mirror of https://github.com/gnss-sdr/gnss-sdr
664 lines
34 KiB
C++
664 lines
34 KiB
C++
/*!
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* \file galileo_volk_e1_dll_pll_veml_tracking_cc.cc
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* \brief Implementation of a code DLL + carrier PLL VEML (Very Early
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* Minus Late) tracking block for Galileo E1 signals
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* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
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*
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* Code DLL + carrier PLL according to the algorithms described in:
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* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
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* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
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* Approach, Birkhauser, 2007
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "galileo_volk_e1_dll_pll_veml_tracking_cc.h"
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#include <cmath>
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#include <iostream>
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#include <memory>
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#include <sstream>
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#include <boost/lexical_cast.hpp>
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#include <gnuradio/io_signature.h>
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#include <glog/logging.h>
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#include "gnss_synchro.h"
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#include "galileo_e1_signal_processing.h"
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#include "tracking_discriminators.h"
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#include "lock_detectors.h"
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#include "Galileo_E1.h"
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#include "control_message_factory.h"
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#include "volk_gnsssdr/volk_gnsssdr.h"
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/*!
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* \todo Include in definition header file
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*/
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#define CN0_ESTIMATION_SAMPLES 20
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#define MINIMUM_VALID_CN0 25
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#define MAXIMUM_LOCK_FAIL_COUNTER 50
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#define CARRIER_LOCK_THRESHOLD 0.85
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using google::LogMessage;
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galileo_volk_e1_dll_pll_veml_tracking_cc_sptr
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galileo_volk_e1_dll_pll_veml_make_tracking_cc(
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long if_freq,
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long fs_in,
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unsigned int vector_length,
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boost::shared_ptr<gr::msg_queue> queue,
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bool dump,
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std::string dump_filename,
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float pll_bw_hz,
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float dll_bw_hz,
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float early_late_space_chips,
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float very_early_late_space_chips)
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{
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return galileo_volk_e1_dll_pll_veml_tracking_cc_sptr(new galileo_volk_e1_dll_pll_veml_tracking_cc(if_freq,
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fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips, very_early_late_space_chips));
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}
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void galileo_volk_e1_dll_pll_veml_tracking_cc::forecast (int noutput_items,
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gr_vector_int &ninput_items_required)
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{
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ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
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}
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galileo_volk_e1_dll_pll_veml_tracking_cc::galileo_volk_e1_dll_pll_veml_tracking_cc(
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long if_freq,
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long fs_in,
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unsigned int vector_length,
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boost::shared_ptr<gr::msg_queue> queue,
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bool dump,
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std::string dump_filename,
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float pll_bw_hz,
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float dll_bw_hz,
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float early_late_space_chips,
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float very_early_late_space_chips):
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gr::block("galileo_volk_e1_dll_pll_veml_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
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{
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this->set_relative_rate(1.0/vector_length);
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// initialize internal vars
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d_queue = queue;
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d_dump = dump;
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d_if_freq = if_freq;
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d_fs_in = fs_in;
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d_vector_length = vector_length;
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d_dump_filename = dump_filename;
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d_code_loop_filter = Tracking_2nd_DLL_filter(Galileo_E1_CODE_PERIOD);
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d_carrier_loop_filter = Tracking_2nd_PLL_filter(Galileo_E1_CODE_PERIOD);
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// Initialize tracking ==========================================
