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657 lines
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657 lines
41 KiB
Plaintext
# 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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#
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# Copyright (C) 2012-2020 Carles Fernandez-Prades cfernandez(at)cttc.es
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# SPDX-License-Identifier: GPL-3.0-or-later
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/*! \mainpage
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\image html gnss-sdr_logo.png
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\image latex gnss-sdr_logo.png "GNSS-SDR logo" width=2.5cm
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Welcome to GNSS-SDR!
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GNSS-SDR is an open-source <a href="https://en.wikipedia.org/wiki/Software_GNSS_receiver" target="_blank">GNSS software receiver</a> freely available to the research community. This project provides a common framework for GNSS signal processing which can operate in a variety of computer platforms. This tool is intended to foster collaboration, increase awareness, and reduce development costs in the field of GNSS receiver design and customized use of GNSS signals.
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For details about GNSS-SDR and using it, please see the <a
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href="https://gnss-sdr.org" target="_blank"><b>main project page</b></a> or browse <a
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href="https://github.com/gnss-sdr/gnss-sdr" target="_blank"><b>the source code at GitHub</b></a>. You could be also interested in
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<a href="https://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers" target="_blank"><b>subscribing to the mailing list</b></a>.
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\section toc Contents
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\li \ref overview
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\li \ref build
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\li \ref using_gnss-sdr
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\li \ref control_plane
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\li \ref signal_processing
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\li \ref license
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\li \ref publications
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\li \ref now_what
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More details on GNSS-SDR signal processing blocks:
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\li \ref signal_source
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\li \ref signal_conditioner
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\li \ref channel
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<ul>
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<li> \ref acquisition </li>
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<li> \ref tracking</li>
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<li> \ref decoding
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</ul>
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\li \ref observables
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\li \ref pvt
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\section overview Overview
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GNSS-SDR provides an interface to different suitable RF front-ends and implements all the receiver chain up to the navigation solution.
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Its design allows any kind of customization, including interchangeability of signal sources, signal processing algorithms,
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interoperability with other systems, output formats, and offers interfaces to all the intermediate signals, parameters and variables.
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The goal is to write efficient and truly reusable code, easy to read and maintain, with fewer bugs, and producing highly optimized executables
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in a variety of hardware platforms and operating systems. In that sense, the challenge consists of defining a gentle balance within level
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of abstraction and performance. GNSS-SDR runs in a personal computer and provides interfaces through USB and Ethernet
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buses to a variety of either commercially available or custom-made RF front-ends, adapting the processing algorithms to different sampling frequencies, intermediate
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frequencies and sample resolutions. This makes possible rapid prototyping of specific receivers intended, for instance, to geodetic applications,
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observation of the ionospheric impact on navigation signals, GNSS reflectometry, signal quality monitoring, or carrier-phase based navigation techniques.
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\image html overview.png
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\image latex overview.png "Overview" width=12cm
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As signal inputs, it accepts:
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\li Raw data file captured with a data grabber (digitized at some intermediate frequency or directly at baseband).
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\li Any suitable RF configuration that can be driven by the Universal Software Radio Peripheral Hardware Driver (<a href="https://files.ettus.com/uhd_docs/manual/html/" target="_blank">UHD</a>).
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This includes all current and future <a href="https://www.ettus.com/">Ettus Research</a> products. The USRP1 + DBSRX 2.2 daughterboard is an example of working configuration for GPS L1 C/A and Galileo E1B and E1C signals.
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\li Experimentally, with some <a href="https://gnss-sdr.org/docs/tutorials/gnss-sdr-operation-realtek-rtl2832u-usb-dongle-dvb-t-receiver/" target="_blank">USB DVB-T dongles based on the Realtek RTL2832U chipset</a>.
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\li For mathematical representations of the targeted signals, check out the \ref the_signal_model page.
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As outputs, it provides:
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\li Dump of intermediate signals (configurable by the user)
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\li The processing is logged at a system temporary folder (usually, <tt>/tmp</tt>)
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\li Observables in form of RINEX file (experimental)
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\li Navigation message data in form of RINEX file
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\li Position, Velocity and Time solution in KML format and NMEA
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\section build Building GNSS-SDR
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In principle, GNSS-SDR can be built in any Unix-like system. In practice, it depends on being able to install all the required dependencies. See the <a href="https://gnss-sdr.org/build-and-install/" target="_blank">building guide</a> page for details about the project's
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dependencies and build process. Mainly, it consists on installing <a href="https://www.gnuradio.org/" target="_blank">GNU Radio</a> plus some few more libraries:
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\li <a href="http://arma.sourceforge.net/" target="_blank">Armadillo</a>, a C++ linear algebra library,
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\li <a href="https://www.boost.org/" target="_blank">Boost</a>, a set of free peer-reviewed portable C++ source libraries,
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\li <a href="https://github.com/gflags/gflags" target="_blank">Gflags</a>, a library that implements commandline flags processing,
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\li <a href="https://github.com/google/glog" target="_blank">Glog</a>, a library that implements application-level logging,
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\li <a href="https://github.com/google/googletest" target="_blank">Googletest</a>, Google's framework for writing C++ tests,
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\li <a href="https://www.makotemplates.org/" target="_blank">Mako</a>, a template library written in Python,
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\li <a href="https://github.com/tbeu/matio" target="_blank">Matio</a>, a MATLAB MAT File I/O Library,
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\li <a href="https://developers.google.com/protocol-buffers" target="_blank">Protocol Buffers</a>, a language-neutral, platform-neutral extensible mechanism for serializing structured data,
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\li <a href="https://pugixml.org/" target="_blank">PugiXML</a>, a light-weight, simple and fast XML parser for C++ with XPath support,
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\li <a href="https://www.libvolk.org" target="_blank">Volk</a>, a Vector-Optimized Library of Kernels which provides an abstraction of optimized math routines targeting several SIMD processors,
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and, optionally,
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\li GNU Radio modules for hardware interface (<a href="https://github.com/gnuradio/gnuradio/tree/main/gr-uhd" target="_blank">gr-uhd</a>, <a href="http://git.osmocom.org/gr-osmosdr" target="_blank">gr-osmosdr</a>, <a href="https://github.com/analogdevicesinc/gr-iio" target="_blank">gr-iio</a>),
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\li <a href="https://github.com/google/benchmark" target="_blank">Benchmark</a>, a library to benchmark code snippets,
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\li <a href="https://github.com/gperftools/gperftools" target="_blank">Gperftools</a>, which provides fast, multi-threaded malloc() and performance analysis tools.
