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/*!
* \file glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
* \brief Implementation of a code DLL + carrier PLL tracking block
* \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com
* \author Luis Esteve, 2017. luis(at)epsilon-formacion.com
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
*
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkha user, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -------------------------------------------------------------------------
*/
#include "glonass_l1_ca_dll_pll_c_aid_tracking_sc.h"
#include "GLONASS_L1_L2_CA.h"
#include "glonass_l1_signal_processing.h"
#include "gnss_satellite.h"
#include "gnss_sdr_flags.h"
#include "lock_detectors.h"
#include "tracking_discriminators.h"
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h>
#include <array>
#include <cmath>
#include <exception>
#include <iostream>
#include <memory>
#include <sstream>
#include <utility>
#include <vector>
#if HAS_GENERIC_LAMBDA
#else
#include <boost/bind/bind.hpp>
#endif
#define CN0_ESTIMATION_SAMPLES 10
glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr glonass_l1_ca_dll_pll_c_aid_make_tracking_sc(
int64_t fs_in,
uint32_t vector_length,
bool dump,
const std::string &dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
int32_t extend_correlation_ms,
float early_late_space_chips)
{
return glonass_l1_ca_dll_pll_c_aid_tracking_sc_sptr(new glonass_l1_ca_dll_pll_c_aid_tracking_sc(
fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
}
void glonass_l1_ca_dll_pll_c_aid_tracking_sc::forecast(int noutput_items,
gr_vector_int &ninput_items_required)
{
if (noutput_items != 0)
{
ninput_items_required[0] = static_cast<int32_t>(d_vector_length) * 2; // set the required available samples in each call
}
}
void glonass_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(const pmt::pmt_t &msg)
{
// pmt::print(msg);
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
if (d_enable_extended_integration == false) // avoid re-setting preamble indicator
{
d_preamble_timestamp_s = pmt::to_double(msg);
d_enable_extended_integration = true;
d_preamble_synchronized = false;
}
}
glonass_l1_ca_dll_pll_c_aid_tracking_sc::glonass_l1_ca_dll_pll_c_aid_tracking_sc(
int64_t fs_in,
uint32_t vector_length,
bool dump,
const std::string &dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
int32_t extend_correlation_ms,
float early_late_space_chips) : gr::block("glonass_l1_ca_dll_pll_c_aid_tracking_sc", gr::io_signature::make(1, 1, sizeof(lv_16sc_t)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// Telemetry bit synchronization message port input
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
#if HAS_GENERIC_LAMBDA
[this](auto &&PH1) { msg_handler_preamble_index(PH1); });
#else
#if BOOST_173_OR_GREATER
boost::bind(&glonass_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index, this, boost::placeholders::_1));
#else
boost::bind(&glonass_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index, this, _1));
#endif
#endif
this->message_port_register_out(pmt::mp("events"));
this->message_port_register_in(pmt::mp("telemetry_to_trk"));
// initialize internal vars
d_dump = dump;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_dump_filename = dump_filename;
d_correlation_length_samples = static_cast<int32_t>(d_vector_length);
// Initialize tracking ==========================================
d_pll_bw_hz = pll_bw_hz;
d_dll_bw_hz = dll_bw_hz;
d_pll_bw_narrow_hz = pll_bw_narrow_hz;
d_dll_bw_narrow_hz = dll_bw_narrow_hz;
d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
d_extend_correlation_ms = extend_correlation_ms;
// --- DLL variables --------------------------------------------------------
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
// Initialization of local code replica
// Get space for a vector with the C/A code replica sampled 1x/chip
d_ca_code.resize(static_cast<int32_t>(GLONASS_L1_CA_CODE_LENGTH_CHIPS), gr_complex(0.0, 0.0));
d_ca_code_16sc.reserve(static_cast<int32_t>(GLONASS_L1_CA_CODE_LENGTH_CHIPS));
// correlator outputs (scalar)
d_n_correlator_taps = 3; // Early, Prompt, and Late
d_correlator_outs_16sc.resize(d_n_correlator_taps, lv_cmake(0, 0));
d_local_code_shift_chips.reserve(d_n_correlator_taps);
// Set TAPs delay values [chips]
d_local_code_shift_chips[0] = -d_early_late_spc_chips;
d_local_code_shift_chips[1] = 0.0;
d_local_code_shift_chips[2] = d_early_late_spc_chips;
multicorrelator_cpu_16sc.init(2 * d_correlation_length_samples, d_n_correlator_taps);
// -- Perform initializations ------------------------------
// define initial code frequency basis of NCO
d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_CPS;
// define residual code phase (in chips)
d_rem_code_phase_samples = 0.0;
// define residual carrier phase
d_rem_carrier_phase_rad = 0.0;
// sample synchronization
d_sample_counter = 0ULL; // (from trk to tlm)
d_acq_sample_stamp = 0;
d_enable_tracking = false;
d_pull_in = false;
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer.reserve(FLAGS_cn0_samples);
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = FLAGS_carrier_lock_th;
systemName["R"] = std::string("Glonass");
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
d_acquisition_gnss_synchro = nullptr;
d_channel = 0;
d_acq_code_phase_samples = 0.0;
d_acq_carrier_doppler_hz = 0.0;
d_carrier_doppler_hz = 0.0;
d_acc_carrier_phase_cycles = 0.0;
d_code_phase_samples = 0.0;
d_enable_extended_integration = false;
d_preamble_synchronized = false;
d_rem_code_phase_integer_samples = 0;
d_code_error_chips_Ti = 0.0;
d_pll_to_dll_assist_secs_Ti = 0.0;
d_rem_code_phase_chips = 0.0;
