|
x_new_new(4) = 0;
|
|
// Experimental: detect Carrier Doppler vs. Code Doppler incoherence and correct the Carrier Doppler
|
|
// if (d_trk_parameters.enable_doppler_correction == true)
|
|
// {
|
|
// if (d_pull_in_transitory == false and d_corrected_doppler == false)
|
|
// {
|
|
// todo: alforithm here...
|
|
// }
|
|
// }
|
|
|
|
// correct code and carrier phase
|
|
d_rem_code_phase_samples += d_trk_parameters.fs_in * d_code_error_kf_chips / d_code_freq_kf_chips_s;
|
|
d_rem_carr_phase_rad = d_carrier_phase_kf_rad;
|
|
|
|
// prepare data for next KF epoch
|
|
x_old_old = x_new_new;
|
|
P_old_old = P_new_new;
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::check_carrier_phase_coherent_initialization()
|
|
{
|
|
if (d_acc_carrier_phase_initialized == false)
|
|
{
|
|
d_acc_carrier_phase_rad = -d_rem_carr_phase_rad;
|
|
d_acc_carrier_phase_initialized = true;
|
|
}
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::clear_tracking_vars()
|
|
{
|
|
std::fill_n(d_correlator_outs.begin(), d_n_correlator_taps, gr_complex(0.0, 0.0));
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
|
|
d_P_data_accu = gr_complex(0.0, 0.0);
|
|
}
|
|
d_P_accu_old = gr_complex(0.0, 0.0);
|
|
// d_carrier_phase_kf_error_hz = 0.0;
|
|
// d_carrier_freq_error_hz_s = 0.0;
|
|
// d_code_error_chips = 0.0;
|
|
d_current_symbol = 0;
|
|
d_current_data_symbol = 0;
|
|
d_Prompt_circular_buffer.clear();
|
|
d_carrier_phase_rate_step_rad = 0.0;
|
|
d_code_phase_rate_step_chips = 0.0;
|
|
}
|
|
|
|
// todo: IT DOES NOT WORK WHEN NO KF IS RUNNING (extended correlation epochs!!)
|
|
void kf_vtl_tracking::update_tracking_vars()
|
|
{
|
|
d_T_chip_seconds = 1.0 / d_code_freq_kf_chips_s;
|
|
d_T_prn_seconds = d_T_chip_seconds * static_cast<double>(d_code_length_chips);
|
|
|
|
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
|
// keep alignment parameters for the next input buffer
|
|
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
|
d_T_prn_samples = d_T_prn_seconds * d_trk_parameters.fs_in;
|
|
// d_K_blk_samples = d_T_prn_samples + d_rem_code_phase_samples + d_trk_parameters.fs_in * d_code_error_kf_chips / d_code_freq_kf_chips_s;
|
|
// KF will update d_rem_code_phase_samples
|
|
d_K_blk_samples = d_T_prn_samples + d_rem_code_phase_samples;
|
|
d_current_prn_length_samples = static_cast<int32_t>(std::floor(d_K_blk_samples)); // round to a discrete number of samples
|
|
|
|
// ################### PLL COMMANDS #################################################
|
|
// carrier phase step (NCO phase increment per sample) [rads/sample]
|
|
d_carrier_phase_step_rad = TWO_PI * d_carrier_doppler_kf_hz / d_trk_parameters.fs_in;
|
|
// d_rem_carr_phase_rad = d_carrier_phase_kf_rad;
|
|
|
|
// remnant carrier phase to prevent overflow in the code NCO
|
|
d_rem_carr_phase_rad += static_cast<float>(d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
|
|
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, TWO_PI);
|
|
|
|
// carrier phase rate step (NCO phase increment rate per sample) [rads/sample^2]
|
|
if (d_trk_parameters.high_dyn)
|
|
{
|
|
d_carrier_phase_rate_step_rad = TWO_PI * d_carrier_doppler_rate_kf_hz_s / d_trk_parameters.fs_in;
|
|
}
|
|
// std::cout << d_carrier_phase_rate_step_rad * d_trk_parameters.fs_in * d_trk_parameters.fs_in / TWO_PI << '\n';
|
|
// remnant carrier phase to prevent overflow in the code NCO
|
|
// d_rem_carr_phase_rad += static_cast<float>(d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
|
|
// d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, TWO_PI);
|
|
|
|
// carrier phase accumulator
|
|
