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@ -0,0 +1,660 @@
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Original Article
|
||||
|
||||
Revista elektron, Vol. 8, No. 2, pp. 43-53 (2024)
|
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|
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https://doi.org/10.37537/rev.elektron.8.2.195.2024
|
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|
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Acquisition and Processing of GPS signals based on
|
||||
Software Defined Radio
|
||||
|
||||
Adquisición y Procesamiento de señales GPS basadas en Radio Definida por Software
|
||||
|
||||
Castillo Delacroix L. #1, Fagre M. #*2, Vaquila I. *α3, Cabrera M. A. #4
|
||||
|
||||
#Laboratorio de Telecomunicaciones, Facultad de Ciencias Exactas e Ingeniería, Universidad Nacional de Tucumán
|
||||
Av. Independencia 1800, Tucumán (4000), Argentina
|
||||
1 lecastillodelacroix@herrera.unt.edu.ar
|
||||
2 mfagre@herrera.unt.edu.ar
|
||||
4 mcabrera@herrera.unt.edu.ar
|
||||
|
||||
* Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET)
|
||||
Ciudad Autónoma de Buenos Aires (C1425FQB), Argentina
|
||||
3 ivaquila@unrn.edu.ar
|
||||
α INVAP S. E.
|
||||
Rio Negro(R8400), Argentina
|
||||
|
||||
Recibido: 17/09/24; Aceptado: 02/12/24
|
||||
|
||||
Abstract- This paper presents the development of a software tool I. INTRODUCTION
|
||||
that implements an acquisition block for GPS signals using SDR
|
||||
technology, specifically devices like the HackRF One and RTL- In the last decades, location services through Global
|
||||
SDR. The tool, implemented in Python, successfully detects Navigation Satellite System (GNSS), such as the Global
|
||||
satellites and estimates their parameters, offering customizable Positioning System (GPS), have become an essential feature
|
||||
algorithm settings and the capability to visualize the satellite of mobile devices. GPS receivers require a high level of
|
||||
search space in three dimensions. Comparative tests with the integration, low cost, and reduced power consumption [1,2].
|
||||
GNSS-SDR software tool demonstrated excellent performance, To achieve these requirements, they are implemented in
|
||||
providing a solid foundation for further development toward a Application Specific Integrated Circuits (ASIC) [3,4]. This
|
||||
complete SDR-based GNSS receiver. This work highlights the solution is suitable for applications that only need to know
|
||||
potential of SDR platforms for research and development, the position of the device but limits the user’s ability to
|
||||
emphasizing their flexibility, potential for future upgrades, and interact with the architecture, algorithm, or parameters of the
|
||||
cost-effectiveness in advancing future GNSS technologies. receiver [5,6]. Due to these limitations, the approach of
|
||||
GNSS Receivers implemented in Software Defined Radio
|
||||
Keywords: GNSS, GPS, Receiver, SDR. (SDR) emerged, where all signal processing is done in the
|
||||
software domain. This approach allows modifying the
|
||||
Resumen- Este trabajo presenta el desarrollo de una herramienta algorithms or parameters in real-time or in post-processing,
|
||||
de software que se implementa mediante un bloque de simply by modifying the receiver software, thus granting a
|
||||
adquisición para señales GPS utilizando tecnología de SDR, high degree of flexibility to the design. The current GNSS
|
||||
específicamente dirigida a dispositivos como HackRF One y scenario involves multi-constellation systems, which pose
|
||||
RTL-SDR. La herramienta implementada en Python detecta the challenge of designing receivers capable of processing
|
||||
satélites y estima sus parámetros con muy buen desempeño, signals of different characteristics, mitigating interference,
|
||||
ofreciendo configuraciones de algoritmo personalizables y posee and providing high-precision positioning, such as Precise
|
||||
la capacidad de visualizar el espacio de búsqueda de satélites en Point Positioning (PPP). Most current civilian receivers can
|
||||
tres dimensiones. Las pruebas comparativas con la herramienta only decode GPS-L1 C/A signals, so research laboratories
|
||||
de software GNSS-SDR demostraron un alto rendimiento, are working on receivers implemented in software [7,8,9].
|
||||
proporcionando una base sólida para expandir el desarrollo Development and research on SDR-based GNSS receivers
|
||||
hacia un receptor GNSS completo basado en tecnología SDR. En are expanding due to the flexibility and upgradeability they
|
||||
esta propuesta se destaca el potencial de las plataformas SDR offer, which is crucial for advanced applications and future
|
||||
para la investigación y el desarrollo, enfatizando su flexibilidad, navigation technologies. A notable example is the open-
|
||||
capacidad de actualización y rentabilidad para avanzar en source GNSS-SDR project of the Center Tecnològic de
|
||||
futuras tecnologías GNSS. Telecommunications de Catalunya. This program,
|
||||
|
||||
Palabras Claves: GNSS, GPS, Receptor, SDR.
|
||||
|
||||
ISSN 2525-0159 43
|
||||
Revista elektron, Vol. 8, No. 2, pp. 43-53 (2024)
|
||||
|
||||
developed in C++ and combined with GNU-Radio, runs on block can be modified once implemented in hardware,
|
||||
a general-purpose computer and allows selecting between whereas SDR implementations allow for the modification of
|
||||
different algorithms and accessing intermediate signals, any parameter or block in the receiver chain simply by
|
||||
which is useful to validate the development of the adjusting the software. This flexibility provides a significant
|
||||
acquisition stage [10,11,12]. advantage in SDR-based implementations, making them an
|
||||
This paper presents the development of a Python-based invaluable prototyping tool for DSP engineers, who can
|
||||
software tool for GPS signal acquisition based on SDR rapidly test and iterate different architectures or algorithms.
|
||||
devices. The acquisition stage, critical for detecting visible Figure 1. shows the GPS receiver block diagram based on
|
||||
satellites and estimating synchronization parameters like SDR. The antenna used in this work was a GPS commercial
|
||||
Doppler shift and code delay, is implemented using patch antenna, designed for a frequency of 1575.42 MHz,
|
||||
advanced algorithms and optimized for parallel processing. corresponding to the L1 band. The RF Front-End block was
|
||||
Recent research has highlighted significant advancements in implemented using an SDR device which will amplify, filter
|
||||
signal acquisition and tracking for GPS-based Software- a digitize the analog signal received by the antenna. To
|
||||
Defined Radio (SDR) receivers, demonstrating the choose the SDR hardware, we analyzed two options
|
||||
feasibility of using SDR platforms for efficient acquisition available in our laboratory. It’s important to mention that
|
||||
and tracking stages and the flexibility of SDR in optimizing both devices are widely used due to their low cost and good
|
||||
signal algorithms for enhanced performance under varying performance. The commercial HackRF One [24] is a
|
||||
environmental conditions [13,14,15]. This work contributes versatile SDR platform, designed for both transmission and
|
||||
to the field of SDR-based GNSS receivers by providing a reception of radio signals across a wide frequency range
|
||||
customizable and user-friendly platform for GPS signal from 1 MHz to 6 GHz. This open-source hardware device is
|
||||
acquisition. The tool was fully implemented in Python, due ideal for testing, developing, and experimenting with a
|
||||
to the existence of libraries related to digital signal broad spectrum of modern and future radio technologies.
|
||||
processing and the extensive documentation available [16]. Whether used as a USB peripheral or configured for
|
||||
Besides, it supports multiple SDR formats and incorporates standalone operation, the HackRF One offers flexibility and
|
||||
visualization features to enhance usability. Comparative adaptability for a variety of applications, making it a
|
||||
tests with the GNSS-SDR software validate its accuracy and valuable tool for hobbyists, researchers, and professionals in
|
||||
performance, demonstrating its potential as a foundation for the field of wireless communications. The RTL-SDR [25] is
|
||||
a complete SDR-based GNSS receiver capable of multi- a cost-effective SDR receiver, widely popular among
|
||||
frequency, multi-constellation processing [17,18,19, hobbyists and professionals for its versatility and ease of
|
||||
20,21,22,23]. use. Originating from repurposed USB TV tuner dongles,
|
||||
the RTL-SDR can receive frequencies from approximately
|
||||
II. SYSTEM ARCHITECTURE 500 kHz to 1.75 GHz. It supports a wide range of
|
||||
applications, including radio astronomy, weather satellite
|
||||
Although this development follows the SDR paradigm, the image reception, ADS-B aircraft tracking, and general radio
|
||||
proposed diagram shown in Figure 1 is applicable to both scanning. Its affordability, coupled with an extensive array
|
||||
Application Specific Integrated Circuit (ASIC) and SDR of compatible software, makes the RTL-SDR an excellent
|
||||
implementations. The key difference lies in the approach: in entry point into the world of SDR for beginners and a
|
||||
an ASIC implementation, all these blocks are hardwired valuable tool for experienced users. In Table 1, there are the
|
||||
using transistors integrated into a single silicon chip, making main characteristics of both devices.
|
||||
them fixed and unalterable. In contrast, the SDR approach Tests were conducted with both devices to evaluate their
|
||||
employs a reconfigurable radio frequency interface (RF reception capabilities. During the tests with the HackRF, it
|
||||
Front-End), where the SDR device is responsible for was impossible to achieve a lock on any satellite. After
|
||||
converting the analog RF signal from the antenna into digital several tests, it was concluded that it needs an external clock
|
||||
samples. These samples are then processed by a general- signal because its internal oscillator is not precise enough to
|
||||
purpose processor, a Digital Signal Processor (DSP), or even
|
||||
a Field Programmable Gate Array (FPGA). With ASICs, no
|
||||
|
||||
Fig. 1. GPS receiver block diagram implemented by SDR.
|
||||
|
||||
ISSN 2525-0159 44 http://elektron.fi.uba.ar
|
||||
Revista elektron, Vol. 8, No. 2, pp. 43-53 (2024)
|
||||
|
||||
process GPS signals, which require 1 ppm (part per million) Fig. 2. Power spectral density diagram for the L1 band.[8]
|
||||
or less. Various software configurations were tried, even
|
||||
reducing the frequency and time resolution requirements to The C/A code is a spread sequence that belongs to the family
|
||||
attempt to achieve a lock, but it was unsuccessful. of Gold Codes [26]. These sequences are commonly known
|
||||
In the tests with the RTL-SDR dongle, excellent results were as pseudo-random codes or Pseudo-Random Noise (PRN)
|
||||
achieved for the acquisition, lock, and decoding of the because of their apparently random nature. Pseudo-random
|
||||
navigation message, successfully obtaining the position codes are utilized because they do not repeat within their
|
||||
solution. sequence, providing highly advantageous correlation
|
||||
Based on Table 1, it is observed that both devices have a properties for signal decoding. In the GPS system the C/A
|
||||
suitable frequency range to capture the L1 carrier and both codes are binary and deterministic pseudo-random
|
||||
have an 8-bit quadrature ADC. Regarding the sampling sequences with noise-like properties. Each code consists of
|
||||
frequency, the RTL-SDR is very close to the Nyquist 1023 chips, with a chip analogous to a bit, however, a chip
|
||||
sampling theorem limit, but it satisfies it, unlike the HackRF, does not carry useful information. These sequences consist
|
||||
which far exceeds it. Both have a bias-t, but only the dongle of 512 ones and 511 zeros and repeat every 1 ms,
|
||||
has a <1 ppm TCXO. Although the HackRF is a transceiver corresponding to a frequency of 1.023 MHz.
|
||||
and the RTL-SDR is only a receiver, the application to be Each SV is assigned a unique PRN code for a specific
|
||||
developed only involves reception, so this characteristic period, which may be updated over time [9]. This code is
|
||||
does not affect it, but the enormous price difference between crucial because all satellites transmit simultaneously on the
|
||||
the two does, precisely due to that functionality. For all the same carrier frequency using a Code Division Multiple
|
||||
reasons mentioned above and based on the tests conducted, Access (CDMA) scheme. In practice, this is achieved
|
||||
without making any modifications to the devices, where through a combination of CDMA and Direct Sequence
|
||||
only the RTL-SDR achieved successful reception, we Spread Spectrum (DSSS) technology, resulting in what is
|
||||
believe that the latter best suits our needs. known as Direct Sequence CDMA (DS-CDMA). This
|
||||
encoding technique involves performing a logical Exclusive
|
||||
TABLE I. OR (XOR) operation between the PRN code and the data to
|
||||
Comparison of technical characteristics of the SDR devices analyzed be transmitted. Consequently, the signal is transmitted with
|
||||
a bandwidth much broader than that required by the data,
|
||||
Freq. Sampling reducing the power spectral density. The resulting signal
|
||||
Range Rate ADC External Price exhibits a noise-like spectrum, making it undetectable and
|
||||
SDR [MHz] [MHz] [bits] TCXO Clock [US$] undecodable without the correct PRN code. From all this,
|
||||
the transmitted signal for a k satellite is given by:
|
||||
HackRF 1-6000 20 8 No Yes 250
|
||||
<20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) = √2<E2889A><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) ⊕ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)) cos(2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) +
|
||||
One √2<E2889A><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) ⊕ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)) sin(2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
|
||||
+√2<E2889A><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) ⊕ (<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)) sin(2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) (1)
|
||||
RTL- 8 Yes No 25
|
||||
24-1766 3.2 where, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1 and <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2 are the signal power of C/A and P
|
||||
(L1 and L2) codes, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> and <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> are the C/A and P (Y) codes
|
||||
SDRv3 assigned to the k satellite, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> is the navigation data, and <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1
|
||||
and <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2 are the carrier frequencies L1 and L2. Since in the
|
||||
III. METHODOLOGY
|
||||
|
||||
A. Signal characteristics
|
||||
|
||||
The Digital Signal Processing (DSP) block shown in Figure
|
||||
1 consists of three main stages: acquisition, tracking and
|
||||
demodulation. In this work we will focus on the acquisition
|
||||
stage.
|
||||
Each satellite, referred to as a Satellite Vehicle (SV),
|
||||
currently has two unique spreading codes or sequences for
|
||||
signal transmission. The first one is the unencrypted Coarse
|
||||
Acquisition (C/A) code, assigned to civilian use, while the
|
||||
second is an encrypted code, known as the P(Y) code,
|
||||
designated exclusively for military applications and
|
||||
restricted from civilian access. The C/A code is modulated
|
||||
only on the L1 carrier frequency, whereas the P(Y) code is
|
||||
modulated on both the L1 and L2 carrier frequencies. In this
|
||||
study, our focus is on the C/A code, and its spectral
|
||||
characteristics are illustrated in the power spectral density
|
||||
diagram of the L1 band, as shown in Figure 2.
|
||||
|
||||
ISSN 2525-0159 45 http://elektron.fi.uba.ar
|
||||
Revista elektron, Vol. 8, No. 2, pp. 43-53 (2024)
|
||||
|
||||
present work we will only focus on the C/A code, which is represents a unique position within the search space, known
|
||||
modulated in the L1 band, the parameters related to the P as a cell, as shown in Figure 3. To perform the search
|
||||
and L2 codes are canceled. Then, our signal is simplified as process, a test statistic must be evaluated in each cell. The
|
||||
follows: result of this function is then compared to a predefined
|
||||
threshold. This comparison determines whether the satellite
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) = √2<E2889A><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) ⊕ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)) cos(2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) (2) is present and identifies its synchronization parameters.
|
||||
|
||||
When propagating from the SV to the receiver in Earth this Fig. 3. Algorithm Search Space
|
||||
signal is affected for different phenomena., mainly by the
|
||||
deviation in the L1 carrier frequency due to the Doppler A key aspect of any acquisition algorithm is defining the
|
||||
effect and the propagation delay in the C/A code. The dimensions of the search space, the frequency and code
|
||||
Doppler effect is the result of the frequency shift caused by search ranges, and the resolution between two consecutive
|
||||
the relative movement of the transmitter (located on the bins. For the code delay axis, the range is determined by the
|
||||
satellite) with respect to the receiver on the ground, even length of the C/A code, specified by the GPS L1 C/A signal
|
||||
though the latter is static. The Doppler shift affects both the specification. This code has a length of 1023 chips, starting
|
||||
process acquisition and GPS signal tracking. For a stationary from position 0. The resolution between two consecutive
|
||||
receiver, the maximum Doppler shift for the L1 frequency is bins must be at least one chip, resulting in 1023 code bins.
|
||||
usually considered approximately ±5 KHz, and for a moving However, it is possible to perform a higher-resolution search
|
||||
one ±10 KHz. This effect, and the propagation delay on the using smaller separations between bins. For the frequency
|
||||
C/A code in its path from the transmitter to the receiver, are axis, the range is typically ± 5 KHz for a static receiver and
|
||||
two key parameters for the accurate decoding and ±10 KHz for a moving receiver. The resolution is commonly
|
||||
demodulation of the signal at the receiver. The estimation of given by frequency bins equal to 1/T, where T is the coherent
|
||||
these parameters is the main function of the acquisition integration time. This implies that as the integration periods
|
||||
stage, which is the focus of our study. So, we already know extend, the width of the frequency bins decreases, enhancing
|
||||
the main characteristics of the transmitted signal, then we the frequency resolution. The improvements in the
|
||||
can proceed to design the acquisition stage. resolution of each axis depend exclusively on the algorithm
|
||||
used. There are different algorithms to perform the search,
|
||||
B. Acquisition algorithms such as Serial Search (SS), Parallel Frequency Space Search
|
||||
(PFSS), and Parallel Code Phase Search (PCPS) acquisition,
|
||||
The acquisition stage aims to detect the satellites visible to the latter being the option chosen in this work. The PCPS
|
||||
the receiver and obtain a first estimation of Doppler algorithm, whose block diagram is shown in Figure 4,
|
||||
deviation and code delay. We can express the received signal performs the search by going through all possible frequency
|
||||
as a combination of the n visible satellite signals: values and parallelizing the search through the code
|
||||
parameter, which has a significantly higher number of steps.
|
||||
<20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) = <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>1(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) + <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) + ⋯ + <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) (3) Instead of multiplying the input signal by the local PRN for
|
||||
all possible code delays, as SS and PFSS algorithms do, it
|
||||
Suppose we need to acquire the i satellite. The received uses the circular cross-correlation technique based on the
|
||||
signal s should be multiplied by a locally generated C/A Fourier Transform. This technique relies on the property that
|
||||
code corresponding to the satellite being tracked. This the Discrete Fourier Transform (DFT) of circular cross-
|
||||
ensures that only if the phase of the local code matches the
|
||||
phase of the received signal, meaning both codes are
|
||||
perfectly time-aligned, the signals from other satellites, are
|
||||
eliminated due to the correlation properties of the C/A codes.
|
||||
Similarly, the carrier frequency must be filtered, as it is
|
||||
affected by the Doppler shift. Therefore, knowing its exact
|
||||
value is necessary for proper filtering. The acquisition
|
||||
process can be viewed as a search for these two parameters
|
||||
in a two-dimensional space or grid, called the Search Grid.
|
||||
The axes of this grid are the Doppler Frequency and the
|
||||
Code Delay. Since these parameters are continuous, we must
|
||||
set a resolution for discretizing the space. The smallest
|
||||
search resolution or step is called a bin, which results in a
|
||||
frequency bin and a code bin. A combination of specific bins
|
||||
|
||||
ISSN 2525-0159 46 http://elektron.fi.uba.ar
|
||||
Revista elektron, Vol. 8, No. 2, pp. 43-53 (2024)
|
||||
|
||||
correlation is equivalent to the multiplication of the DFT of frequency fs or the integration time T, as a correlation value
|
||||
the code and the DFT of the input signal, taking the complex is obtained for each sampling instant. For example, using a
|
||||
conjugate of one of them. Performing the inverse transform sample rate of 2 MHz and an integration time of 1 ms yields
|
||||
of this multiplication yields the circular cross-correlation in 2000 samples, representing 2000 bins of code instead of
|
||||
the time domain. The squared magnitude of this result 1023. That is 2000/1023=1.96 samples for each bin,
|
||||
represents the test statistic and is compared with a resulting in a resolution of 1/1.96=0.51 between bins. In
|
||||
predefined threshold to determine if the desired satellite has summary, the accuracy of the parameters estimated with this
|
||||
been acquired. If there is a peak in the test statistic, its index algorithm is ±1/2 bin in frequency, and in the code
|
||||
over the code dimension indicates the delay of the PRN code dimension, it depends on the sampling frequency.
|
||||
of the input signal for the analyzed frequency. A good way to compare the algorithms mentioned above is
|
||||
by evaluating the number of combinations each requires and
|
||||
the complexity of their implementation, as shown in Table
|
||||
2.
|
||||
|
||||
TABLE II.
|
||||
Results of the comparison between SS, PFSS, and PCPS Acquisition
|
||||
|
||||
algorithms.
|
||||
|
||||
Algorithm Combinations Complexity
|
||||
|
||||
Serial Search Acquisition 41943 Low
|
||||
|
||||
Parallel Frequency Space 1023 Medium
|
||||
Search Acquisition 41 High
|
||||
Parallel Code Phase Search
|
||||
Acquisition
|
||||
|
||||
Fig. 4. Block Diagram of Parallel Code Phase Search acquisition As observed, the Serial Search algorithm performs the worst
|
||||
algorithm due to the large number of combinations needed compared
|
||||
to the other two algorithms. The performance of both
|
||||
This algorithm sweeps only over the frequency dimension, parallelized algorithms strongly depends on the
|
||||
that is, across all possible frequencies, which results in the implementation of the DFT. There are many
|
||||
number of combinations given by: implementations for the DFT, the Fast Fourier Transform
|
||||
(FFT) stands out as the fastest and most widely used.