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After all dependencies are installed, clone the GNSS-SDR repository:
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\verbatim
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$ git clone https://github.com/gnss-sdr/gnss-sdr
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\endverbatim
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This will create a folder named gnss-sdr with the following structure:
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\verbatim
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|-gnss-sdr
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|---build <- where gnss-sdr is built
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|---cmake <- CMake-related files
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|---conf <- Configuration files. Each file represents one receiver.
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|---data <- Populate this folder with your captured data.
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|---docs <- Contains documentation-related files
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|---install <- Executables
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|---src <- Source code folder
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|-----algorithms
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|-------PVT
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|-------acquisition
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|-------channel
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|-------conditioner
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|-------data_type_adapter
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|-------input_filter
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|-------libs
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|-------observables
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|-------resampler
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|-------signal_source
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|-------telemetry_decoder
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|-------tracking
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|-----core
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|-------interfaces
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|-------libs
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|-------receiver
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|-------system_parameters
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|-----main
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|-----tests
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|-----utils <- some utilities (e.g. Matlab scripts)
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\endverbatim
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You are now ready to build GNSS-SDR by using <a href="https://cmake.org/" target="_blank">CMake</a> as building tool:
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\verbatim
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$ cd gnss-sdr/build
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$ cmake ..
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$ make
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\endverbatim
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If everything goes well, three new executables will be created at <tt>gnss-sdr/install</tt>, namely <tt>gnss-sdr</tt>, <tt>volk_gnsssdr_profile</tt> and <tt>run_tests</tt>.
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You can run them from that folder, but if you prefer to install gnss-sdr on your system and have it available anywhere else, do:
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\verbatim
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$ sudo make install
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\endverbatim
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This will make a copy of the conf/ folder into /usr/local/share/gnss-sdr/conf for your reference.
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We suggest to create a working directory at your preferred location and store your own configuration and data files there.
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You can create the documentation by doing:
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\verbatim
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$ make doc
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\endverbatim
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from the <tt>gnss-sdr/build</tt> folder. In both cases, <a href="https://www.doxygen.nl/" target="_blank">Doxygen</a> will generate HTML documentation that can be
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retrieved pointing your browser of preference to <tt>gnss-sdr/docs/html/index.html</tt>.
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There are two more extra targets available. From the <tt>gnss-sdr/build</tt> folder:
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\verbatim
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$ make doc-clean
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\endverbatim
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will remove the content of previously-generated documentation and, if a LaTeX installation is detected in your system,
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\verbatim
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$ make pdfmanual
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\endverbatim
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will create a PDF manual at <tt>gnss-sdr/docs/GNSS-SDR_manual.pdf</tt>. Please note that the PDF generation requires some fonts to be installed on the host system.
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In Ubuntu, those fonts do not come by default. You can install them by doing:
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\verbatim
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$ sudo apt-get install texlive-fonts-recommended
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\endverbatim
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and then run <tt> cmake ../</tt> and <tt>make pdfmanual</tt> again.
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\subsection debug_and_release Debug and Release builds
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By default, CMake will build the Release version, meaning that the compiler will generate a faster, optimized executable. This is the recommended build type when using
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a RF front-end and you need to attain real time. If working with a file (and thus without real-time constraints), you may want to obtain more information about
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the internals of the receiver, as well as more fine-grained logging. This can be done by building the Debug version, by doing:
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\verbatim
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$ cd gnss-sdr/build
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$ cmake -DCMAKE_BUILD_TYPE=Debug ..