// double a = d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
|
|
// double b = 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples);
|
|
// std::cout << fmod(b, TWO_PI) / fmod(a, TWO_PI) << '\n';
|
|
d_acc_carrier_phase_rad -= (d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
|
|
|
|
// ################### DLL COMMANDS #################################################
|
|
// code phase step (Code resampler phase increment per sample) [chips/sample]
|
|
d_code_phase_step_chips = d_code_freq_kf_chips_s / d_trk_parameters.fs_in;
|
|
// todo: extend kf to estimate code rate
|
|
// if (d_trk_parameters.high_dyn)
|
|
// {
|
|
// d_code_phase_rate_step_chips = d_code_freq_kf_rate_chips_s / d_trk_parameters.fs_in;
|
|
// }
|
|
|
|
// remnant code phase [chips]
|
|
d_rem_code_phase_samples = d_K_blk_samples - static_cast<double>(d_current_prn_length_samples); // rounding error < 1 sample
|
|
d_rem_code_phase_chips = d_code_freq_kf_chips_s * d_rem_code_phase_samples / d_trk_parameters.fs_in;
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::save_correlation_results()
|
|
{
|
|
if (d_secondary)
|
|
{
|
|
if (d_secondary_code_string[d_current_symbol] == '0')
|
|
{
|
|
if (d_veml)
|
|
{
|
|
d_VE_accu += *d_Very_Early;
|
|
d_VL_accu += *d_Very_Late;
|
|
}
|
|
d_E_accu += *d_Early;
|
|
d_P_accu += *d_Prompt;
|
|
d_L_accu += *d_Late;
|
|
}
|
|
else
|
|
{
|
|
if (d_veml)
|
|
{
|
|
d_VE_accu -= *d_Very_Early;
|
|
d_VL_accu -= *d_Very_Late;
|
|
}
|
|
d_E_accu -= *d_Early;
|
|
d_P_accu -= *d_Prompt;
|
|
d_L_accu -= *d_Late;
|
|
}
|
|
d_current_symbol++;
|
|
// secondary code roll-up
|
|
d_current_symbol %= d_secondary_code_length;
|
|
}
|
|
else
|
|
{
|
|
if (d_veml)
|
|
{
|
|
d_VE_accu += *d_Very_Early;
|
|
d_VL_accu += *d_Very_Late;
|
|
}
|
|
d_E_accu += *d_Early;
|
|
d_P_accu += *d_Prompt;
|
|
d_L_accu += *d_Late;
|
|
}
|
|
|
|
// data secondary code roll-up
|
|
if (d_symbols_per_bit > 1)
|
|
{
|
|
if (d_data_secondary_code_length > 0)
|
|
{
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
if (d_data_secondary_code_string[d_current_data_symbol] == '0')
|
|
{
|
|
d_P_data_accu += d_Prompt_Data[0];
|
|
}
|
|
else
|
|
{
|
|
d_P_data_accu -= d_Prompt_Data[0];
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (d_data_secondary_code_string[d_current_data_symbol] == '0')
|
|
{
|
|
d_P_data_accu += *d_Prompt;
|
|
}
|
|
else
|
|
{
|
|
d_P_data_accu -= *d_Prompt;
|
|
}
|
|
}
|
|
|
|
d_current_data_symbol++;
|
|
// data secondary code roll-up
|
|
d_current_data_symbol %= d_data_secondary_code_length;
|
|
}
|
|
else
|
|
{
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
d_P_data_accu += d_Prompt_Data[0];
|
|
}
|
|
else
|
|
{
|
|
d_P_data_accu += *d_Prompt;
|
|
// std::cout << "s[" << d_current_data_symbol << "]=" << (int)((*d_Prompt).real() > 0) << '\n';
|
|
}
|
|
d_current_data_symbol++;
|
|
d_current_data_symbol %= d_symbols_per_bit;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
d_P_data_accu = d_Prompt_Data[0];
|
|
}
|
|
else
|
|
{
|
|
d_P_data_accu = *d_Prompt;
|
|
}
|
|
}
|
|
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
// If tracking pilot, disable Costas loop
|
|
d_cloop = false;
|
|
}
|
|
else
|
|
{
|
|
d_cloop = true;
|
|
}
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::log_data()
|
|
{
|
|
if (d_dump)
|
|
{
|
|
// Dump results to file
|
|
float prompt_I;
|
|
float prompt_Q;
|
|
float tmp_VE;
|
|
float tmp_E;
|
|
float tmp_P;
|
|
float tmp_L;
|
|
float tmp_VL;
|
|
float tmp_float;
|
|
double tmp_double;
|
|
uint64_t tmp_long_int;
|
|
if (d_trk_parameters.track_pilot)
|
|
{
|
|