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> + 1 = <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (4) As previously explained, the acquisition process involves
|
||||
searching in a two-dimensional grid to determine if the
|
||||
<20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> target satellite is present in any cell and, if so, obtaining its
|
||||
coordinates, which correspond to the synchronization
|
||||
The algorithm allows for defining the resolution and bin size parameters Doppler shift and code phase. This requires
|
||||
in the frequency dimension. However, this choice is not evaluating the test statistic in each cell (SS), column (PFSS),
|
||||
entirely independent, as it depends on the length of the data or row (PCPS) processed, depending on the algorithm, and
|
||||
on the DFT, which means the number of samples analyzed, comparing it with a pre-established threshold to decide if the
|
||||
and consequently the integration period. The size of a satellite is present. In all three algorithms, the test statistics
|
||||
frequency bin is commonly defined as follows: are implemented using the mathematical function "squared
|
||||
modulus." There are different ways to find the maximum
|
||||
∆<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> = <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> = <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> = 1 (5) value of the test statistic across the entire search space,
|
||||
<20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> which will be compared to the threshold. In the chosen
|
||||
implementation PCPS, the value corresponding to the
|
||||
which results in a resolution (the maximum frequency maximum of the first row (or the first frequency) processed
|
||||
separation between two consecutive bins) of 1/2T [12]. For is initially stored along with its position on the grid. If the
|
||||
example, for integration periods of 1 ms, frequency bins of statistic for the new analyzed frequency exceeds the stored
|
||||
1 kHz are obtained, resulting in a maximum resolution of value, the new value is saved; otherwise, the process moves
|
||||
500 Hz. For integration periods of 2 ms, frequency bins of to the next frequency. This process continues until all
|
||||
500 Hz are obtained, resulting in a maximum resolution of frequencies are examined, resulting in the identification of
|
||||
250 Hz. To get better resolution, a longer integration period the maximum test statistic across the entire search space.
|
||||
must be used to increase the number of DFT samples in Calculating the decision threshold is critical for any
|
||||
equation 5. Additionally, the algorithm indirectly improves acquisition algorithm. If the threshold value is too low, it
|
||||
the resolution in the code dimension by increasing the
|
||||
number of samples, either by increasing the sampling
|
||||
|
||||
ISSN 2525-0159 47 http://elektron.fi.uba.ar
|
||||
Revista elektron, Vol. 8, No. 2, pp. 43-53 (2024)
|
||||
|
||||
leads to more false positives; if too high, it may miss Fig. 5. Structure of an integration window with multiple dwells
|
||||
detecting satellites. Advanced techniques like the Constant
|
||||
False Alarm Rate (CFAR) [27,28] can calculate adaptive Fig. 6. Block Diagram of the initial version of the implemented algorithm
|
||||
thresholds, but they add complexity and are beyond the
|
||||
scope of this work. Therefore, a fixed threshold of 0.019 is C. Implementation and Optimization
|
||||
implemented, derived from averaging numerous tests under
|
||||
various propagation conditions, which can also be modified To implement the proposed algorithm, it is necessary to
|
||||
by the user to adapt to different conditions and locations. locally generate the PRN code of the satellite to be searched.
|
||||
Techniques for determining satellite presence can be Additionally, a small adjustment to the number of samples
|
||||
classified based on the number of times or windows a cell is for each chip is required. The signal samples entering the
|
||||
analyzed during a non-coherent integration period: acquisition stage have been sampled by the ADC at a
|
||||
specific frequency, in our case 2 MS/s. Therefore:
|
||||
• Single-dwell: Analysis is performed only once per
|
||||
cell to decide, using a single coherent integration <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ℎ<EFBFBD><E2848E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> [<5B><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>] = <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> [<5B><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>] · <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ℎ<EFBFBD><E2848E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> [<5B><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>] (6)
|
||||
window.
|
||||
<20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
||||
• Multiple-dwell: Analysis is repeated on the same
|
||||
cell at regular intervals, with averaging performed <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ℎ<EFBFBD><E2848E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> = 1⁄<31><E28184><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ℎ<EFBFBD><E2848E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (7)
|
||||
to decide, using two or more coherent integration
|
||||
windows that form a non-coherent integration
|
||||
window. The number of coherent integrations and
|
||||
the required positive acquisitions (max dwells)
|
||||
must be defined for acquisition over the non-
|
||||
coherent integration window.
|
||||
|
||||
A related parameter is the "dwell time," which is the time
|
||||
needed to verify the satellite presence. For single-dwell, it
|
||||
equals the coherent integration period; for multiple-dwell, it
|
||||
is the product of max dwell and the coherent integration
|
||||
time. Figure 5 illustrates a multiple-dwell technique with
|
||||
three coherent integration windows. If max dwells are set to
|
||||
two, at least two of the three integrations must show positive
|
||||
acquisition for cell acquisition. The developed tool allows
|
||||
users to choose between single-dwell or multiple-dwell
|
||||
decisions, configuring the number of dwells and max dwells
|
||||
accordingly. The navigation data is transmitted at 50 bps,
|
||||
resulting in a 20 ms period where the bit is set to 1 or -1,
|
||||
after which a transition may occur. If a bit of transition
|
||||
occurs during the acquisition process, it can cause errors. To
|
||||
ensure optimal algorithm performance, no bit transitions
|
||||
should occur in the analyzed data sequence. While longer
|
||||
data sequences increase the likelihood of successful satellite
|
||||
acquisition, they also demand more processing time and
|
||||
capacity. Additionally, the frequency resolution, which is
|
||||
inversely proportional to the integration time, improves with
|
||||
longer integration periods, enhancing the number of DFT
|
||||
samples. For all these reasons, the length of the data to be
|
||||
analyzed should be chosen carefully. This length should not
|
||||
be less than 1 ms, which is the duration of a complete C/A
|
||||
code. Using a shorter length would result in correlations
|
||||
with incomplete codes, affecting the performance of the
|
||||
algorithm. Therefore, the length should be an integer
|
||||
multiple of 1 ms. A recommended duration is 2 ms, as 1 ms
|
||||
does not provide good frequency resolution. However, in our
|
||||
implementation, this parameter can be configured by the
|
||||
user for each execution of the program.
|
||||
|
||||
ISSN 2525-0159 48 http://elektron.fi.uba.ar
|
||||
Revista elektron, Vol. 8, No. 2, pp. 43-53 (2024)
|
||||
|
||||
Considering <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> = 2[<5B><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>] and <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ℎ<EFBFBD><E2848E><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> = 0.977 [<5B><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>] then implement this is through a classic for loop, which iterates
|
||||
from equation 6 the number of samples per chip will be through all the satellites and applies the proposed algorithm
|
||||
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ℎ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> = 2. It follows that for the 1023 C/A code chips, our to each one. The main disadvantage of using a for loop is
|
||||
block must generate 1023 · 2 = 2046 samples for each that it was designed to search for a single satellite at a time,
|
||||
C/A code period, as shown below: and in each iteration, the process of reading the input
|
||||
samples is repeated, even though the samples are always the
|
||||
<20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> = [<5B><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(1) <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(1)<29><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(2)<29><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(2) . . . <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(1023) <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(1023)] (8) same. Although it is possible to modify the reading process
|
||||
so that it is done only once and then the 32 satellites are
|
||||
The initial version of our algorithm shown in Figure 6 was searched through the loop, it was already observed in the
|
||||
designed to search for only one satellite to validate the first implementation that the processing took a considerable
|
||||
studied methods. The software tool was developed entirely amount of time. Furthermore, as is characteristic of the for
|
||||
in Python. After the first test, we observed a bottleneck in loop, it is a blocking execution which means that we must
|
||||
data processing, which significantly increased the wait for the search for one satellite to finish before starting
|
||||
processing time. To address this issue, we decided to modify the next one, despite there being no limitations between
|
||||
the data reading process by implementing generating individual searches for each satellite. For these reasons, and
|
||||
functions. These functions generate each data item only with a future implementation that can process samples in
|
||||
when it needs to be processed, like lists functions, but real-time in mind, we decided to investigate different
|
||||
without keeping the data in memory. The data doesn't exist parallelization methods at the processor level that allow for
|
||||
until requested, eliminating the need to load the entire list searching more than one satellite at the same time. This
|
||||
before using it. Generating functions are especially useful approach would also take advantage of the multicore
|
||||
when dealing with large datasets, where lists can consume architectures of current processors to improve performance.
|
||||
Currently, it is common practice to parallelize code by
|
||||
isolating a specific function that can be executed multiple
|
||||
times and running it on different processors to enable
|
||||
processors on a machine, by running independent parallel
|
||||
|
||||
TABLE III.
|
||||
Comparison between different methods of Multiprocessing module in
|
||||
|
||||
Python
|
||||
|
||||
Methodology Multiple ConcurrenceBlocker Sorted
|
||||
|
||||
Arguments Results
|
||||
|
||||
Pool.map No Yes Yes Yes
|
||||
|
||||
Pool.map_async No Yes No Yes
|
||||
|
||||
Pool.apply Yes No Yes No
|
||||
|
||||
Pool.apply_sync Yes Yes No No
|
||||
|
||||
Pool.starmap Yes Yes Yes Yes
|
||||
|
||||
Pool.starmap_async Yes Yes No No
|
||||
|
||||
Fig. 7. Block Diagram of part of the modified version of the algorithm processes using child processes instead of threads. The
|
||||
maximum number of processes that can run at the same time
|
||||
significant memory, or when data is received in real-time, is limited by the number of host processors. The
|
||||
such as an SDR device, making it impractical to wait for all multiprocessing.Pool() class provides the apply(), map(),
|
||||
data to arrive before processing. Furthermore, a new and starmap() methods to execute the passed function in
|
||||
acquisition strategy was adopted. To detect a satellite that is parallel. Choosing the most suitable one for our
|
||||
visible at any given second, and assuming it remains visible implementation must consider the following parameters:
|
||||
for at least 0.5 to 1 second, it is sufficient to search for it multiple arguments, concurrency, blocking and order of
|
||||
once, twice, or multiple times per second, depending on the results. Table 3 presents a summary of the methods and
|
||||
number of integrations selected. It is not necessary to search parameters mentioned, with the aim of being able to
|
||||
for the satellite in every sample throughout all seconds of compare them. All three methods offer synchronous and
|
||||
the file. Once the performance issues with the algorithm asynchronous variants. Due to the design of our algorithm,
|
||||
were resolved, we began the scaling process to search for all it requires a method that can handle multiple arguments and,
|
||||
32 satellites, our main aim. The simplest and fastest way to for simplicity, able to return ordered results. According to
|
||||
|
||||
ISSN 2525-0159 49 http://elektron.fi.uba.ar
|
||||
Revista elektron, Vol. 8, No. 2, pp. 43-53 (2024)
|
||||
|
||||
Table 3, the only method that satisfies these criteria is recording include satellites 2, 12, 24, 25, and 29. These
|
||||
Pool.starmap. To implement this, we first initialize the n results agree with those obtained by our tool and GNSS-
|
||||
processors using the Pool class, then pass the functions we SDR tool. Although the application lists additional satellites,
|
||||
want to execute in parallel to starmap. In our case, we set their acquisition is significantly influenced by factors such
|
||||
the number of processors to the total number of system as signal-to-noise ratio, line of sight, and mask angle.
|
||||
processors minus one, to avoid overloading the operating
|
||||
system and to prevent potential issues. This is a common Fig. 8. List of Satellites acquired by GNSS Status mobile application while
|
||||
practice that ensures efficient use of resources when running recording data samples using RTL-SDR.
|
||||
algorithms on platforms with many cores. Then, the
|
||||
structure of our initial algorithm is modified as shown in TABLE IV.
|
||||
Figure 7. Comparison of the results obtained processing the GNSS-SDR input
|
||||
Another modification, as shown in Figure 7, was also made format files with GNSS-SDR software tool, and the tool developed in this
|
||||
regarding the way of generating the PRN codes belonging to
|
||||
each satellite. Previously, a single code belonging to the work.
|
||||
searched satellite had to be generated at the time of
|
||||
execution. But when searching for the 32 satellites, instead Software Tool
|
||||
of generating the codes one by one each time, it is
|
||||
convenient to pre-allocate or previously generate a list with Case Satellite GNSS-SDR This work
|
||||
the codes of the 32 satellites, removing this function of the
|
||||
interior of the diagram proposed in Figure 6. Doppler Delay Doppler Delay
|
||||
|
||||
IV. RESULTS 2 - - 0 657
|
||||
|
||||
To validate our implementation, we compared the obtained 1 12 1000 1274 1000 797
|
||||
results with the generated by the GNSS-SDR software tool.
|
||||
To achieve this, the developed tool allows to record samples, 29 - - 2000 782
|
||||
and read raw sample files, whether they were recorded using
|
||||
this tool or with the GNSS-SDR software. Due to the 2 -500 1620 -500 657
|
||||
existence of two different types of sample files, our reading
|
||||
function fits to both formats (packaging type, number of 12 1000 876 1000 796
|
||||
bytes per sample, sign and amplitude correction factors).
|
||||
Furthermore, it has been developed so that, if we need to add 2 24 -1500 1194 -1500 437
|
||||
another type of reading format from a different SDR device,
|
||||
it is relatively easy to extend the code if the characteristics 25 2500 1900 2500 651
|
||||
of the samples are known.
|
||||
We chose three cases to compare these tools using GNSS- 29 2500 1020 2500 781
|
||||
SDR format files, modifying two parameters, the coherent
|
||||
integration time and the Doppler resolution. The cases 2 - - -250 657
|
||||
analyzed are using an Integration time of 1, 2 and 4 [ms] and
|
||||
a Doppler resolution of 1000, 500, 250 [Hz], corresponding 12 1000 649 1000 793
|
||||
to Case 1, 2 and 3 respectively. The results obtained from
|
||||
the comparison are summarized in Table 4. 3 24 -1500 2000 -1500 439
|
||||
As an additional verification method to identify the satellites
|
||||
present (excluding their synchronization parameters) 25 2750 1462 2750 645
|
||||
detected by the developed tool, the GNSS Status application
|
||||
for Android devices was used while recording the signal file. 29 2250 385 2250 775
|
||||
This application displays real-time information on the
|
||||
GNSS satellites present at the location of the device, After searching for all the satellites with the tool, it is known
|
||||
including signal-to-noise ratio, elevation and azimuth which of them are present, so that individual searches can be
|
||||
angles, position, and accuracy, among other parameters. As carried out for them and the graphical representation of the
|
||||
shown in Figure 8, the satellites detected during the file search space can be observed. For example, Figure 9 shows
|
||||
the plots obtained by our tool and by GNSSSDR, using an
|
||||
|
||||
ISSN 2525-0159 50 http://elektron.fi.uba.ar
|
||||
Revista elektron, Vol. 8, No. 2, pp. 43-53 (2024)
|
||||
|
||||
Fig. 9. Three-dimensional plots of the search space for our tool (left column) and GNSS-SDR tool (right column) for Satellite 29 (Top row), Satellite 25 (Middle
|
||||
row) and Satellite 1 (Bottom row).
|
||||
|
||||
integration Time = 2 [ms] and Doppler Resolution = 500 As shown in Table 4, each execution of the developed tool
|
||||
[Hz], for the individual searches of satellites 29 and 25 both consistently produces the same code delay values for the
|
||||
present and satellite 1, absent. On the top and middle rows same input file. In contrast, the GNSS-SDR software tool
|
||||
of Figure 9, corresponding to satellites 29 and 25 yields varying delay values between executions, which do
|
||||
respectively, we can see that there is a maximum peak on the not match those produced by our tool. This variability is
|
||||
correlation matrix represented in the search space with attributed to the internal workings of GNSS-SDR, which is
|
||||
coordinates in the Doppler frequency and delay axes that designed to operate in real-time across various SDR devices.
|
||||
coincide with the values of these parameters previously It internally relies on the GNU Radio Scheduler, where each
|
||||
obtained by the tool during the search for all satellites. In processing block runs as quickly as possible. This causes the
|
||||
other words, the acquisition of these satellites has been exact execution order to fluctuate based on the machine's
|
||||
achieved with those synchronization parameters. Also, we current load, making the process non-deterministic.
|
||||
can see on the bottom row of Figure 9 that the same does not However, this randomness in execution does not
|
||||
apply to satellite 1, which is not found as it is absent. significantly affect the final position calculation, resulting
|
||||
|
||||
ISSN 2525-0159 51 http://elektron.fi.uba.ar
|
||||
Revista elektron, Vol. 8, No. 2, pp. 43-53 (2024)
|
||||
|
||||
only in minor variations in the decimal points of longitude, (GLONASS, Galileo, Beidou). Other planned advancements
|
||||
latitude, and altitude. If the hardware environment is known, include integrating adaptive thresholding techniques, such
|
||||
real-time requirements are absent, or a fixed and known as Constant False Alarm Rate (CFAR), for enhanced
|
||||
amount of data is read from a file (buffer size), the sample detection threshold calculation. These developments aim to
|
||||
management can be more controlled, allowing for orderly further expand the capabilities and applications of the tool
|
||||
and efficient processing. This ensures a deterministic in GNSS research.
|
||||
workflow, as demonstrated by the developed tool, where
|
||||
the same input consistently produces the same output. REFERENCES
|
||||
Additionally, the Doppler frequency results generated by the
|
||||
tool are identical to those obtained by GNSS-SDR in every [1] Groves, P. D., Principles of GNSS, Inertial, and Multisensor Integrated
|
||||
execution.
|
||||
Navigation Systems, Artech House, 2021.
|
||||
V. CONCLUSIONS
|
||||
[2] Dabove, P., & Manzino, A. M., GNSS positioning using smartphones:
|
||||
In this work, a software tool was developed to implement
|
||||
the acquisition stage of GPS signals using SDR technology. challenges and opportunities, Electronics, 9(2), 258, 2020.
|
||||
The tool successfully detects satellite signals and their
|
||||
associated parameters, allowing users to configure various [3] Misra, P., & Enge, P., Global Positioning System: Signals,
|
||||
algorithm settings quickly and intuitively. Besides, it
|
||||
provides a graphical representation of the satellite search Measurements, and Performance (2nd ed.). Ganga-Jamuna Press, 2018.
