[hamradio-commits] [gnss-sdr] 34/126: New DLL PLL Artemisa tracking block skeleton. Not usable yet!
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Sat Dec 26 18:37:59 UTC 2015
This is an automated email from the git hooks/post-receive script.
carles_fernandez-guest pushed a commit to branch next
in repository gnss-sdr.
commit c2e254debcddbd348af72e03ada2710935d69c81
Author: Javier <Javier Arribas>
Date: Sun Nov 15 22:26:42 2015 +0100
New DLL PLL Artemisa tracking block skeleton. Not usable yet!
---
src/algorithms/tracking/adapters/CMakeLists.txt | 1 +
.../gps_l1_ca_dll_pll_artemisa_tracking.cc | 159 +++++
.../adapters/gps_l1_ca_dll_pll_artemisa_tracking.h | 114 ++++
.../tracking/gnuradio_blocks/CMakeLists.txt | 1 +
.../gps_l1_ca_dll_pll_artemisa_tracking_cc.cc | 647 +++++++++++++++++++++
.../gps_l1_ca_dll_pll_artemisa_tracking_cc.h | 188 ++++++
src/algorithms/tracking/libs/CMakeLists.txt | 2 +-
src/core/receiver/gnss_block_factory.cc | 7 +
8 files changed, 1118 insertions(+), 1 deletion(-)
diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt
index 55029b0..7a611f4 100644
--- a/src/algorithms/tracking/adapters/CMakeLists.txt
+++ b/src/algorithms/tracking/adapters/CMakeLists.txt
@@ -28,6 +28,7 @@ set(TRACKING_ADAPTER_SOURCES
gps_l1_ca_dll_fll_pll_tracking.cc
gps_l1_ca_dll_pll_optim_tracking.cc
gps_l1_ca_dll_pll_tracking.cc
+ gps_l1_ca_dll_pll_artemisa_tracking.cc
gps_l1_ca_tcp_connector_tracking.cc
galileo_e5a_dll_pll_tracking.cc
gps_l2_m_dll_pll_tracking.cc
diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_artemisa_tracking.cc b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_artemisa_tracking.cc
new file mode 100644
index 0000000..69d3963
--- /dev/null
+++ b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_artemisa_tracking.cc
@@ -0,0 +1,159 @@
+/*!
+ * \file gps_l1_ca_dll_pll_artemisa_tracking.cc
+ * \brief Implementation of an adapter of a DLL+PLL tracking loop block
+ * for GPS L1 C/A to a TrackingInterface
+ * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
+ * Javier Arribas, 2011. jarribas(at)cttc.es
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkhauser, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include "gps_l1_ca_dll_pll_artemisa_tracking.h"
+#include <glog/logging.h>
+#include "GPS_L1_CA.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+
+GpsL1CaDllPllArtemisaTracking::GpsL1CaDllPllArtemisaTracking(
+ ConfigurationInterface* configuration, std::string role,
+ unsigned int in_streams, unsigned int out_streams,
+ boost::shared_ptr<gr::msg_queue> queue) :
+ role_(role), in_streams_(in_streams), out_streams_(out_streams),
+ queue_(queue)
+{
+ DLOG(INFO) << "role " << role;
+ //################# CONFIGURATION PARAMETERS ########################
+ int fs_in;
+ int vector_length;
+ int f_if;
+ bool dump;
+ std::string dump_filename;
+ std::string item_type;
+ std::string default_item_type = "gr_complex";
+ float pll_bw_hz;
+ float dll_bw_hz;
+ float early_late_space_chips;
+ item_type = configuration->property(role + ".item_type", default_item_type);
+ //vector_length = configuration->property(role + ".vector_length", 2048);
+ fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+ f_if = configuration->property(role + ".if", 0);
+ dump = configuration->property(role + ".dump", false);
+ pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
+ dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
+ early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
+ std::string default_dump_filename = "./track_ch";
+ dump_filename = configuration->property(role + ".dump_filename",
+ default_dump_filename); //unused!
+ vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
+
+ //################# MAKE TRACKING GNURadio object ###################
+ if (item_type.compare("gr_complex") == 0)
+ {
+ item_size_ = sizeof(gr_complex);
+ tracking_ = gps_l1_ca_dll_pll_artemisa_make_tracking_cc(
+ f_if,
+ fs_in,
+ vector_length,
+ queue_,
+ dump,
+ dump_filename,
+ pll_bw_hz,
+ dll_bw_hz,
+ early_late_space_chips);
+ }
+ else
+ {
+ item_size_ = sizeof(gr_complex);
+ LOG(WARNING) << item_type << " unknown tracking item type.";
+ }
+ channel_ = 0;
+ channel_internal_queue_ = 0;
+ DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
+}
+
+
+GpsL1CaDllPllArtemisaTracking::~GpsL1CaDllPllArtemisaTracking()
+{}
+
+
+void GpsL1CaDllPllArtemisaTracking::start_tracking()
+{
+ tracking_->start_tracking();
+}
+
+/*
+ * Set tracking channel unique ID
+ */
+void GpsL1CaDllPllArtemisaTracking::set_channel(unsigned int channel)
+{
+ channel_ = channel;
+ tracking_->set_channel(channel);
+}
+
+/*
+ * Set tracking channel internal queue
+ */
+void GpsL1CaDllPllArtemisaTracking::set_channel_queue(
+ concurrent_queue<int> *channel_internal_queue)
+{
+ channel_internal_queue_ = channel_internal_queue;
+ tracking_->set_channel_queue(channel_internal_queue_);
+}
+
+void GpsL1CaDllPllArtemisaTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+ tracking_->set_gnss_synchro(p_gnss_synchro);
+}
+
+void GpsL1CaDllPllArtemisaTracking::connect(gr::top_block_sptr top_block)
+{
+ if(top_block) { /* top_block is not null */};
+ //nothing to connect, now the tracking uses gr_sync_decimator
+}
+
+void GpsL1CaDllPllArtemisaTracking::disconnect(gr::top_block_sptr top_block)
+{
+ if(top_block) { /* top_block is not null */};
+ //nothing to disconnect, now the tracking uses gr_sync_decimator
+}
+
+gr::basic_block_sptr GpsL1CaDllPllArtemisaTracking::get_left_block()
+{
+ return tracking_;
+}
+
+gr::basic_block_sptr GpsL1CaDllPllArtemisaTracking::get_right_block()
+{
+ return tracking_;
+}
+
diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_artemisa_tracking.h b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_artemisa_tracking.h
new file mode 100644
index 0000000..06b91e8
--- /dev/null
+++ b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_artemisa_tracking.h
@@ -0,0 +1,114 @@
+/*!
+ * \file gps_l1_ca_dll_pll_artemisa_tracking.h
+ * \brief Interface of an adapter of a DLL+PLL tracking loop block
+ * for GPS L1 C/A to a TrackingInterface
+ * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
+ * Javier Arribas, 2011. jarribas(at)cttc.es
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_ARTEMISA_TRACKING_H_
+#define GNSS_SDR_GPS_L1_CA_DLL_PLL_ARTEMISA_TRACKING_H_
+
+#include <string>
+#include <gnuradio/msg_queue.h>
+#include "tracking_interface.h"
+#include "gps_l1_ca_dll_pll_artemisa_tracking_cc.h"
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class implements a code DLL + carrier PLL tracking loop
+ */
+class GpsL1CaDllPllArtemisaTracking : public TrackingInterface
+{
+public:
+
+ GpsL1CaDllPllArtemisaTracking(ConfigurationInterface* configuration,
+ std::string role,
+ unsigned int in_streams,
+ unsigned int out_streams,
+ boost::shared_ptr<gr::msg_queue> queue);
+
+ virtual ~GpsL1CaDllPllArtemisaTracking();
+
+ std::string role()
+ {
+ return role_;
+ }
+
+ //! Returns "gps_l1_ca_dll_pll_artemisa_tracking"
+ std::string implementation()
+ {
+ return "gps_l1_ca_dll_pll_artemisa_tracking";
+ }
+ size_t item_size()
+ {
+ return item_size_;
+ }
+
+ void connect(gr::top_block_sptr top_block);
+ void disconnect(gr::top_block_sptr top_block);
+ gr::basic_block_sptr get_left_block();
+ gr::basic_block_sptr get_right_block();
+
+
+ /*!