d_code_phase_step_chips = 0.0;
d_carrier_phase_step_rad = 0.0;
d_code_error_filt_chips_s = 0.0;
d_code_error_filt_chips_Ti = 0.0;
d_preamble_timestamp_s = 0.0;
d_carr_phase_error_secs_Ti = 0.0;
d_carrier_frequency_hz = 0.0;
d_carrier_doppler_old_hz = 0.0;
d_glonass_freq_ch = 0;
// set_min_output_buffer((int64_t)300);
}
void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking()
{
/*
* 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;
int64_t acq_trk_diff_samples;
double acq_trk_diff_seconds;
acq_trk_diff_samples = static_cast<int64_t>(d_sample_counter) - static_cast<int64_t>(d_acq_sample_stamp); // -d_vector_length;
DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
// Doppler effect
// Fd=(C/(C+Vr))*F
d_glonass_freq_ch = GLONASS_L1_CA_FREQ_HZ + (GLONASS_L1_CA_FREQ_HZ * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN));
double radial_velocity = (d_glonass_freq_ch + d_acq_carrier_doppler_hz) / d_glonass_freq_ch;
// new chip and prn sequence periods based on acq Doppler
double T_chip_mod_seconds;
double T_prn_mod_seconds;
double T_prn_mod_samples;
d_code_freq_chips = radial_velocity * GLONASS_L1_CA_CODE_RATE_CPS;
d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
T_chip_mod_seconds = 1.0 / d_code_freq_chips;
T_prn_mod_seconds = T_chip_mod_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
d_correlation_length_samples = round(T_prn_mod_samples);
double T_prn_true_seconds = GLONASS_L1_CA_CODE_LENGTH_CHIPS / GLONASS_L1_CA_CODE_RATE_CPS;
double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
double corrected_acq_phase_samples;
double delay_correction_samples;
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
if (corrected_acq_phase_samples < 0)
{
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
}
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
d_acq_code_phase_samples = corrected_acq_phase_samples;
d_carrier_frequency_hz = d_acq_carrier_doppler_hz + (DFRQ1_GLO * static_cast<double>(GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)));
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast<double>(d_fs_in);
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(d_carrier_frequency_hz); // The carrier loop filter implements the Doppler accumulator
d_code_loop_filter.initialize(); // initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
glonass_l1_ca_code_gen_complex(d_ca_code, 0);
volk_gnsssdr_32fc_convert_16ic(d_ca_code_16sc.data(), d_ca_code.data(), static_cast<int32_t>(GLONASS_L1_CA_CODE_LENGTH_CHIPS));
multicorrelator_cpu_16sc.set_local_code_and_taps(static_cast<int32_t>(GLONASS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc.data(), d_local_code_shift_chips.data());
for (int32_t n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs_16sc[n] = lv_16sc_t(0, 0);
}
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0.0;
d_rem_carrier_phase_rad = 0.0;
d_rem_code_phase_chips = 0.0;
d_acc_carrier_phase_cycles = 0.0;
d_pll_to_dll_assist_secs_Ti = 0.0;
d_code_phase_samples = d_acq_code_phase_samples;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
// DEBUG OUTPUT
std::cout << "Tracking of GLONASS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
LOG(INFO) << "Tracking of GLONASS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
// enable tracking
d_pull_in = true;
d_enable_tracking = true;
d_enable_extended_integration = true;
d_preamble_synchronized = true;
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
<< " Code Phase correction [samples]=" << delay_correction_samples
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
}
int32_t glonass_l1_ca_dll_pll_c_aid_tracking_sc::save_matfile()
{
// READ DUMP FILE
std::ifstream::pos_type size;
int32_t number_of_double_vars = 11;
int32_t number_of_float_vars = 5;
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;
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
try
{
dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
}
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem opening dump file:" << e.what() << std::endl;
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_E = std::vector<float>(num_epoch);
auto abs_P = std::vector<float>(num_epoch);
auto abs_L = 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<double>(num_epoch);
auto carrier_doppler_hz = std::vector<double>(num_epoch);
auto code_freq_chips = std::vector<double>(num_epoch);
auto carr_error_hz = std::vector<double>(num_epoch);
auto carr_error_filt_hz = std::vector<double>(num_epoch);
auto code_error_chips = std::vector<double>(num_epoch);
auto code_error_filt_chips = std::vector<double>(num_epoch);
auto CN0_SNV_dB_Hz = std::vector<double>(num_epoch);
auto carrier_lock_test = std::vector<double>(num_epoch);
auto aux1 = std::vector<double>(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_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 *>(&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(double));
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(double));
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() << std::endl;
return 1;
}
// WRITE MAT FILE
mat_t *matfp;
matvar_t *matvar;
std::string filename = d_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_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("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_DOUBLE, MAT_T_DOUBLE, 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_DOUBLE, MAT_T_DOUBLE, 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("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 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("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 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_DOUBLE, MAT_T_DOUBLE, 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_DOUBLE, MAT_T_DOUBLE, 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_DOUBLE, MAT_T_DOUBLE, 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_DOUBLE, MAT_T_DOUBLE, 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_DOUBLE, MAT_T_DOUBLE, 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_DOUBLE, MAT_T_DOUBLE, 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;