|
||||
space in three dimensions and enables results to be saved for
|
||||
further analysis. The tool was fully implemented in Python, [4] Kaplan, E. D., & Hegarty, C. J., Understanding GPS/GNSS: Principles
|
||||
a widely used programming language in the scientific
|
||||
community, which simplifies maintenance and updates. Its and Applications, Artech House, 2017.
|
||||
compatibility ensures that it can run seamlessly on any
|
||||
computer with Python installed. The Python code used in [5] Angrisano, A., Gaglione, S., & Gioia, C., Performance assessment of
|
||||
this study is available in the GitHub repository “PyGNSS-
|
||||
SDR” [29]. The tool supports input data files in multiple assisted GNSS for smartphones in hybrid positioning mode, Sensors, 13(9),
|
||||
formats, including those generated by RTL-SDR and GNSS-
|
||||
SDR devices, providing flexibility for different research 11485-11505, 2013.
|
||||
scenarios. Validation tests demonstrated excellent
|
||||
agreement between the results of the developed tool and [6] Rao, Y. S., Wang, R., & Zhang, X., Advances in GNSS-R Technologies
|
||||
those obtained using GNSS-SDR software, confirming its
|
||||
accuracy and reliability. and Applications: A Survey, Remote Sensing, 12(8), 1335, 2020.
|
||||
While the tool currently represents only the acquisition
|
||||
block of a GNSS receiver, it establishes a robust foundation [7] Petovello, M. G., & Lachapelle, G., Software-defined GNSS receivers:
|
||||
for the development of a complete receiver. The envisioned
|
||||
system is intended for applications such as supporting Architecture, design, and future trends, IEEE Transactions on Aerospace
|
||||
Ground-Based Augmentation Systems (GBAS), conducting
|
||||
ionospheric scintillation studies, and providing GPS signal and Electronic Systems, 59(1), 123-138, 2023.
|
||||
integrity reports. The use of SDR technology offers a highly
|
||||
flexible and cost-effective approach to GNSS receiver [8] Borre, K., & Akos, D. M., Flexible GNSS receivers: The potential of
|
||||
development, particularly in the current landscape of multi-
|
||||
constellation systems (GPS, GLONASS, Galileo, Beidou) SDR, Navigation: Journal of the Institute of Navigation, 69(4), 321-335,
|
||||
and multi-frequency bands. SDR platforms democratize
|
||||
access to GNSS research, enabling researchers and 2022.
|
||||
developers to engage in this field without the prohibitive
|
||||
costs associated with traditional hardware-based [9] Gamba, F., Tiberius, C., & Teunissen, P. J. G., Challenges and
|
||||
approaches. The tool developed in this project introduces a
|
||||
novel testing framework for GNSS research and advancements in multi-constellation GNSS positioning: Focusing on
|
||||
development in our country. Future work will focus on
|
||||
implementing the tracking and demodulation stages, Precise Point Positioning (PPP), GPS Solutions, 28(1), 23-38, 2024.
|
||||
extending support to additional frequency bands (L2 and
|
||||
L5), and enabling compatibility with other constellations [10] Fernandez-Prades, C., & Seco-Granados, G., GNSS-SDR: Enhancing
|
||||
|
||||
research capabilities in GNSS signal processing with open-source tools,
|
||||
|
||||
Proceedings of the International Technical Meeting of the Satellite Division
|
||||
|
||||
of The Institute of Navigation (ION GNSS+ 2021), 123-134, 2021.
|
||||
|
||||
[11] Closas, P., Seco-Granados, G., & Fernandez-Prades, C., Open-source
|
||||
|
||||
software-defined GNSS receivers: A versatile tool for signal processing and
|
||||
|
||||
algorithm validation, Navigation: Journal of the Institute of Navigation,
|
||||
|
||||
69(4), 407-419, 2022.
|
||||
|
||||
[12] Fernandez-Prades, C., Closas, P., & Seco-Granados, G., GNSS-SDR:
|
||||
|
||||
An open-source tool for research and experimentation in GNSS signal
|
||||
|
||||
processing, IEEE Transactions on Aerospace and Electronic Systems,
|
||||
|
||||
59(2), 789-798, 2023.
|
||||
|
||||
[13]Söderholm, S., Bhuiyan, M.Z.H., Thombre, S. et al. A multi-GNSS
|
||||
|
||||
software-defined receiver: design, implementation, and performance
|
||||
|
||||
benefits. Ann. Telecommun. 71, 399–410, 2016.
|
||||
|
||||
https://doi.org/10.1007/s12243-016-0518-7.
|
||||
|
||||
[14] Zhao, J., Chang, J., Yin, R., & Wang, C., Acquisition and tracking
|
||||
|
||||
loops based on software defined radio, Symposium on ICT and Energy
|
||||
|
||||
Efficiency and Workshop on Information Theory and Security (CIICT
|
||||
|
||||
2012), pp. 136-141, 2012. doi: 10.1049/cp.2012.1878.
|
||||
|
||||
[15] Htay, H., Lwin, Z., & Hla, T., Implementation of Signal Acquisition
|
||||
|
||||
and Tracking for GPS-Based Software Defined Radio
|
||||
|
||||
Receiver. International Journal of Geoinformatics, 19(2), 55–64, 2023.
|
||||
|
||||
https://doi.org/10.52939/ijg.v19i2.2567
|
||||
|
||||
[16] Liu, Y., Li, J., & Wang, S., Implementation of GNSS signal processing
|
||||
|
||||
using Python libraries, Digital Signal Processing, 120, 103-112, 2022.
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||||
|
||||
[17] Akos, D. M., Normark, P. L., Enge, P., Hansson, A. & Rosenlind, A.,
|
||||
|
||||
Real-Time GPS Software Radio Receiver, Proceedings of the 2001 National
|
||||
|
||||
Technical Meeting of The Institute of Navigation, 2001.
|
||||
|
||||
[18] Humphreys, T., Psiaki, M., & Kintner, P., GNSS Receiver
|
||||
|
||||
Implementation on a DSP: Status Challenges and Prospects, Proceedings
|
||||
|
||||
of the 19th International Technical Meeting of the Satellite Division of the
|
||||
|
||||
Institute of Navigation ION GNSS, vol. 4, 2006.
|
||||
|
||||
ISSN 2525-0159 52 http://elektron.fi.uba.ar
|
||||
Revista elektron, Vol. 8, No. 2, pp. 43-53 (2024)
|
||||
|
||||
[19] Borre, K., Akos, D. M., Bertelsen N., Rinder P., & Jensen S. H., A
|
||||
software-defined GPS and Galileo receiver: a single-frequency approach,
|
||||
Applied and Numerical Harmonic Analysis, Birkhäuser Boston, MA, 2007.
|
||||
https://doi.org/10.1007/978-0-8176-4540-3
|
||||
[20] Schmidt, E., Akopian, D., & Pack, D. J., Development of a Real-Time
|
||||
Software-Defined GPS Receiver in a LabVIEW-Based Instrumentation
|
||||
Environment. IEEE Transactions on Instrumentation and Measurement,
|
||||
Vol. 67(9), 2082-2096, 2018.
|
||||
[21] Capuano, P., Lo Presti, L., & Lohan, E. S., Real-time GNSS signal
|
||||
processing using software-defined radios: Challenges and solutions,
|
||||
Sensors, 22(7), 2448, 2022.
|
||||
[22] Rao, B. R., & Sathyanarayana, K., Implementation of GNSS SDR
|
||||
receivers: Techniques and applications, IEEE Access, 11, 567-580, 2023.
|
||||
[23] Konovaltsev, A., & Hein, G. W., Advances in GNSS software-defined
|
||||
radios: From theory to practice, Journal of Satellite Communications and
|
||||
Navigation, 10(2), 104-116, 2023.
|
||||
[24] Great Scott Gadgets, HackRF One [Software Defined Radio].
|
||||
https://greatscottgadgets.com/hackrf, 2014.
|
||||
[25] Osmocom, RTL-SDR [Software Defined Radio].
|
||||
https://osmocom.org/projects/rtl-sdr, 2012
|
||||
[26] Gold, R., Optimal binary sequences for spread spectrum multiplexing,
|
||||
IEEE Transactions on Information Theory, 13(4), 619-621.
|
||||
doi:10.1109/TIT.1967.1054010, 1967.
|
||||
[27] Rohling, H., Radar CFAR thresholding in clutter and multiple target
|
||||
situations. IEEE Transactions on Aerospace and Electronic Systems, AES-
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||||
19(4), 608-621. doi:10.1109/TAES.1983.309362, 1983.
|
||||
[28] Gao, Z., Liu, F., Wen, Y., & Wang, X., An overview on target detection
|
||||
techniques in CFAR processing for non-Gaussian interference environment.
|
||||
IEEE Access, 6, 5630-5645. doi:10.1P109/ACCESS.2017.2778080, 2018.
|
||||
[29] Castillo Delacroix L., Fagre M., Vaquila I., Cabrera M. A., PyGNSS-
|
||||
SDR (versión 1.0) [repository], GitHub, 2024,
|
||||
https://github.com/ltcfacet/PyGNSS-SDR
|
||||
|
||||
ISSN 2525-0159 53 http://elektron.fi.uba.ar
|
||||
|
||||
96
GNSS_SDR_IQ/GNSS_SDR_IQ.m
Normal file
96
GNSS_SDR_IQ/GNSS_SDR_IQ.m
Normal file
|
|
@ -0,0 +1,96 @@
|
|||
|
||||
%--- Include folders with functions ---------------------------------------
|
||||
addpath include % The software receiver functions
|
||||
addpath geoFunctions % Position calculation related functions
|
||||
%% Clean up the environment first =========================================
|
||||
%%clc; close all; %
|
||||
format ('compact');
|
||||
format ('long', 'g');clc
|
||||
|
||||
%--- Include folders with functions ---------------------------------------
|
||||
addpath include
|
||||
fprintf('-------------------------------\n\n');
|
||||
%% Initialize the setting
|
||||
global settings;
|
||||
settings = initSettings_IQ();
|
||||
disp(' ');
|
||||
fprintf('Probing data (%s)...\n', settings.fileName)
|
||||
[fid, message] = fopen(settings.fileName, 'rb');
|
||||
|
||||
%% Acquisition ============================================================
|
||||
fseek(fid, settings.skipNumberOfBytes, 'bof');
|
||||
tmp = fread(fid, 2*11*settings.samplesPerCode, settings.dataType)';
|
||||
%tmp=tmp-127.5;
|
||||
data=tmp(1:2:end)+1i*tmp(2:2:end);
|
||||
hist(tmp(1:2:end),20); grid on;
|
||||
xlabel('Bin');
|
||||
ylabel('Number in Bin');
|
||||
|
||||
%--- Do the acquisition -------------------------------------------
|
||||
disp ('Acquiring satellites...');
|
||||
acqResults = acquisitionIQ(data, settings);
|
||||
%acqResults = acquisitionIQ_weak(data, settings);
|
||||
plotAcquisition(acqResults);
|
||||
% acqResults.carrFreq(1)=-1e3;
|
||||
% acqResults.codePhase(1)=1;
|
||||
% acqResults.peakMetric(1)=2;
|
||||
|
||||
% plotAcquisition(acqResults);
|
||||
|
||||
settings.numberOfChannels = min([settings.numberOfChannels, sum(acqResults.peakMetric > settings.acqThreshold)]);
|
||||
if (any(acqResults.peakMetric > settings.acqThreshold))
|
||||
channel = preRun(acqResults, settings);
|
||||
% channel(1).PRN=1;
|
||||
% channel(1).acquiredFreq=acqResults.carrFreq(1);
|
||||
% channel(1).codePhase=acqResults.codePhase(1);
|
||||
% channel(1).status='T';
|
||||
% settings.numberOfChannels=1;
|
||||
showChannelStatus(channel, settings);
|
||||
else
|
||||
% No satellites to track, exit
|
||||
disp('No GNSS signals detected, signal processing finished.');
|
||||
trackResults = [];
|
||||
fclose(fid);
|
||||
return;
|
||||
end
|
||||
%% Track the signal =======================================================
|
||||
startTime = now;
|
||||
disp ([' Tracking started at ', datestr(startTime)]);
|
||||
for cidx=1:size(channel,2)
|
||||
if channel(cidx).acquiredFreq >settings.samplingFreq/2;
|
||||
channel(cidx).acquiredFreq=channel(cidx).acquiredFreq-settings.samplingFreq;
|
||||
end;
|
||||
end;
|
||||
showChannelStatus(channel, settings);
|
||||
%channel.codePhase=3351 ;
|
||||
[trackResults, channel] = tracking_V0_IQ(fid, channel, settings);
|
||||
|
||||
% Close the data file
|
||||
if fid>0
|
||||
fclose(fid);
|
||||
end;
|
||||
disp([' Tracking is over (elapsed time ', ...
|
||||
datestr(now - startTime, 13), ')'])
|
||||
|
||||
% Auto save the acquisition & tracking results to a file to allow
|
||||
% running the positioning solution afterwards.
|
||||
disp(' Saving Acq & Tracking results to file "trackingResults.mat"')
|
||||
save('trackingResults', ...
|
||||
'trackResults', 'settings', 'acqResults', 'channel');
|
||||
|
||||
%% Calculate navigation solutions =========================================
|
||||
disp(' Calculating navigation solutions...');
|
||||
navSolutions = postNavigation0(trackResults, settings);
|
||||
%navSolutions = postNavigationSnapshot(trackResults, settings);
|
||||
|
||||
disp(' Processing is complete for this data block');
|
||||
|
||||
%% Plot all results ===================================================
|
||||
disp (' Ploting results...');
|
||||
if settings.plotTracking
|
||||
plotTracking(1:settings.numberOfChannels, trackResults, settings);
|
||||
end
|
||||
|
||||
plotNavigation(navSolutions, settings);
|
||||
|
||||
disp('Post processing of the signal is over.');
|
||||
52
GNSS_SDR_IQ/Snapshot.m
Normal file
52
GNSS_SDR_IQ/Snapshot.m
Normal file
|
|
@ -0,0 +1,52 @@
|
|||
%--- Include folders with functions ---------------------------------------
|
||||
addpath include % The software receiver functions
|
||||
addpath geoFunctions % Position calculation related functions
|
||||
%% Clean up the environment first =========================================
|
||||
%%clc; close all; %
|
||||
format ('compact');
|
||||
format ('long', 'g');
|
||||
load trackingResults
|
||||
% plotTracking(1:settings.numberOfChannels, trackResults, settings)
|
||||
sat2Remove=[];
|
||||
for sat=sat2Remove
|
||||
trackResults(find([trackResults.PRN]==sat))=[];
|
||||
channel(find([trackResults.PRN]==sat))=[];
|
||||
|
||||
end
|
||||
settings.numberOfChannels=settings.numberOfChannels-length(sat2Remove);
|
||||
settings.navSolPeriod=100;
|
||||
navSolutions = postNavigationSnapshot(trackResults, settings);
|
||||
plotNavigation(navSolutions,settings);
|
||||
|
||||
idx=3;
|
||||
P=sqrt(trackResults(idx).I_P.^2+trackResults(idx).Q_P.^2);
|
||||
E=sqrt(trackResults(idx).I_E.^2+trackResults(idx).Q_E.^2);
|
||||
L=sqrt(trackResults(idx).I_L.^2+trackResults(idx).Q_L.^2);
|
||||
|
||||
figure;hold on;
|
||||
tt=(1:length(E))/1000;
|
||||
h=plot(tt,E,'-*r');
|
||||
plot(tt,P,'-*b');
|
||||
plot(tt,L,'-*y');
|
||||
xlabel('seconds');
|
||||
grid on;
|
||||
hLegend= legend('$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
|
||||
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
|
||||
'$\sqrt{I_{L}^2 + Q_{L}^2}$');
|
||||
set(hLegend, 'Interpreter', 'Latex');
|
||||
|
||||
refCoord.E = mean(navSolutions.E(~isnan(navSolutions.E)));
|
||||
refCoord.N = mean(navSolutions.N(~isnan(navSolutions.N)));
|
||||
refCoord.U = mean(navSolutions.U(~isnan(navSolutions.U)));
|
||||
figure;
|
||||
plot( [(navSolutions.E - refCoord.E)', ...
|
||||
(navSolutions.N - refCoord.N)',...
|
||||
(navSolutions.U - refCoord.U)']);
|
||||
|
||||
title ( 'Coordinates variations in UTM system');
|
||||
legend('E', 'N', 'U');
|
||||
xlabel( ['Measurement period: ', ...
|
||||
num2str(settings.navSolPeriod), 'ms']);
|
||||
ylabel('Variations (m)');
|
||||
grid ;
|
||||
axis ([0 240 -200 200]);
|
||||
219
GNSS_SDR_IQ/acquisition.m
Normal file
219
GNSS_SDR_IQ/acquisition.m
Normal file
|
|
@ -0,0 +1,219 @@
|
|||
function acqResults = acquisition(longSignal, settings)
|
||||
%Function performs cold start acquisition on the collected "data". It
|
||||
%searches for GPS signals of all satellites, which are listed in field
|
||||
%"acqSatelliteList" in the settings structure. Function saves code phase
|
||||
%and frequency of the detected signals in the "acqResults" structure.
|
||||
%
|
||||
%acqResults = acquisition(longSignal, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% longSignal - 11 ms of raw signal from the front-end
|
||||
% settings - Receiver settings. Provides information about
|
||||
% sampling and intermediate frequencies and other
|
||||
% parameters including the list of the satellites to
|
||||
% be acquired.
|
||||
% Outputs:
|
||||
% acqResults - Function saves code phases and frequencies of the
|
||||
% detected signals in the "acqResults" structure. The
|
||||
% field "carrFreq" is set to 0 if the signal is not
|
||||
% detected for the given PRN number.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis and Dennis M. Akos
|
||||
% Written by Darius Plausinaitis and Dennis M. Akos
|
||||
% Based on Peter Rinder and Nicolaj Bertelsen
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: acquisition.m,v 1.1.2.12 2006/08/14 12:08:03 dpl Exp $
|
||||
|
||||
%% Initialization =========================================================
|
||||
|
||||
% Find number of samples per spreading code
|
||||
samplesPerCode = round(settings.samplingFreq / ...
|
||||
(settings.codeFreqBasis / settings.codeLength));
|
||||
|
||||
% Create two 1msec vectors of data to correlate with and one with zero DC
|
||||
signal1 = longSignal(1 : samplesPerCode);
|
||||
signal2 = longSignal(samplesPerCode+1 : 2*samplesPerCode);
|
||||
|
||||
signal0DC = longSignal - mean(longSignal);
|
||||
|
||||
% Find sampling period
|
||||
ts = 1 / settings.samplingFreq;
|
||||
|
||||
% Find phase points of the local carrier wave
|
||||
phasePoints = (0 : (samplesPerCode-1)) * 2 * pi * ts;
|
||||
|
||||
% Number of the frequency bins for the given acquisition band (500Hz steps)
|
||||
numberOfFrqBins = round(settings.acqSearchBand * 2) + 1;
|
||||
|
||||
% Generate all C/A codes and sample them according to the sampling freq.
|
||||
caCodesTable = makeCaTable(settings);
|
||||
|
||||
|
||||
%--- Initialize arrays to speed up the code -------------------------------
|
||||
% Search results of all frequency bins and code shifts (for one satellite)
|
||||
results = zeros(numberOfFrqBins, samplesPerCode);
|
||||
|
||||
% Carrier frequencies of the frequency bins
|
||||
frqBins = zeros(1, numberOfFrqBins);
|
||||
|
||||
|
||||
%--- Initialize acqResults ------------------------------------------------
|
||||
% Carrier frequencies of detected signals
|
||||
acqResults.carrFreq = zeros(1, 32);
|
||||
% C/A code phases of detected signals
|
||||
acqResults.codePhase = zeros(1, 32);
|
||||
% Correlation peak ratios of the detected signals
|
||||
acqResults.peakMetric = zeros(1, 32);
|
||||
|
||||
fprintf('(');
|
||||
|
||||
% Perform search for all listed PRN numbers ...
