mirror of https://github.com/gnss-sdr/gnss-sdr
567 lines
21 KiB
C++
567 lines
21 KiB
C++
/*!
|
|
* \file gps_l1_ca_dll_pll_tracking_cc.cc
|
|
* \brief code DLL + carrier PLL
|
|
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
|
* Javier Arribas, 2011. jarribas(at)cttc.es
|
|
*
|
|
* Code DLL + carrier PLL according to the algorithms described in [1]
|
|
* [1] 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) 2010-2011 (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.
|
|
*
|
|
* GNSS-SDR is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* at your option) any later version.
|
|
*
|
|
* GNSS-SDR is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
* -------------------------------------------------------------------------
|
|
*/
|
|
|
|
#include "gps_l1_ca_dll_pll_tracking_cc.h"
|
|
#include "gps_sdr_signal_processing.h"
|
|
#include "tracking_discriminators.h"
|
|
#include "CN_estimators.h"
|
|
#include "GPS_L1_CA.h"
|
|
|
|
#include "control_message_factory.h"
|
|
#include <boost/lexical_cast.hpp>
|
|
#include <iostream>
|
|
#include <sstream>
|
|
#include <cmath>
|
|
#include "math.h"
|
|
|
|
#include <gnuradio/gr_io_signature.h>
|
|
|
|
#include <glog/log_severity.h>
|
|
#include <glog/logging.h>
|
|
|
|
/*!
|
|
* \todo Include in definition header file
|
|
*/
|
|
#define CN0_ESTIMATION_SAMPLES 10
|
|
#define MINIMUM_VALID_CN0 25
|
|
#define MAXIMUM_LOCK_FAIL_COUNTER 200
|
|
|
|
|
|
using google::LogMessage;
|
|
|
|
gps_l1_ca_dll_pll_tracking_cc_sptr
|
|
gps_l1_ca_dll_pll_make_tracking_cc(unsigned int satellite, long if_freq, long fs_in, unsigned
|
|
int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, float pll_bw_hz, float dll_bw_hz, float early_late_space_chips) {
|
|
|
|
return gps_l1_ca_dll_pll_tracking_cc_sptr(new gps_l1_ca_dll_pll_tracking_cc(satellite, if_freq,
|
|
fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
|
|
}
|
|
|
|
void gps_l1_ca_dll_pll_tracking_cc::forecast (int noutput_items,
|
|
gr_vector_int &ninput_items_required){
|
|
ninput_items_required[0] =(int)d_vector_length*2; //set the required available samples in each call
|
|
}
|
|
|
|
gps_l1_ca_dll_pll_tracking_cc::gps_l1_ca_dll_pll_tracking_cc(unsigned int satellite, long if_freq, long fs_in, unsigned
|
|
int vector_length, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, float pll_bw_hz, float dll_bw_hz, float early_late_space_chips) :
|
|
gr_block ("gps_l1_ca_dll_pll_tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
|
|
gr_make_io_signature(5, 5, sizeof(double))) {
|
|
|
|
//gr_sync_decimator ("gps_l1_ca_dll_pll_tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
|
|
// gr_make_io_signature(3, 3, sizeof(float)),vector_length) {
|
|
// initialize internal vars
|
|
d_queue = queue;
|
|
d_dump = dump;
|
|
d_satellite = satellite;
|
|
d_if_freq = if_freq;
|
|
d_fs_in = fs_in;
|
|
d_vector_length = vector_length;
|
|
d_dump_filename =dump_filename;
|
|
|
|
// Initialize tracking ==========================================
|
|
|
|
d_code_loop_filter.set_DLL_BW(dll_bw_hz);
|
|
d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
|
|
|
|
//--- 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=new gr_complex[(int)GPS_L1_CA_CODE_LENGTH_CHIPS+2];
|
|
|
|
// Get space for the resampled early / prompt / late local replicas
|
|
d_early_code= new gr_complex[d_vector_length*2];
|
|
d_prompt_code=new gr_complex[d_vector_length*2];
|
|
d_late_code=new gr_complex[d_vector_length*2];
|
|
|
|
// space for carrier wipeoff and signal baseband vectors
|
|
d_carr_sign=new gr_complex[d_vector_length*2];
|
|
|
|
//--- Perform initializations ------------------------------
|
|
// define initial code frequency basis of NCO
|
|
d_code_freq_hz = GPS_L1_CA_CODE_RATE_HZ;
|
|
// define residual code phase (in chips)
|
|
d_rem_code_phase_samples = 0.0;
|
|
// define residual carrier phase
|
|
d_rem_carr_phase_rad = 0.0;
|
|
|
|
// sample synchronization
|
|
d_sample_counter=0;
|
|
d_sample_counter_seconds=0;
|
|
d_acq_sample_stamp=0;
|
|
|
|
d_enable_tracking=false;
|
|
d_pull_in=false;
|
|
d_last_seg=0;
|
|
|
|
d_current_prn_length_samples=(int)d_vector_length;
|
|
|
|
// CN0 estimation and lock detector buffers
|
|
d_cn0_estimation_counter=0;
|
|
d_Prompt_buffer=new gr_complex[CN0_ESTIMATION_SAMPLES];
|
|
d_carrier_lock_test=1;
|
|
d_CN0_SNV_dB_Hz=0;
|
|
d_carrier_lock_fail_counter=0;
|
|
d_carrier_lock_threshold=5;
|
|
}
|
|
|
|
void gps_l1_ca_dll_pll_tracking_cc::start_tracking(){
|
|
/*!