prompt_I = d_Prompt_Data.data()->real();
|
|
prompt_Q = d_Prompt_Data.data()->imag();
|
|
}
|
|
else
|
|
{
|
|
prompt_I = d_Prompt->real();
|
|
prompt_Q = d_Prompt->imag();
|
|
}
|
|
if (d_veml)
|
|
{
|
|
tmp_VE = std::abs<float>(d_VE_accu);
|
|
tmp_VL = std::abs<float>(d_VL_accu);
|
|
}
|
|
else
|
|
{
|
|
tmp_VE = 0.0;
|
|
tmp_VL = 0.0;
|
|
}
|
|
tmp_E = std::abs<float>(d_E_accu);
|
|
tmp_P = std::abs<float>(d_P_accu);
|
|
tmp_L = std::abs<float>(d_L_accu);
|
|
|
|
try
|
|
{
|
|
// Dump correlators output
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
|
// PROMPT I and Q (to analyze navigation symbols)
|
|
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
|
// PRN start sample stamp
|
|
tmp_long_int = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_long_int), sizeof(uint64_t));
|
|
// accumulated carrier phase
|
|
tmp_float = static_cast<float>(d_acc_carrier_phase_rad);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
// carrier and code frequency
|
|
tmp_float = static_cast<float>(d_carrier_doppler_kf_hz);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
// carrier phase rate [Hz/s]
|
|
tmp_float = static_cast<float>(d_carrier_doppler_rate_kf_hz_s);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
tmp_float = static_cast<float>(d_code_freq_kf_chips_s);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
// code phase rate [chips/s^2]
|
|
tmp_float = static_cast<float>(d_code_phase_rate_step_chips * d_trk_parameters.fs_in * d_trk_parameters.fs_in);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
// Carrier estimation
|
|
tmp_float = static_cast<float>(d_carr_phase_error_disc_hz);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
tmp_float = static_cast<float>(x_new_new(2));
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
// code estimation
|
|
tmp_float = static_cast<float>(d_code_error_disc_chips);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
tmp_float = static_cast<float>(d_code_error_kf_chips);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
// CN0 and carrier lock test
|
|
tmp_float = static_cast<float>(d_CN0_SNV_dB_Hz);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
tmp_float = static_cast<float>(d_carrier_lock_test);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
// AUX vars (for debug purposes)
|
|
tmp_float = static_cast<float>(d_rem_code_phase_samples);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
|
// PRN
|
|
uint32_t prn_ = d_acquisition_gnss_synchro->PRN;
|
|
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(uint32_t));
|
|
}
|
|
catch (const std::ifstream::failure &e)
|
|
{
|
|
LOG(WARNING) << "Exception writing trk dump file " << e.what();
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
int32_t kf_vtl_tracking::save_matfile() const
|
|
{
|
|
// READ DUMP FILE
|
|
std::ifstream::pos_type size;
|
|
const int32_t number_of_double_vars = 1;
|
|
const int32_t number_of_float_vars = 19;
|
|
const int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
|
|
sizeof(float) * number_of_float_vars + sizeof(uint32_t);
|
|
std::ifstream dump_file;
|
|
std::string dump_filename_ = d_dump_filename;
|
|
// add channel number to the filename
|
|
dump_filename_.append(std::to_string(d_channel));
|
|
// add extension
|
|
dump_filename_.append(".dat");
|
|
std::cout << "Generating .mat file for " << dump_filename_ << '\n';
|
|
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
|
try
|
|
{
|
|
dump_file.open(dump_filename_.c_str(), std::ios::binary | std::ios::ate);
|
|
}
|
|
catch (const std::ifstream::failure &e)
|
|
{
|
|
std::cerr << "Problem opening dump file:" << e.what() << '\n';