|
||||
for PRN = settings.acqSatelliteList
|
||||
|
||||
%% Correlate signals ======================================================
|
||||
%--- Perform DFT of C/A code ------------------------------------------
|
||||
caCodeFreqDom = conj(fft(caCodesTable(PRN, :)));
|
||||
|
||||
%--- Make the correlation for whole frequency band (for all freq. bins)
|
||||
for frqBinIndex = 1:numberOfFrqBins
|
||||
|
||||
%--- Generate carrier wave frequency grid (0.5kHz step) -----------
|
||||
frqBins(frqBinIndex) = settings.IF - ...
|
||||
(settings.acqSearchBand/2) * 1000 + ...
|
||||
0.5e3 * (frqBinIndex - 1);
|
||||
|
||||
%--- Generate local sine and cosine -------------------------------
|
||||
sinCarr = sin(frqBins(frqBinIndex) * phasePoints);
|
||||
cosCarr = cos(frqBins(frqBinIndex) * phasePoints);
|
||||
|
||||
%--- "Remove carrier" from the signal -----------------------------
|
||||
I1 = sinCarr .* signal1;
|
||||
Q1 = cosCarr .* signal1;
|
||||
I2 = sinCarr .* signal2;
|
||||
Q2 = cosCarr .* signal2;
|
||||
|
||||
%--- Convert the baseband signal to frequency domain --------------
|
||||
IQfreqDom1 = fft(I1 + j*Q1);
|
||||
IQfreqDom2 = fft(I2 + j*Q2);
|
||||
|
||||
%--- Multiplication in the frequency domain (correlation in time
|
||||
%domain)
|
||||
convCodeIQ1 = IQfreqDom1 .* caCodeFreqDom;
|
||||
convCodeIQ2 = IQfreqDom2 .* caCodeFreqDom;
|
||||
|
||||
%--- Perform inverse DFT and store correlation results ------------
|
||||
acqRes1 = abs(ifft(convCodeIQ1)) .^ 2;
|
||||
acqRes2 = abs(ifft(convCodeIQ2)) .^ 2;
|
||||
|
||||
%--- Check which msec had the greater power and save that, will
|
||||
%"blend" 1st and 2nd msec but will correct data bit issues
|
||||
if (max(acqRes1) > max(acqRes2))
|
||||
results(frqBinIndex, :) = acqRes1;
|
||||
else
|
||||
results(frqBinIndex, :) = acqRes2;
|
||||
end
|
||||
|
||||
end % frqBinIndex = 1:numberOfFrqBins
|
||||
|
||||
%% Look for correlation peaks in the results ==============================
|
||||
% Find the highest peak and compare it to the second highest peak
|
||||
% The second peak is chosen not closer than 1 chip to the highest peak
|
||||
|
||||
%--- Find the correlation peak and the carrier frequency --------------
|
||||
[peakSize frequencyBinIndex] = max(max(results, [], 2));
|
||||
|
||||
%--- Find code phase of the same correlation peak ---------------------
|
||||
[peakSize codePhase] = max(max(results));
|
||||
|
||||
%--- Find 1 chip wide C/A code phase exclude range around the peak ----
|
||||
samplesPerCodeChip = round(settings.samplingFreq / settings.codeFreqBasis);
|
||||
excludeRangeIndex1 = codePhase - samplesPerCodeChip;
|
||||
excludeRangeIndex2 = codePhase + samplesPerCodeChip;
|
||||
|
||||
%--- Correct C/A code phase exclude range if the range includes array
|
||||
%boundaries
|
||||
if excludeRangeIndex1 < 1
|
||||
codePhaseRange = excludeRangeIndex2 : ...
|
||||
(samplesPerCode + excludeRangeIndex1);
|
||||
|
||||
elseif excludeRangeIndex2 >= samplesPerCode
|
||||
codePhaseRange = (excludeRangeIndex2 - samplesPerCode) : ...
|
||||
excludeRangeIndex1;
|
||||
else
|
||||
codePhaseRange = [1:excludeRangeIndex1, ...
|
||||
excludeRangeIndex2 : samplesPerCode];
|
||||
end
|
||||
|
||||
%--- Find the second highest correlation peak in the same freq. bin ---
|
||||
secondPeakSize = max(results(frequencyBinIndex, codePhaseRange));
|
||||
|
||||
%--- Store result -----------------------------------------------------
|
||||
acqResults.peakMetric(PRN) = peakSize/secondPeakSize;
|
||||
|
||||
% If the result is above threshold, then there is a signal ...
|
||||
if (peakSize/secondPeakSize) > settings.acqThreshold
|
||||
|
||||
%% Fine resolution frequency search =======================================
|
||||
|
||||
%--- Indicate PRN number of the detected signal -------------------
|
||||
fprintf('%02d ', PRN);
|
||||
|
||||
%--- Generate 10msec long C/A codes sequence for given PRN --------
|
||||
caCode = generateCAcode(PRN);
|
||||
|
||||
codeValueIndex = floor((ts * (1:10*samplesPerCode)) / ...
|
||||
(1/settings.codeFreqBasis));
|
||||
|
||||
longCaCode = caCode((rem(codeValueIndex, 1023) + 1));
|
||||
|
||||
%--- Remove C/A code modulation from the original signal ----------
|
||||
% (Using detected C/A code phase)
|
||||
xCarrier = ...
|
||||
signal0DC(codePhase:(codePhase + 10*samplesPerCode-1)) ...
|
||||
.* longCaCode;
|
||||
|
||||
%--- Find the next highest power of two and increase by 8x --------
|
||||
fftNumPts = 8*(2^(nextpow2(length(xCarrier))));
|
||||
|
||||
%--- Compute the magnitude of the FFT, find maximum and the
|
||||
%associated carrier frequency
|
||||
fftxc = abs(fft(xCarrier, fftNumPts));
|
||||
|
||||
uniqFftPts = ceil((fftNumPts + 1) / 2);
|
||||
[fftMax, fftMaxIndex] = max(fftxc(5 : uniqFftPts-5));
|
||||
fftFreqBins = (0 : uniqFftPts-1) * settings.samplingFreq/fftNumPts;
|
||||
|
||||
|
||||
%--- Save properties of the detected satellite signal -------------
|
||||
acqResults.carrFreq(PRN) = fftFreqBins(fftMaxIndex);
|
||||
acqResults.codePhase(PRN) = codePhase;
|
||||
|
||||
else
|
||||
%--- No signal with this PRN --------------------------------------
|
||||
fprintf('. ');
|
||||
end % if (peakSize/secondPeakSize) > settings.acqThreshold
|
||||
|
||||
end % for PRN = satelliteList
|
||||
|
||||
%=== Acquisition is over ==================================================
|
||||
fprintf(')\n');
|
||||
268
GNSS_SDR_IQ/acquisitionIQ.m
Normal file
268
GNSS_SDR_IQ/acquisitionIQ.m
Normal file
|
|
@ -0,0 +1,268 @@
|
|||
function acqResults = acquisition(longSignal, settings)
|
||||
%Function performs cold start acquisition on the collected "data". It
|
||||
%searches for GPS signals of all satellites, which are listed in field
|
||||
%"acqSatelliteList" in the settings structure. Function saves code phase
|
||||
%and frequency of the detected signals in the "acqResults" structure.
|
||||
%
|
||||
%acqResults = acquisition(longSignal, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% longSignal - 11 ms of raw signal from the front-end
|
||||
% settings - Receiver settings. Provides information about
|
||||
% sampling and intermediate frequencies and other
|
||||
% parameters including the list of the satellites to
|
||||
% be acquired.
|
||||
% Outputs:
|
||||
% acqResults - Function saves code phases and frequencies of the
|
||||
% detected signals in the "acqResults" structure. The
|
||||
% field "carrFreq" is set to 0 if the signal is not
|
||||
% detected for the given PRN number.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis and Dennis M. Akos
|
||||
% Written by Darius Plausinaitis and Dennis M. Akos
|
||||
% Based on Peter Rinder and Nicolaj Bertelsen
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: acquisition.m,v 1.1.2.12 2006/08/14 12:08:03 dpl Exp $
|
||||
|
||||
%% Initialization =========================================================
|
||||
|
||||
% Find number of samples per spreading code (số mẫu trong mỗi mã trải phổ)
|
||||
samplesPerCode = round(settings.samplingFreq / ...
|
||||
(settings.codeFreqBasis / settings.codeLength));
|
||||
|
||||
% Create two 1msec vectors of data to correlate with and one with zero DC
|
||||
% (tạo ra 2 vector 1ms để tương quan và 1 vector có DC = 0)
|
||||
signal1 = longSignal(1 : samplesPerCode);
|
||||
signal2 = longSignal(samplesPerCode+1 : 2*samplesPerCode);
|
||||
% Tạo ra 2 signal để
|
||||
|
||||
signal0DC = longSignal - mean(longSignal);
|
||||
|
||||
% Find sampling period: khoảng thời gian lấy mẫu
|
||||
ts = 1 / settings.samplingFreq;
|
||||
|
||||
% Find phase points of the local carrier wave: điểm pha của sóng mang cục
|
||||
% bộ
|
||||
phasePoints = (0 : (samplesPerCode-1)) * 2 * pi * ts;
|
||||
|
||||
% Number of the frequency bins for the given acquisition band (500Hz steps)
|
||||
% số lượng ngăn tần số cho băng tần acquisition
|
||||
numberOfFrqBins = round(settings.acqSearchBand * 2) + 1;
|
||||
|
||||
% Generate all C/A codes and sample them according to the sampling freq.
|
||||
% Tạo các mã C/A và lấy mẫu theo tần số lấy mẫu
|
||||
caCodesTable = makeCaTable(settings);
|
||||
|
||||
|
||||
%--- Initialize arrays to speed up the code -------------------------------
|
||||
% Khởi tạo mảng tăng tốc mã
|
||||
% Search results of all frequency bins and code shifts (for one satellite)
|
||||
% Kết quả tìm kiếm của tất cả ngăn tần số và dịch chuyển mã
|
||||
results = zeros(numberOfFrqBins, samplesPerCode);
|
||||
|
||||
% Carrier frequencies of the frequency bins
|
||||
% Tần số sóng mang của ngăn tần số
|
||||
frqBins = zeros(1, numberOfFrqBins);
|
||||
|
||||
|
||||
%--- Initialize acqResults ------------------------------------------------
|
||||
% Khởi tạo acqResults
|
||||
% Carrier frequencies of detected signals: tần số sóng mang của tín hiệu
|
||||
% được phát hiện
|
||||
acqResults.carrFreq = zeros(1, 32);
|
||||
% C/A code phases of detected signals: pha mã C/A của tín hiệu được phát
|
||||
% hiện
|
||||
acqResults.codePhase = zeros(1, 32);
|
||||
% Correlation peak ratios of the detected signals: tỉ lệ cực đại tương quan
|
||||
% của các tín hiệu được phát hiện
|
||||
acqResults.peakMetric = zeros(1, 32);
|
||||
|
||||
fprintf('(');
|
||||
|
||||
% Perform search for all listed PRN numbers ... : thực hiện tìm kiếm các
|
||||
% PRN được liệt kê
|
||||
for PRN = settings.acqSatelliteList
|
||||
|
||||
%% Correlate signals ======================================================
|
||||
%--- Perform DFT of C/A code ------------------------------------------
|
||||
caCodeFreqDom = conj(fft(caCodesTable(PRN, :)));
|
||||
|
||||
%--- Make the correlation for whole frequency band (for all freq. bins)
|
||||
% Tạo mối tương quan cho toàn bộ dải tần
|
||||
for frqBinIndex = 1:numberOfFrqBins
|
||||
|
||||
%--- Generate carrier wave frequency grid (0.5kHz step) -----------
|
||||
% Tạo lưới tần số sóng mang (0.5 kHz)
|
||||
frqBins(frqBinIndex) = settings.IF - ...
|
||||
(settings.acqSearchBand/2) * 1000 + ...
|
||||
0.5e3 * (frqBinIndex - 1);
|
||||
|
||||
%--- c -------------------------------
|
||||
% Tạo sin và cos cục bộ
|
||||
sinCarr = sin(frqBins(frqBinIndex) * phasePoints);
|
||||
cosCarr = cos(frqBins(frqBinIndex) * phasePoints);
|
||||
|
||||
%--- "Remove carrier" from the signal -----------------------------
|
||||
% Loại bỏ sóng mang
|
||||
IQ1 = (sinCarr+1i*cosCarr).* signal1;
|
||||
I1 = real(IQ1);
|
||||
Q1 = imag(IQ1);
|
||||
|
||||
IQ2 = (sinCarr+1i*cosCarr).* signal2;
|
||||
I2 = real(IQ2);
|
||||
Q2 = imag(IQ2);
|
||||
|
||||
%--- Convert the baseband signal to frequency domain --------------
|
||||
% Chuyển đổi tín hiệu băng cơ sở sang miền tần số
|
||||
IQfreqDom1 = fft(I1 + 1i*Q1);
|
||||
IQfreqDom2 = fft(I2 + 1i*Q2);
|
||||
|
||||
%--- Multiplication in the frequency domain (correlation in time
|
||||
%domain)
|
||||
% Phép nhân trong miền tần số (tương quan trong miền thời gian)
|
||||
convCodeIQ1 = IQfreqDom1 .* caCodeFreqDom;
|
||||
convCodeIQ2 = IQfreqDom2 .* caCodeFreqDom;
|
||||
|
||||
%--- Perform inverse DFT and store correlation results ------------
|
||||
% Thực hiện DFT nghịch đảo và lưu kết quả tương quan
|
||||
acqRes1 = abs(ifft(convCodeIQ1)) .^ 2;
|
||||
acqRes2 = abs(ifft(convCodeIQ2)) .^ 2;
|
||||
|
||||
%--- Check which msec had the greater power and save that, will
|
||||
%"blend" 1st and 2nd msec but will correct data bit issues
|
||||
% Kiểm tra ms nào mạnh hơn và lưu lại, trộn ms thứ 1 và 2 nhưng sẽ
|
||||
% khắc phục vấn đề về bit dữ liệu
|
||||
if (max(acqRes1) > max(acqRes2))
|
||||
results(frqBinIndex, :) = acqRes1; %Lưu acqRes1 vào hàng thứ frqBinIndex
|
||||
else
|
||||
results(frqBinIndex, :) = acqRes2;
|
||||
end
|
||||
|
||||
end % frqBinIndex = 1:numberOfFrqBins
|
||||
|
||||
%% Look for correlation peaks in the results ==============================
|
||||
% Find the highest peak and compare it to the second highest peak
|
||||
% Tìm đỉnh cao nhất và so sánh với đỉnh cao thứ 2
|
||||
% The second peak is chosen not closer than 1 chip to the highest peak
|
||||
% Đỉnh thứ 2 được chọn không gần hơn 1 chip so với đỉnh cao nhất
|
||||
|
||||
%--- Find the correlation peak and the carrier frequency --------------
|
||||
% Tìm đỉnh tương quan và tần số sóng mang
|
||||
[peakSize frequencyBinIndex] = max(max(results, [], 2)); %Giá trị lớn nhất trên mỗi hàng
|
||||
|
||||
%--- Find code phase of the same correlation peak ---------------------
|
||||
% Tìm pha mã của cùng 1 đỉnh tương quan
|
||||
[peakSize codePhase] = max(max(results));
|
||||
|
||||
%--- Find 1 chip wide C/A code phase exclude range around the peak ----
|
||||
% Tìm 1 chip mã C/A loại trừ khoảng xung quanh đỉnh
|
||||
samplesPerCodeChip = round(settings.samplingFreq / settings.codeFreqBasis);
|
||||
excludeRangeIndex1 = codePhase - samplesPerCodeChip;
|
||||
excludeRangeIndex2 = codePhase + samplesPerCodeChip;
|
||||
|
||||
%--- Correct C/A code phase exclude range if the range includes array
|
||||
%boundaries
|
||||
% Đúng vị trí mã C/A và loại bỏ khoảng nếu khoảng đó bao gồm các biên
|
||||
% của mảng
|
||||
if excludeRangeIndex1 < 2
|
||||
codePhaseRange = excludeRangeIndex2 : ...
|
||||
samplesPerCode;%(samplesPerCode + excludeRangeIndex1);
|
||||
|
||||
elseif excludeRangeIndex2 >= samplesPerCode
|
||||
codePhaseRange = (excludeRangeIndex2 - samplesPerCode) : ...
|
||||
excludeRangeIndex1;
|
||||
else
|
||||
codePhaseRange = [1:excludeRangeIndex1, ...
|
||||
excludeRangeIndex2 : samplesPerCode];
|
||||
end
|
||||
try
|
||||
%--- Find the second highest correlation peak in the same freq. bin ---
|
||||
% Tìm đỉnh tương quan cao thứ 2 trong cùng freq. bin
|
||||
secondPeakSize = max(results(frequencyBinIndex, codePhaseRange));
|
||||
catch exception
|
||||
msgbox(exception.message);
|
||||
end;
|
||||
%--- Store result -----------------------------------------------------
|
||||
acqResults.peakMetric(PRN) = peakSize/secondPeakSize;
|
||||
|
||||
% If the result is above threshold, then there is a signal ...
|
||||
% Nếu kết quả vượt ngưỡng thì có tín hiệu
|
||||
if (peakSize/secondPeakSize) > settings.acqThreshold
|
||||
|
||||
freq_Range=1:numberOfFrqBins;
|
||||
xR=settings.IF - (settings.acqSearchBand/2) * 1000 + 0.5e3 * (freq_Range - 1);
|
||||
yR=[0:samplesPerCode-1];
|
||||
figure;
|
||||
surf(results);shading interp, title("PRN "+PRN);
|
||||
|
||||
%% Fine resolution frequency search =======================================
|
||||
|
||||
%--- Indicate PRN number of the detected signal -------------------
|
||||
% Cho biết số PRN của tín hiệu được phát hiện
|
||||
fprintf('%02d ', PRN);
|
||||
|
||||
%--- Generate 10msec long C/A codes sequence for given PRN --------
|
||||
% Tạo chuỗi mã C/A dài 10 ms cho PRN đã cho
|
||||
caCode = generateCAcode(PRN);
|
||||
|
||||
codeValueIndex = floor((ts * (1:10*samplesPerCode)) / ...
|
||||
(1/settings.codeFreqBasis));
|
||||
|
||||
longCaCode = caCode((rem(codeValueIndex, 1023) + 1));
|
||||
|
||||
%--- Remove C/A code modulation from the original signal ----------
|
||||
% Loại bỏ điều chế mã C/A khỏi tín hiệu gốc
|
||||
% (Using detected C/A code phase) (Sử dụng pha mã C/A được phát
|
||||
% hiện)
|
||||
xCarrier = ...
|
||||
signal0DC(codePhase:(codePhase + 10*samplesPerCode-1)) ...