+ * \brief Set tracking channel unique ID
+ */
+ void set_channel(unsigned int channel);
+
+ /*!
+ * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+ * to efficiently exchange synchronization data between acquisition and tracking blocks
+ */
+ void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+ /*!
+ * \brief Set tracking channel internal queue
+ */
+ void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
+
+ void start_tracking();
+
+private:
+ gps_l1_ca_dll_pll_artemisa_tracking_cc_sptr tracking_;
+ size_t item_size_;
+ unsigned int channel_;
+ std::string role_;
+ unsigned int in_streams_;
+ unsigned int out_streams_;
+ boost::shared_ptr<gr::msg_queue> queue_;
+ concurrent_queue<int> *channel_internal_queue_;
+};
+
+#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_ARTEMISA_TRACKING_H_
diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
index 6af7fb3..ecd6a8b 100644
--- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
@@ -32,6 +32,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
gps_l1_ca_tcp_connector_tracking_cc.cc
galileo_e5a_dll_pll_tracking_cc.cc
gps_l2_m_dll_pll_tracking_cc.cc
+ gps_l1_ca_dll_pll_artemisa_tracking_cc.cc
${OPT_TRACKING_BLOCKS}
)
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_artemisa_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_artemisa_tracking_cc.cc
new file mode 100644
index 0000000..3c3ca1f
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_artemisa_tracking_cc.cc
@@ -0,0 +1,647 @@
+/*!
+ * \file gps_l1_ca_dll_pll_artemisa_tracking_cc.cc
+ * \brief Implementation of a code DLL + carrier PLL tracking block
+ * \author Javier Arribas, 2015. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "gps_l1_ca_dll_pll_artemisa_tracking_cc.h"
+#include <cmath>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <boost/lexical_cast.hpp>
+#include <gnuradio/io_signature.h>
+#include <gnuradio/fxpt.h> // fixed point sine and cosine
+#include <glog/logging.h>
+#include "gnss_synchro.h"
+#include "gps_sdr_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "lock_detectors.h"
+#include "GPS_L1_CA.h"
+#include "control_message_factory.h"
+
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 20
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 50
+#define CARRIER_LOCK_THRESHOLD 0.85
+
+
+using google::LogMessage;
+
+gps_l1_ca_dll_pll_artemisa_tracking_cc_sptr
+gps_l1_ca_dll_pll_artemisa_make_tracking_cc(
+ long if_freq,
+ long fs_in,
+ unsigned int vector_length,
+ boost::shared_ptr<gr::msg_queue> queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips)
+{
+ return gps_l1_ca_dll_pll_artemisa_tracking_cc_sptr(new gps_l1_ca_dll_pll_artemisa_tracking_cc(if_freq,
+ fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
+}
+
+
+
+void gps_l1_ca_dll_pll_artemisa_tracking_cc::forecast (int noutput_items,
+ gr_vector_int &ninput_items_required)
+{
+ ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
+}
+
+
+
+gps_l1_ca_dll_pll_artemisa_tracking_cc::gps_l1_ca_dll_pll_artemisa_tracking_cc(
+ long if_freq,
+ long fs_in,
+ unsigned int vector_length,
+ boost::shared_ptr<gr::msg_queue> queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips) :
+ gr::block("gps_l1_ca_dll_pll_artemisa_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
+ gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+ // initialize internal vars
+ d_queue = queue;
+ d_dump = dump;
+ d_if_freq = if_freq;
+ d_fs_in = fs_in;
+ d_vector_length = vector_length;
+ d_dump_filename = dump_filename;
+
+ // Initialize tracking ==========================================
+ d_code_loop_filter.set_DLL_BW(dll_bw_hz);
+ d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
+
+ //--- DLL variables --------------------------------------------------------
+ d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+
+ // Initialization of local code replica