|
|
return 1;
|
|
}
|
|
// count number of epochs and rewind
|
|
int64_t num_epoch = 0;
|
|
if (dump_file.is_open())
|
|
{
|
|
size = dump_file.tellg();
|
|
num_epoch = static_cast<int64_t>(size) / static_cast<int64_t>(epoch_size_bytes);
|
|
dump_file.seekg(0, std::ios::beg);
|
|
}
|
|
else
|
|
{
|
|
return 1;
|
|
}
|
|
auto abs_VE = std::vector<float>(num_epoch);
|
|
auto abs_E = std::vector<float>(num_epoch);
|
|
auto abs_P = std::vector<float>(num_epoch);
|
|
auto abs_L = std::vector<float>(num_epoch);
|
|
auto abs_VL = std::vector<float>(num_epoch);
|
|
auto Prompt_I = std::vector<float>(num_epoch);
|
|
auto Prompt_Q = std::vector<float>(num_epoch);
|
|
auto PRN_start_sample_count = std::vector<uint64_t>(num_epoch);
|
|
auto acc_carrier_phase_rad = std::vector<float>(num_epoch);
|
|
auto carrier_doppler_hz = std::vector<float>(num_epoch);
|
|
auto carrier_doppler_rate_hz = std::vector<float>(num_epoch);
|
|
auto code_freq_chips = std::vector<float>(num_epoch);
|
|
auto code_freq_rate_chips = std::vector<float>(num_epoch);
|
|
auto carr_error_hz = std::vector<float>(num_epoch);
|
|
auto carr_error_filt_hz = std::vector<float>(num_epoch);
|
|
auto code_error_chips = std::vector<float>(num_epoch);
|
|
auto code_error_filt_chips = std::vector<float>(num_epoch);
|
|
auto CN0_SNV_dB_Hz = std::vector<float>(num_epoch);
|
|
auto carrier_lock_test = std::vector<float>(num_epoch);
|
|
auto aux1 = std::vector<float>(num_epoch);
|
|
auto aux2 = std::vector<double>(num_epoch);
|
|
auto PRN = std::vector<uint32_t>(num_epoch);
|
|
try
|
|
{
|
|
if (dump_file.is_open())
|
|
{
|
|
for (int64_t i = 0; i < num_epoch; i++)
|
|
{
|
|
dump_file.read(reinterpret_cast<char *>(&abs_VE[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&abs_VL[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(uint64_t));
|
|
dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_rate_hz[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&code_freq_rate_chips[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
|
|
dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(uint32_t));
|
|
}
|
|
}
|
|
dump_file.close();
|
|
}
|
|
catch (const std::ifstream::failure &e)
|
|
{
|
|
std::cerr << "Problem reading dump file:" << e.what() << '\n';
|
|
return 1;
|
|
}
|
|
|
|
// WRITE MAT FILE
|
|
mat_t *matfp;
|
|
matvar_t *matvar;
|
|
std::string filename = dump_filename_;
|
|
filename.erase(filename.length() - 4, 4);
|
|
filename.append(".mat");
|
|
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
|
|
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
|
|
{
|
|
std::array<size_t, 2> dims{1, static_cast<size_t>(num_epoch)};
|
|
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_VE.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_E.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_P.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_L.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), abs_VL.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_I.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), Prompt_Q.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims.data(), PRN_start_sample_count.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), acc_carrier_phase_rad.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carrier_doppler_hz.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("carrier_doppler_rate_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carrier_doppler_rate_hz.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_freq_chips.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_freq_rate_chips.