mirror of https://github.com/gnss-sdr/gnss-sdr
99 lines
3.7 KiB
Python
99 lines
3.7 KiB
Python
"""
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gps_l1_ca_kf_plot_sample.py
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Reads GNSS-SDR Tracking dump binary file using the provided
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function and plots some internal variables
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Irene Pérez Riega, 2023. iperrie@inta.es
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Modifiable in the file:
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sampling_freq - Sampling frequency [Hz]
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channels - Number of channels to check if they exist
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first_channel - Number of the first channel
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path - Path to folder which contains raw file
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'trk_dump_ch' - Fixed part in tracking dump files names
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-----------------------------------------------------------------------------
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GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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This file is part of GNSS-SDR.
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Copyright (C) 2022 (see AUTHORS file for a list of contributors)
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SPDX-License-Identifier: GPL-3.0-or-later
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-----------------------------------------------------------------------------
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"""
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import os
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import numpy as np
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from lib.gps_l1_ca_kf_read_tracking_dump import gps_l1_ca_kf_read_tracking_dump
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from lib.plotTracking import plotTracking
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from lib.plotKalman import plotKalman
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GNSS_tracking = []
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trackResults = []
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kalmanResults = []
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# ---------- CHANGE HERE:
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# Signal parameters:
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samplingFreq = 6625000
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channels = 5
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first_channel = 0
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code_period = 0.001
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path = '/home/labnav/Desktop/TEST_IRENE/tracking'
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for N in range(1, channels + 1):
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tracking_log_path = os.path.join(path,
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f'trk_dump_ch{N-1+first_channel}.dat')
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GNSS_tracking.append(gps_l1_ca_kf_read_tracking_dump(tracking_log_path))
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# todo lee lo mismo que dll_pll_velm_plot_sample y guarda diferente v13 y v14
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# GNSS-SDR format conversion to Python GPS receiver
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for N in range(1, channels + 1):
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trackResult= {
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'status': 'T', # fake track
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'codeFreq': np.copy(GNSS_tracking[N - 1]["code_freq_hz"]),
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'carrFreq': np.copy(GNSS_tracking[N - 1]["carrier_doppler_hz"]),
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'carrFreqRate':
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np.copy(GNSS_tracking[N - 1]["carrier_doppler_rate_hz2"]),#todo no se usa en dll, carrier_doppler_rate_hz_s segun dll
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'dllDiscr': np.copy(GNSS_tracking[N - 1]["code_error"]),
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'dllDiscrFilt': np.copy(GNSS_tracking[N - 1]["code_nco"]),
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'pllDiscr': np.copy(GNSS_tracking[N - 1]["carr_error"]),#todo code_freq_rate_hz_s segun dll
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'pllDiscrFilt': np.copy(GNSS_tracking[N - 1]["carr_nco"]),
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'I_P': np.copy(GNSS_tracking[N - 1]["prompt_I"]),#todo distinto de dll
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'Q_P': np.copy(GNSS_tracking[N - 1]["prompt_Q"]),#todo distinto de dll
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'I_E': np.copy(GNSS_tracking[N - 1]["E"]),
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'I_L': np.copy(GNSS_tracking[N - 1]["L"]),
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'Q_E': np.zeros(len(GNSS_tracking[N - 1]["E"])),
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'Q_L': np.zeros(len(GNSS_tracking[N - 1]["L"])),
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'PRN': np.copy(GNSS_tracking[N - 1]["PRN"]),
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'CNo': np.copy(GNSS_tracking[N - 1]["CN0_SNV_dB_Hz"])
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}
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kalmanResult= {
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'PRN': np.copy(GNSS_tracking[N - 1]["PRN"]),
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'innovation': np.copy(GNSS_tracking[N - 1]["carr_error"]),#todo code_freq_rate_hz_s segun dll
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'state1': np.copy(GNSS_tracking[N - 1]["carr_nco"]),
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'state2': np.copy(GNSS_tracking[N - 1]["carrier_doppler_hz"]),
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'state3': GNSS_tracking[N - 1]["carrier_doppler_rate_hz2"],#todo segun el dll es carrier_doppler_rate_hz_s
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'r_noise_cov': np.copy(GNSS_tracking[N - 1]["carr_noise_sigma2"]),#todo carr_error segun dll
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'CNo': np.copy(GNSS_tracking[N - 1]["CN0_SNV_dB_Hz"])
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}
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trackResults.append(trackResult)
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kalmanResults.append(kalmanResult)
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settings = {
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'numberOfChannels': channels,
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'msToProcess': len(GNSS_tracking[N-1]['E']),
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'codePeriod': code_period,
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'timeStartInSeconds': 20
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}
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# Create and save graphics as PNG
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plotTracking(N, trackResults, settings)
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plotKalman(N, kalmanResults, settings)
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