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// Set bandwidth of code and carrier loop filters
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d_code_loop_filter.set_DLL_BW(dll_bw_hz);
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d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
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// Correlator spacing
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d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
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d_very_early_late_spc_chips = very_early_late_space_chips; // Define very-early-late offset (in chips)
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// Initialization of local code replica
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// Get space for a vector with the sinboc(1,1) replica sampled 2x/chip
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d_ca_code = static_cast<gr_complex*>(volk_malloc((2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 4) * sizeof(gr_complex), volk_get_alignment()));
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d_very_early_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
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d_early_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
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d_prompt_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
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d_late_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
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d_very_late_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
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d_carr_sign = static_cast<gr_complex*>(volk_malloc(2*d_vector_length * sizeof(gr_complex), volk_get_alignment()));
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d_very_early_code16=static_cast<lv_16sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment()));
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d_early_code16=static_cast<lv_16sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment()));
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d_prompt_code16=static_cast<lv_16sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment()));
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d_late_code16=static_cast<lv_16sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment()));
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d_very_late_code16=static_cast<lv_16sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment()));
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d_carr_sign16=static_cast<lv_16sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment()));
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in16=static_cast<lv_16sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment()));
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d_very_early_code8=static_cast<lv_8sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment()));
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d_early_code8=static_cast<lv_8sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment()));
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d_prompt_code8=static_cast<lv_8sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment()));
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d_late_code8=static_cast<lv_8sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment()));
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d_very_late_code8=static_cast<lv_8sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment()));
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d_carr_sign8=static_cast<lv_8sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment()));
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in8=static_cast<lv_8sc_t*>(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment()));
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// correlator outputs (scalar)
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d_Very_Early = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
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d_Early = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
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d_Prompt = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
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d_Late = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
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d_Very_Late = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
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//--- Initializations ------------------------------
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// Initial code frequency basis of NCO
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d_code_freq_chips = static_cast<double>(Galileo_E1_CODE_CHIP_RATE_HZ);
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// Residual code phase (in chips)
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d_rem_code_phase_samples = 0.0;
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// Residual carrier phase
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d_rem_carr_phase_rad = 0.0;
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// sample synchronization
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d_sample_counter = 0;
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//d_sample_counter_seconds = 0;
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d_acq_sample_stamp = 0;
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d_enable_tracking = false;
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d_pull_in = false;
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d_last_seg = 0;
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d_current_prn_length_samples = static_cast<int>(d_vector_length);
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// CN0 estimation and lock detector buffers
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d_cn0_estimation_counter = 0;
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d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
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d_carrier_lock_test = 1;
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d_CN0_SNV_dB_Hz = 0;
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d_carrier_lock_fail_counter = 0;
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d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
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systemName["E"] = std::string("Galileo");
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*d_Very_Early = gr_complex(0,0);
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*d_Early = gr_complex(0,0);
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*d_Prompt = gr_complex(0,0);