|
||||
.* longCaCode;
|
||||
|
||||
%--- Find the next highest power of two and increase by 8x --------
|
||||
fftNumPts = 8*(2^(nextpow2(length(xCarrier))));
|
||||
|
||||
%--- Compute the magnitude of the FFT, find maximum and the
|
||||
%associated carrier frequency
|
||||
% Tính toán độ lớn của FFT, tìm tần số sóng mang tối đa và liên
|
||||
% quan
|
||||
fftxc = abs(fft(xCarrier, fftNumPts));
|
||||
|
||||
uniqFftPts = ceil((fftNumPts + 1) / 2);
|
||||
[fftMax, fftMaxIndex] = max(fftxc);
|
||||
fftFreqBins = (0 : fftNumPts) * settings.samplingFreq/fftNumPts;
|
||||
|
||||
|
||||
%--- Save properties of the detected satellite signal -------------
|
||||
% Lưu thuộc tính tín hiệu vệ tinh được phát hiện
|
||||
acqResults.carrFreq(PRN) = fftFreqBins(fftMaxIndex);
|
||||
acqResults.codePhase(PRN) = codePhase;
|
||||
|
||||
else
|
||||
%--- No signal with this PRN --------------------------------------
|
||||
fprintf('. ');
|
||||
end % if (peakSize/secondPeakSize) > settings.acqThreshold
|
||||
|
||||
end % for PRN = satelliteList
|
||||
|
||||
%=== Acquisition is over ==================================================
|
||||
fprintf(')\n');
|
||||
227
GNSS_SDR_IQ/acquisitionIQ_weak.m
Normal file
227
GNSS_SDR_IQ/acquisitionIQ_weak.m
Normal file
|
|
@ -0,0 +1,227 @@
|
|||
function acqResults = acquisitionIQ_weak(longSignal, settings)
|
||||
%Function performs cold start acquisition on the collected "data". It
|
||||
%searches for GPS signals of all satellites, which are listed in field
|
||||
%"acqSatelliteList" in the settings structure. Function saves code phase
|
||||
%and frequency of the detected signals in the "acqResults" structure.
|
||||
%
|
||||
%acqResults = acquisition(longSignal, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% longSignal - 11 ms of raw signal from the front-end
|
||||
% settings - Receiver settings. Provides information about
|
||||
% sampling and intermediate frequencies and other
|
||||
% parameters including the list of the satellites to
|
||||
% be acquired.
|
||||
% Outputs:
|
||||
% acqResults - Function saves code phases and frequencies of the
|
||||
% detected signals in the "acqResults" structure. The
|
||||
% field "carrFreq" is set to 0 if the signal is not
|
||||
% detected for the given PRN number.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis and Dennis M. Akos
|
||||
% Written by Darius Plausinaitis and Dennis M. Akos
|
||||
% Based on Peter Rinder and Nicolaj Bertelsen
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: acquisition.m,v 1.1.2.12 2006/08/14 12:08:03 dpl Exp $
|
||||
|
||||
%% Initialization =========================================================
|
||||
|
||||
% Find number of samples per spreading code
|
||||
samplesPerCode = round(settings.samplingFreq / ...
|
||||
(settings.codeFreqBasis / settings.codeLength));
|
||||
|
||||
% Create two 1msec vectors of data to correlate with and one with zero DC
|
||||
signal0DC = longSignal - mean(longSignal);
|
||||
|
||||
% Find sampling period
|
||||
ts = 1 / settings.samplingFreq;
|
||||
|
||||
% Find phase points of the local carrier wave
|
||||
phasePoints = (0 : (samplesPerCode-1)) * 2 * pi * ts;
|
||||
|
||||
% Number of the frequency bins for the given acquisition band (500Hz steps)
|
||||
DopplerStepSize=100;
|
||||
numberOfFrqBins = round(settings.acqSearchBand *1000/DopplerStepSize) + 1;
|
||||
|
||||
% Generate all C/A codes and sample them according to the sampling freq.
|
||||
caCodesTable = makeCaTable(settings);
|
||||
|
||||
|
||||
%--- Initialize arrays to speed up the code -------------------------------
|
||||
% Search results of all frequency bins and code shifts (for one satellite)
|
||||
results = zeros(numberOfFrqBins, samplesPerCode);
|
||||
tmpResults = zeros(numberOfFrqBins, samplesPerCode);
|
||||
% Carrier frequencies of the frequency bins
|
||||
frqBins = zeros(1, numberOfFrqBins);
|
||||
|
||||
|
||||
%--- Initialize acqResults ------------------------------------------------
|
||||
% Carrier frequencies of detected signals
|
||||
acqResults.carrFreq = zeros(1, 32);
|
||||
% C/A code phases of detected signals
|
||||
acqResults.codePhase = zeros(1, 32);
|
||||
% Correlation peak ratios of the detected signals
|
||||
acqResults.peakMetric = zeros(1, 32);
|
||||
|
||||
fprintf('(');
|
||||
|
||||
% Perform search for all listed PRN numbers ...
|
||||
for PRN = settings.acqSatelliteList
|
||||
results = zeros(numberOfFrqBins, samplesPerCode);
|
||||
for msIdx=0:9
|
||||
signal = longSignal(msIdx*samplesPerCode+1 : (msIdx+1)*samplesPerCode);
|
||||
%% Correlate signals ======================================================
|
||||
%--- Perform DFT of C/A code ------------------------------------------
|
||||
caCodeFreqDom = conj(fft(caCodesTable(PRN, :)));
|
||||
|
||||
%--- Make the correlation for whole frequency band (for all freq. bins)
|
||||
for frqBinIndex = 1:numberOfFrqBins
|
||||
|
||||
%--- Generate carrier wave frequency grid (0.5kHz step) -----------
|
||||
frqBins(frqBinIndex) = settings.IF - ...
|
||||
(settings.acqSearchBand/2) * 1000 + ...
|
||||
DopplerStepSize * (frqBinIndex - 1);
|
||||
|
||||
%--- Generate local sine and cosine -------------------------------
|
||||
sinCarr = sin(frqBins(frqBinIndex) * phasePoints);
|
||||
cosCarr = cos(frqBins(frqBinIndex) * phasePoints);
|
||||
|
||||
%--- "Remove carrier" from the signal -----------------------------
|
||||
IQ = (sinCarr+1i*cosCarr).* signal;
|
||||
I = real(IQ);
|
||||
Q = imag(IQ);
|
||||
|
||||
%--- Convert the baseband signal to frequency domain --------------
|
||||
IQfreqDom = fft(I + 1i*Q);
|
||||
|
||||
|
||||
%--- Multiplication in the frequency domain (correlation in time
|
||||
%domain)
|
||||
convCodeIQ = IQfreqDom .* caCodeFreqDom;
|
||||
|
||||
|
||||
%--- Perform inverse DFT and store correlation results ------------
|
||||
acqRes = abs(ifft(convCodeIQ)) .^ 2;
|
||||
|
||||
%--- Check which msec had the greater power and save that, will
|
||||
%"blend" 1st and 2nd msec but will correct data bit issues
|
||||
|
||||
tmpResults(frqBinIndex, :) = acqRes;
|
||||
end % frqBinIndex = 1:numberOfFrqBins
|
||||
results=results+tmpResults;
|
||||
end;
|
||||
|
||||
%% Look for correlation peaks in the results ==============================
|
||||
% Find the highest peak and compare it to the second highest peak
|
||||
% The second peak is chosen not closer than 1 chip to the highest peak
|
||||
if settings.plotAcquisition
|
||||
surf(results);
|
||||
end;
|
||||
%--- Find the correlation peak and the carrier frequency --------------
|
||||
[peakSize frequencyBinIndex] = max(max(results, [], 2));
|
||||
|
||||
%--- Find code phase of the same correlation peak ---------------------
|
||||
[peakSize codePhase] = max(max(results));
|
||||
|
||||
%--- Find 1 chip wide C/A code phase exclude range around the peak ----
|
||||
samplesPerCodeChip = round(settings.samplingFreq / settings.codeFreqBasis);
|
||||
excludeRangeIndex1 = codePhase - samplesPerCodeChip;
|
||||
excludeRangeIndex2 = codePhase + samplesPerCodeChip;
|
||||
|
||||
%--- Correct C/A code phase exclude range if the range includes array
|
||||
%boundaries
|
||||
if excludeRangeIndex1 < 2
|
||||
codePhaseRange = excludeRangeIndex2 : ...
|
||||
samplesPerCode;%(samplesPerCode + excludeRangeIndex1);
|
||||
|
||||
elseif excludeRangeIndex2 >= samplesPerCode
|
||||
codePhaseRange = (excludeRangeIndex2 - samplesPerCode) : ...
|
||||
excludeRangeIndex1;
|
||||
else
|
||||
codePhaseRange = [1:excludeRangeIndex1, ...
|
||||
excludeRangeIndex2 : samplesPerCode];
|
||||
end
|
||||
try
|
||||
%--- Find the second highest correlation peak in the same freq. bin ---
|
||||
secondPeakSize = max(results(frequencyBinIndex, codePhaseRange));
|
||||
catch exception
|
||||
msgbox(exception.message);
|
||||
end;
|
||||
%--- Store result -----------------------------------------------------
|
||||
acqResults.peakMetric(PRN) = peakSize/secondPeakSize;
|
||||
|
||||
% If the result is above threshold, then there is a signal ...
|
||||
if (peakSize/secondPeakSize) > settings.acqThreshold
|
||||
figure;
|
||||
surf(results);
|
||||
%% Fine resolution frequency search =======================================
|
||||
|
||||
%--- Indicate PRN number of the detected signal -------------------
|
||||
fprintf('%02d ', PRN);
|
||||
|
||||
%--- Generate 10msec long C/A codes sequence for given PRN --------
|
||||
caCode = generateCAcode(PRN);
|
||||
|
||||
codeValueIndex = floor((ts * (1:10*samplesPerCode)) / ...
|
||||
(1/settings.codeFreqBasis));
|
||||
|
||||
longCaCode = caCode((rem(codeValueIndex, 1023) + 1));
|
||||
|
||||
%--- Remove C/A code modulation from the original signal ----------
|
||||
% (Using detected C/A code phase)
|
||||
xCarrier = ...
|
||||
signal0DC(codePhase:(codePhase + 10*samplesPerCode-1)) ...
|
||||
.* longCaCode;
|
||||
|
||||
%--- Find the next highest power of two and increase by 8x --------
|
||||
fftNumPts = 8*(2^(nextpow2(length(xCarrier))));
|
||||
|
||||
%--- Compute the magnitude of the FFT, find maximum and the
|
||||
%associated carrier frequency
|
||||
fftxc = abs(fft(xCarrier, fftNumPts));
|
||||
|
||||
uniqFftPts = ceil((fftNumPts + 1) / 2);
|
||||
[fftMax, fftMaxIndex] = max(fftxc);
|
||||
fftFreqBins = (0 : fftNumPts) * settings.samplingFreq/fftNumPts;
|
||||
|
||||
|
||||
%--- Save properties of the detected satellite signal -------------
|
||||
acqResults.carrFreq(PRN) = fftFreqBins(fftMaxIndex);
|
||||
|
||||
acqResults.codePhase(PRN) = codePhase;
|
||||
|
||||
% THUAN
|
||||
acqResults.carrFreq(PRN) =settings.IF- ...
|
||||
(settings.acqSearchBand/2) * 1000 + ...
|
||||
DopplerStepSize * (frequencyBinIndex - 1);
|
||||
|
||||
|
||||
else
|
||||
%--- No signal with this PRN --------------------------------------
|
||||
fprintf('. ');
|
||||
end % if (peakSize/secondPeakSize) > settings.acqThreshold
|
||||
|
||||
end % for PRN = satelliteList
|
||||
|
||||
%=== Acquisition is over ==================================================
|
||||
fprintf(')\n');
|
||||
31
GNSS_SDR_IQ/alm2eph.m
Normal file
31
GNSS_SDR_IQ/alm2eph.m
Normal file
|
|
@ -0,0 +1,31 @@
|
|||
function [eph]=alm2eph(ID,Health,Eccentricity,TimeOfApp,Inclination,RateOfRightAscen,sqrtA,RightAscen,ArgOfPerigee,MeanAnom,Af0,Af1,week)
|
||||
if nargin<13
|
||||
error('Not enough input');
|
||||
end;
|
||||
eph.IODE_sf2=0;
|
||||
eph.IODE_sf3=0;
|
||||
eph.iDot=0;
|
||||
eph.C_rs=0;
|
||||
eph.deltan=0;
|
||||
eph.M_0=MeanAnom;
|
||||
eph.e=Eccentricity;
|
||||
eph.sqrtA=sqrtA;
|
||||
eph.omega_0=RightAscen;
|
||||
eph.i_0=Inclination;
|
||||
eph.omega=ArgOfPerigee;
|
||||
eph.omegaDot=RateOfRightAscen;
|
||||
eph.weekNumber=1636;
|
||||
eph.accuracy=1;
|
||||
eph.T_GD=0;
|
||||
eph.IODC=512;
|
||||
eph.t_oc=475200;
|
||||
eph.a_f2=0;
|
||||
eph.a_f1=Af1;
|
||||
eph.a_f0=Af0;
|
||||
eph.C_uc=0;
|
||||
eph.C_us=0;
|
||||
eph.C_ic=0;
|
||||
eph.C_is=0;
|
||||
eph.C_rc=0;
|
||||
eph.C_rs=0;
|
||||
eph.t_oe=eph.t_oc;
|
||||
77
GNSS_SDR_IQ/calculatePseudoranges.m
Normal file
77
GNSS_SDR_IQ/calculatePseudoranges.m
Normal file
|
|
@ -0,0 +1,77 @@
|
|||
function [pseudoranges] = calculatePseudoranges(trackResults, ...
|
||||
msOfTheSignal, ...
|
||||
channelList, settings)
|
||||
%calculatePseudoranges finds relative pseudoranges for all satellites
|
||||
%listed in CHANNELLIST at the specified millisecond of the processed
|
||||
%signal. The pseudoranges contain unknown receiver clock offset. It can be
|
||||
%found by the least squares position search procedure.
|
||||
%
|
||||
%[pseudoranges] = calculatePseudoranges(trackResults, msOfTheSignal, ...
|
||||
% channelList, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% trackResults - output from the tracking function
|
||||
% msOfTheSignal - pseudorange measurement point (millisecond) in
|
||||
% the trackResults structure
|
||||
% channelList - list of channels to be processed
|
||||
% settings - receiver settings
|
||||
%
|
||||
% Outputs:
|
||||
% pseudoranges - relative pseudoranges to the satellites.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis
|
||||
% Based on Peter Rinder and Nicolaj Bertelsen
|
||||
%--------------------------------------------------------------------------
|
||||
%
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: calculatePseudoranges.m,v 1.1.2.18 2006/08/09 17:20:11 dpl Exp $
|
||||
|
||||
%--- Set initial travel time to infinity ----------------------------------
|
||||
% Later in the code a shortest pseudorange will be selected. Therefore
|
||||
% pseudoranges from non-tracking channels must be the longest - e.g.
|
||||
% infinite.
|
||||
travelTime = inf(1, settings.numberOfChannels);
|
||||
|
||||
% Find number of samples per spreading code
|
||||
samplesPerCode = round(settings.samplingFreq / ...
|
||||
(settings.codeFreqBasis / settings.codeLength));
|
||||
|
||||
%--- For all channels in the list ...
|
||||
if(size(channelList,1)>1)
|
||||
channelList=channelList';
|
||||
end;
|
||||
for channelNr = channelList
|
||||
|
||||
%--- Compute the travel times -----------------------------------------
|
||||
travelTime(channelNr) = ...
|
||||
trackResults(channelNr).absoluteSample(msOfTheSignal(channelNr)) / samplesPerCode;
|
||||
end
|
||||
|
||||
%--- Truncate the travelTime and compute pseudoranges ---------------------
|
||||
minimum = floor(min(travelTime));
|
||||
travelTime = travelTime - minimum + settings.startOffset;
|
||||
|
||||
%--- Convert travel time to a distance ------------------------------------
|
||||
% The speed of light must be converted from meters per second to meters
|
||||
% per millisecond.