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carr_error_hz.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carr_error_filt_hz.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_error_chips.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), code_error_filt_chips.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), CN0_SNV_dB_Hz.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), carrier_lock_test.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims.data(), aux1.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims.data(), aux2.data(), 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, 2, dims.data(), PRN.data(), 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
}
|
|
Mat_Close(matfp);
|
|
return 0;
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::set_channel(uint32_t channel)
|
|
{
|
|
gr::thread::scoped_lock l(d_setlock);
|
|
d_channel = channel;
|
|
LOG(INFO) << "Tracking Channel set to " << d_channel;
|
|
// ############# ENABLE DATA FILE LOG #################
|
|
if (d_dump)
|
|
{
|
|
std::string dump_filename_ = d_dump_filename;
|
|
// add channel number to the filename
|
|
dump_filename_.append(std::to_string(d_channel));
|
|
// add extension
|
|
dump_filename_.append(".dat");
|
|
|
|
if (!d_dump_file.is_open())
|
|
{
|
|
try
|
|
{
|
|
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
|
d_dump_file.open(dump_filename_.c_str(), std::ios::out | std::ios::binary);
|
|
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << dump_filename_.c_str();
|
|
}
|
|
catch (const std::ifstream::failure &e)
|
|
{
|
|
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
|
|
{
|
|
gr::thread::scoped_lock l(d_setlock);
|
|
d_acquisition_gnss_synchro = p_gnss_synchro;
|
|
}
|
|
|
|
|
|
void kf_vtl_tracking::stop_tracking()
|
|
{
|
|
gr::thread::scoped_lock l(d_setlock);
|
|
d_state = 0;
|
|
}
|
|
|
|
|
|
int kf_vtl_tracking::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)
|
|
{
|
|
gr::thread::scoped_lock l(d_setlock);
|
|
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]);
|
|
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
|
|
Gnss_Synchro current_synchro_data = Gnss_Synchro();
|
|
current_synchro_data.Flag_valid_symbol_output = false;
|
|
|
|
if (d_pull_in_transitory == true)
|
|
{
|
|
if (d_trk_parameters.pull_in_time_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(d_trk_parameters.fs_in))
|
|
{
|
|
d_pull_in_transitory = false;
|
|
d_carrier_lock_fail_counter = 0;
|
|
d_code_lock_fail_counter = 0;
|
|
}
|
|
}
|
|
switch (d_state)
|
|
{
|
|
case 0: // Standby - Consume samples at full throttle, do nothing
|
|
{
|
|
d_sample_counter += static_cast<uint64_t>(ninput_items[0]);
|
|
consume_each(ninput_items[0]);
|
|
return 0;
|
|
break;
|
|
}
|
|
case 1: // Pull-in
|
|
{
|
|
// Signal alignment (skip samples until the incoming signal is aligned with local replica)
|
|
const int64_t acq_trk_diff_samples = static_cast<int64_t>(d_sample_counter) - static_cast<int64_t>(d_acq_sample_stamp);
|
|
const double acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / d_trk_parameters.fs_in;
|
|
const double delta_trk_to_acq_prn_start_samples = static_cast<double>(acq_trk_diff_samples) - d_acq_code_phase_samples;
|
|
|
|
d_code_freq_kf_chips_s = d_code_chip_rate;
|
|
d_code_phase_step_chips = d_code_freq_kf_chips_s / d_trk_parameters.fs_in;
|
|
d_code_phase_rate_step_chips = 0.0;
|
|
const double T_chip_mod_seconds = 1.0 / d_code_freq_kf_chips_s;
|
|
const double T_prn_mod_seconds = T_chip_mod_seconds * static_cast<double>(d_code_length_chips);
|
|