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*d_Late = gr_complex(0,0);
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*d_Very_Late = gr_complex(0,0);
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}
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void galileo_volk_e1_dll_pll_veml_tracking_cc::start_tracking()
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{
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d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
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d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
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d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
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// DLL/PLL filter initialization
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d_carrier_loop_filter.initialize(); // initialize the carrier filter
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d_code_loop_filter.initialize(); // initialize the code filter
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// generate local reference ALWAYS starting at chip 2 (2 samples per chip)
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galileo_e1_code_gen_complex_sampled(&d_ca_code[2],
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d_acquisition_gnss_synchro->Signal,
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false,
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d_acquisition_gnss_synchro->PRN,
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2 * Galileo_E1_CODE_CHIP_RATE_HZ,
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0);
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// Fill head and tail
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d_ca_code[0] = d_ca_code[static_cast<int>(2 * Galileo_E1_B_CODE_LENGTH_CHIPS)];
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d_ca_code[1] = d_ca_code[static_cast<int>(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 1)];
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d_ca_code[static_cast<int>(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 2)] = d_ca_code[2];
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d_ca_code[static_cast<int>(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 3)] = d_ca_code[3];
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d_carrier_lock_fail_counter = 0;
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d_rem_code_phase_samples = 0.0;
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d_rem_carr_phase_rad = 0;
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d_acc_carrier_phase_rad = 0;
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d_acc_code_phase_secs = 0;
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d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
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d_current_prn_length_samples = d_vector_length;
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std::string sys_ = &d_acquisition_gnss_synchro->System;
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sys = sys_.substr(0, 1);
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// DEBUG OUTPUT
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std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
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LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
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// enable tracking
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d_pull_in = true;
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d_enable_tracking = true;
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LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
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<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
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}
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void galileo_volk_e1_dll_pll_veml_tracking_cc::update_local_code()
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{
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double tcode_half_chips;
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float rem_code_phase_half_chips;
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int code_length_half_chips = static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS) * 2;
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double code_phase_step_chips;
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double code_phase_step_half_chips;
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int early_late_spc_samples;
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int very_early_late_spc_samples;
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int epl_loop_length_samples;
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// unified loop for VE, E, P, L, VL code vectors
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code_phase_step_chips = (static_cast<double>(d_code_freq_chips)) / (static_cast<double>(d_fs_in));
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code_phase_step_half_chips = (2.0 * static_cast<double>(d_code_freq_chips)) / (static_cast<double>(d_fs_in));
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rem_code_phase_half_chips = d_rem_code_phase_samples * (2*d_code_freq_chips / d_fs_in);
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tcode_half_chips = - static_cast<double>(rem_code_phase_half_chips);
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early_late_spc_samples = round(d_early_late_spc_chips / code_phase_step_chips);
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very_early_late_spc_samples = round(d_very_early_late_spc_chips / code_phase_step_chips);
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epl_loop_length_samples = d_current_prn_length_samples + very_early_late_spc_samples * 2;
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//HERE YOU CAN CHOOSE THE DESIRED VOLK IMPLEMENTATION
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//volk_gnsssdr_32fc_s32f_x4_update_local_code_32fc_manual(d_very_early_code, (float) d_very_early_late_spc_chips, (float) code_length_half_chips, (float) code_phase_step_half_chips, (float) tcode_half_chips, d_ca_code, epl_loop_length_samples, "generic");
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volk_gnsssdr_32fc_s32f_x4_update_local_code_32fc_manual(d_very_early_code, (float) d_very_early_late_spc_chips, (float) code_length_half_chips, (float) code_phase_step_half_chips, (float) tcode_half_chips, d_ca_code, epl_loop_length_samples, "u_sse4_1");
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memcpy(d_early_code, &d_very_early_code[very_early_late_spc_samples - early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