|
||||
pseudoranges = travelTime * (settings.c / 1000);
|
||||
50
GNSS_SDR_IQ/ecef2llh.m
Normal file
50
GNSS_SDR_IQ/ecef2llh.m
Normal file
|
|
@ -0,0 +1,50 @@
|
|||
%
|
||||
% llh = ecef2llh (ecef)
|
||||
%
|
||||
% ecef2llh: converts ECEF to Lat, Lon, Height in WGS-84
|
||||
%
|
||||
% Input: ecef [3xN] = x,y,z (user units)
|
||||
% Output: llh [3xN] = lat,long,height location (rad,rad,user units)
|
||||
%
|
||||
% EE6900 - Flight Management Systems
|
||||
%
|
||||
% Maarten Uijt de Haag
|
||||
%
|
||||
% Based on: OU-ECE-AEC Oct. 1988 FvG
|
||||
%
|
||||
function llh = ecef2llh (ecef)
|
||||
|
||||
A = 6378137.0;
|
||||
E = 8.1819190842622e-02;
|
||||
ESQ = E*E;
|
||||
|
||||
llh = 0.0*ecef;
|
||||
|
||||
X = ecef(1,:);
|
||||
Y = ecef(2,:);
|
||||
Z = ecef(3,:);
|
||||
|
||||
RSQ = (X.*X) + (Y.*Y);
|
||||
H = ESQ .* Z;
|
||||
|
||||
%cnt = 0;
|
||||
%done = 0;
|
||||
%while cnt < 10 & done == 0,
|
||||
for cnt = 1:10,
|
||||
%cnt = cnt + 1;
|
||||
ZP = Z + H;
|
||||
R = sqrt(RSQ + (ZP .* ZP));
|
||||
SP = ZP ./ R;
|
||||
GSQ = 1.0 - (ESQ .* SP .* SP);
|
||||
EN = A ./ sqrt(GSQ);
|
||||
P = EN .* ESQ .* SP;
|
||||
%if abs(H-P) < 5.0e-04, done = 1; end;
|
||||
H = P;
|
||||
end;
|
||||
P = atan2( ZP, sqrt(RSQ) );
|
||||
H = R - EN;
|
||||
llh(1,:) = P;
|
||||
llh(2,:) = atan2(Y,X);
|
||||
llh(3,:) = H;
|
||||
|
||||
return
|
||||
730
GNSS_SDR_IQ/fig3-3.eps
Normal file
730
GNSS_SDR_IQ/fig3-3.eps
Normal file
|
|
@ -0,0 +1,730 @@
|
|||
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|
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1 j
|
||||
1 sg
|
||||
0 0 6913 5185 PR
|
||||
6 w
|
||||
0 4225 5356 0 0 -4225 899 4614 4 MP
|
||||
PP
|
||||
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|
||||
4 w
|
||||
DO
|
||||
SO
|
||||
6 w
|
||||
0 sg
|
||||
899 4614 mt 6255 4614 L
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||||
899 4614 mt 899 389 L
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1345 4614 mt 1345 4560 L
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2461 4614 mt 2461 4560 L
|
||||
2185 4849 mt
|
||||
(-0.5) s
|
||||
3577 4614 mt 3577 4560 L
|
||||
3517 4849 mt
|
||||
(0) s
|
||||
4692 4614 mt 4692 4560 L
|
||||
4542 4849 mt
|
||||
(0.5) s
|
||||
5808 4614 mt 5808 4560 L
|
||||
5748 4849 mt
|
||||
(1) s
|
||||
899 4402 mt 952 4402 L
|
||||
438 4482 mt
|
||||
(-0.8) s
|
||||
899 3980 mt 952 3980 L
|
||||
438 4060 mt
|
||||
(-0.6) s
|
||||
899 3557 mt 952 3557 L
|
||||
438 3637 mt
|
||||
(-0.4) s
|
||||
899 3135 mt 952 3135 L
|
||||
438 3215 mt
|
||||
(-0.2) s
|
||||
899 2712 mt 952 2712 L
|
||||
744 2792 mt
|
||||
(0) s
|
||||
899 2290 mt 952 2290 L
|
||||
564 2370 mt
|
||||
(0.2) s
|
||||
899 1867 mt 952 1867 L
|
||||
564 1947 mt
|
||||
(0.4) s
|
||||
899 1445 mt 952 1445 L
|
||||
564 1525 mt
|
||||
(0.6) s
|
||||
899 1022 mt 952 1022 L
|
||||
564 1102 mt
|
||||
(0.8) s
|
||||
899 600 mt 952 600 L
|
||||
744 680 mt
|
||||
(1) s
|
||||
gs 899 389 5357 4226 MR c np
|
||||
12 w
|
||||
4 -4 5 -5 4 -4 5 -4 4 -4 5 -5 4 -4 5 -4
|
||||
4 -4 5 -5 4 -4 4 -4 5 -4 4 -4 5 -5 4 -4
|
||||
5 -4 4 -4 5 -5 4 -4 5 -4 4 -4 5 -5 4 -4
|
||||
5 -4 4 -4 4 -4 5 -5 4 -4 5 -4 4 -4 5 -5
|
||||
4 -4 5 -4 4 -4 5 -5 4 -4 5 -4 4 -4 5 -4
|
||||
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|
||||
5 -4 4 -5 5 -4 4 -4 5 -4 4 -5 5 -4 4 -4
|
||||
4 -4 5 -5 4 -4 5 -4 4 -4 5 -4 4 -5 5 -4
|
||||
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||||
4 -4 4 -4 5 -4 4 -5 5 -4 4 -4 5 -4 4 -5
|
||||
5 -4 4 -4 5 -4 4 -5 5 -4 4 -4 5 -4 4 -4
|
||||
4 -5 5 -4 4 -4 5 -4 4 -5 5 -4 4 -4 5 -4
|
||||
4 -4 5 -5 4 -4 5366 3131 100 MP stroke
|
||||
5 -4 4 -4 5 -5 4 -4 4 -4 5 -4 4 -5 5 -4
|
||||
4 -4 5 -4 4 -4 5 -5 4 -4 5 -4 4 -4 5 -5
|
||||
4 -4 5 -4 4 -4 5 -5 4 -4 4 -4 5 -4 4 -4
|
||||
5 -5 4 -4 5 -4 4 -4 5 -5 4 -4 5 -4 4 -4
|
||||
5 -5 4 -4 5 -4 4 -4 4 -4 5 -5 4 -4 5 -4
|
||||
4 -4 5 -5 4 -4 5 -4 4 -4 5 -4 4 -5 5 -4
|
||||
4 -4 5 -4 4 -5 4 -4 5 -4 4 -4 5 -5 4 -4
|
||||
5 -4 4 -4 5 -4 4 -5 5 -4 4 -4 5 -4 4 -5
|
||||
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|
||||
4 -5 5 -4 4 -4 5 -4 4 -5 5 -4 4 -4 5 -4
|
||||
4 -5 5 -4 4 -4 4 -4 5 -4 4 -5 5 -4 4 -4
|
||||
5 -4 4 -5 5 -4 4 -4 5 -4 4 -4 5 -5 4 -4
|
||||
5 -4 4 -4 4 -5 4924 3550 100 MP stroke
|
||||
5 -4 4 -4 5 -4 4 -5 5 -4 4 -4 5 -4 4 -4
|
||||
5 -5 4 -4 5 -4 4 -4 5 -5 4 -4 4 -4 5 -4
|
||||
4 -5 5 -4 4 -4 5 -4 4 -4 5 -5 4 -4 5 -4
|
||||
4 -4 5 -5 4 -4 5 -4 4 -4 4 -5 5 -4 4 -4
|
||||
5 -4 4 -4 5 -5 4 -4 5 -4 4 -4 5 -5 4 -4
|
||||
5 -4 4 -4 5 -4 4 -5 5 -4 4 -4 4 -4 5 -5
|
||||
4 -4 5 -4 4 -4 5 0 4 12 5 13 4 13 5 12
|
||||
4 13 5 13 4 12 5 13 4 13 4 13 5 12 4 13
|
||||
5 13 4 12 5 13 4 13 5 12 4 13 5 13 4 12
|
||||
5 13 4 13 5 12 4 13 4 13 5 13 4 12 5 13
|
||||
4 13 5 12 4 13 5 13 4 12 5 13 4 13 5 12
|
||||
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|
||||
5 13 4 12 5 13 4481 3169 100 MP stroke
|
||||
4 13 5 12 4 13 5 13 4 12 5 13 4 13 5 12
|
||||
4 13 4 13 5 13 4 12 5 13 4 13 5 12 4 13
|
||||
5 13 4 12 5 13 4 13 5 12 4 13 5 13 4 12
|
||||
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|
||||
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|
||||
5 12 4 13 5 13 4 12 5 13 4 13 5 12 4 13
|
||||
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|
||||
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|
||||
4 13 5 12 4 13 5 13 4 12 5 13 4 13 4 13
|
||||
5 12 4 13 5 13 4 12 5 13 4 13 5 12 4 13
|
||||
5 13 4 12 5 13 4 13 5 12 4 13 4 13 5 13
|
||||
4 12 5 13 4 13 5 12 4 13 5 13 4 12 5 13
|
||||
4 13 5 12 4 13 4039 1913 100 MP stroke
|
||||
5 13 4 12 4 13 5 13 4 13 5 12 4 13 5 13
|
||||
4 12 5 13 4 13 5 12 4 13 5 13 4 12 5 13
|
||||
4 13 5 12 4 13 4 13 5 13 4 12 5 13 4 13
|
||||
5 12 4 13 5 13 4 12 5 13 4 13 5 12 4 13
|
||||
5 13 4 12 4 13 5 13 4 13 5 12 4 13 5 13
|
||||
4 12 5 13 4 13 5 12 4 13 5 13 4 12 5 13
|
||||
4 13 4 12 5 13 4 13 5 13 4 12 5 13 4 13
|
||||
5 12 4 13 5 13 4 12 5 13 4 13 5 12 4 13
|
||||
4 13 5 12 4 13 5 13 4 13 5 12 4 13 5 13
|
||||
4 12 5 13 4 13 5 12 4 13 5 13 4 12 5 13
|
||||
4 13 4 12 5 13 4 13 5 13 4 12 5 13 4 13
|
||||
5 12 4 13 5 13 4 12 5 13 4 13 5 12 4 13
|
||||
4 13 5 12 4 13 3597 657 100 MP stroke
|
||||
5 13 4 13 5 12 4 13 5 0 4 -13 5 -12 4 -13
|
||||
5 -13 4 -13 5 -12 4 -13 4 -13 5 -12 4 -13 5 -13
|
||||
4 -12 5 -13 4 -13 5 -12 4 -13 5 -13 4 -12 5 -13
|
||||
4 -13 5 -13 4 -12 4 -13 5 -13 4 -12 5 -13 4 -13
|
||||
5 -12 4 -13 5 -13 4 -12 5 -13 4 -13 5 -12 4 -13
|
||||
5 -13 4 -13 5 -12 4 -13 4 -13 5 -12 4 -13 5 -13
|
||||
4 -12 5 -13 4 -13 5 -12 4 -13 5 -13 4 -12 5 -13
|
||||
4 -13 5 -13 4 -12 4 -13 5 -13 4 -12 5 -13 4 -13
|
||||
5 -12 4 -13 5 -13 4 -12 5 -13 4 -13 5 -12 4 -13
|
||||
5 -13 4 -13 4 -12 5 -13 4 -13 5 -12 4 -13 5 -13
|
||||
4 -12 5 -13 4 -13 5 -12 4 -13 5 -13 4 -12 5 -13
|
||||
4 -13 4 -13 5 -12 4 -13 5 -13 4 -12 5 -13 4 -13
|
||||
5 -12 4 -13 5 -13 3154 1799 100 MP stroke
|
||||
4 -12 5 -13 4 -13 5 -12 4 -13 5 -13 4 -13 4 -12
|
||||
5 -13 4 -13 5 -12 4 -13 5 -13 4 -12 5 -13 4 -13
|
||||
5 -12 4 -13 5 -13 4 -12 5 -13 4 -13 4 -13 5 -12
|
||||
4 -13 5 -13 4 -12 5 -13 4 -13 5 -12 4 -13 5 -13
|
||||
4 -12 5 -13 4 -13 5 -12 4 -13 4 -13 5 -13 4 -12
|
||||
5 -13 4 -13 5 -12 4 -13 5 -13 4 -12 5 -13 4 -13
|
||||
5 -12 4 -13 5 -13 4 -12 5 -13 4 -13 4 -13 5 -12
|
||||
4 -13 5 -13 4 -12 5 -13 4 -13 5 -12 4 -13 5 -13
|
||||
4 -12 5 -13 4 -13 5 -12 4 -13 4 -13 5 -13 4 -12
|
||||
5 -13 4 -13 5 -12 4 -13 5 -13 4 -12 5 -13 4 -13
|
||||
5 -12 4 -13 5 -13 4 -13 4 -12 5 -13 4 -13 5 -12
|
||||
4 -13 5 -13 4 -12 5 -13 4 -13 5 -12 4 -13 5 -13
|
||||
4 -12 5 -13 4 -13 2712 3055 100 MP stroke
|
||||
4 -13 5 -12 4 -13 5 -13 4 -12 5 -13 4 -13 5 -12
|
||||
4 -13 5 -13 4 -12 5 -13 4 -13 5 -12 4 -13 5 -13
|
||||
4 -13 4 -12 5 -13 4 -13 5 -12 4 -13 5 -13 4 -12
|
||||
5 -13 4 -13 5 -12 4 -13 5 -13 4 -12 5 -13 4 -13
|
||||
4 -13 5 -12 4 -13 5 -13 4 -12 5 -13 4 -13 5 -12
|
||||
4 -13 5 -13 4 -12 5 -13 4 -13 5 -12 4 -13 4 -13
|
||||
5 -13 4 -12 5 -13 4 -13 5 -12 4 -13 5 -13 4 -12
|
||||
5 0 4 4 5 4 4 4 5 5 4 4 4 4 5 4
|
||||
4 5 5 4 4 4 5 4 4 4 5 5 4 4 5 4
|
||||
4 4 5 5 4 4 5 4 4 4 5 4 4 5 4 4
|
||||
5 4 4 4 5 5 4 4 5 4 4 4 5 5 4 4
|
||||
5 4 4 4 5 4 4 5 5 4 4 4 4 4 5 5
|
||||
4 4 5 4 4 4 2270 3588 100 MP stroke
|
||||
5 5 4 4 5 4 4 4 5 4 4 5 5 4 4 4
|
||||
5 4 4 5 4 4 5 4 4 4 5 5 4 4 5 4
|
||||
4 4 5 4 4 5 5 4 4 4 5 4 4 5 5 4
|
||||
4 4 4 4 5 4 4 5 5 4 4 4 5 4 4 5
|
||||
5 4 4 4 5 4 4 5 5 4 4 4 5 4 4 4
|
||||
5 5 4 4 4 4 5 4 4 5 5 4 4 4 5 4
|
||||
4 5 5 4 4 4 5 4 4 4 5 5 4 4 5 4
|
||||
4 4 4 5 5 4 4 4 5 4 4 5 5 4 4 4
|
||||
5 4 4 4 5 5 4 4 5 4 4 4 5 5 4 4
|
||||
4 4 5 4 4 4 5 5 4 4 5 4 4 4 5 5
|
||||
4 4 5 4 4 4 5 5 4 4 5 4 4 4 4 4
|
||||
5 5 4 4 5 4 4 4 5 5 4 4 5 4 4 4
|
||||
5 5 4 4 5 4 1827 3169 100 MP stroke
|
||||
4 4 5 4 4 5 5 4 4 4 4 4 5 5 4 4
|
||||
5 4 4 4 5 5 4 4 5 4 4 4 5 4 4 5
|
||||
5 4 4 4 5 4 4 5 4 4 5 4 4 4 5 4
|
||||
4 5 5 4 4 4 5 4 4 5 5 4 4 4 5 4
|
||||
4 5 5 4 4 4 4 4 5 4 4 5 5 4 4 4
|
||||
5 4 4 5 5 4 4 4 5 4 4 5 5 4 4 4
|
||||
5 4 4 4 5 5 4 4 4 4 5 4 4 5 5 4
|
||||
4 4 5 4 4 5 5 4 4 4 5 4 4 4 5 5
|
||||
4 4 5 4 4 4 4 5 5 4 4 4 5 4 4 4
|
||||
5 5 4 4 5 4 4 4 5 5 4 4 5 4 4 4
|
||||
5 5 4 4 4 4 5 4 4 4 5 5 4 4 5 4
|
||||
4 4 5 5 4 4 5 4 4 4 5 5 4 4 5 4
|
||||
4 4 4 4 5 5 1385 2750 100 MP stroke
|
||||
4 4 5 4 4 4 5 5 4 4 5 4 4 4 5 5
|
||||
4 4 1345 2712 10 MP stroke
|
||||
DA
|
||||
4 -4 5 -5 4 -4 5 -4 4 -4 5 -5 4 -4 5 -4
|
||||
4 -4 5 -5 4 -4 4 -4 5 -4 4 -4 5 -5 4 -4
|
||||
5 -4 4 -4 5 -5 4 -4 5 -4 4 -4 5 -5 4 -4
|
||||
5 -4 4 -4 4 -4 5 -5 4 -4 5 -4 4 -4 5 -5
|
||||
4 -4 5 -4 4 -4 5 -5 4 -4 5 -4 4 -4 5 -4
|
||||
4 -5 4 -4 5 -4 4 -4 5 -5 4 -4 5 -4 4 -4
|
||||
5 -4 4 -5 5 -4 4 -4 5 -4 4 -5 5 -4 4 -4
|
||||
4 -4 5 -5 4 -4 5 -4 4 -4 5 -4 4 -5 5 -4
|
||||
4 -4 5 -4 4 -5 5 -4 4 -4 5 -4 4 -5 5 -4
|
||||
4 -4 4 -4 5 -4 4 -5 5 -4 4 -4 5 -4 4 -5
|
||||
5 -4 4 -4 5 -4 4 -5 5 -4 4 -4 5 -4 4 -4
|
||||
4 -5 5 -4 4 -4 5 -4 4 -5 5 -4 4 -4 5 -4
|
||||
4 -4 5 -5 4 -4 5366 3131 100 MP stroke
|
||||
5 -4 4 -4 5 -5 4 -4 4 -4 5 -4 4 -5 5 -4
|
||||
4 -4 5 -4 4 -4 5 -5 4 -4 5 -4 4 -4 5 -5
|
||||
4 -4 5 -4 4 -4 5 -5 4 -4 4 -4 5 -4 4 -4
|
||||
5 -5 4 -2 5 13 4 13 5 12 4 13 5 13 4 12
|
||||
5 13 4 13 5 12 4 13 4 13 5 12 4 13 5 13
|
||||
4 13 5 12 4 13 5 13 4 12 5 13 4 13 5 12
|
||||
4 13 5 13 4 12 4 13 5 13 4 12 5 13 4 13
|
||||
5 13 4 12 5 13 4 13 5 12 4 13 5 13 4 12
|
||||
5 13 4 13 4 12 5 13 4 13 5 12 4 13 5 13
|
||||
4 13 5 12 4 13 5 13 4 12 5 13 4 13 5 12
|
||||
4 13 5 13 4 12 4 13 5 13 4 12 5 13 4 13
|
||||
5 13 4 12 5 13 4 13 5 12 4 13 5 13 4 12
|
||||
5 13 4 13 4 12 4924 2313 100 MP stroke
|
||||
5 13 4 13 5 12 4 13 5 13 4 13 5 12 4 13
|
||||
5 13 4 12 5 13 4 13 5 12 4 13 4 13 5 12
|
||||
4 13 5 13 4 12 5 13 4 13 5 13 4 12 5 13
|
||||
4 13 5 12 4 13 5 13 4 12 4 13 5 13 4 12
|
||||
5 13 4 13 5 12 4 13 5 13 4 13 5 12 4 13
|
||||
5 13 4 12 5 13 4 13 5 12 4 13 4 13 5 12
|
||||
4 13 5 13 4 12 5 5 4 -21 5 -22 4 -21 5 -21
|
||||
4 -21 5 -21 4 -21 5 -21 4 -22 4 -21 5 -21 4 -21
|
||||
5 -21 4 -21 5 -21 4 -22 5 -21 4 -21 5 -21 4 -21
|
||||
5 -21 4 -22 5 -21 4 -21 4 -21 5 -21 4 -21 5 -21
|
||||
4 -22 5 -21 4 -21 5 -21 4 -21 5 -21 4 -21 5 -22
|
||||
4 -21 5 -21 4 -21 4 -21 5 -21 4 -21 5 -22 4 -21
|
||||
5 -21 4 -21 5 -21 4481 2655 100 MP stroke
|
||||
4 -21 5 -21 4 -22 5 -21 4 -21 5 -21 4 -21 5 -21
|
||||
4 -21 4 -22 5 -21 4 -21 5 -21 4 -21 5 -21 4 -21
|
||||
5 -22 4 -21 5 -21 4 -21 5 -21 4 -21 5 -22 4 -21
|
||||
4 -21 5 -21 4 -21 5 -21 4 -21 5 -22 4 -21 5 -21
|
||||
4 -21 5 -21 4 -21 5 -21 4 -22 5 -21 4 -21 4 -21
|
||||
5 -21 4 -21 5 -21 4 -22 5 -21 4 -21 5 -21 4 -21
|
||||
5 -21 4 -21 5 -22 4 -21 5 -21 4 -21 4 -21 5 -21
|
||||
4 -21 5 -22 4 -21 5 -21 4 -21 5 -21 4 -21 5 -22
|
||||
4 -21 5 -21 4 -21 5 -21 4 -21 5 -21 4 -22 4 -21
|
||||
5 -21 4 -21 5 -21 4 -21 5 -21 4 -3 5 30 4 30
|
||||
5 29 4 30 5 29 4 30 5 30 4 29 4 30 5 30
|
||||
4 29 5 30 4 29 5 30 4 30 5 29 4 30 5 29
|
||||
4 30 5 30 4 29 4039 3664 100 MP stroke
|
||||
5 30 4 29 4 30 5 30 4 29 5 30 4 29 5 30
|
||||
4 30 5 29 4 30 5 29 4 30 5 30 4 29 5 30
|
||||
4 29 5 30 4 30 4 29 5 30 4 29 5 30 4 30
|
||||
5 29 4 30 5 29 4 30 5 30 4 29 5 30 4 30
|
||||
5 29 4 30 4 29 5 30 4 30 5 29 4 30 5 29
|