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$ make
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$ sudo make install
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\endverbatim
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\subsection updating_gnss-sdr Updating GNSS-SDR
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If you checked out GNSS-SDR some days ago, it is possible that some developer had updated files at the Git repository. You can update your local copy by doing:
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\verbatim
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$ git checkout next
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$ git pull https://github.com/gnss-sdr/gnss-sdr next
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\endverbatim
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Before rebuiling the source code, it is safe (and recommended) to remove the remainders of old builds:
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\verbatim
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$ cd gnss-sdr/build
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$ sudo make uninstall
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$ rm -rf *
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\endverbatim
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You can also check <a href="https://git-scm.com/book" target="_blank">The Git Book</a> for more information about Git usage.
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\section using_gnss-sdr Using GNSS-SDR
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With GNSS-SDR, you can define you own receiver, work with captured raw data or from a RF front-end, dump into files intermediate signals, or tune every single algorithm used in the \ref signal_processing. All the configuration
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is done in a single file. Those configuration files reside at the <tt>gnss-sdr/conf</tt> folder. By default, the executable <tt>gnss-sdr</tt> will read the configuration
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available at <tt>gnss-sdr/conf/gnss-sdr.conf</tt>. You can edit that file to fit your needs, or even better, define a new <tt>my_receiver.conf</tt> file with your own configuration.
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This new receiver can be done by invoking gnss-sdr with the <tt>--config_file</tt> flag pointing to your configuration file:
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\verbatim
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$ gnss-sdr --config_file=../conf/my_receiver.conf
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\endverbatim
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You can see a guide of available implementations at <a href="https://gnss-sdr.org/docs/" target="_blank">the online documentation</a>. That folder contains other working examples as well. If you have a working
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configuration and want to share it will others, please email it to the <a href="https://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers" target="_blank"><b>GNSS-SDR developers mailing list</b></a>
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and we will be happy to upload it to the server.
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You can use a single configuration file for processing
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different data files, specifying the file to be processed with the <tt>--signal_source</tt> flag:
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\verbatim
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$ gnss-sdr --config_file=../conf/my_receiver.conf --signal_source=../data/my_captured_data.dat
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\endverbatim
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This will override the <tt>SignalSource.filename</tt> specified in the configuration file.
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You can get a complete list of available commandline flags by doing:
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\verbatim
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$ gnss-sdr --help
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\endverbatim
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\section control_plane Control plane
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GNSS-SDR's main method initializes the logging library, processes the command line flags, if any, provided by the user and instantiates a ControlThread object.
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Its constructor reads the configuration file, creates a control queue and creates a flowgraph according to the configuration. Then, the program's main method
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calls the run() method of the instantiated object, an action that connects the flowgraph and starts running it. After that, and until a stop message is received,
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it reads control messages sent by the receiver's modules through a safe-thread queue and processes them. Finally, when a stop message is received, the main
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method executes the destructor of the ControlThread object, which deallocates memory, does other cleanup and exits the program.
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The GNSSFlowgraph class is responsible for preparing the graph of blocks according to the configuration, running it, modifying it during run-time and stopping it.
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Blocks are identified by its role. This class knows which roles it has to instantiate and how to connect them.
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It relies on the configuration to get the correct instances of the roles it needs and then it applies the connections between GNU Radio blocks to make the
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graph ready to be started. The complexity related to managing the blocks and the data stream is handled by GNU Radio's <tt>gr::top_block</tt> class. GNSSFlowgraph wraps
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the <tt>gr::top_block</tt> instance so we can take advantage of the \ref gnss_block_factory, the configuration system and the processing blocks. This class is also responsible
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for applying changes to the configuration of the flowgraph during run-time, dynamically reconfiguring channels: it selects the strategy for selecting satellites.
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This can range from a sequential search over all the satellites' ID to smarter approaches that determine what are the satellites most likely in-view based on rough
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estimations of the receiver position in order to avoid searching satellites in the other side of the Earth.
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The Control Plane is in charge of creating a flowgraph according to the configuration and then managing the modules. Configuration allows users to define in an easy way their own
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custom receiver by specifying the flowgraph (type of signal source, number of channels, algorithms to be used for each channel and each module, strategies for
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satellite selection, type of output format, etc.). Since it is difficult to foresee what future module implementations will be needed in terms of configuration,
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we used a very simple approach that can be extended without a major impact in the code. This can be achieved by simply mapping the names of the variables in the
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modules with the names of the parameters in the configuration.
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\subsection configuration Configuration
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Properties are passed around within the program using the ConfigurationInterface class. There are two implementations of this interface: FileConfiguration and
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InMemoryConfiguration. FileConfiguration reads the properties (pairs of property name and value) from a file and stores them internally. InMemoryConfiguration does
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not read from a file; it remains empty after instantiation and property values and names are set using the set property method. FileConfiguration is intended to be
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used in the actual GNSS-SDR application whereas InMemoryConfiguration is intended to be used in tests to avoid file-dependency in the file system. Classes that
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need to read configuration parameters will receive instances of ConfigurationInterface from where they will fetch the values. For instance, parameters related
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to SignalSource should look like this:
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\verbatim
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SignalSource.parameter1=value1
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SignalSource.parameter2=value2
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\endverbatim
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The name of these parameters can be anything but one reserved word: implementation. This parameter indicates in its value the name of the class that has to be instantiated
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by the factory for that role. For instance, if our signal source is providing data already at baseband and thus we want to use the implementation Pass_Through for module SignalConditioner, the corresponding line in the
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configuration file would be
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\verbatim
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SignalConditioner.implementation=Pass_Through
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\endverbatim
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Since the configuration is just a set of property names and values without any meaning or syntax, the system is very versatile and easily extendable. Adding new
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properties to the system only implies modifications in the classes that will make use of these properties. In addition, the configuration files are not checked
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against any strict syntax so it is always in a correct status (as long as it contains pairs of property names and values in <a href="https://en.wikipedia.org/wiki/INI_file" target="_blank">INI format</a>).