|
|
* correct the code phase according to the delay between acq and trk
|
|
*/
|
|
unsigned long int acq_trk_diff_samples;
|
|
float acq_trk_diff_seconds;
|
|
acq_trk_diff_samples=d_sample_counter-d_acq_sample_stamp;//-d_vector_length;
|
|
std::cout<<"acq_trk_diff_samples="<<acq_trk_diff_samples<<"\r\n";
|
|
acq_trk_diff_seconds=(float)acq_trk_diff_samples/(float)d_fs_in;
|
|
//doppler effect
|
|
// Fd=(C/(C+Vr))*F
|
|
float radial_velocity;
|
|
radial_velocity=(GPS_L1_FREQ_HZ+d_acq_carrier_doppler_hz)/GPS_L1_FREQ_HZ;
|
|
// new chip and prn sequence periods based on acq Doppler
|
|
float T_chip_mod_seconds;
|
|
float T_prn_mod_seconds;
|
|
float T_prn_mod_samples;
|
|
d_code_freq_hz=radial_velocity*GPS_L1_CA_CODE_RATE_HZ;
|
|
T_chip_mod_seconds=1/d_code_freq_hz;
|
|
T_prn_mod_seconds=T_chip_mod_seconds*GPS_L1_CA_CODE_LENGTH_CHIPS;
|
|
T_prn_mod_samples=T_prn_mod_seconds*(float)d_fs_in;
|
|
d_next_prn_length_samples=round(T_prn_mod_samples);
|
|
|
|
|
|
float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS/GPS_L1_CA_CODE_RATE_HZ;
|
|
float T_prn_true_samples = T_prn_true_seconds*(float)d_fs_in;
|
|
float T_prn_diff_seconds;
|
|
T_prn_diff_seconds=T_prn_true_seconds-T_prn_mod_seconds;
|
|
float N_prn_diff;
|
|
N_prn_diff=acq_trk_diff_seconds/T_prn_true_seconds;
|
|
float corrected_acq_phase_samples,delay_correction_samples;
|
|
corrected_acq_phase_samples=fmod((d_acq_code_phase_samples+T_prn_diff_seconds*N_prn_diff*(float)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_doppler_hz=d_acq_carrier_doppler_hz;
|
|
// DLL/PLL filter initialization
|
|
d_carrier_loop_filter.initialize(d_carrier_doppler_hz); //initialize the carrier filter
|
|
d_code_loop_filter.initialize(d_acq_code_phase_samples); //initialize the code filter
|
|
|
|
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
|
|
code_gen_conplex(&d_ca_code[1],d_satellite,0);
|
|
d_ca_code[0]=d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS];
|
|
d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS+1]=d_ca_code[1];
|
|
|
|
d_carrier_lock_fail_counter=0;
|
|
d_rem_code_phase_samples=0;
|
|
d_rem_carr_phase_rad=0;
|
|
d_rem_code_phase_samples=0;
|
|
d_next_rem_code_phase_samples=0;
|
|
d_acc_carrier_phase_rad=0;
|
|
|
|
d_code_phase_samples = d_acq_code_phase_samples;
|
|
|
|
// DEBUG OUTPUT
|
|
std::cout<<"Tracking start on channel "<<d_channel<<" for satellite ID* "<< this->d_satellite<< std::endl;
|
|
DLOG(INFO) << "Start tracking for satellite "<<this->d_satellite<<" received ";
|
|
|
|
// enable tracking
|
|
d_pull_in=true;
|
|
d_enable_tracking=true;
|
|
|
|