+ // Get space for a vector with the C/A code replica sampled 1x/chip
+ d_ca_code = static_cast<gr_complex*>(volk_malloc((GPS_L1_CA_CODE_LENGTH_CHIPS + 2) * sizeof(gr_complex), volk_get_alignment()));
+
+ // Get space for the resampled early / prompt / late local replicas
+ d_early_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
+ d_prompt_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
+ d_late_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
+
+ // space for carrier wipeoff and signal baseband vectors
+ d_carr_sign = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
+
+ // correlator outputs (scalar)
+ d_Early = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
+ d_Prompt = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
+ d_Late = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
+
+
+ //--- Perform initializations ------------------------------
+ // define initial code frequency basis of NCO
+ d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
+ // define residual code phase (in chips)
+ d_rem_code_phase_samples = 0.0;
+ // define residual carrier phase
+ d_rem_carr_phase_rad = 0.0;
+
+ // sample synchronization
+ d_sample_counter = 0;
+ //d_sample_counter_seconds = 0;
+ d_acq_sample_stamp = 0;
+
+ d_enable_tracking = false;
+ d_pull_in = false;
+ d_last_seg = 0;
+
+ d_current_prn_length_samples = static_cast<int>(d_vector_length);
+
+ // CN0 estimation and lock detector buffers
+ d_cn0_estimation_counter = 0;
+ d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+ d_carrier_lock_test = 1;
+ d_CN0_SNV_dB_Hz = 0;
+ d_carrier_lock_fail_counter = 0;
+ d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
+
+ systemName["G"] = std::string("GPS");
+ systemName["S"] = std::string("SBAS");
+
+
+ set_relative_rate(1.0/((double)d_vector_length*2));
+
+ d_channel_internal_queue = 0;
+ d_acquisition_gnss_synchro = 0;
+ d_channel = 0;
+ d_acq_code_phase_samples = 0.0;
+ d_acq_carrier_doppler_hz = 0.0;
+ d_carrier_doppler_hz = 0.0;
+ d_acc_carrier_phase_rad = 0.0;
+ d_code_phase_samples = 0.0;
+ d_acc_code_phase_secs = 0.0;
+ //set_min_output_buffer((long int)300);
+}
+
+
+void gps_l1_ca_dll_pll_artemisa_tracking_cc::start_tracking()
+{
+ /*
+ * correct the code phase according to the delay between acq and trk
+ */
+ d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+ d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+ d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+ long int acq_trk_diff_samples;
+ float acq_trk_diff_seconds;
+ acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
+ DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
+ acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
+ //doppler effect
+ // Fd=(C/(C+Vr))*F
+ float radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
+ // new chip and prn sequence periods based on acq Doppler
+ float T_chip_mod_seconds;
+ float T_prn_mod_seconds;
+ float T_prn_mod_samples;
+ d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
+ T_chip_mod_seconds = 1/d_code_freq_chips;
+ T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
+ T_prn_mod_samples = T_prn_mod_seconds * static_cast<float>(d_fs_in);
+
+ d_current_prn_length_samples = round(T_prn_mod_samples);
+
+ float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
+ float T_prn_true_samples = T_prn_true_seconds * static_cast<float>(d_fs_in);
+ float T_prn_diff_seconds= T_prn_true_seconds - T_prn_mod_seconds;
+ float N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
+ float corrected_acq_phase_samples, delay_correction_samples;
+ corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<float>(d_fs_in)), T_prn_true_samples);
+ if (corrected_acq_phase_samples < 0)
+ {
+ corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
+ }
+ delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
+
+ d_acq_code_phase_samples = corrected_acq_phase_samples;