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memcpy(d_prompt_code, &d_very_early_code[very_early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
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memcpy(d_late_code, &d_very_early_code[very_early_late_spc_samples + early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
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memcpy(d_very_late_code, &d_very_early_code[2 * very_early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
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}
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void galileo_volk_e1_dll_pll_veml_tracking_cc::update_local_carrier()
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{
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float phase_rad, phase_step_rad;
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// Compute the carrier phase step for the K-1 carrier doppler estimation
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phase_step_rad = static_cast<float>(GPS_TWO_PI) * d_carrier_doppler_hz / static_cast<float>(d_fs_in);
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// Initialize the carrier phase with the remanent carrier phase of the K-2 loop
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phase_rad = d_rem_carr_phase_rad;
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//HERE YOU CAN CHOOSE THE DESIRED VOLK IMPLEMENTATION
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//volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "generic");
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//volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "u_sse2");
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volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "u_avx");
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}
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galileo_volk_e1_dll_pll_veml_tracking_cc::~galileo_volk_e1_dll_pll_veml_tracking_cc()
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{
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d_dump_file.close();
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volk_free(d_very_early_code);
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volk_free(d_early_code);
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volk_free(d_prompt_code);
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volk_free(d_late_code);
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volk_free(d_very_late_code);
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volk_free(d_carr_sign);
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volk_free(d_Very_Early);
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volk_free(d_Early);
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volk_free(d_Prompt);
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volk_free(d_Late);
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volk_free(d_Very_Late);
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volk_free(d_ca_code);
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volk_free(d_very_early_code16);
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volk_free(d_early_code16);
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volk_free(d_prompt_code16);
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volk_free(d_late_code16);
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volk_free(d_very_late_code16);
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volk_free(d_carr_sign16);
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volk_free(in16);
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volk_free(d_very_early_code8);
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volk_free(d_early_code8);
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volk_free(d_prompt_code8);
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volk_free(d_late_code8);
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volk_free(d_very_late_code8);
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volk_free(d_carr_sign8);
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volk_free(in8);
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delete[] d_Prompt_buffer;
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}
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int galileo_volk_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vector_int &ninput_items,
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
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{
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float carr_error_hz;
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float carr_error_filt_hz;
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float code_error_chips;
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float code_error_filt_chips;
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if (d_enable_tracking == true)
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{
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if (d_pull_in == true)
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{
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/*
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* Signal alignment (skip samples until the incoming signal is aligned with local replica)
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*/
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int samples_offset;
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float acq_trk_shif_correction_samples;
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int acq_to_trk_delay_samples;
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acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
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acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
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samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
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d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
|
|
d_pull_in = false;
|
|
consume_each(samples_offset); //shift input to perform alignment with local replica
|
|
return 1;
|
|
}
|
|
|
|
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
|
Gnss_Synchro current_synchro_data;
|
|
// Fill the acquisition data
|
|
current_synchro_data = *d_acquisition_gnss_synchro;
|
|
|
|
// Block input data and block output stream pointers
|
|
const gr_complex* in = (gr_complex*) input_items[0];
|
|
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
|
|
|
// Generate local code and carrier replicas (using \hat{f}_d(k-1))
|
|
update_local_code();
|
|
update_local_carrier();
|
|
|
|
// perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation
|
|
|
|
//HERE YOU CAN CHOOSE THE DESIRED VOLK IMPLEMENTATION
|
|
|
|
//Float implementation:
|
|
|
|