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\subsection gnss_block_factory GNSS block factory
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Hence, the application defines a simple accessor class to fetch the configuration pairs of values and passes them to a factory class called GNSSBlockFactory.
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This factory decides, according to the configuration, which class needs to be instantiated and which parameters should be passed to the constructor. Hence, the factory
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encapsulates the complexity of blocks' instantiation. With that approach, adding a new block that requires new parameters will be as simple as adding the block
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class and modifying the factory to be able to instantiate it. This loose coupling between the blocks' implementations and the syntax of the configuration
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enables extending the application capacities in a high degree. It also allows to produce fully customized receivers, for instance a testbed for acquisition
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algorithms, and to place observers at any point of the receiver chain.
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\section signal_processing Signal Processing plane
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GNU Radio's class <tt>gr::basic_block</tt> is the abstract base class for all signal processing blocks, a bare abstraction of an entity that has a name and a set of
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inputs and outputs. It is never instantiated directly; rather, this is the abstract parent class of both <tt>gr::hier_block2</tt>, which is a recursive container that
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adds or removes processing or hierarchical blocks to the internal graph, and <tt>gr::block</tt>, which is the abstract base class for all the processing blocks.
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\image html ClassHierarchy.png
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\image latex ClassHierarchy.png "Class hierarchy of signal processing blocks" width=12cm
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A signal processing flow is constructed by creating a tree of hierarchical blocks, which at any level may also contain terminal nodes that actually implement signal
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processing functions.
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Class <tt>gr::top_block</tt> is the top-level hierarchical block representing a flowgraph. It defines GNU Radio runtime functions used during the execution of the
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program: run(), start(), stop(), wait(), etc. A a subclass called GNSSBlockInterface is the common interface for all the GNSS-SDR modules. It defines pure virtual
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methods, that are required to be implemented by a derived class.
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Subclassing GNSSBlockInterface, we defined interfaces for the GNSS receiver blocks depicted in the figure above. This hierarchy provides the definition of different
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algorithms and different implementations, which will be instantiated according to the configuration. This strategy allows
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multiple implementations sharing a common interface, achieving the objective of decoupling interfaces from implementations: it defines a family of algorithms, encapsulates each one,
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and makes them interchangeable. Hence, we let the algorithm vary independently from the program that uses it.
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\subsection signal_source Signal Source
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The input of a software receiver are the raw bits that come out from the front-end's analog-to-digital converter (ADC).
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Those bits can be read from a file stored in the hard disk or directly in real-time from a hardware device through USB or Ethernet buses.
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The Signal Source module is in charge of implementing the hardware driver, that is, the portion of the code that communicates with the RF front-end and receives
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the samples coming from the ADC. This communication is usually performed through USB or Ethernet buses. Since real-time processing requires a highly optimized
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implementation of the whole receiver, this module also allows to read samples from a file stored in a hard disk, and thus processing without time constraints.
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Relevant parameters of those samples are the intermediate frequency (or baseband I&Q components), the sampling rate and number of bits per sample, that must be
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specified by the user in the configuration file.
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This module also performs bit-depth adaptation, since most of the existing RF front-ends provide samples quantized with 2 or 3 bits, while operations inside
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the processor are performed on 32- or 64-bit words, depending on its architecture. Although there are implementations of the most intensive computational
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processes (mainly correlation) that take advantage of specific data types and architectures for the sake of
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efficiency, the approach is processor-specific and hardly portable. We suggest to keep signal samples in standard data types and letting the compiler
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select the best library version (implemented using SIMD or any other processor-specific technology) of the required routines for a given processor.
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Example: FileSignalSource
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The user can configure the receiver for reading from a file, setting in the configuration file the data file location, sample format,
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and the sampling frequency and intermediate frequency at what the signal was originally captured.
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\verbatim
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;######### SIGNAL_SOURCE CONFIG ############
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SignalSource.implementation=File_Signal_Source
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SignalSource.filename=/home/user/gnss-sdr/data/my_capture.dat
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SignalSource.item_type=gr_complex
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SignalSource.sampling_frequency=4000000 ; Sampling frequency in [Hz]
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SignalSource.freq=1575420000 ; RF front-end center frequency in [Hz]
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\endverbatim
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Example: UhdSignalSource
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The user may prefer to use a UHD-compatible RF front-end and try real-time processing. For instance, for a USRP1 + DBSRX daughterboard, use:
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\verbatim
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;######### SIGNAL_SOURCE CONFIG ############
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SignalSource.implementation=UHD_Signal_Source
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SignalSource.item_type=gr_complex
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SignalSource.sampling_frequency=4000000 ; Sampling frequency in [Hz]
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SignalSource.freq=1575420000 ; RF front-end center frequency in [Hz]
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SignalSource.gain=60 ; Front-end gain in dB
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SignalSource.subdevice=B:0 ; UHD subdevice specification (for USRP1 use A:0 or B:0)
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\endverbatim
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Other examples are available at <tt>gnss-sdr/conf</tt>.