const double T_prn_mod_samples = T_prn_mod_seconds * d_trk_parameters.fs_in;
|
|
|
|
d_acq_code_phase_samples = T_prn_mod_samples - std::fmod(delta_trk_to_acq_prn_start_samples, T_prn_mod_samples);
|
|
d_current_prn_length_samples = round(T_prn_mod_samples);
|
|
|
|
const int32_t samples_offset = round(d_acq_code_phase_samples);
|
|
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * static_cast<double>(samples_offset);
|
|
d_state = 2;
|
|
d_sample_counter += samples_offset; // count for the processed samples
|
|
d_cn0_smoother.reset();
|
|
d_carrier_lock_test_smoother.reset();
|
|
|
|
// init KF
|
|
// d_T_chip_seconds = 1.0 / d_code_freq_chips;
|
|
// d_T_prn_seconds = d_T_chip_seconds * static_cast<double>(samples_offset);
|
|
// // keep alignment parameters for the next input buffer
|
|
// // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
|
// d_T_prn_samples = d_T_prn_seconds * d_trk_parameters.fs_in;
|
|
// d_K_blk_samples = d_T_prn_samples + d_rem_code_phase_samples;
|
|
// // remnant code phase [chips]
|
|
// d_rem_code_phase_samples = d_K_blk_samples - static_cast<double>(d_current_prn_length_samples); // rounding error < 1 sample
|
|
// d_rem_code_phase_chips = d_code_freq_chips * d_rem_code_phase_samples / d_trk_parameters.fs_in;
|
|
|
|
init_kf(0, d_carrier_doppler_kf_hz);
|
|
|
|
LOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples << " ( " << acq_trk_diff_seconds << " s)";
|
|
DLOG(INFO) << "PULL-IN Doppler [Hz] = " << d_carrier_doppler_kf_hz
|
|
<< ". PULL-IN Code Phase [samples] = " << d_acq_code_phase_samples;
|
|
|
|
|
|
consume_each(samples_offset); // shift input to perform alignment with local replica
|
|
return 0;
|
|
}
|
|
case 2: // Wide tracking and symbol synchronization
|
|
{
|
|
do_correlation_step(in);
|
|
// Save single correlation step variables
|
|
if (d_veml)
|
|
{
|
|
d_VE_accu = *d_Very_Early;
|
|
d_VL_accu = *d_Very_Late;
|
|
}
|
|
d_E_accu = *d_Early;
|
|
d_P_accu = *d_Prompt;
|
|
d_L_accu = *d_Late;
|
|
d_trk_parameters.spc = d_trk_parameters.early_late_space_chips;
|
|
// if (std::string(d_trk_parameters.signal) == "E1")
|
|
// {
|
|
// d_trk_parameters.slope = -CalculateSlopeAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc);
|
|
// d_trk_parameters.y_intercept = GetYInterceptAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc);
|
|
// }
|
|
|
|
// fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period
|
|
if (d_trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(d_trk_parameters.fs_in))
|
|
{
|
|
d_carrier_lock_fail_counter = 300000; // force loss-of-lock condition
|
|
LOG(INFO) << d_systemName << " " << d_signal_pretty_name << " tracking synchronization time limit reached in channel " << d_channel
|
|
<< " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n';
|
|
}
|
|
// Check lock status
|
|
if (!cn0_and_tracking_lock_status(d_code_period))
|
|
{
|
|
clear_tracking_vars();
|
|
d_state = 0; // loss-of-lock detected
|
|
}
|
|
else
|
|
{
|
|
bool next_state = false;
|
|
// Perform DLL/PLL tracking loop computations. Costas Loop enabled
|
|
run_Kf();
|
|
update_tracking_vars();
|
|
|
|
// enable write dump file this cycle (valid DLL/PLL cycle)
|
|
log_data();
|
|
|
|
if (!d_pull_in_transitory)
|
|
{
|
|
if (d_secondary)
|
|
{
|
|
// ####### SECONDARY CODE LOCK #####
|
|
d_Prompt_circular_buffer.push_back(*d_Prompt);
|
|
if (d_Prompt_circular_buffer.size() == d_secondary_code_length)
|
|
{
|
|
next_state = acquire_secondary();
|
|
if (next_state)
|
|
{
|
|
LOG(INFO) << d_systemName << " " << d_signal_pretty_name << " secondary code locked in channel " << d_channel
|
|
<< " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n';
|
|
std::cout << d_systemName << " " << d_signal_pretty_name << " secondary code locked in channel " << d_channel
|
|
<< " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n';
|
|
}
|
|
}
|
|
}
|
|
else if (d_symbols_per_bit > 1) // Signal does not have secondary code. Search a bit transition by sign change
|
|
{
|
|
// ******* preamble correlation ********
|
|
d_Prompt_circular_buffer.push_back(*d_Prompt);
|
|
if (d_Prompt_circular_buffer.size() == d_secondary_code_length)
|
|
{
|
|
next_state = acquire_secondary();
|
|
if (next_state)
|
|
{
|
|
LOG(INFO) << d_systemName << " " << d_signal_pretty_name << " tracking bit synchronization locked in channel " << d_channel
|
|
<< " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n';
|
|
std::cout << d_systemName << " " << d_signal_pretty_name << " tracking bit synchronization locked in channel " << d_channel
|
|
<< " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n';
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
next_state = true;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
next_state = false; // keep in state 2 during pull-in transitory
|
|
}
|
|
if (next_state)
|
|
{ // reset extended correlator
|
|
d_VE_accu = gr_complex(0.0, 0.0);
|
|
d_E_accu = gr_complex(0.0, 0.0);
|
|
d_P_accu = gr_complex(0.0, 0.0);
|
|
d_P_data_accu = gr_complex(0.0, 0.0);
|
|
d_L_accu = gr_complex(0.0, 0.0);
|
|
d_VL_accu = gr_complex(0.0, 0.0);
|
|
d_Prompt_circular_buffer.clear();
|
|
d_current_symbol = 0;
|
|
d_current_data_symbol = 0;
|
|
|
|
if (d_enable_extended_integration)
|
|
{
|
|
// UPDATE INTEGRATION TIME
|
|
d_extend_correlation_symbols_count = 0;
|
|
d_current_correlation_time_s = static_cast<float>(d_trk_parameters.extend_correlation_symbols) * static_cast<float>(d_code_period);
|
|
d_state = 3; // next state is the extended correlator integrator
|
|
LOG(INFO) << "Enabled " << d_trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
|
|
<< d_channel
|
|
<< " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN);
|
|
std::cout << "Enabled " << d_trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
|
|
<< d_channel
|
|
<< " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n';
|
|
// Set narrow taps delay values [chips]
|
|
update_kf_narrow_intgration_time();
|
|
if (d_veml)
|
|
{
|
|
d_local_code_shift_chips[0] = -d_trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[1] = -d_trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[3] = d_trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[4] = d_trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_trk_parameters.spc = d_trk_parameters.early_late_space_narrow_chips;
|
|
// if (std::string(d_trk_parameters.signal) == "E1")
|
|
// {
|
|
// d_trk_parameters.slope = -CalculateSlopeAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc);
|
|
// d_trk_parameters.y_intercept = GetYInterceptAbs(&SinBocCorrelationFunction<1, 1>, d_trk_parameters.spc);
|
|
// }
|
|
}
|
|
else
|
|
{
|
|
d_local_code_shift_chips[0] = -d_trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[2] = d_trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_trk_parameters.spc = d_trk_parameters.early_late_space_narrow_chips;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
d_state = 4;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
case 3: // coherent integration (correlation time extension)
|
|
{
|
|
// perform a correlation step
|
|
do_correlation_step(in);
|
|
save_correlation_results();
|
|
update_tracking_vars();
|
|
if (d_current_data_symbol == 0)
|
|
{
|
|