+
+ d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+
+ // DLL/PLL filter initialization
+ d_carrier_loop_filter.initialize(); // initialize the carrier filter
+ d_code_loop_filter.initialize(); // initialize the code filter
+
+ // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
+ gps_l1_ca_code_gen_complex(&d_ca_code[1], d_acquisition_gnss_synchro->PRN, 0);
+ d_ca_code[0] = d_ca_code[static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS)];
+ d_ca_code[static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) + 1] = d_ca_code[1];
+
+ d_carrier_lock_fail_counter = 0;
+ d_rem_code_phase_samples = 0;
+ d_rem_carr_phase_rad = 0;
+ d_acc_carrier_phase_rad = 0;
+ d_acc_code_phase_secs = 0;
+
+ d_code_phase_samples = d_acq_code_phase_samples;
+
+ std::string sys_ = &d_acquisition_gnss_synchro->System;
+ sys = sys_.substr(0,1);
+
+ // DEBUG OUTPUT
+ std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+ LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+
+
+ // enable tracking
+ d_pull_in = true;
+ d_enable_tracking = true;
+
+ LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+ << " Code Phase correction [samples]=" << delay_correction_samples
+ << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+}
+
+
+
+// LOCAL CODE INPUT COMMANDS:
+// - double d_code_freq_chips: GPS L1 CA code frequency estimation [chips/s]
+// - double d_fs_in: sampling frequency [Hz]
+// - double d_rem_code_phase_samples: initial code phase [samples]
+// - double d_early_late_spc_chips: Early and Late replicas spacing in chips
+// - int d_current_prn_length_samples: number of code replica samples to generate
+// - gr_complex* d_ca_code: vector with GPS CA code (1 sample per chip)
+// NCO OUTPUT:
+// - gr_complex d_early_code[d_current_prn_length_samples]
+// - gr_complex d_prompt_code[d_current_prn_length_samples]
+// - gr_complex d_late_code[d_current_prn_length_samples]
+
+void gps_l1_ca_dll_pll_artemisa_tracking_cc::update_local_code()
+{
+ double tcode_chips;
+ double rem_code_phase_chips;
+ int associated_chip_index;
+ int code_length_chips = static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS);
+ double code_phase_step_chips;
+ int early_late_spc_samples;
+ int epl_loop_length_samples;
+
+ // unified loop for E, P, L code vectors
+ code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
+ rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / d_fs_in);
+ tcode_chips = -rem_code_phase_chips;
+
+ // Alternative EPL code generation (40% of speed improvement!)
+ early_late_spc_samples = round(d_early_late_spc_chips / code_phase_step_chips);
+ epl_loop_length_samples = d_current_prn_length_samples + early_late_spc_samples * 2;
+ for (int i = 0; i < epl_loop_length_samples; i++)
+ {
+ associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_spc_chips, code_length_chips));
+ d_early_code[i] = d_ca_code[associated_chip_index];
+ tcode_chips = tcode_chips + code_phase_step_chips;
+ }
+
+ memcpy(d_prompt_code, &d_early_code[early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
+ memcpy(d_late_code, &d_early_code[early_late_spc_samples * 2], d_current_prn_length_samples * sizeof(gr_complex));
+}
+
+
+
+// NCO INPUT COMMANDS:
+// - double d_rem_carr_phase_rad: initial phase [rad]
+// - double d_carrier_doppler_hz: nco frequency [Hz]
+// - int d_current_prn_length_samples: number of carrier replica samples to generate
+// NCO OUTPUT:
+// - gr_complex d_carr_sign[d_current_prn_length_samples]: carrier signal cpx samples vector
+
+void gps_l1_ca_dll_pll_artemisa_tracking_cc::update_local_carrier()
+{
+ float sin_f, cos_f;
+ float phase_step_rad = static_cast<float>(GPS_TWO_PI) * d_carrier_doppler_hz / static_cast<float>(d_fs_in);
+ int phase_step_rad_i = gr::fxpt::float_to_fixed(phase_step_rad);
+ int phase_rad_i = gr::fxpt::float_to_fixed(d_rem_carr_phase_rad);