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\subsection signal_conditioner Signal Conditioner
|
|
The signal conditioner is in charge of resampling the signal and delivering a reference sample rate to the downstream processing blocks, acting as
|
|
a facade between the signal source and the synchronization channels, providing a simplified interface to the input signal.
|
|
In case of multiband front-ends, this module would be in charge of providing a separated data stream for each band.
|
|
|
|
|
|
\subsection channel Channel
|
|
A channel encapsulates all signal processing devoted to a single satellite. Thus, it is a large composite object which encapsulates the \ref acquisition,
|
|
\ref tracking and \ref decoding modules. As a composite object, it can be treated as a single entity, meaning that it can be easily replicated. Since the number of
|
|
channels is selectable by the user in the configuration file, this approach helps improving the scalability and maintainability of the receiver.
|
|
|
|
This module is also in charge of managing the interplay between acquisition and tracking. Acquisition can be initialized in several ways, depending on
|
|
the prior information available (called cold start when the receiver has no information about its position nor the satellites almanac; warm start when
|
|
a rough location and the approximate time of day are available, and the receiver has a recently recorded almanac broadcast; or hot start when the receiver
|
|
was tracking a satellite and the signal line of sight broke for a short period of time, but the ephemeris and almanac data is still valid, or this information
|
|
is provided by other means), and an acquisition process can finish deciding that the satellite is not present, that longer integration is needed in order to
|
|
confirm the presence of the satellite, or declaring the satellite present. In the latter case, acquisition process should stop and trigger the tracking module
|
|
with coarse estimations of the synchronization parameters.
|
|
|
|
The abstract class ChannelInterface represents an interface to a channel GNSS block. Check Channel for an actual implementation.
|
|
|
|
\subsubsection acquisition Acquisition
|
|
The first task of a GNSS receiver is to detect the presence or absence of in-view satellites. This is done by the acquisition system process, which also provides a coarse estimation of two signal parameters: the frequency shift
|
|
with respect to the nominal IF frequency, and a delay term which allows the receiver to create a local code aligned with the incoming code.
|
|
AcquisitionInterface is the common interface for all the acquisition algorithms and their corresponding implementations. Algorithms' interface, that may vary
|
|
depending on the use of information external to the receiver, such as in Assisted GNSS, is defined in classes referred to as <i>adapters</i>.
|
|
These adapters wrap the GNU Radio blocks interface into a compatible interface expected by AcquisitionInterface. This allows the use of existing GNU Radio blocks
|
|
derived from <tt>gr::block</tt>, and ensures that newly developed implementations will also be reusable in other GNU Radio-based applications.
|
|
Moreover, it adds still another layer of abstraction, since each given acquisition algorithm can have different implementations (for instance using
|
|
different numerical libraries). In such a way, implementations can be continuously improved without having any impact neither on the algorithm interface nor the general acquisition interface.
|
|
|
|
Check GpsL1CaPcpsAcquisition and GalileoE1PcpsAmbiguousAcquisition for examples of adapters from a Parallel Code Phase Search (PCPS) acquisition block, and
|
|
pcps_acquisition_cc for an example of a block implementation. The source code of all the available acquisition algorithms is located at:
|
|
|
|
\verbatim
|
|
|-gnss-sdr
|
|
|---src
|
|
|-----algorithms
|
|
|-------acquisition
|
|
|---------adapters <- Adapters of the processing blocks to an AcquisitionInterface
|
|
|---------gnuradio_blocks <- Signal processing blocks implementation
|
|
\endverbatim
|
|
|
|
The user can select a given implementation for the algorithm to be used in each receiver channel, as well as their parameters, in the configuration file:
|
|
\verbatim
|
|
;######### ACQUISITION GLOBAL CONFIG ############
|
|
|
|
;#implementation: Acquisition algorithm selection for this channel:
|
|
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
|
|
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
|
|
Acquisition_1C.dump=false
|
|
;#filename: Log path and filename
|
|
Acquisition_1C.dump_filename=./acq_dump.dat
|
|
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
|
|
Acquisition_1C.item_type=gr_complex
|
|
;#coherent_integration_time_ms: Signal block duration for the acquisition signal detection [ms]
|
|
Acquisition_1C.coherent_integration_time_ms=1
|
|
;#threshold: Acquisition threshold
|
|
Acquisition_1C.threshold=2.5
|
|
;#pfa: Acquisition false alarm probability. This option overrides the threshold option.
|
|
Acquisition_1C.pfa=0.0001
|
|
;#doppler_max: Maximum expected Doppler shift [Hz]
|
|
Acquisition_1C.doppler_max=5000
|
|
;#doppler_step: Doppler step in the grid search [Hz]
|
|
Acquisition_1C.doppler_step=250
|
|
\endverbatim
|
|
|
|
|
|
\subsubsection tracking Tracking
|
|
When a satellite is declared present, the parameters estimated by the acquisition module are then fed to the receiver tracking module, which represents the
|
|
second stage of the signal processing unit, aiming to perform a local search for accurate estimates of code delay and carrier phase, and following their eventual
|
|
variations.
