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gnss-sdr/src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_a...

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/*!
* \file galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E1 Signals using the QuickSync Algorithm
* \author Damian Miralles, 2014. dmiralles2009@gmail.com
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
#include "Galileo_E1.h"
#include "configuration_interface.h"
#include "galileo_e1_signal_replica.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
#if HAS_STD_SPAN
#include <span>
namespace own = std;
#else
#include <gsl/gsl>
namespace own = gsl;
#endif
GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition(
const ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
configuration_ = configuration;
const std::string default_item_type("gr_complex");
const std::string default_dump_filename("../data/acquisition.dat");
DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type",
default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 8);
/* --- Find number of samples per spreading code (4 ms) -----------------*/
code_length_ = static_cast<unsigned int>(round(
fs_in_ / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
auto samples_per_ms = static_cast<int>(round(code_length_ / 4.0));
/*Calculate the folding factor value based on the formula described in the paper.
This may be a bug, but acquisition also work by variying the folding factor at va-
lues different that the expressed in the paper. In adition, it is important to point
out that by making the folding factor smaller we were able to get QuickSync work with
Galileo. Future work should be directed to test this assumption statistically.*/
// folding_factor_ = static_cast<unsigned int>(ceil(sqrt(log2(code_length_))));
folding_factor_ = configuration_->property(role + ".folding_factor", 2);
if (sampled_ms_ % (folding_factor_ * 4) != 0)
{
LOG(WARNING) << "QuickSync Algorithm requires a coherent_integration_time"
<< " multiple of " << (folding_factor_ * 4) << "ms, Value entered "
<< sampled_ms_ << " ms";
if (sampled_ms_ < (folding_factor_ * 4))
{
sampled_ms_ = static_cast<int>(folding_factor_ * 4);
}
else
{
sampled_ms_ = static_cast<int>(sampled_ms_ / (folding_factor_ * 4)) * (folding_factor_ * 4);
}
LOG(WARNING) << "coherent_integration_time should be multiple of "
<< "Galileo code length (4 ms). coherent_integration_time = "
<< sampled_ms_ << " ms will be used.";
}
// vector_length_ = (sampled_ms_/folding_factor_) * code_length_;
vector_length_ = sampled_ms_ * samples_per_ms;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
if (!bit_transition_flag_)
{
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
}
else
{
max_dwells_ = 2;
}
dump_filename_ = configuration_->property(role + ".dump_filename",
default_dump_filename);
bool enable_monitor_output = configuration_->property("AcquisitionMonitor.enable_monitor", false);
code_ = std::vector<std::complex<float>>(code_length_);
LOG(INFO) << "Vector Length: " << vector_length_
<< ", Samples per ms: " << samples_per_ms
<< ", Folding factor: " << folding_factor_
<< ", Sampled ms: " << sampled_ms_
<< ", Code Length: " << code_length_;
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_,
sampled_ms_, max_dwells_, doppler_max_, fs_in_,
samples_per_ms, code_length_, bit_transition_flag_,
dump_, dump_filename_, enable_monitor_output);
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_,
vector_length_);
DLOG(INFO) << "stream_to_vector_quicksync("
<< stream_to_vector_->unique_id() << ")";
DLOG(INFO) << "acquisition_quicksync(" << acquisition_cc_->unique_id()
<< ")";
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type_ << " unknown acquisition item type";
}
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
}
if (out_streams_ > 0)
{
LOG(ERROR) << "This implementation does not provide an output stream";
}
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::stop_acquisition()
{
acquisition_cc_->set_state(0);
acquisition_cc_->set_active(false);
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", static_cast<float>(0.0));
if (pfa == 0.0)
{
pfa = configuration_->property(role_ + ".pfa", static_cast<float>(0.0));
}
if (pfa == 0.0)
{
threshold_ = threshold;
}
else
{
threshold_ = calculate_threshold(pfa);
}
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_threshold(threshold_);
}
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_gnss_synchro(
Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
}
signed int
GalileoE1PcpsQuickSyncAmbiguousAcquisition::mag()
{
if (item_type_ == "gr_complex")
{
return acquisition_cc_->mag();
}
return 0;
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::init()
{
acquisition_cc_->init();
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
{
if (item_type_ == "gr_complex")
{
bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false);
std::vector<std::complex<float>> code(code_length_);
std::array<char, 3> Signal_{};
Signal_[0] = gnss_synchro_->Signal[0];
Signal_[1] = gnss_synchro_->Signal[1];
Signal_[2] = '\0';
galileo_e1_code_gen_complex_sampled(code, Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
own::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < (sampled_ms_ / (folding_factor_ * 4)); i++)
{
std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_cc_->set_local_code(code_.data());
}
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
{
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_active(true);
}
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_state(int state)
{
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_state(state);
}
}
float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa)
{
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += static_cast<int>(doppler_step_))
{
frequency_bins++;
}
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = code_length_ / folding_factor_ * frequency_bins;
double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_);
boost::math::exponential_distribution<double> mydist(lambda);
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_ == "gr_complex")
{
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
}
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_ == "gr_complex")
{
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
}
}
gr::basic_block_sptr GalileoE1PcpsQuickSyncAmbiguousAcquisition::get_left_block()
{
return stream_to_vector_;
}
gr::basic_block_sptr GalileoE1PcpsQuickSyncAmbiguousAcquisition::get_right_block()
{
return acquisition_cc_;
}
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