+
+ for(int i = 0; i < d_current_prn_length_samples; i++)
+ {
+ gr::fxpt::sincos(phase_rad_i, &sin_f, &cos_f);
+ d_carr_sign[i] = std::complex<float>(cos_f, -sin_f);
+ phase_rad_i += phase_step_rad_i;
+ }
+ //d_rem_carr_phase_rad = fmod(phase_rad, GPS_TWO_PI);
+ //d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + d_rem_carr_phase_rad;
+}
+
+
+gps_l1_ca_dll_pll_artemisa_tracking_cc::~gps_l1_ca_dll_pll_artemisa_tracking_cc()
+{
+ d_dump_file.close();
+
+ volk_free(d_prompt_code);
+ volk_free(d_late_code);
+ volk_free(d_early_code);
+ volk_free(d_carr_sign);
+ volk_free(d_Early);
+ volk_free(d_Prompt);
+ volk_free(d_Late);
+ volk_free(d_ca_code);
+
+ delete[] d_Prompt_buffer;
+}
+
+
+
+int gps_l1_ca_dll_pll_artemisa_tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
+ gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+ // process vars
+ float carr_error_hz;
+ float carr_error_filt_hz;
+ float code_error_chips;
+ float code_error_filt_chips;
+
+ // Block input data and block output stream pointers
+ const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignment
+ Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+ // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+ Gnss_Synchro current_synchro_data = Gnss_Synchro();
+
+ if (d_enable_tracking == true)
+ {
+ // Receiver signal alignment
+ if (d_pull_in == true)
+ {
+ int samples_offset;
+ float acq_trk_shif_correction_samples;
+ int acq_to_trk_delay_samples;
+ acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+ acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
+ samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+ d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
+ d_pull_in = false;
+ // Fill the acquisition data
+ current_synchro_data = *d_acquisition_gnss_synchro;
+ *out[0] = current_synchro_data;
+ consume_each(samples_offset); //shift input to perform alignment with local replica
+ return 1;
+ }
+
+ // Fill the acquisition data
+ current_synchro_data = *d_acquisition_gnss_synchro;
+
+ // ################# CARRIER NCO AND LOCAL REPLICA GENERATION ################
+ update_local_code();
+ update_local_carrier();
+
+ // ################# perform carrier wipe-off and compute Early, Prompt and Late correlation ################
+ d_correlator.Carrier_wipeoff_and_EPL_volk(d_current_prn_length_samples,
+ in,
+ d_carr_sign,
+ d_early_code,
+ d_prompt_code,
+ d_late_code,
+ d_Early,
+ d_Prompt,
+ d_Late);
+
+
+
+ // ################## DLL ##########################################################
+ // DLL discriminator
+ code_error_chips = dll_nc_e_minus_l_normalized(*d_Early, *d_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 = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; //[seconds]
+ d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
+
+ // ################## 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 = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_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 * GPS_L1_CA_CODE_PERIOD;
+ //remanent 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 * GPS_L1_CA_CODE_PERIOD;
+ d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
+
+ // ################## 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 length 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 * GPS_L1_CA_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
+
+
+
+
+ // ####### 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, GPS_L1_CA_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 data to navigation and PVT ##########
+ 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 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);
+ current_synchro_data.Flag_valid_pseudorange = false;
+ *out[0] = current_synchro_data;
+
+ // ########## DEBUG OUTPUT
+ /*!
+ * \todo The stop timer has to be moved to the signal source!