|
|
|
|
Again, a class hierarchy consisting of a TrackingInterface class and subclasses implementing algorithms provides a way of testing different approaches,
|
|
with full access to their parameters. Check GpsL1CaDllPllTracking or GalileoE1DllPllVemlTracking for examples of adapters, and Gps_L1_Ca_Dll_Pll_Tracking_cc for an example
|
|
of a signal processing block implementation. There are also available some useful classes and functions for signal tracking; take a look at Correlator, lock_detectors.h, tracking_discriminators.h or
|
|
tracking_2nd_DLL_filter.h.
|
|
|
|
The source code of all the available tracking algorithms is located at:
|
|
\verbatim
|
|
|-gnss-sdr
|
|
|---src
|
|
|-----algorithms
|
|
|-------tracking
|
|
|---------adapters <- Adapters of the processing blocks to a TrackingInterface
|
|
|---------gnuradio_blocks <- Signal processing blocks implementation
|
|
|---------libs <- libraries of tracking objects (e.g. correlators, discriminators, and so on)
|
|
\endverbatim
|
|
|
|
The user can select a given implementation for the algorithm to be used in all the tracking blocks, as well as its parameters, in the configuration file:
|
|
\verbatim
|
|
;######### TRACKING GLOBAL CONFIG ############
|
|
|
|
;#implementation: Selected tracking algorithm
|
|
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
|
|
;#item_type: Type and resolution for each of the signal samples.
|
|
Tracking_1C.item_type=gr_complex
|
|
|
|
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
|
|
Tracking_1C.dump=false
|
|
|
|
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
|
|
Tracking_1C.dump_filename=./tracking_ch_
|
|
|
|
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
|
|
Tracking_1C.pll_bw_hz=50.0;
|
|
|
|
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
|
|
Tracking_1C.dll_bw_hz=2.0;
|
|
|
|
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
|
|
Tracking_1C.fll_bw_hz=10.0;
|
|
|
|
Tracking_1C.pll_filter_order=3 ; PLL loop filter order [2] or [3]
|
|
Tracking_1C.dll_filter_order=2 ; DLL loop filter order [1], [2] or [3]
|
|
|
|
;#early_late_space_chips: correlator early-late space [chips].
|
|
Tracking_1C.early_late_space_chips=0.5;
|
|
\endverbatim
|
|
|
|
\subsubsection decoding Decoding of the navigation message
|
|
Most of GNSS signal links are modulated by a navigation message containing the time the message was transmitted, orbital parameters of satellites
|
|
(also known as ephemeris) and an almanac (information about the general system health, rough orbits of all satellites in the network as well as data related to
|
|
error correction). Navigation data bits are structured in words, pages, subframes, frames and superframes. Sometimes, bits corresponding to a single parameter are
|
|
spread over different words, and values extracted from different frames are required for proper decoding. Some words are for synchronization purposes, others for
|
|
error control an others contain actual information. There are also error control mechanisms, from parity checks to forward error correction (FEC) encoding and
|
|
interleaving, depending on the system.
|
|
|
|
The common interface is TelemetryDecoderInterface. Check GpsL1CaTelemetryDecoder for an example of the GPS L1 NAV message decoding adapter, and gps_l1_ca_telemetry_decoder_cc
|
|
for an actual implementation of a signal processing block. Configuration example:
|
|
|
|
\verbatim
|
|
;######### TELEMETRY DECODER CONFIG ############
|
|
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
|
|
TelemetryDecoder_1C.dump=false
|
|
\endverbatim
|
|
|
|
See the \ref reference_docs for more information about the signal format.
|
|
|
|
\subsection observables Observables
|
|
GNSS systems provide different kinds of observations. The most commonly used are the code observations, also called pseudoranges. The <i>pseudo</i> comes from
|
|
the fact that on the receiver side the clock error is unknown and thus the measurement is not a pure range observation. High accuracy applications also use the
|
|
carrier phase observations, which are based on measuring the difference between the carrier phase transmitted by the GNSS satellites and the phase of the carrier
|
|
generated in the receiver. Both observables are computed from the outputs of the tracking module and the decoding of the navigation message.
|
|
This module collects all the data provided by every tracked channel, aligns all received data into a coherent set, and computes the observables.
|
|
|
|
The common interface is ObservablesInterface.
|
|
|
|
Configuration example:
|
|
\verbatim
|
|
;######### OBSERVABLES CONFIG ############
|
|
Observables.implementation=Hybrid_Observables
|
|
|
|
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
|
|
Observables.dump=false
|
|
|
|
;#dump_filename: Log path and filename.
|
|
Observables.dump_filename=./observables.dat
|
|
\endverbatim
|
|
|
|
\subsection pvt Computation of Position, Velocity and Time
|
|
Although data processing for obtaining high-accuracy PVT solutions is out of the scope of GNSS-SDR, we provide a module that can compute a simple least square
|
|
solution and leaves room for more sophisticated positioning methods. The integration with libraries and software tools that are able to deal with multi-constellation
|
|
data such as <a href="https://github.com/SGL-UT/gnsstk" target="_blank">GNSSTk</a> or <a href="https://gage.upc.edu/gLAB/" target="_blank">gLAB</a> appears as a viable solution for high performance, completely customizable GNSS receivers.