std::cout<<"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<<"\r\n";
|
|
|
|
}
|
|
|
|
void gps_l1_ca_dll_pll_tracking_cc::update_local_code()
|
|
{
|
|
float tcode_chips;
|
|
float rem_code_phase_chips;
|
|
int associated_chip_index;
|
|
int code_length_chips=(int)GPS_L1_CA_CODE_LENGTH_CHIPS;
|
|
// unified loop for E, P, L code vectors
|
|
rem_code_phase_chips=d_rem_code_phase_samples*(d_code_freq_hz/d_fs_in);
|
|
tcode_chips=-rem_code_phase_chips;
|
|
for (int i=0;i<d_current_prn_length_samples;i++)
|
|
{
|
|
associated_chip_index=1+round(fmod(tcode_chips-d_early_late_spc_chips,code_length_chips));
|
|
d_early_code[i] = d_ca_code[associated_chip_index];
|
|
associated_chip_index = 1+round(fmod(tcode_chips, code_length_chips));
|
|
d_prompt_code[i] = d_ca_code[associated_chip_index];
|
|
associated_chip_index = 1+round(fmod(tcode_chips+d_early_late_spc_chips, code_length_chips));
|
|
d_late_code[i] = d_ca_code[associated_chip_index];
|
|
tcode_chips=tcode_chips+d_code_phase_step_chips;
|
|
}
|
|
}
|
|
|
|
void gps_l1_ca_dll_pll_tracking_cc::update_local_carrier()
|
|
{
|
|
float phase_rad, phase_step_rad;
|
|
|
|
phase_step_rad = (float)TWO_PI*d_carrier_doppler_hz/(float)d_fs_in;
|
|
phase_rad=d_rem_carr_phase_rad;
|
|
for(int i = 0; i < d_current_prn_length_samples; i++) {
|
|
d_carr_sign[i] = gr_complex(cos(phase_rad),sin(phase_rad));
|
|
phase_rad += phase_step_rad;
|
|
}
|
|
d_rem_carr_phase_rad=fmod(phase_rad,TWO_PI);
|
|
d_acc_carrier_phase_rad=d_acc_carrier_phase_rad+d_rem_carr_phase_rad;
|
|
}
|
|
|
|
gps_l1_ca_dll_pll_tracking_cc::~gps_l1_ca_dll_pll_tracking_cc() {
|
|
d_dump_file.close();
|
|
delete[] d_ca_code;
|
|
delete[] d_early_code;
|
|
delete[] d_prompt_code;
|
|
delete[] d_late_code;
|
|
delete[] d_carr_sign;
|
|
delete[] d_Prompt_buffer;
|
|
}
|
|
|
|
/*! Tracking signal processing
|
|
* Notice that this is a class derived from gr_sync_decimator, so each of the ninput_items has vector_length samples
|
|
*/
|
|
|
|
int gps_l1_ca_dll_pll_tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
|
|
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) {
|
|
|
|
// if ((unsigned int)ninput_items[0]<(d_vector_length*2))
|
|
// {
|
|
// std::cout<<"End of signal detected\r\n";
|
|
// const int samples_available = ninput_items[0];
|
|
// consume_each(samples_available);
|
|
// return 0;
|
|
// }
|
|
|
|
// process vars
|
|
float carr_error;
|
|
float carr_nco;
|
|
float code_error;
|
|
float code_nco;
|
|
d_Early=gr_complex(0,0);
|
|
d_Prompt=gr_complex(0,0);
|
|
d_Late=gr_complex(0,0);
|
|
|
|
if (d_enable_tracking==true){
|
|
/*!