+ */
+ // debug: Second counter in channel 0
+ if (d_channel == 0)
+ {
+ if (floor(d_sample_counter / d_fs_in) != d_last_seg)
+ {
+ d_last_seg = floor(d_sample_counter / d_fs_in);
+ std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
+ DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+ << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
+ //if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
+ }
+ }
+ else
+ {
+ if (floor(d_sample_counter / d_fs_in) != d_last_seg)
+ {
+ d_last_seg = floor(d_sample_counter / d_fs_in);
+ DLOG(INFO) << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+ << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]";
+ }
+ }
+ }
+ 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);
+
+ current_synchro_data.System = {'G'};
+ current_synchro_data.Flag_valid_pseudorange = false;
+ *out[0] = current_synchro_data;
+ }
+
+ if(d_dump)
+ {
+ // MULTIPLEXED FILE RECORDING - Record results to file
+ float prompt_I;
+ float prompt_Q;
+ float tmp_E, tmp_P, tmp_L;
+ float tmp_float;
+ double tmp_double;
+ prompt_I = (*d_Prompt).real();
+ prompt_Q = (*d_Prompt).imag();
+ tmp_E = std::abs<float>(*d_Early);
+ tmp_P = std::abs<float>(*d_Prompt);
+ tmp_L = std::abs<float>(*d_Late);
+ try
+ {
+ // EPR
+ d_dump_file.write(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));
+ // 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
+ //tmp_float=(float)d_sample_counter;
+ 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));
+ tmp_float=d_code_freq_chips;
+ d_dump_file.write(reinterpret_cast<char*>(&tmp_float), 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();
+ }
+ }
+
+ consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
+ d_sample_counter += d_current_prn_length_samples; //count for the processed samples
+ //LOG(INFO)<<"GPS tracking output end on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter<<std::endl;
+ return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
+}
+
+
+
+void gps_l1_ca_dll_pll_artemisa_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() << std::endl;
+ }
+ catch (std::ifstream::failure e)
+ {
+ LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
+ }
+ }
+ }
+}
+
+void gps_l1_ca_dll_pll_artemisa_tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
+{
+ d_channel_internal_queue = channel_internal_queue;
+}
+
+void gps_l1_ca_dll_pll_artemisa_tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+ d_acquisition_gnss_synchro = p_gnss_synchro;
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_artemisa_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_artemisa_tracking_cc.h
new file mode 100644
index 0000000..d584733
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_artemisa_tracking_cc.h
@@ -0,0 +1,188 @@
+/*!
+ * \file gps_l1_ca_dll_pll_artemisa_tracking_cc.h
+ * \brief Interface of a code DLL + carrier PLL tracking block
+ * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
+ * Javier Arribas, 2011. jarribas(at)cttc.es
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
+ * Birkhauser, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_ARTEMISA_TRACKING_CC_H
+#define GNSS_SDR_GPS_L1_CA_DLL_PLL_ARTEMISA_TRACKING_CC_H
+
+#include <fstream>
+#include <queue>
+#include <map>
+#include <string>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/thread.hpp>
+#include <gnuradio/block.h>
+#include <gnuradio/msg_queue.h>
+#include "concurrent_queue.h"
+#include "gps_sdr_signal_processing.h"
+#include "gnss_synchro.h"
+#include "tracking_2nd_DLL_filter.h"
+#include "tracking_2nd_PLL_filter.h"
+#include "correlator.h"
+
+class gps_l1_ca_dll_pll_artemisa_tracking_cc;
+
+typedef boost::shared_ptr<gps_l1_ca_dll_pll_artemisa_tracking_cc>
+ gps_l1_ca_dll_pll_artemisa_tracking_cc_sptr;
+
+gps_l1_ca_dll_pll_artemisa_tracking_cc_sptr
+gps_l1_ca_dll_pll_artemisa_make_tracking_cc(long if_freq,
+ long fs_in, unsigned
+ int vector_length,
+ boost::shared_ptr<gr::msg_queue> queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips);
+
+
+
+/*!