log_data();
|
|
// ########### Output the tracking results to Telemetry block ##########
|
|
// Fill the acquisition data
|
|
current_synchro_data = *d_acquisition_gnss_synchro;
|
|
if (d_interchange_iq)
|
|
{
|
|
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.imag());
|
|
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.real());
|
|
}
|
|
else
|
|
{
|
|
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.real());
|
|
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.imag());
|
|
}
|
|
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
|
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
|
|
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_kf_hz;
|
|
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
|
current_synchro_data.correlation_length_ms = d_correlation_length_ms;
|
|
current_synchro_data.Flag_valid_symbol_output = true;
|
|
d_P_data_accu = gr_complex(0.0, 0.0);
|
|
}
|
|
d_extend_correlation_symbols_count++;
|
|
if (d_extend_correlation_symbols_count == (d_trk_parameters.extend_correlation_symbols - 1))
|
|
{
|
|
d_extend_correlation_symbols_count = 0;
|
|
d_state = 4;
|
|
}
|
|
break;
|
|
}
|
|
case 4: // narrow tracking
|
|
{
|
|
// perform a correlation step
|
|
do_correlation_step(in);
|
|
save_correlation_results();
|
|
|
|
// check lock status
|
|
if (!cn0_and_tracking_lock_status(d_code_period * static_cast<double>(d_trk_parameters.extend_correlation_symbols)))
|
|
{
|
|
clear_tracking_vars();
|
|
d_state = 0; // loss-of-lock detected
|
|
}
|
|
else
|
|
{
|
|
if (d_trk_parameters.use_estimated_cn0 == true)
|
|
{
|
|
if (d_CN0_SNV_dB_Hz > 0)
|
|
{
|
|
update_kf_cn0(d_CN0_SNV_dB_Hz);
|
|
}
|
|
}
|
|
run_Kf();
|
|
update_tracking_vars();
|
|
check_carrier_phase_coherent_initialization();
|
|
if (d_current_data_symbol == 0)
|
|
{
|
|
// enable write dump file this cycle (valid DLL/PLL cycle)
|
|
log_data();
|
|
// ########### Output the tracking results to Telemetry block ##########
|
|
// Fill the acquisition data
|
|
current_synchro_data = *d_acquisition_gnss_synchro;
|
|
if (d_interchange_iq)
|
|
{
|
|
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.imag());
|
|
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.real());
|
|
}
|
|
else
|
|
{
|
|
current_synchro_data.Prompt_I = static_cast<double>(d_P_data_accu.real());
|
|
current_synchro_data.Prompt_Q = static_cast<double>(d_P_data_accu.imag());
|
|
}
|
|
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
|
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
|
|
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_kf_hz;
|
|
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
|
current_synchro_data.correlation_length_ms = d_correlation_length_ms;
|
|
current_synchro_data.Flag_valid_symbol_output = true;
|
|
d_P_data_accu = gr_complex(0.0, 0.0);
|
|
}
|
|
|
|
// reset extended correlator
|
|
d_VE_accu = gr_complex(0.0, 0.0);
|
|
d_E_accu = gr_complex(0.0, 0.0);
|
|
d_P_accu = gr_complex(0.0, 0.0);
|
|
d_L_accu = gr_complex(0.0, 0.0);
|
|
d_VL_accu = gr_complex(0.0, 0.0);
|
|
if (d_enable_extended_integration)
|
|
{
|
|
d_state = 3; // new coherent integration (correlation time extension) cycle
|
|
}
|
|
}
|
|
}
|
|
}
|
|
consume_each(d_current_prn_length_samples);
|
|
d_sample_counter += static_cast<uint64_t>(d_current_prn_length_samples);
|
|
if (current_synchro_data.Flag_valid_symbol_output)
|
|
{
|
|
current_synchro_data.fs = static_cast<int64_t>(d_trk_parameters.fs_in);
|
|
current_synchro_data.Tracking_sample_counter = d_sample_counter;
|
|
*out[0] = current_synchro_data;
|
|
return 1;
|
|
}
|
|
return 0;
|
|
}
|