|
|
* Receiver signal alignment
|
|
*/
|
|
if (d_pull_in==true)
|
|
{
|
|
int samples_offset;
|
|
|
|
// 28/11/2011 ACQ to TRK transition BUG CORRECTION
|
|
float acq_trk_shif_correction_samples;
|
|
int acq_to_trk_delay_samples;
|
|
acq_to_trk_delay_samples=d_sample_counter-d_acq_sample_stamp;
|
|
acq_trk_shif_correction_samples=d_next_prn_length_samples-fmod((float)acq_to_trk_delay_samples,(float)d_next_prn_length_samples);
|
|
//std::cout<<"acq_trk_shif_correction="<<acq_trk_shif_correction_samples<<"\r\n";
|
|
|
|
samples_offset=round(d_acq_code_phase_samples+acq_trk_shif_correction_samples);
|
|
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
|
|
d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset)/(double)d_fs_in);
|
|
d_sample_counter=d_sample_counter+samples_offset; //count for the processed samples
|
|
d_pull_in=false;
|
|
//std::cout<<" samples_offset="<<samples_offset<<"\r\n";
|
|
consume_each(samples_offset); //shift input to perform alignement with local replica
|
|
return 1;
|
|
}
|
|
|
|
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignement
|
|
double **out = (double **) &output_items[0];
|
|
// check for samples consistency
|
|
for(int i=0;i<d_current_prn_length_samples;i++) {
|
|
if (std::isnan(in[i].real())==true or std::isnan(in[i].imag())==true)// or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
|
|
{
|
|
const int samples_available= ninput_items[0];
|
|
d_sample_counter=d_sample_counter+samples_available;
|
|
LOG_AT_LEVEL(WARNING) << "Detected NaN samples at sample number "<<d_sample_counter;
|
|
consume_each(samples_available);
|
|
return 0;
|
|
}
|
|
}
|
|
// Update the prn length based on code freq (variable) and
|
|
// sampling frequency (fixed)
|
|
// variable code PRN sample block size
|
|
d_current_prn_length_samples=d_next_prn_length_samples;
|
|
|
|
update_local_code();
|
|
update_local_carrier();
|
|
|
|
gr_complex bb_signal_sample(0,0);
|
|
|
|
// perform Early, Prompt and Late correlation
|
|
/*!
|
|
* \todo Use SIMD-enabled correlators
|
|
*/
|
|
for(int i=0;i<d_current_prn_length_samples;i++) {
|
|
//Perform the carrier wipe-off
|
|
bb_signal_sample = in[i] * d_carr_sign[i];
|
|
// Now get early, late, and prompt values for each
|
|
d_Early += bb_signal_sample*d_early_code[i];
|
|
d_Prompt += bb_signal_sample*d_prompt_code[i];
|
|
d_Late += bb_signal_sample*d_late_code[i];
|
|
}
|
|
// Compute PLL error and update carrier NCO -
|
|
carr_error=pll_cloop_two_quadrant_atan(d_Prompt)/ (float)TWO_PI;
|
|
// Implement carrier loop filter and generate NCO command
|
|
carr_nco=d_carrier_loop_filter.get_carrier_nco(carr_error);
|
|
// Modify carrier freq based on NCO command
|
|
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_nco;
|
|
|
|
// Compute DLL error and update code NCO
|
|
code_error=dll_nc_e_minus_l_normalized(d_Early,d_Late);
|
|
// Implement code loop filter and generate NCO command
|
|
code_nco=d_code_loop_filter.get_code_nco(code_error);
|
|
// Modify code freq based on NCO command
|
|
d_code_freq_hz = GPS_L1_CA_CODE_RATE_HZ - code_nco;
|
|
|
|
// Update the phasestep based on code freq (variable) and
|
|
// sampling frequency (fixed)
|
|
d_code_phase_step_chips = d_code_freq_hz / (float)d_fs_in; //[chips]
|
|
// variable code PRN sample block size
|
|
float T_chip_seconds;
|
|
float T_prn_seconds;
|
|
float T_prn_samples;
|
|
float K_blk_samples;
|
|
T_chip_seconds=1/d_code_freq_hz;
|
|
T_prn_seconds=T_chip_seconds*GPS_L1_CA_CODE_LENGTH_CHIPS;
|
|
T_prn_samples=T_prn_seconds*d_fs_in;
|
|
d_rem_code_phase_samples=d_next_rem_code_phase_samples;
|
|
K_blk_samples=T_prn_samples+d_rem_code_phase_samples;
|
|
|
|
// Update the current PRN delay (code phase in samples)
|
|
float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS/GPS_L1_CA_CODE_RATE_HZ;
|
|
float T_prn_true_samples = T_prn_true_seconds*(float)d_fs_in;
|
|
d_code_phase_samples=d_code_phase_samples+T_prn_samples-T_prn_true_samples;
|
|
if (d_code_phase_samples<0)
|
|
{
|
|
d_code_phase_samples=T_prn_true_samples+d_code_phase_samples;
|
|
}
|
|
|
|
d_code_phase_samples=fmod(d_code_phase_samples,T_prn_true_samples);
|
|
|
|
d_next_prn_length_samples=round(K_blk_samples); //round to a discrete samples
|
|
d_next_rem_code_phase_samples=K_blk_samples-d_next_prn_length_samples; //rounding error
|
|
|
|
/*!