//volk_gnsssdr_32fc_x7_cw_vepl_corr_32fc_x5_manual(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in, d_carr_sign, d_very_early_code, d_early_code, d_prompt_code, d_late_code, d_very_late_code, d_current_prn_length_samples, "generic");
|
|
|
|
//volk_gnsssdr_32fc_x7_cw_vepl_corr_32fc_x5_manual(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in, d_carr_sign, d_very_early_code, d_early_code, d_prompt_code, d_late_code, d_very_late_code, d_current_prn_length_samples, "u_avx");
|
|
|
|
//Integer 16 bits implementation
|
|
/*volk_gnsssdr_32fc_convert_16ic(d_very_early_code16, d_very_early_code, d_current_prn_length_samples);
|
|
volk_gnsssdr_32fc_convert_16ic(d_early_code16, d_early_code, d_current_prn_length_samples);
|
|
volk_gnsssdr_32fc_convert_16ic(d_prompt_code16, d_prompt_code, d_current_prn_length_samples);
|
|
volk_gnsssdr_32fc_convert_16ic(d_late_code16, d_late_code, d_current_prn_length_samples);
|
|
volk_gnsssdr_32fc_convert_16ic(d_very_late_code16, d_very_late_code, d_current_prn_length_samples);
|
|
volk_gnsssdr_32fc_convert_16ic(in16, in, d_current_prn_length_samples);
|
|
volk_gnsssdr_32fc_convert_16ic(d_carr_sign16, d_carr_sign, d_current_prn_length_samples);
|
|
|
|
volk_gnsssdr_16ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in16, d_carr_sign16, d_very_early_code16, d_early_code16, d_prompt_code16, d_late_code16, d_very_late_code16, d_current_prn_length_samples);*/
|
|
|
|
//Integer 8 bits implementation
|
|
volk_gnsssdr_32fc_convert_8ic_manual(d_very_early_code8, d_very_early_code, d_current_prn_length_samples,"u_sse2");
|
|
volk_gnsssdr_32fc_convert_8ic_manual(d_early_code8, d_early_code, d_current_prn_length_samples,"u_sse2");
|
|
volk_gnsssdr_32fc_convert_8ic_manual(d_prompt_code8, d_prompt_code, d_current_prn_length_samples,"u_sse2");
|
|
volk_gnsssdr_32fc_convert_8ic_manual(d_late_code8, d_late_code, d_current_prn_length_samples,"u_sse2");
|
|
volk_gnsssdr_32fc_convert_8ic_manual(d_very_late_code8, d_very_late_code, d_current_prn_length_samples,"u_sse2");
|
|
volk_gnsssdr_32fc_convert_8ic_manual(d_carr_sign8, d_carr_sign, d_current_prn_length_samples,"u_sse2");
|
|
volk_gnsssdr_32fc_s32f_convert_8ic_manual(in8, in, 4, d_current_prn_length_samples,"u_sse2");
|
|
|
|
volk_gnsssdr_8ic_x7_cw_vepl_corr_safe_32fc_x5_manual(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples, "u_sse4_1");
|
|
|
|
//volk_gnsssdr_8ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
|
|
|
|
//volk_gnsssdr_8ic_x7_cw_vepl_corr_unsafe_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
|
|
|
|
// ################## PLL ##########################################################
|
|
// PLL discriminator
|
|
carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / static_cast<float>(GPS_TWO_PI);
|
|
// Carrier discriminator filter
|
|
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
|
|
// New carrier Doppler frequency estimation
|
|
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
|
|
// New code Doppler frequency estimation
|
|
d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ);
|
|
//carrier phase accumulator for (K) Doppler estimation
|
|
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD;
|
|
//remnant carrier phase to prevent overflow in the code NCO
|
|
d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD;
|
|
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
|
|
|
|
// ################## DLL ##########################################################
|
|
// DLL discriminator
|
|
code_error_chips = dll_nc_vemlp_normalized(*d_Very_Early, *d_Early, *d_Late, *d_Very_Late); //[chips/Ti]
|
|
// Code discriminator filter
|
|
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
|
|
//Code phase accumulator
|
|
float code_error_filt_secs;
|
|
code_error_filt_secs = (Galileo_E1_CODE_PERIOD * code_error_filt_chips) / Galileo_E1_CODE_CHIP_RATE_HZ; //[seconds]
|
|
//code_error_filt_secs=T_prn_seconds*code_error_filt_chips*T_chip_seconds*static_cast<float>(d_fs_in); //[seconds]
|
|
d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
|
|
|
|
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
|
// keep alignment parameters for the next input buffer
|
|
double T_chip_seconds;
|
|
double T_prn_seconds;
|
|
double T_prn_samples;
|
|
double K_blk_samples;
|
|
// Compute the next buffer lenght based in the new period of the PRN sequence and the code phase error estimation
|
|
T_chip_seconds = 1 / static_cast<double>(d_code_freq_chips);
|
|
T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
|
|
T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
|
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
|
|
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
|
|
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
|
|
|
|
// ####### 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;
|
|
|
|
// Code lock indicator
|
|
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS);
|
|
|
|
// Carrier lock indicator
|
|
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
|
|
|
// Loss of lock detection
|
|
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < 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 << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
|
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
|
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
|
|
if (d_queue != gr::msg_queue::sptr())
|
|
{
|
|
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
|
}
|
|
d_carrier_lock_fail_counter = 0;
|
|
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
|
}
|
|
}
|
|
|
|
// ########### Output the tracking results to Telemetry block ##########
|
|
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
|
|
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
|
|
|
|
// Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
|
|
//compute remnant code phase samples BEFORE the Tracking timestamp
|
|
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
|
|
//current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter +
|
|
// (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples) / static_cast<double>(d_fs_in);
|
|
|
|
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
|
|
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
|
|
//compute remnant code phase samples AFTER the Tracking timestamp
|
|
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
|
|
|
|
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
|
|
current_synchro_data.Code_phase_secs = 0;
|
|
current_synchro_data.Carrier_phase_rads = static_cast<double>(d_acc_carrier_phase_rad);
|
|
current_synchro_data.Carrier_Doppler_hz = static_cast<double>(d_carrier_doppler_hz);
|
|
current_synchro_data.CN0_dB_hz = static_cast<double>(d_CN0_SNV_dB_Hz);
|
|
*out[0] = current_synchro_data;
|
|
|
|
// ########## DEBUG OUTPUT
|
|
/*!
|
|
* \todo The stop timer has to be moved to the signal source!
