mirror of https://github.com/gnss-sdr/gnss-sdr
222 lines
6.6 KiB
C++
222 lines
6.6 KiB
C++
/*!
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* \file gps_l1_ca_kf_tracking_cc.h
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* \brief Interface of a processing block of a DLL + Kalman carrier
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* tracking loop for GPS L1 C/A signals
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* \author Javier Arribas, 2018. jarribas(at)cttc.es
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* \author Jordi Vila-Valls 2018. jvila(at)cttc.es
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* \author Carles Fernandez-Prades 2018. cfernandez(at)cttc.es
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*
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* Reference:
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* J. Vila-Valls, P. Closas, M. Navarro and C. Fernandez-Prades,
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* "Are PLLs Dead? A Tutorial on Kalman Filter-based Techniques for Digital
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* Carrier Synchronization", IEEE Aerospace and Electronic Systems Magazine,
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* Vol. 32, No. 7, pp. 28–45, July 2017. DOI: 10.1109/MAES.2017.150260
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H
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#define GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H
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#include "bayesian_estimation.h"
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#include "cpu_multicorrelator_real_codes.h"
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#include "gnss_synchro.h"
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#include "tracking_2nd_DLL_filter.h"
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#include "tracking_2nd_PLL_filter.h"
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#include <armadillo>
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#include <gnuradio/block.h>
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#include <fstream>
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#include <map>
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#include <string>
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class Gps_L1_Ca_Kf_Tracking_cc;
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using gps_l1_ca_kf_tracking_cc_sptr = boost::shared_ptr<Gps_L1_Ca_Kf_Tracking_cc>;
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gps_l1_ca_kf_tracking_cc_sptr
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gps_l1_ca_kf_make_tracking_cc(uint32_t order,
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int64_t if_freq,
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int64_t fs_in, uint32_t vector_length,
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bool dump,
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std::string dump_filename,
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float dll_bw_hz,
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float early_late_space_chips,
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bool bce_run,
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uint32_t bce_ptrans,
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uint32_t bce_strans,
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int32_t bce_nu,
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int32_t bce_kappa);
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/*!
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* \brief This class implements a DLL + PLL tracking loop block
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*/
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class Gps_L1_Ca_Kf_Tracking_cc : public gr::block
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{
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public:
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~Gps_L1_Ca_Kf_Tracking_cc();
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void set_channel(uint32_t channel);
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void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
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void start_tracking();
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int general_work(int noutput_items, gr_vector_int& ninput_items,
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gr_vector_const_void_star& input_items, gr_vector_void_star& output_items);
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void forecast(int noutput_items, gr_vector_int& ninput_items_required);
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private:
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friend gps_l1_ca_kf_tracking_cc_sptr
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gps_l1_ca_kf_make_tracking_cc(uint32_t order,
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int64_t if_freq,
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int64_t fs_in, uint32_t vector_length,
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bool dump,
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std::string dump_filename,
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float dll_bw_hz,
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float early_late_space_chips,
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bool bce_run,
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uint32_t bce_ptrans,
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uint32_t bce_strans,
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int32_t bce_nu,
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int32_t bce_kappa);
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Gps_L1_Ca_Kf_Tracking_cc(uint32_t order,
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int64_t if_freq,
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int64_t fs_in, uint32_t vector_length,
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bool dump,
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std::string dump_filename,
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float dll_bw_hz,
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float early_late_space_chips,
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bool bce_run,
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uint32_t bce_ptrans,
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uint32_t bce_strans,
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int32_t bce_nu,
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int32_t bce_kappa);
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// tracking configuration vars
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uint32_t d_order;
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uint32_t d_vector_length;
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bool d_dump;
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Gnss_Synchro* d_acquisition_gnss_synchro;
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uint32_t d_channel;
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int64_t d_if_freq;
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int64_t d_fs_in;
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double d_early_late_spc_chips;
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// remaining code phase and carrier phase between tracking loops
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double d_rem_code_phase_samples;
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double d_rem_code_phase_chips;
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double d_rem_carr_phase_rad;
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// Kalman filter variables
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arma::mat kf_P_x_ini; // initial state error covariance matrix
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arma::mat kf_P_x; // state error covariance matrix
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arma::mat kf_P_x_pre; // Predicted state error covariance matrix
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arma::mat kf_P_y; // innovation covariance matrix
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arma::mat kf_F; // state transition matrix
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arma::mat kf_H; // system matrix
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arma::mat kf_R; // measurement error covariance matrix
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arma::mat kf_Q; // system error covariance matrix
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arma::colvec kf_x; // state vector
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arma::colvec kf_x_pre; // predicted state vector
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arma::colvec kf_y; // measurement vector
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arma::mat kf_K; // Kalman gain matrix
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// Bayesian estimator
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Bayesian_estimator bayes_estimator;
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arma::mat kf_R_est; // measurement error covariance
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uint32_t bayes_ptrans;
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uint32_t bayes_strans;
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int32_t bayes_nu;
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int32_t bayes_kappa;
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bool bayes_run;
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uint32_t kf_iter;
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// PLL and DLL filter library
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Tracking_2nd_DLL_filter d_code_loop_filter;
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// Tracking_2nd_PLL_filter d_carrier_loop_filter;
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// acquisition
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double d_acq_carrier_doppler_step_hz;
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double d_acq_code_phase_samples;
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double d_acq_carrier_doppler_hz;
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// correlator
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int32_t d_n_correlator_taps;
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float* d_ca_code;
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float* d_local_code_shift_chips;
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gr_complex* d_correlator_outs;
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Cpu_Multicorrelator_Real_Codes multicorrelator_cpu;
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// tracking vars
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double d_code_freq_chips;
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double d_code_phase_step_chips;
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double d_code_phase_rate_step_chips;
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double d_carrier_doppler_hz;
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double d_carrier_dopplerrate_hz2;
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double d_carrier_phase_step_rad;
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double d_acc_carrier_phase_rad;
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double d_carr_phase_error_rad;
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double d_carr_phase_sigma2;
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double d_code_phase_samples;
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double code_error_chips;
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double code_error_filt_chips;
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// PRN period in samples
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int32_t d_current_prn_length_samples;
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// processing samples counters
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uint64_t d_sample_counter;
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uint64_t d_acq_sample_stamp;
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// CN0 estimation and lock detector
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int32_t d_cn0_estimation_counter;
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gr_complex* d_Prompt_buffer;
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double d_carrier_lock_test;
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double d_CN0_SNV_dB_Hz;
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double d_carrier_lock_threshold;
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int32_t d_carrier_lock_fail_counter;
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// control vars
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bool d_enable_tracking;
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bool d_pull_in;
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// file dump
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std::string d_dump_filename;
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std::ofstream d_dump_file;
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std::map<std::string, std::string> systemName;
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std::string sys;
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int32_t save_matfile();
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};
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#endif // GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H
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