|
|
* \todo Improve the lock detection algorithm!
|
|
*/
|
|
// ####### 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]=d_Prompt;
|
|
d_cn0_estimation_counter++;
|
|
}else{
|
|
d_cn0_estimation_counter=0;
|
|
d_CN0_SNV_dB_Hz=gps_l1_ca_CN0_SNV(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES,d_fs_in);
|
|
d_carrier_lock_test=carrier_lock_detector(d_Prompt_buffer,CN0_ESTIMATION_SAMPLES);
|
|
// ###### TRACKING UNLOCK NOTIFICATION #####
|
|
int tracking_message;
|
|
if (d_carrier_lock_test<d_carrier_lock_threshold or d_carrier_lock_test>MINIMUM_VALID_CN0)
|
|
{
|
|
d_carrier_lock_fail_counter++;
|
|
}else{
|
|
if (d_carrier_lock_fail_counter>0) d_carrier_lock_fail_counter--;
|
|
}
|
|
if (d_carrier_lock_fail_counter>MAXIMUM_LOCK_FAIL_COUNTER)
|
|
{
|
|
std::cout<<"Channel "<<d_channel << " loss of lock!\r\n";
|
|
tracking_message=3; //loss of lock
|
|
d_channel_internal_queue->push(tracking_message);
|
|
d_carrier_lock_fail_counter=0;
|
|
d_enable_tracking=false; // TODO: check if disabling tracking is consistent with the channel state machine
|
|
|
|
}
|
|
//std::cout<<"d_carrier_lock_fail_counter"<<d_carrier_lock_fail_counter<<"\r\n";
|
|
}
|
|
|
|
/*!
|
|
* \todo Output the CN0
|
|
*/
|
|
// ########### Output the tracking data to navigation and PVT ##########
|
|
// Output channel 0: Prompt correlator output Q
|
|
*out[0]=(double)d_Prompt.real();
|
|
// Output channel 1: Prompt correlator output I
|
|
*out[1]=(double)d_Prompt.imag();
|
|
// Output channel 2: PRN absolute delay [s]
|
|
*out[2]=d_sample_counter_seconds;
|
|
// Output channel 3: d_acc_carrier_phase_rad [rad]
|
|
*out[3]=(double)d_acc_carrier_phase_rad;
|
|
// Output channel 4: PRN code phase [s]
|
|
*out[4]=(double)d_code_phase_samples*(1/(float)d_fs_in);
|
|
|
|
// ########## DEBUG OUTPUT
|
|
/*!
|
|
* \todo The stop timer has to be moved to the signal source!