}
glonass_l1_ca_dll_pll_c_aid_tracking_sc::~glonass_l1_ca_dll_pll_c_aid_tracking_sc()
{
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)
{
if (d_channel == 0)
{
std::cout << "Writing .mat files ...";
}
try
{
glonass_l1_ca_dll_pll_c_aid_tracking_sc::save_matfile();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Error saving the .mat file: " << ex.what();
}
if (d_channel == 0)
{
std::cout << " done." << std::endl;
}
}
try
{
multicorrelator_cpu_16sc.free();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in Tracking block destructor: " << ex.what();
}
}
void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_channel(uint32_t channel)
{
d_channel = channel;
LOG(INFO) << "Tracking Channel set to " << d_channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename.append(std::to_string(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
}
}
}
}
void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
{
d_acquisition_gnss_synchro = p_gnss_synchro;
}
int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
// Block input data and block output stream pointers
const auto *in = reinterpret_cast<const lv_16sc_t *>(input_items[0]); // PRN start block alignment
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data = Gnss_Synchro();
// process vars
double code_error_filt_secs_Ti = 0.0;
double CURRENT_INTEGRATION_TIME_S = 0.0;
double CORRECTED_INTEGRATION_TIME_S = 0.0;
if (d_enable_tracking == true)
{
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
// Receiver signal alignment
if (d_pull_in == true)
{
int32_t samples_offset;
double acq_trk_shif_correction_samples;
int32_t acq_to_trk_delay_samples;
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(samples_offset);
d_sample_counter += static_cast<uint64_t>(samples_offset); // count for the processed samples
d_pull_in = false;
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GLONASS_TWO_PI;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.fs = d_fs_in;
*out[0] = current_synchro_data;
consume_each(samples_offset); // shift input to perform alignment with local replica
return 1;
}
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
// perform carrier wipe-off and compute Early, Prompt and Late correlation
multicorrelator_cpu_16sc.set_input_output_vectors(d_correlator_outs_16sc.data(), in);
multicorrelator_cpu_16sc.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
d_carrier_phase_step_rad,
d_rem_code_phase_chips,
d_code_phase_step_chips,
d_correlation_length_samples);
// ####### coherent integration extension
// keep the last symbols
d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output
d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output
d_L_history.push_back(d_correlator_outs_16sc[2]); // save late output
if (static_cast<int32_t>(d_P_history.size()) > d_extend_correlation_ms)
{
d_E_history.pop_front();
d_P_history.pop_front();
d_L_history.pop_front();
}
bool enable_dll_pll;
if (d_enable_extended_integration == true)
{
int64_t symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
{
// compute coherent integration and enable tracking loop
// perform coherent integration using correlator output history
// std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
d_correlator_outs_16sc[0] = lv_cmake(0, 0);
d_correlator_outs_16sc[1] = lv_cmake(0, 0);
d_correlator_outs_16sc[2] = lv_cmake(0, 0);
for (int32_t n = 0; n < d_extend_correlation_ms; n++)
{
d_correlator_outs_16sc[0] += d_E_history.at(n);
d_correlator_outs_16sc[1] += d_P_history.at(n);
d_correlator_outs_16sc[2] += d_L_history.at(n);
}
if (d_preamble_synchronized == false)
{
d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz, 2);
d_preamble_synchronized = true;
std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH " << d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
<< " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
<< " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
}
// UPDATE INTEGRATION TIME
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GLONASS_L1_CA_CODE_PERIOD_S;
enable_dll_pll = true;
}
else
{
if (d_preamble_synchronized == true)
{
// continue extended coherent correlation
// Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
double T_chip_seconds = 1.0 / d_code_freq_chips;
double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
int32_t K_prn_samples = round(T_prn_samples);
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
// code phase step (Code resampler phase increment per sample) [chips/sample]
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
// remnant code phase [chips]
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GLONASS_TWO_PI);
// UPDATE ACCUMULATED CARRIER PHASE
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
// disable tracking loop and inform telemetry decoder
enable_dll_pll = false;
}
else
{
// perform basic (1ms) correlation
// UPDATE INTEGRATION TIME
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
enable_dll_pll = true;
}
}
}
else
{
// UPDATE INTEGRATION TIME
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
enable_dll_pll = true;
}
if (enable_dll_pll == true)
{
// ################## PLL ##########################################################