||||
4 30 5 30 4 29 5 30 4 29 5 30 4 30 5 29
|
||||
4 30 4 29 5 30 4 30 5 29 4 30 5 29 4 30
|
||||
5 30 4 29 5 30 4 29 5 30 4 30 5 29 4 30
|
||||
4 29 5 30 4 30 5 29 4 30 5 29 4 30 5 30
|
||||
4 29 5 30 4 30 5 29 4 30 5 29 4 30 5 30
|
||||
4 29 4 30 5 29 4 30 5 30 4 29 5 30 4 29
|
||||
5 30 4 30 5 29 4 30 5 29 4 30 5 30 4 29
|
||||
4 30 5 29 4 30 3597 733 100 MP stroke
|
||||
5 30 4 29 5 30 4 29 5 0 4 -29 5 -30 4 -29
|
||||
5 -30 4 -30 5 -29 4 -30 4 -29 5 -30 4 -30 5 -29
|
||||
4 -30 5 -29 4 -30 5 -30 4 -29 5 -30 4 -29 5 -30
|
||||
4 -30 5 -29 4 -30 4 -29 5 -30 4 -30 5 -29 4 -30
|
||||
5 -29 4 -30 5 -30 4 -29 5 -30 4 -30 5 -29 4 -30
|
||||
5 -29 4 -30 5 -30 4 -29 4 -30 5 -29 4 -30 5 -30
|
||||
4 -29 5 -30 4 -29 5 -30 4 -30 5 -29 4 -30 5 -29
|
||||
4 -30 5 -30 4 -29 4 -30 5 -29 4 -30 5 -30 4 -29
|
||||
5 -30 4 -29 5 -30 4 -30 5 -29 4 -30 5 -29 4 -30
|
||||
5 -30 4 -29 4 -30 5 -29 4 -30 5 -30 4 -29 5 -30
|
||||
4 -30 5 -29 4 -30 5 -29 4 -30 5 -30 4 -29 5 -30
|
||||
4 -29 4 -30 5 -30 4 -29 5 -30 4 -29 5 -30 4 -30
|
||||
5 -29 4 -30 5 -29 3154 3397 100 MP stroke
|
||||
4 -30 5 -30 4 -29 5 -30 4 -29 5 -30 4 -30 4 -29
|
||||
5 -30 4 -29 5 -30 4 -30 5 -29 4 -30 5 -29 4 -30
|
||||
5 -30 4 -29 5 -30 4 -29 5 -30 4 -30 4 -29 5 -30
|
||||
4 -30 5 -29 4 -30 5 -29 4 -30 5 -30 4 3 5 21
|
||||
4 21 5 21 4 21 5 21 4 21 4 22 5 21 4 21
|
||||
5 21 4 21 5 21 4 21 5 22 4 21 5 21 4 21
|
||||
5 21 4 21 5 22 4 21 5 21 4 21 4 21 5 21
|
||||
4 21 5 22 4 21 5 21 4 21 5 21 4 21 5 21
|
||||
4 22 5 21 4 21 5 21 4 21 4 21 5 21 4 22
|
||||
5 21 4 21 5 21 4 21 5 21 4 21 5 22 4 21
|
||||
5 21 4 21 5 21 4 21 4 21 5 22 4 21 5 21
|
||||
4 21 5 21 4 21 5 22 4 21 5 21 4 21 5 21
|
||||
4 21 5 21 4 22 2712 2845 100 MP stroke
|
||||
4 21 5 21 4 21 5 21 4 21 5 21 4 22 5 21
|
||||
4 21 5 21 4 21 5 21 4 21 5 22 4 21 5 21
|
||||
4 21 4 21 5 21 4 21 5 22 4 21 5 21 4 21
|
||||
5 21 4 21 5 21 4 22 5 21 4 21 5 21 4 21
|
||||
4 21 5 21 4 22 5 21 4 21 5 21 4 21 5 21
|
||||
4 22 5 21 4 21 5 21 4 21 5 21 4 21 4 22
|
||||
5 21 4 21 5 21 4 21 5 21 4 21 5 22 4 21
|
||||
5 -5 4 -12 5 -13 4 -13 5 -12 4 -13 4 -13 5 -12
|
||||
4 -13 5 -13 4 -12 5 -13 4 -13 5 -12 4 -13 5 -13
|
||||
4 -13 5 -12 4 -13 5 -13 4 -12 5 -13 4 -13 4 -12
|
||||
5 -13 4 -13 5 -12 4 -13 5 -13 4 -12 5 -13 4 -13
|
||||
5 -13 4 -12 5 -13 4 -13 5 -12 4 -13 4 -13 5 -12
|
||||
4 -13 5 -13 4 -12 2270 2198 100 MP stroke
|
||||
5 -13 4 -13 5 -12 4 -13 5 -13 4 -13 5 -12 4 -13
|
||||
5 -13 4 -12 4 -13 5 -13 4 -12 5 -13 4 -13 5 -12
|
||||
4 -13 5 -13 4 -12 5 -13 4 -13 5 -13 4 -12 5 -13
|
||||
4 -13 4 -12 5 -13 4 -13 5 -12 4 -13 5 -13 4 -12
|
||||
5 -13 4 -13 5 -12 4 -13 5 -13 4 -13 5 -12 4 -13
|
||||
5 -13 4 -12 4 -13 5 -13 4 -12 5 -13 4 -13 5 -12
|
||||
4 -13 5 -13 4 -12 5 -13 4 -13 5 -13 4 -12 5 -13
|
||||
4 -13 4 -12 5 -13 4 -13 5 -12 4 -13 5 -13 4 -12
|
||||
5 -13 4 -13 5 -12 4 -13 5 -13 4 -13 5 -12 4 -13
|
||||
4 -13 5 -12 4 -13 5 -13 4 -12 5 -13 4 -13 5 -12
|
||||
4 -13 5 -13 4 2 5 5 4 4 5 4 4 4 4 4
|
||||
5 5 4 4 5 4 4 4 5 5 4 4 5 4 4 4
|
||||
5 5 4 4 5 4 1827 3169 100 MP stroke
|
||||
4 4 5 4 4 5 5 4 4 4 4 4 5 5 4 4
|
||||
5 4 4 4 5 5 4 4 5 4 4 4 5 4 4 5
|
||||
5 4 4 4 5 4 4 5 4 4 5 4 4 4 5 4
|
||||
4 5 5 4 4 4 5 4 4 5 5 4 4 4 5 4
|
||||
4 5 5 4 4 4 4 4 5 4 4 5 5 4 4 4
|
||||
5 4 4 5 5 4 4 4 5 4 4 5 5 4 4 4
|
||||
5 4 4 4 5 5 4 4 4 4 5 4 4 5 5 4
|
||||
4 4 5 4 4 5 5 4 4 4 5 4 4 4 5 5
|
||||
4 4 5 4 4 4 4 5 5 4 4 4 5 4 4 4
|
||||
5 5 4 4 5 4 4 4 5 5 4 4 5 4 4 4
|
||||
5 5 4 4 4 4 5 4 4 4 5 5 4 4 5 4
|
||||
4 4 5 5 4 4 5 4 4 4 5 5 4 4 5 4
|
||||
4 4 4 4 5 5 1385 2750 100 MP stroke
|
||||
4 4 5 4 4 4 5 5 4 4 5 4 4 4 5 5
|
||||
4 4 1345 2712 10 MP stroke
|
||||
DD
|
||||
4 -4 5 -5 4 -4 5 -4 4 -4 5 -5 4 -4 5 -4
|
||||
4 -4 5 -5 4 -4 4 -4 5 -4 4 -4 5 -5 4 -4
|
||||
5 -4 4 -4 5 -5 4 -4 5 -4 4 -4 5 -5 4 -4
|
||||
5 -4 4 -4 4 -4 5 -5 4 -4 5 -4 4 -4 5 -5
|
||||
4 -4 5 -4 4 -4 5 -5 4 -4 5 -4 4 -4 5 -4
|
||||
4 -5 4 -4 5 -4 4 -4 5 -5 4 -4 5 -4 4 -4
|
||||
5 -4 4 -5 5 -4 4 -4 5 -4 4 -5 5 -4 4 -4
|
||||
4 -4 5 -5 4 -4 5 -4 4 -4 5 -4 4 5 5 13
|
||||
4 12 5 13 4 13 5 12 4 13 5 13 4 12 5 13
|
||||
4 13 4 12 5 13 4 13 5 12 4 13 5 13 4 13
|
||||
5 12 4 13 5 13 4 12 5 13 4 13 5 12 4 13
|
||||
4 13 5 12 4 13 5 13 4 12 5 13 4 13 5 13
|
||||
4 12 5 13 4 13 5366 2512 100 MP stroke
|
||||
5 12 4 13 5 13 4 12 4 13 5 13 4 12 5 13
|
||||
4 13 5 12 4 13 5 13 4 13 5 12 4 13 5 13
|
||||
4 12 5 13 4 13 5 12 4 13 4 13 5 12 4 13
|
||||
5 13 4 8 5 -21 4 -21 5 -21 4 -21 5 -21 4 -22
|
||||
5 -21 4 -21 5 -21 4 -21 4 -21 5 -22 4 -21 5 -21
|
||||
4 -21 5 -21 4 -21 5 -21 4 -22 5 -21 4 -21 5 -21
|
||||
4 -21 5 -21 4 -21 4 -22 5 -21 4 -21 5 -21 4 -21
|
||||
5 -21 4 -21 5 -22 4 -21 5 -21 4 -21 5 -21 4 -21
|
||||
5 -21 4 -22 4 -21 5 -21 4 -21 5 -21 4 -21 5 -21
|
||||
4 -22 5 -21 4 -21 5 -21 4 -21 5 -21 4 -22 5 -21
|
||||
4 -21 5 -21 4 -21 4 -21 5 -21 4 -22 5 -21 4 -21
|
||||
5 14 4 30 5 29 4 30 5 29 4 30 5 30 4 29
|
||||
5 30 4 29 4 30 4924 3188 100 MP stroke
|
||||
5 30 4 29 5 30 4 29 5 30 4 30 5 29 4 30
|
||||
5 29 4 30 5 30 4 29 5 30 4 29 4 30 5 30
|
||||
4 29 5 30 4 29 5 30 4 30 5 29 4 30 5 29
|
||||
4 30 5 30 4 29 5 30 4 29 4 30 5 30 4 29
|
||||
5 30 4 30 5 29 4 30 5 29 4 30 5 30 4 29
|
||||
5 30 4 29 5 30 4 30 5 29 4 30 4 29 5 30
|
||||
4 30 5 29 4 30 5 12 4 -38 5 -38 4 -38 5 -38
|
||||
4 -38 5 -38 4 -38 5 -38 4 -38 4 -38 5 -38 4 -38
|
||||
5 -38 4 -38 5 -38 4 -39 5 -38 4 -38 5 -38 4 -38
|
||||
5 -38 4 -38 5 -38 4 -38 4 -38 5 -38 4 -38 5 -38
|
||||
4 -38 5 -38 4 -38 5 -39 4 -38 5 -38 4 -38 5 -38
|
||||
4 -38 5 -38 4 -38 4 -38 5 -38 4 -38 5 -38 4 -38
|
||||
5 -38 4 -38 5 -38 4481 3454 100 MP stroke
|
||||
4 -39 5 -38 4 -38 5 -38 4 -38 5 -38 4 -38 5 -38
|
||||
4 -38 4 -38 5 -38 4 -38 5 -38 4 -38 5 -38 4 30
|
||||
5 47 4 46 5 47 4 46 5 47 4 46 5 47 4 46
|
||||
4 47 5 46 4 47 5 46 4 47 5 47 4 46 5 47
|
||||
4 46 5 47 4 46 5 47 4 46 5 47 4 46 4 47
|
||||
5 46 4 47 5 46 4 47 5 46 4 47 5 46 4 47
|
||||
5 46 4 47 5 46 4 47 5 47 4 46 4 47 5 46
|
||||
4 47 5 46 4 47 5 46 4 47 5 46 4 47 5 46
|
||||
4 47 5 46 4 47 5 46 4 47 5 46 4 47 4 46
|
||||
5 47 4 46 5 47 4 47 5 46 4 9 5 -55 4 -55
|
||||
5 -55 4 -55 5 -55 4 -55 5 -55 4 -55 4 -55 5 -55
|
||||
4 -55 5 -55 4 -55 5 -55 4 -55 5 -55 4 -55 5 -55
|
||||
4 -55 5 -55 4 -55 4039 2303 100 MP stroke
|
||||
5 -55 4 -55 4 -55 5 -55 4 -55 5 -55 4 -55 5 -55
|
||||
4 -55 5 -55 4 -55 5 -55 4 -55 5 -55 4 -55 5 -55
|
||||
4 -55 5 -55 4 -55 4 -55 5 -55 4 -55 5 -55 4 -55
|
||||
5 -55 4 -55 5 -55 4 -55 5 -54 4 -55 5 -55 4 -55
|
||||
5 -55 4 -55 4 -55 5 -55 4 -55 5 -55 4 -55 5 -55
|
||||
4 -55 5 56 4 63 5 64 4 63 5 64 4 63 5 63
|
||||
4 64 4 63 5 64 4 63 5 64 4 63 5 63 4 64
|
||||
5 63 4 64 5 63 4 64 5 63 4 64 5 63 4 63
|
||||
4 64 5 63 4 64 5 63 4 64 5 63 4 64 5 63
|
||||
4 63 5 64 4 63 5 64 4 63 5 64 4 63 5 63
|
||||
4 64 4 63 5 64 4 63 5 64 4 63 5 64 4 63
|
||||
5 63 4 64 5 63 4 64 5 63 4 64 5 63 4 63
|
||||
4 64 5 63 4 64 3597 885 100 MP stroke
|
||||
5 63 4 64 5 63 4 64 5 0 4 -64 5 -63 4 -64
|
||||
5 -63 4 -64 5 -63 4 -64 4 -63 5 -63 4 -64 5 -63
|
||||
4 -64 5 -63 4 -64 5 -63 4 -63 5 -64 4 -63 5 -64
|
||||
4 -63 5 -64 4 -63 4 -64 5 -63 4 -63 5 -64 4 -63
|
||||
5 -64 4 -63 5 -64 4 -63 5 -63 4 -64 5 -63 4 -64
|
||||
5 -63 4 -64 5 -63 4 -64 4 -63 5 -63 4 -64 5 -63
|
||||
4 -64 5 -63 4 -64 5 -63 4 -64 5 -63 4 -63 5 -64
|
||||
4 -63 5 -64 4 -63 4 -64 5 -63 4 -63 5 -64 4 -63
|
||||
5 -64 4 -63 5 -56 4 55 5 55 4 55 5 55 4 55
|
||||
5 55 4 55 4 55 5 55 4 55 5 55 4 55 5 54
|
||||
4 55 5 55 4 55 5 55 4 55 5 55 4 55 5 55
|
||||
4 55 4 55 5 55 4 55 5 55 4 55 5 55 4 55
|
||||
5 55 4 55 5 55 3154 2798 100 MP stroke
|
||||
4 55 5 55 4 55 5 55 4 55 5 55 4 55 4 55
|
||||
5 55 4 55 5 55 4 55 5 55 4 55 5 55 4 55
|
||||
5 55 4 55 5 55 4 55 5 55 4 55 4 55 5 55
|
||||
4 55 5 55 4 55 5 55 4 55 5 55 4 -9 5 -46
|
||||
4 -47 5 -47 4 -46 5 -47 4 -46 4 -47 5 -46 4 -47
|
||||
5 -46 4 -47 5 -46 4 -47 5 -46 4 -47 5 -46 4 -47
|
||||
5 -46 4 -47 5 -46 4 -47 5 -46 4 -47 4 -46 5 -47
|
||||
4 -47 5 -46 4 -47 5 -46 4 -47 5 -46 4 -47 5 -46
|
||||
4 -47 5 -46 4 -47 5 -46 4 -47 4 -46 5 -47 4 -46
|
||||
5 -47 4 -46 5 -47 4 -46 5 -47 4 -46 5 -47 4 -47
|
||||
5 -46 4 -47 5 -46 4 -47 4 -46 5 -47 4 -46 5 -47
|
||||
4 -46 5 -47 4 -46 5 -47 4 -30 5 38 4 38 5 38
|
||||
4 38 5 38 4 38 2712 3797 100 MP stroke
|
||||
4 38 5 38 4 38 5 38 4 38 5 38 4 38 5 38
|
||||
4 39 5 38 4 38 5 38 4 38 5 38 4 38 5 38
|
||||
4 38 4 38 5 38 4 38 5 38 4 38 5 38 4 38
|
||||
5 39 4 38 5 38 4 38 5 38 4 38 5 38 4 38
|
||||
4 38 5 38 4 38 5 38 4 38 5 38 4 38 5 38
|
||||
4 39 5 38 4 38 5 38 4 38 5 38 4 38 4 38
|
||||
5 38 4 38 5 38 4 38 5 38 4 38 5 38 4 38
|
||||
5 -12 4 -30 5 -29 4 -30 5 -30 4 -29 4 -30 5 -29
|
||||
4 -30 5 -30 4 -29 5 -30 4 -29 5 -30 4 -30 5 -29
|
||||
4 -30 5 -29 4 -30 5 -30 4 -29 5 -30 4 -30 4 -29
|
||||
5 -30 4 -29 5 -30 4 -30 5 -29 4 -30 5 -29 4 -30
|
||||
5 -30 4 -29 5 -30 4 -29 5 -30 4 -30 4 -29 5 -30
|
||||
4 -29 5 -30 4 -30 2270 2922 100 MP stroke
|
||||
5 -29 4 -30 5 -29 4 -30 5 -30 4 -29 5 -30 4 -29
|
||||
5 -30 4 -30 4 -29 5 -30 4 -29 5 -30 4 -30 5 -29
|
||||
4 -30 5 -29 4 -30 5 -14 4 21 5 21 4 22 5 21
|
||||
4 21 4 21 5 21 4 21 5 21 4 22 5 21 4 21
|
||||
5 21 4 21 5 21 4 22 5 21 4 21 5 21 4 21
|
||||
5 21 4 21 4 22 5 21 4 21 5 21 4 21 5 21
|
||||
4 21 5 22 4 21 5 21 4 21 5 21 4 21 5 21
|
||||
4 22 4 21 5 21 4 21 5 21 4 21 5 21 4 22
|
||||
5 21 4 21 5 21 4 21 5 21 4 21 5 22 4 21
|
||||
4 21 5 21 4 21 5 21 4 22 5 21 4 21 5 21
|
||||
4 21 5 21 4 -8 5 -13 4 -13 5 -12 4 -13 4 -13
|
||||
5 -12 4 -13 5 -13 4 -12 5 -13 4 -13 5 -12 4 -13
|
||||
5 -13 4 -13 5 -12 1827 2398 100 MP stroke
|
||||
4 -13 5 -13 4 -12 5 -13 4 -13 4 -12 5 -13 4 -13
|
||||
5 -12 4 -13 5 -13 4 -12 5 -13 4 -13 5 -13 4 -12
|
||||
5 -13 4 -13 5 -12 4 -13 4 -13 5 -12 4 -13 5 -13
|
||||
4 -12 5 -13 4 -13 5 -12 4 -13 5 -13 4 -13 5 -12
|
||||
4 -13 5 -13 4 -12 4 -13 5 -13 4 -12 5 -13 4 -13
|
||||
5 -12 4 -13 5 -13 4 -12 5 -13 4 -5 5 4 4 4
|
||||
5 4 4 4 5 5 4 4 4 4 5 4 4 5 5 4
|
||||
4 4 5 4 4 5 5 4 4 4 5 4 4 4 5 5
|
||||
4 4 5 4 4 4 4 5 5 4 4 4 5 4 4 4
|
||||
5 5 4 4 5 4 4 4 5 5 4 4 5 4 4 4
|
||||
5 5 4 4 4 4 5 4 4 4 5 5 4 4 5 4
|
||||
4 4 5 5 4 4 5 4 4 4 5 5 4 4 5 4
|
||||
4 4 4 4 5 5 1385 2750 100 MP stroke
|
||||
4 4 5 4 4 4 5 5 4 4 5 4 4 4 5 5
|
||||
4 4 1345 2712 10 MP stroke
|
||||
gr
|
||||
|
||||
12 w
|
||||
DD
|
||||
2985 5063 mt
|
||||
(Delay [chip]) s
|
||||
335 3030 mt -90 rotate
|
||||
(Correlation) s
|
||||
90 rotate
|
||||
%%IncludeResource: font Helvetica
|
||||
/Helvetica /WindowsLatin1Encoding 120 FMSR
|
||||
|
||||
882 4657 mt
|
||||
( ) s
|
||||
6239 431 mt
|
||||
( ) s
|
||||
SO
|
||||
6 w
|
||||
%%IncludeResource: font Helvetica-Oblique
|
||||
/Helvetica-Oblique /WindowsLatin1Encoding 216 FMSR
|
||||
|
||||
5664 675 mt
|
||||
(p) s
|
||||
%%IncludeResource: font Helvetica
|
||||
/Helvetica /WindowsLatin1Encoding 216 FMSR
|
||||
|
||||
5784 675 mt
|
||||
( = 1) s
|
||||
gs 5203 449 993 814 MR c np
|
||||
12 w
|
||||
355 0 5273 597 2 MP stroke
|
||||
gr
|
||||
|
||||
12 w
|
||||
%%IncludeResource: font Helvetica-Oblique
|
||||
/Helvetica-Oblique /WindowsLatin1Encoding 216 FMSR
|
||||
|
||||
5664 933 mt
|
||||
(p) s
|
||||
%%IncludeResource: font Helvetica
|
||||
/Helvetica /WindowsLatin1Encoding 216 FMSR
|
||||
|
||||
5784 933 mt
|
||||
( = 2) s
|
||||
gs 5203 449 993 814 MR c np
|
||||
DA
|
||||
355 0 5273 855 2 MP stroke
|
||||
SO
|
||||
gr
|
||||
|
||||
%%IncludeResource: font Helvetica-Oblique
|
||||
/Helvetica-Oblique /WindowsLatin1Encoding 216 FMSR
|
||||
|
||||
5664 1191 mt
|
||||
(p) s
|
||||
%%IncludeResource: font Helvetica
|
||||
/Helvetica /WindowsLatin1Encoding 216 FMSR
|
||||
|
||||
5784 1191 mt
|
||||
( = 4) s
|
||||
gs 5203 449 993 814 MR c np
|
||||
DD
|
||||
355 0 5273 1113 2 MP stroke
|
||||
SO
|
||||
6 w
|
||||
gr
|
||||
|
||||
6 w
|
||||
|
||||
end %%Color Dict
|
||||
|
||||
eplot
|
||||
%%EndObject
|
||||
|
||||
epage
|
||||
end
|
||||
|
||||
showpage
|
||||
|
||||
%%Trailer
|
||||
%%EOF
|
||||
150
GNSS_SDR_IQ/findPreambles.m
Normal file
150
GNSS_SDR_IQ/findPreambles.m
Normal file
|
|
@ -0,0 +1,150 @@
|
|||
function [firstSubFrame, activeChnList] = findPreambles(trackResults, ...