|
|
*/
|
|
// debug: Second counter in channel 0
|
|
if (d_channel==0)
|
|
{
|
|
if (floor(d_sample_counter/d_fs_in)!=d_last_seg)
|
|
{
|
|
d_last_seg=floor(d_sample_counter/d_fs_in);
|
|
std::cout<<"Current input signal time="<<d_last_seg<<" [s]"<<std::endl;
|
|
std::cout<<"Tracking CH "<<d_channel<<" CN0="<<d_CN0_SNV_dB_Hz<<" [dB-Hz]"<<std::endl;
|
|
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
|
|
//if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
|
|
}
|
|
}else
|
|
{
|
|
if (floor(d_sample_counter/d_fs_in)!=d_last_seg)
|
|
{
|
|
d_last_seg=floor(d_sample_counter/d_fs_in);
|
|
std::cout<<"Tracking CH "<<d_channel<<" CN0="<<d_CN0_SNV_dB_Hz<<" [dB-Hz]"<<std::endl;
|
|
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
|
|
}
|
|
}
|
|
}else{
|
|
double **out = (double **) &output_items[0]; //block output streams pointer
|
|
*out[0]=0;
|
|
*out[1]=0;
|
|
*out[2]=0;
|
|
*out[3]=0;
|
|
*out[4]=0;
|
|
}
|
|
|
|
if(d_dump) {
|
|
// MULTIPLEXED FILE RECORDING - Record results to file
|
|
float prompt_I;
|
|
float prompt_Q;
|
|
float tmp_E,tmp_P,tmp_L;
|
|
float tmp_float;
|
|
prompt_I=d_Prompt.imag();
|
|
prompt_Q=d_Prompt.real();
|
|
tmp_E=std::abs<float>(d_Early);
|
|
tmp_P=std::abs<float>(d_Prompt);
|
|
tmp_L=std::abs<float>(d_Late);
|
|
try {
|
|
// EPR
|
|
d_dump_file.write((char*)&tmp_E, sizeof(float));
|
|
d_dump_file.write((char*)&tmp_P, sizeof(float));
|
|
d_dump_file.write((char*)&tmp_L, sizeof(float));
|
|
// PROMPT I and Q (to analyze navigation symbols)
|
|
d_dump_file.write((char*)&prompt_I, sizeof(float));
|
|
d_dump_file.write((char*)&prompt_Q, sizeof(float));
|
|
// PRN start sample stamp
|
|
//tmp_float=(float)d_sample_counter;
|
|
d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
|
|
// accumulated carrier phase
|
|
d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float));
|
|
|
|
// carrier and code frequency
|
|
d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
|
|
d_dump_file.write((char*)&d_code_freq_hz, sizeof(float));
|
|
|
|
//PLL commands
|
|
d_dump_file.write((char*)&carr_error, sizeof(float));
|
|
d_dump_file.write((char*)&carr_nco, sizeof(float));
|
|
|
|
//DLL commands
|
|
d_dump_file.write((char*)&code_error, sizeof(float));
|
|
d_dump_file.write((char*)&code_nco, sizeof(float));
|
|
|
|
// CN0 and carrier lock test
|
|
d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));
|
|
d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
|
|
|
|
// AUX vars (for debug purposes)
|
|
tmp_float=0;
|
|
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
|
d_dump_file.write((char*)&d_sample_counter_seconds, sizeof(double));
|
|
}
|
|
catch (std::ifstream::failure e) {
|
|
std::cout << "Exception writing trk dump file "<<e.what()<<"\r\n";
|
|
}
|
|
}
|
|
|
|
consume_each(d_current_prn_length_samples); // this is necesary in gr_block derivates
|
|
d_sample_counter_seconds = d_sample_counter_seconds + (((double)d_current_prn_length_samples)/(double)d_fs_in);
|
|
d_sample_counter+=d_current_prn_length_samples; //count for the processed samples
|
|
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
|
|
}
|
|
|
|
void gps_l1_ca_dll_pll_tracking_cc::set_acq_code_phase(float code_phase) {
|
|
d_acq_code_phase_samples = code_phase;
|
|
LOG_AT_LEVEL(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
|
|
}
|
|
|
|
void gps_l1_ca_dll_pll_tracking_cc::set_acq_doppler(float doppler) {
|
|
d_acq_carrier_doppler_hz = doppler;
|
|
LOG_AT_LEVEL(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
|
|
}
|
|
|
|
void gps_l1_ca_dll_pll_tracking_cc::set_satellite(unsigned int satellite) {
|
|
d_satellite = satellite;
|
|
LOG_AT_LEVEL(INFO) << "Tracking Satellite set to " << d_satellite;
|
|
}
|
|
|
|
void gps_l1_ca_dll_pll_tracking_cc::set_channel(unsigned int channel) {
|
|
d_channel = channel;
|
|
LOG_AT_LEVEL(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(boost::lexical_cast<std::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);
|
|
std::cout<<"Tracking dump enabled on channel "<<d_channel<<" Log file: "<<d_dump_filename.c_str()<<std::endl;
|
|
}
|
|
catch (std::ifstream::failure e) {
|
|
std::cout << "channel "<<d_channel <<" Exception opening trk dump file "<<e.what()<<"\r\n";
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void gps_l1_ca_dll_pll_tracking_cc::set_acq_sample_stamp(unsigned long int sample_stamp)
|
|
{
|
|
d_acq_sample_stamp = sample_stamp;
|
|
}
|
|
|
|
void gps_l1_ca_dll_pll_tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
|
|
{
|
|
d_channel_internal_queue = channel_internal_queue;
|
|
}
|