// Update PLL discriminator [rads/Ti -> Secs/Ti]
d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag())) / GLONASS_TWO_PI; // prompt output
d_carrier_doppler_old_hz = d_carrier_doppler_hz;
// Carrier discriminator filter
// NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
// Input [s/Ti] -> output [Hz]
d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
// PLL to DLL assistance [Secs/Ti]
d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / d_glonass_freq_ch;
// code Doppler frequency update
d_code_freq_chips = GLONASS_L1_CA_CODE_RATE_CPS + (((d_carrier_doppler_hz - d_carrier_doppler_old_hz) * GLONASS_L1_CA_CODE_RATE_CPS) / d_glonass_freq_ch);
// ################## DLL ##########################################################
// DLL discriminator
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()), d_early_late_spc_chips, 1.0); // [chips/Ti] //early and late
// Code discriminator filter
d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
// ################## 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
double T_chip_seconds = 1.0 / d_code_freq_chips;
double T_prn_seconds = T_chip_seconds * GLONASS_L1_CA_CODE_LENGTH_CHIPS;
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
double K_prn_samples = round(T_prn_samples);
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); // (code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
// ################### PLL COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample]
d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GLONASS_TWO_PI;
// UPDATE ACCUMULATED CARRIER PHASE
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
// remnant carrier phase [rad]
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GLONASS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GLONASS_TWO_PI);
// ################### DLL COMMANDS #################################################
// code phase step (Code resampler phase increment per sample) [chips/sample]
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
// remnant code phase [chips]
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
// ####### CN0 ESTIMATION AND LOCK DETECTORS #######################################
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = lv_cmake(static_cast<float>(d_correlator_outs_16sc[1].real()), static_cast<float>(d_correlator_outs_16sc[1].imag())); // prompt
d_cn0_estimation_counter++;
}
else
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_m2m4_estimator(d_Prompt_buffer.data(), CN0_ESTIMATION_SAMPLES, GLONASS_L1_CA_CODE_PERIOD_S);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer.data(), CN0_ESTIMATION_SAMPLES);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0)
{
d_carrier_lock_fail_counter--;
}
}
if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
}
}
// ########### Output the tracking data to navigation and PVT ##########
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!)
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(d_correlation_length_samples);
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
if (d_preamble_synchronized == true)
{
current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
}
else
{
current_synchro_data.correlation_length_ms = 1;
}
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(d_correlation_length_samples);
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = GLONASS_TWO_PI * d_acc_carrier_phase_cycles;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; // todo: project the carrier doppler
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
}
}
else
{
for (int32_t n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs_16sc[n] = lv_cmake(0, 0);
}
current_synchro_data.System = {'R'};
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(d_correlation_length_samples);
}
current_synchro_data.fs = d_fs_in;
*out[0] = current_synchro_data;
if (d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
float prompt_I;
float prompt_Q;
float tmp_E;
float tmp_P;
float tmp_L;
float tmp_VE = 0.0;
float tmp_VL = 0.0;
float tmp_float;
prompt_I = d_correlator_outs_16sc[1].real();
prompt_Q = d_correlator_outs_16sc[1].imag();
tmp_E = std::abs<float>(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
tmp_P = std::abs<float>(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
tmp_L = std::abs<float>(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
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
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(uint64_t));
// accumulated carrier phase
tmp_float = d_acc_carrier_phase_cycles * GLONASS_TWO_PI;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// carrier and code frequency
tmp_float = d_carrier_doppler_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_freq_chips;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// DLL commands
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_code_error_filt_chips_Ti;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// CN0 and carrier lock test
tmp_float = d_CN0_SNV_dB_Hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carrier_lock_test;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// AUX vars (for debug purposes)
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
auto tmp_double = static_cast<double>(d_sample_counter + d_correlation_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();
}
}
consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
d_sample_counter += d_correlation_length_samples; // count for the processed samples
return 1; // output tracking result ALWAYS even in the case of d_enable_tracking==false
}
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