|
|
|
|
The common interface is PvtInterface. For instance, in order to use the implementation RTKLIB_PVT, add to the configuration file:
|
|
\verbatim
|
|
;######### PVT CONFIG ############
|
|
PVT.implementation=RTKLIB_PVT
|
|
|
|
;#nmea_dump_filename: NMEA log path and filename
|
|
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
|
|
|
|
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
|
|
PVT.flag_nmea_tty_port=true;
|
|
|
|
;#nmea_dump_devname: serial device descriptor for NMEA logging
|
|
PVT.nmea_dump_devname=/dev/pts/4
|
|
|
|
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
|
|
PVT.dump=false
|
|
\endverbatim
|
|
|
|
This implementation allows tuning of the following parameters:
|
|
\verbatim
|
|
PVT.implementation=RTKLIB_PVT
|
|
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
|
|
PVT.iono_model=Broadcast ; options: OFF, Broadcast
|
|
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen
|
|
PVT.rinex_version=2 ; options: 2 or 3
|
|
PVT.output_rate_ms=100 ; Period in [ms] between two PVT outputs
|
|
PVT.display_rate_ms=500 ; Position console print (std::out) interval [ms].
|
|
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea ; NMEA log path and filename
|
|
PVT.flag_nmea_tty_port=false ; Enables the NMEA log to a serial TTY port
|
|
PVT.nmea_dump_devname=/dev/pts/4 ; serial device descriptor for NMEA logging
|
|
PVT.flag_rtcm_server=true ; Enables or disables a TCP/IP server dispatching RTCM messages
|
|
PVT.flag_rtcm_tty_port=false ; Enables the RTCM log to a serial TTY port
|
|
PVT.rtcm_dump_devname=/dev/pts/1 ; serial device descriptor for RTCM logging
|
|
PVT.rtcm_tcp_port=2101
|
|
PVT.rtcm_MT1019_rate_ms=5000
|
|
PVT.rtcm_MT1045_rate_ms=5000
|
|
PVT.rtcm_MT1097_rate_ms=1000
|
|
PVT.rtcm_MT1077_rate_ms=1000
|
|
\endverbatim
|
|
|
|
|
|
\section license About the software license
|
|
GNSS-SDR is released under the <a href="https://www.gnu.org/licenses/gpl.html" target="_blank">General Public License (GPL) v3</a>, thus securing practical usability, inspection,
|
|
and continuous improvement by the research community, allowing the discussion based on tangible code and the analysis of results obtained with real signals.
|
|
The GPL implies that:
|
|
|
|
\li Copies may be distributed free of charge or for money, but the source code has to be shipped or provided free of charge (or at cost price) on demand. The receiver of the source code has the same rights meaning he can share copies free of charge or resell.
|
|
\li The licensed material may be analyzed or modified.
|
|
\li Modified material may be distributed under the same licensing terms but <b>do not</b> have to be distributed.
|
|
|
|
That means that modifications only have to be made available to the public if
|
|
distribution happens. So it is perfectly fine to take the GNSS-SDR source code,
|
|
modify it heavily and use it in a not distributed application / library. This is
|
|
how companies like Google can run their own patched versions of Linux for
|
|
example.
|
|
|
|
But what this also means is that non-GPL code cannot use GPL code. This means
|
|
that you cannot modify / use GNSS-SDR, blend it with non-GPL code, and make
|
|
money with the resulting software. You cannot distribute the resulting software
|
|
under a non-disclosure agreement or contract. Distributors under the GPL also
|
|
grant a license for any of their patents practiced by the software, to practice
|
|
those patents in GPL software. You can sell a device that runs with GNSS-SDR,
|
|
but if you distribute the code, it has to remain under GPL.
|
|
|
|
\section publications Publications and Credits
|
|
If you use GNSS-SDR to produce a research paper or Thesis, we would appreciate
|
|
if you reference any of these articles to credit the GNSS-SDR project:
|
|
|
|
\li \anchor Navitec2012 C. Fernández-Prades, J. Arribas, L. Esteve, D. Pubill, P. Closas, <a href="https://www.researchgate.net/publication/233859838_An_Open_Source_Galileo_E1_Software_Receiver/" target="_blank"><i>An Open Source Galileo E1 Software Receiver</i></a>, in Proc. of the 6th ESA Workshop on Satellite Navigation Technologies (NAVITEC 2012), ESTEC, Noordwijk, The Netherlands, Dec. 2012.
|
|
\li J. Arribas, <a href="https://theses.eurasip.org/theses/449/gnss-array-based-acquisition-theory-and/" target="_blank"><i>GNSS Array-based Acquisition: Theory and Implementation</i></a>, PhD Thesis, Universitat Politècnica de Catalunya, Barcelona, Spain, June 2012.
|
|
\li C. Fernández-Prades, J. Arribas, P. Closas, C. Avilés, and L. Esteve, <a href="https://www.researchgate.net/publication/233380791_GNSS-SDR_An_open_source_tool_for_researchers_and_developers" target="_blank"><i>GNSS-SDR: an open source tool for researchers and developers</i></a>, in Proc. of the ION GNSS 2011 Conference, Portland, Oregon, Sept. 19-23, 2011.