+ * \brief This class implements a DLL + PLL tracking loop block
+ */
+class gps_l1_ca_dll_pll_artemisa_tracking_cc: public gr::block
+{
+public:
+ ~gps_l1_ca_dll_pll_artemisa_tracking_cc();
+
+ void set_channel(unsigned int channel);
+ void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+ void start_tracking();
+ void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
+
+ int general_work (int noutput_items, gr_vector_int &ninput_items,
+ gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+ void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+private:
+ friend gps_l1_ca_dll_pll_artemisa_tracking_cc_sptr
+ gps_l1_ca_dll_pll_artemisa_make_tracking_cc(long if_freq,
+ long fs_in, unsigned
+ int vector_length,
+ boost::shared_ptr<gr::msg_queue> queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips);
+
+ gps_l1_ca_dll_pll_artemisa_tracking_cc(long if_freq,
+ long fs_in, unsigned
+ int vector_length,
+ boost::shared_ptr<gr::msg_queue> queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips);
+ void update_local_code();
+ void update_local_carrier();
+
+ // tracking configuration vars
+ boost::shared_ptr<gr::msg_queue> d_queue;
+ concurrent_queue<int> *d_channel_internal_queue;
+ unsigned int d_vector_length;
+ bool d_dump;
+
+ Gnss_Synchro* d_acquisition_gnss_synchro;
+ unsigned int d_channel;
+ int d_last_seg;
+ long d_if_freq;
+ long d_fs_in;
+
+ double d_early_late_spc_chips;
+
+ gr_complex* d_ca_code;
+
+ gr_complex* d_early_code;
+ gr_complex* d_late_code;
+ gr_complex* d_prompt_code;
+ gr_complex* d_carr_sign;
+
+ gr_complex *d_Early;
+ gr_complex *d_Prompt;
+ gr_complex *d_Late;
+
+ // remaining code phase and carrier phase between tracking loops
+ double d_rem_code_phase_samples;
+ float d_rem_carr_phase_rad;
+
+ // PLL and DLL filter library
+ Tracking_2nd_DLL_filter d_code_loop_filter;
+ Tracking_2nd_PLL_filter d_carrier_loop_filter;
+
+ // acquisition
+ float d_acq_code_phase_samples;
+ float d_acq_carrier_doppler_hz;
+ // correlator
+ Correlator d_correlator;
+
+ // tracking vars
+ double d_code_freq_chips;
+ float d_carrier_doppler_hz;
+ float d_acc_carrier_phase_rad;
+ float d_code_phase_samples;
+ float d_acc_code_phase_secs;
+
+ //PRN period in samples
+ int d_current_prn_length_samples;
+
+ //processing samples counters
+ unsigned long int d_sample_counter;
+ unsigned long int d_acq_sample_stamp;
+
+ // CN0 estimation and lock detector
+ int d_cn0_estimation_counter;
+ gr_complex* d_Prompt_buffer;
+ float d_carrier_lock_test;
+ float d_CN0_SNV_dB_Hz;
+ float d_carrier_lock_threshold;
+ int d_carrier_lock_fail_counter;
+
+ // control vars
+ bool d_enable_tracking;
+ bool d_pull_in;
+
+ // file dump
+ std::string d_dump_filename;
+ std::ofstream d_dump_file;
+
+ std::map<std::string, std::string> systemName;
+ std::string sys;
+};
+
+#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_ARTEMISA_TRACKING_CC_H
diff --git a/src/algorithms/tracking/libs/CMakeLists.txt b/src/algorithms/tracking/libs/CMakeLists.txt
index c6c8c8c..7d0fb9d 100644
--- a/src/algorithms/tracking/libs/CMakeLists.txt
+++ b/src/algorithms/tracking/libs/CMakeLists.txt
@@ -68,4 +68,4 @@ endif(SSE3_AVAILABLE)
file(GLOB TRACKING_LIB_HEADERS "*.h")
add_library(tracking_lib ${TRACKING_LIB_SOURCES} ${TRACKING_LIB_HEADERS})
source_group(Headers FILES ${TRACKING_LIB_HEADERS})
-target_link_libraries(tracking_lib CUDA_CORRELATOR_LIB ${VOLK_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})
\ No newline at end of file
+target_link_libraries(tracking_lib ${CUDA_CORRELATOR_LIB} ${VOLK_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})
\ No newline at end of file
diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 9be54b8..5561625 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -77,6 +77,7 @@
#include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "gps_l1_ca_dll_pll_tracking.h"
+#include "gps_l1_ca_dll_pll_artemisa_tracking.h"
#include "gps_l1_ca_dll_pll_optim_tracking.h"
#include "gps_l1_ca_dll_fll_pll_tracking.h"
#include "gps_l1_ca_tcp_connector_tracking.h"
@@ -1561,6 +1562,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
out_streams, queue));
block = std::move(block_);
}
+ if (implementation.compare("GPS_L1_CA_DLL_PLL_Artemisa_Tracking") == 0)
+ {
+ std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllArtemisaTracking(configuration.get(), role, in_streams,
+ out_streams, queue));
+ block = std::move(block_);
+ }
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Optim_Tracking") == 0)
{
std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllOptimTracking(configuration.get(), role, in_streams,
--
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