|
|
*/
|
|
// stream to collect cout calls to improve thread safety
|
|
std::stringstream tmp_str_stream;
|
|
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
|
|
{
|
|
d_last_seg = floor(d_sample_counter / d_fs_in);
|
|
|
|
if (d_channel == 0)
|
|
{
|
|
// debug: Second counter in channel 0
|
|
tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
|
|
std::cout << tmp_str_stream.rdbuf() << std::flush;
|
|
}
|
|
|
|
tmp_str_stream << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
|
<< ", Doppler=" << d_carrier_doppler_hz << " [Hz] CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
|
LOG(INFO) << tmp_str_stream.rdbuf() << std::flush;
|
|
//if (d_channel == 0 || d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
|
|
/*!
|
|
* \todo The stop timer has to be moved to the signal source!
|
|
*/
|
|
// stream to collect cout calls to improve thread safety
|
|
std::stringstream tmp_str_stream;
|
|
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
|
|
{
|
|
d_last_seg = floor(d_sample_counter / d_fs_in);
|
|
|
|
if (d_channel == 0)
|
|
{
|
|
// debug: Second counter in channel 0
|
|
tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
|
|
std::cout << tmp_str_stream.rdbuf() << std::flush;
|
|
}
|
|
}
|
|
*d_Early = gr_complex(0,0);
|
|
*d_Prompt = gr_complex(0,0);
|
|
*d_Late = gr_complex(0,0);
|
|
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output stream pointer
|
|
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
|
*out[0] = *d_acquisition_gnss_synchro;
|
|
}
|
|
|
|
if(d_dump)
|
|
{
|
|
// Dump results to file
|
|
float prompt_I;
|
|
float prompt_Q;
|
|
float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL;
|
|
float tmp_float;
|
|
double tmp_double;
|
|
prompt_I = (*d_Prompt).real();
|
|
prompt_Q = (*d_Prompt).imag();
|
|
tmp_VE = std::abs<float>(*d_Very_Early);
|
|
tmp_E = std::abs<float>(*d_Early);
|
|
tmp_P = std::abs<float>(*d_Prompt);
|
|
tmp_L = std::abs<float>(*d_Late);
|
|
tmp_VL = std::abs<float>(*d_Very_Late);
|
|
|
|
try
|
|
{
|
|
// Dump correlators output
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_VE), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_VL), sizeof(float));
|
|
// PROMPT I and Q (to analyze navigation symbols)
|
|
d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
|
|
// PRN start sample stamp
|
|
d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
|
|
// accumulated carrier phase
|
|
d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(float));
|
|
// carrier and code frequency
|
|
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(float));
|
|
//PLL commands
|
|
d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(float));
|
|
//DLL commands
|
|
d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(float));
|
|
// CN0 and carrier lock test
|
|
d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(float));
|
|
// AUX vars (for debug purposes)
|
|
tmp_float = d_rem_code_phase_samples;
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_float), sizeof(float));
|
|
tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
|
}
|
|
catch (std::ifstream::failure e)
|
|
{
|
|
LOG(WARNING) << "Exception writing trk dump file " << e.what() << std::endl;
|
|
}
|
|
}
|
|
consume_each(d_current_prn_length_samples); // this is required for gr_block derivates
|
|
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
|
|
//std::cout<<"Galileo tracking output at sample "<<d_sample_counter<<std::endl;
|
|
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
|
|
}
|
|
|
|
|
|
|
|
void galileo_volk_e1_dll_pll_veml_tracking_cc::set_channel(unsigned int channel)
|
|
{
|
|
d_channel = channel;
|
|
LOG(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);
|
|
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
|
|
}
|
|
catch (std::ifstream::failure e)
|
|
{
|
|
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void galileo_volk_e1_dll_pll_veml_tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
|
|
{
|
|
d_channel_internal_queue = channel_internal_queue;
|
|
}
|
|
|
|
|
|
|
|
void galileo_volk_e1_dll_pll_veml_tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
|
{
|
|
d_acquisition_gnss_synchro = p_gnss_synchro;
|
|
// Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
|
//DLOG(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
|
|
//DLOG(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
|
|
//DLOG(INFO) << "Tracking Satellite set to " << d_satellite;
|
|
}
|