|
|
\li C. Fernández-Prades, C. Avilés, L. Esteve, J. Arribas, and P. Closas, <a href="https://www.researchgate.net/publication/228624103_Design_Patterns_for_GNSS_Software_Receivers" target="_blank"><i>Design patterns for GNSS software receivers</i></a>, in Proc. of the 5th ESA Workshop on Satellite Navigation Technologies (NAVITEC'2010), ESTEC, Noordwijk, The Netherlands, Dec. 2010. DOI:10.1109/NAVITEC.2010.5707981
|
|
|
|
For LaTeX users, these are the BibTeX cites for your convenience:
|
|
|
|
\verbatim
|
|
@INPROCEEDINGS{GNSS-SDR12
|
|
author = {C.~{Fern\'{a}ndez--Prades} and J.~Arribas and L.~Esteve and D.~Pubill and P.~Closas},
|
|
title = {An Open Source {G}alileo {E1} Software Receiver},
|
|
booktitle = {Proc. of the 6th ESA Workshop on Satellite Navigation Technologies (NAVITEC'2012)},
|
|
year = {2012},
|
|
address = {ESTEC, Noordwijk, The Netherlands},
|
|
month = {Dec.} }
|
|
\endverbatim
|
|
|
|
\verbatim
|
|
@PHDTHESIS{Arribas12,
|
|
author = {J.~Arribas},
|
|
title = {{GNSS} Array-based Acquisition: Theory and Implementation},
|
|
school = {Universitat Polit\`{e}cnica de Catalunya},
|
|
year = {2012},
|
|
address = {Barcelona, Spain},
|
|
month = {June} }
|
|
\endverbatim
|
|
|
|
\verbatim
|
|
@INPROCEEDINGS{GNSS-SDR11,
|
|
AUTHOR = {C.~{Fern\'{a}ndez--Prades} and J.~Arribas and P.~Closas and C.~Avil\'{e}s and L.~Esteve},
|
|
TITLE = {{GNSS-SDR}: An Open Source Tool For Researchers and Developers},
|
|
BOOKTITLE = {Proc. of the ION GNSS 2011 Conference},
|
|
YEAR = {2011},
|
|
address = {Portland, Oregon},
|
|
month = {Sept.} }
|
|
\endverbatim
|
|
|
|
\verbatim
|
|
@INPROCEEDINGS{GNSS-SDR10,
|
|
AUTHOR = {C.~{Fern\'{a}ndez--Prades} and C.~Avil\'{e}s and L.~Esteve and J.~Arribas and P.~Closas},
|
|
TITLE = {Design patterns for {GNSS} software receivers},
|
|
BOOKTITLE = {Proc. of the 5th ESA Workshop on Satellite Navigation Technologies (NAVITEC'2010)},
|
|
YEAR = {2010},
|
|
address = {ESTEC, Noordwijk, The Netherlands},
|
|
month = {Dec.},
|
|
note = {doi:10.1109/NAVITEC.2010.5707981} }
|
|
\endverbatim
|
|
|
|
More papers related to GNSS-SDR are available at the <a href="https://gnss-sdr.org/publications/" _target="_blank">publications page</a>.
|
|
|
|
\section now_what Ok, now what?
|
|
In order to start using GNSS-SDR, you may want to populate <tt>gnss-sdr/data</tt> folder (or anywhere else on your system) with raw data files. By "raw data" we mean the output
|
|
of a Radio Frequency front-end's Analog-to_Digital converter. GNSS-SDR needs signal samples already in baseband or in passband, at a suitable intemediate frequency (on the order of MHz).
|
|
Prepare your configuration file, and then you are ready for going to the <tt> gnss-sdr/install</tt> folder, running <tt>./gnss-sdr</tt>, and see how the file is processed.
|
|
Please ask the Developer Team for a signal sample if you need one, and they will do their best ;-)
|
|
|
|
Another interesting option is working in real-time with a RF front-end. We provide drivers for UHD-compatible hardware (see \ref signal_source) and for some DVB-T USB dongles.
|
|
Start with a low number of channels and then increase it in order to test how many channels your processor can handle in real-time.
|
|
|
|
You can find more information at the <a href="https://gnss-sdr.org/docs/" target="_blank"><b>GNSS-SDR Documentation page</b></a> or directly asking to the
|
|
<a href="https://lists.sourceforge.net/lists/listinfo/gnss-sdr-developers" target="_blank"><b>GNSS-SDR Developers mailing list</b></a>.
|
|
|
|
You are also very welcome to contribute to the project, there are many ways to <a href="https://gnss-sdr.org/contribute/" target="_blank"><b>participate in GNSS-SDR</b></a>.
|
|
If you need some special feature not yet implemented, the Developer Team would love to be hired for developing it.
|
|
Please do not hesitate to <a href="https://gnss-sdr.org/team/" target="_blank"><b>contact them</b></a>.
|
|
|
|
Enjoy GNSS-SDR!
|
|
|
|
The Developer Team.
|
|
*/
|