|
||||
settings)
|
||||
% findPreambles finds the first preamble occurrence in the bit stream of
|
||||
% each channel. The preamble is verified by check of the spacing between
|
||||
% preambles (6sec) and parity checking of the first two words in a
|
||||
% subframe. At the same time function returns list of channels, that are in
|
||||
% tracking state and with valid preambles in the nav data stream.
|
||||
%
|
||||
%[firstSubFrame, activeChnList] = findPreambles(trackResults, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% trackResults - output from the tracking function
|
||||
% settings - Receiver settings.
|
||||
%
|
||||
% Outputs:
|
||||
% firstSubframe - the array contains positions of the first
|
||||
% preamble in each channel. The position is ms count
|
||||
% since start of tracking. Corresponding value will
|
||||
% be set to 0 if no valid preambles were detected in
|
||||
% the channel.
|
||||
% activeChnList - list of channels containing valid preambles
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||
% Written by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||
%--------------------------------------------------------------------------
|
||||
%
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: findPreambles.m,v 1.1.2.10 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
% Preamble search can be delayed to a later point in the tracking results
|
||||
% to avoid noise due to tracking loop transients
|
||||
searchStartOffset = 0;
|
||||
|
||||
%--- Initialize the firstSubFrame array -----------------------------------
|
||||
firstSubFrame = zeros(1, settings.numberOfChannels);
|
||||
|
||||
%--- Generate the preamble pattern ----------------------------------------
|
||||
preamble_bits = [1 -1 -1 -1 1 -1 1 1];
|
||||
|
||||
% "Upsample" the preamble - make 20 vales per one bit. The preamble must be
|
||||
% found with precision of a sample.
|
||||
preamble_ms = kron(preamble_bits, ones(1, 20));
|
||||
|
||||
%--- Make a list of channels excluding not tracking channels --------------
|
||||
activeChnList = find([trackResults.status] ~= '-');
|
||||
|
||||
%=== For all tracking channels ...
|
||||
for channelNr = activeChnList
|
||||
|
||||
%% Correlate tracking output with preamble ================================
|
||||
% Read output from tracking. It contains the navigation bits. The start
|
||||
% of record is skiped here to avoid tracking loop transients.
|
||||
bits = trackResults(channelNr).I_P(1 + searchStartOffset : end);
|
||||
|
||||
% Now threshold the output and convert it to -1 and +1
|
||||
bits(bits > 0) = 1;
|
||||
bits(bits <= 0) = -1;
|
||||
|
||||
% Correlate tracking output with the preamble
|
||||
tlmXcorrResult = xcorr(bits, preamble_ms);
|
||||
|
||||
%% Find all starting points off all preamble like patterns ================
|
||||
clear index
|
||||
clear index2
|
||||
|
||||
xcorrLength = (length(tlmXcorrResult) + 1) /2;
|
||||
|
||||
%--- Find at what index/ms the preambles start ------------------------
|
||||
index = find(...
|
||||
abs(tlmXcorrResult(xcorrLength : xcorrLength * 2 - 1)) > 153)' + ...
|
||||
searchStartOffset;
|
||||
|
||||
%% Analyze detected preamble like patterns ================================
|
||||
for i = 1:size(index) % For each occurrence
|
||||
|
||||
%--- Find distances in time between this occurrence and the rest of
|
||||
%preambles like patterns. If the distance is 6000 milliseconds (one
|
||||
%subframe), the do further verifications by validating the parities
|
||||
%of two GPS words
|
||||
|
||||
index2 = index - index(i);
|
||||
|
||||
if (~isempty(find(index2 == 6000)))
|
||||
|
||||
%=== Re-read bit vales for preamble verification ==============
|
||||
% Preamble occurrence is verified by checking the parity of
|
||||
% the first two words in the subframe. Now it is assumed that
|
||||
% bit boundaries a known. Therefore the bit values over 20ms are
|
||||
% combined to increase receiver performance for noisy signals.
|
||||
% in Total 62 bits mast be read :
|
||||
% 2 bits from previous subframe are needed for parity checking;
|
||||
% 60 bits for the first two 30bit words (TLM and HOW words).
|
||||
% The index is pointing at the start of TLM word.
|
||||
bits = trackResults(channelNr).I_P(index(i)-40 : ...
|
||||
index(i) + 20 * 60 -1)';
|
||||
|
||||
%--- Combine the 20 values of each bit ------------------------
|
||||
bits = reshape(bits, 20, (size(bits, 1) / 20));
|
||||
bits = sum(bits);
|
||||
|
||||
% Now threshold and make it -1 and +1
|
||||
bits(bits > 0) = 1;
|
||||
bits(bits <= 0) = -1;
|
||||
|
||||
%--- Check the parity of the TLM and HOW words ----------------
|
||||
if (navPartyChk(bits(1:32)) ~= 0) && ...
|
||||
(navPartyChk(bits(31:62)) ~= 0)
|
||||
% Parity was OK. Record the preamble start position. Skip
|
||||
% the rest of preamble pattern checking for this channel
|
||||
% and process next channel.
|
||||
|
||||
firstSubFrame(channelNr) = index(i);
|
||||
break;
|
||||
end % if parity is OK ...
|
||||
|
||||
end % if (~isempty(find(index2 == 6000)))
|
||||
end % for i = 1:size(index)
|
||||
|
||||
% Exclude channel from the active channel list if no valid preamble was
|
||||
% detected
|
||||
if firstSubFrame(channelNr) == 0
|
||||
|
||||
% Exclude channel from further processing. It does not contain any
|
||||
% valid preamble and therefore nothing more can be done for it.
|
||||
activeChnList = setdiff(activeChnList, channelNr);
|
||||
|
||||
disp(['Could not find valid preambles in channel ', ...
|
||||
num2str(channelNr),'!']);
|
||||
end
|
||||
|
||||
end % for channelNr = activeChnList
|
||||
60
GNSS_SDR_IQ/geoFunctions/cart2geo.m
Normal file
60
GNSS_SDR_IQ/geoFunctions/cart2geo.m
Normal file
|
|
@ -0,0 +1,60 @@
|
|||
function [phi, lambda, h] = cart2geo(X, Y, Z, i)
|
||||
%CART2GEO Conversion of Cartesian coordinates (X,Y,Z) to geographical
|
||||
%coordinates (phi, lambda, h) on a selected reference ellipsoid.
|
||||
%
|
||||
%[phi, lambda, h] = cart2geo(X, Y, Z, i);
|
||||
%
|
||||
% Choices i of Reference Ellipsoid for Geographical Coordinates
|
||||
% 1. International Ellipsoid 1924
|
||||
% 2. International Ellipsoid 1967
|
||||
% 3. World Geodetic System 1972
|
||||
% 4. Geodetic Reference System 1980
|
||||
% 5. World Geodetic System 1984
|
||||
|
||||
%Kai Borre 10-13-98
|
||||
%Copyright (c) by Kai Borre
|
||||
%Revision: 1.0 Date: 1998/10/23
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: cart2geo.m,v 1.1.2.3 2007/01/29 15:22:49 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
a = [6378388 6378160 6378135 6378137 6378137];
|
||||
f = [1/297 1/298.247 1/298.26 1/298.257222101 1/298.257223563];
|
||||
|
||||
lambda = atan2(Y,X);
|
||||
ex2 = (2-f(i))*f(i)/((1-f(i))^2);
|
||||
c = a(i)*sqrt(1+ex2);
|
||||
phi = atan(Z/((sqrt(X^2+Y^2)*(1-(2-f(i)))*f(i))));
|
||||
|
||||
h = 0.1; oldh = 0;
|
||||
iterations = 0;
|
||||
while abs(h-oldh) > 1.e-12
|
||||
oldh = h;
|
||||
N = c/sqrt(1+ex2*cos(phi)^2);
|
||||
phi = atan(Z/((sqrt(X^2+Y^2)*(1-(2-f(i))*f(i)*N/(N+h)))));
|
||||
h = sqrt(X^2+Y^2)/cos(phi)-N;
|
||||
|
||||
iterations = iterations + 1;
|
||||
if iterations > 100
|
||||
fprintf('Failed to approximate h with desired precision. h-oldh: %e.\n', h-oldh);
|
||||
break;
|
||||
end
|
||||
end
|
||||
|
||||
phi = phi*180/pi;
|
||||
% b = zeros(1,3);
|
||||
% b(1,1) = fix(phi);
|
||||
% b(2,1) = fix(rem(phi,b(1,1))*60);
|
||||
% b(3,1) = (phi-b(1,1)-b(1,2)/60)*3600;
|
||||
|
||||
lambda = lambda*180/pi;
|
||||
% l = zeros(1,3);
|
||||
% l(1,1) = fix(lambda);
|
||||
% l(2,1) = fix(rem(lambda,l(1,1))*60);
|
||||
% l(3,1) = (lambda-l(1,1)-l(1,2)/60)*3600;
|
||||
|
||||
%fprintf('\n phi =%3.0f %3.0f %8.5f',b(1),b(2),b(3))
|
||||
%fprintf('\n lambda =%3.0f %3.0f %8.5f',l(1),l(2),l(3))
|
||||
%fprintf('\n h =%14.3f\n',h)
|
||||
%%%%%%%%%%%%%% end cart2geo.m %%%%%%%%%%%%%%%%%%%
|
||||
176
GNSS_SDR_IQ/geoFunctions/cart2utm.m
Normal file
176
GNSS_SDR_IQ/geoFunctions/cart2utm.m
Normal file
|
|
@ -0,0 +1,176 @@
|
|||
function [E, N, U] = cart2utm(X, Y, Z, zone)
|
||||
%CART2UTM Transformation of (X,Y,Z) to (N,E,U) in UTM, zone 'zone'.
|
||||
%
|
||||
%[E, N, U] = cart2utm(X, Y, Z, zone);
|
||||
%
|
||||
% Inputs:
|
||||
% X,Y,Z - Cartesian coordinates. Coordinates are referenced
|
||||
% with respect to the International Terrestrial Reference
|
||||
% Frame 1996 (ITRF96)
|
||||
% zone - UTM zone of the given position
|
||||
%
|
||||
% Outputs:
|
||||
% E, N, U - UTM coordinates (Easting, Northing, Uping)
|
||||
|
||||
%Kai Borre -11-1994
|
||||
%Copyright (c) by Kai Borre
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: cart2utm.m,v 1.1.1.1.2.6 2007/01/30 09:45:12 dpl Exp $
|
||||
|
||||
%This implementation is based upon
|
||||
%O. Andersson & K. Poder (1981) Koordinattransformationer
|
||||
% ved Geod\ae{}tisk Institut. Landinspekt\oe{}ren
|
||||
% Vol. 30: 552--571 and Vol. 31: 76
|
||||
%
|
||||
%An excellent, general reference (KW) is
|
||||
%R. Koenig & K.H. Weise (1951) Mathematische Grundlagen der
|
||||
% h\"oheren Geod\"asie und Kartographie.
|
||||
% Erster Band, Springer Verlag
|
||||
|
||||
% Explanation of variables used:
|
||||
% f flattening of ellipsoid
|
||||
% a semi major axis in m
|
||||
% m0 1 - scale at central meridian; for UTM 0.0004
|
||||
% Q_n normalized meridian quadrant
|
||||
% E0 Easting of central meridian
|
||||
% L0 Longitude of central meridian
|
||||
% bg constants for ellipsoidal geogr. to spherical geogr.
|
||||
% gb constants for spherical geogr. to ellipsoidal geogr.
|
||||
% gtu constants for ellipsoidal N, E to spherical N, E
|
||||
% utg constants for spherical N, E to ellipoidal N, E
|
||||
% tolutm tolerance for utm, 1.2E-10*meridian quadrant
|
||||
% tolgeo tolerance for geographical, 0.00040 second of arc
|
||||
|
||||
% B, L refer to latitude and longitude. Southern latitude is negative
|
||||
% International ellipsoid of 1924, valid for ED50
|
||||
|
||||
a = 6378388;
|
||||
f = 1/297;
|
||||
ex2 = (2-f)*f / ((1-f)^2);
|
||||
c = a * sqrt(1+ex2);
|
||||
vec = [X; Y; Z-4.5];
|
||||
alpha = .756e-6;
|
||||
R = [ 1 -alpha 0;
|
||||
alpha 1 0;
|
||||
0 0 1];
|
||||
trans = [89.5; 93.8; 127.6];
|
||||
scale = 0.9999988;
|
||||
v = scale*R*vec + trans; % coordinate vector in ED50
|
||||
L = atan2(v(2), v(1));
|
||||
N1 = 6395000; % preliminary value
|
||||
B = atan2(v(3)/((1-f)^2*N1), norm(v(1:2))/N1); % preliminary value
|
||||
U = 0.1; oldU = 0;
|
||||
|
||||
iterations = 0;
|
||||
while abs(U-oldU) > 1.e-4
|
||||
oldU = U;
|
||||
N1 = c/sqrt(1+ex2*(cos(B))^2);
|
||||
B = atan2(v(3)/((1-f)^2*N1+U), norm(v(1:2))/(N1+U) );
|
||||
U = norm(v(1:2))/cos(B)-N1;
|
||||
|
||||
iterations = iterations + 1;
|
||||
if iterations > 100
|
||||
fprintf('Failed to approximate U with desired precision. U-oldU: %e.\n', U-oldU);
|
||||
break;
|
||||
end
|
||||
end
|
||||
|
||||
%Normalized meridian quadrant, KW p. 50 (96), p. 19 (38b), p. 5 (21)
|
||||
m0 = 0.0004;
|
||||
n = f / (2-f);
|
||||
m = n^2 * (1/4 + n*n/64);
|
||||
w = (a*(-n-m0+m*(1-m0))) / (1+n);
|
||||
Q_n = a + w;
|
||||
|
||||
%Easting and longitude of central meridian
|
||||
E0 = 500000;
|
||||
L0 = (zone-30)*6 - 3;
|
||||
|
||||
%Check tolerance for reverse transformation
|
||||
tolutm = pi/2 * 1.2e-10 * Q_n;
|
||||
tolgeo = 0.000040;
|
||||
|
||||
%Coefficients of trigonometric series
|
||||
|
||||
%ellipsoidal to spherical geographical, KW p. 186--187, (51)-(52)
|
||||
% bg[1] = n*(-2 + n*(2/3 + n*(4/3 + n*(-82/45))));
|
||||
% bg[2] = n^2*(5/3 + n*(-16/15 + n*(-13/9)));
|
||||
% bg[3] = n^3*(-26/15 + n*34/21);
|
||||
% bg[4] = n^4*1237/630;
|
||||
|
||||
%spherical to ellipsoidal geographical, KW p. 190--191, (61)-(62)
|
||||
% gb[1] = n*(2 + n*(-2/3 + n*(-2 + n*116/45)));
|
||||
% gb[2] = n^2*(7/3 + n*(-8/5 + n*(-227/45)));
|
||||
% gb[3] = n^3*(56/15 + n*(-136/35));
|
||||
% gb[4] = n^4*4279/630;
|
||||
|
||||
%spherical to ellipsoidal N, E, KW p. 196, (69)
|
||||
% gtu[1] = n*(1/2 + n*(-2/3 + n*(5/16 + n*41/180)));
|
||||
% gtu[2] = n^2*(13/48 + n*(-3/5 + n*557/1440));
|
||||
% gtu[3] = n^3*(61/240 + n*(-103/140));
|
||||
% gtu[4] = n^4*49561/161280;
|
||||
|
||||
%ellipsoidal to spherical N, E, KW p. 194, (65)
|
||||
% utg[1] = n*(-1/2 + n*(2/3 + n*(-37/96 + n*1/360)));
|
||||
% utg[2] = n^2*(-1/48 + n*(-1/15 + n*437/1440));
|
||||
% utg[3] = n^3*(-17/480 + n*37/840);
|
||||
% utg[4] = n^4*(-4397/161280);
|
||||
|
||||
%With f = 1/297 we get
|
||||
|
||||
bg = [-3.37077907e-3;
|
||||
4.73444769e-6;
|
||||
-8.29914570e-9;
|
||||
1.58785330e-11];
|
||||
|
||||
gb = [ 3.37077588e-3;
|
||||
6.62769080e-6;
|
||||
1.78718601e-8;
|
||||
5.49266312e-11];
|
||||
|
||||
gtu = [ 8.41275991e-4;
|
||||
7.67306686e-7;
|
||||
1.21291230e-9;
|
||||
2.48508228e-12];
|
||||
|
||||
utg = [-8.41276339e-4;
|
||||
-5.95619298e-8;
|
||||
-1.69485209e-10;
|
||||
-2.20473896e-13];
|
||||
|
||||
%Ellipsoidal latitude, longitude to spherical latitude, longitude
|
||||
neg_geo = 'FALSE';
|
||||
|
||||
if B < 0
|
||||
neg_geo = 'TRUE ';
|
||||
end
|
||||
|
||||
Bg_r = abs(B);
|
||||
[res_clensin] = clsin(bg, 4, 2*Bg_r);
|
||||
Bg_r = Bg_r + res_clensin;
|
||||
L0 = L0*pi / 180;
|
||||
Lg_r = L - L0;
|
||||
|
||||
%Spherical latitude, longitude to complementary spherical latitude
|
||||
% i.e. spherical N, E
|
||||
cos_BN = cos(Bg_r);
|
||||
Np = atan2(sin(Bg_r), cos(Lg_r)*cos_BN);
|
||||
Ep = atanh(sin(Lg_r) * cos_BN);
|
||||
|
||||
%Spherical normalized N, E to ellipsoidal N, E
|
||||
Np = 2 * Np;
|
||||
Ep = 2 * Ep;
|
||||
[dN, dE] = clksin(gtu, 4, Np, Ep);
|
||||
Np = Np/2;
|
||||
Ep = Ep/2;
|
||||
Np = Np + dN;
|
||||
Ep = Ep + dE;
|
||||
N = Q_n * Np;
|
||||
E = Q_n*Ep + E0;
|
||||
|
||||
if neg_geo == 'TRUE '
|
||||
N = -N + 20000000;
|
||||
end;
|
||||
|
||||
%%%%%%%%%%%%%%%%%%%% end cart2utm.m %%%%%%%%%%%%%%%%%%%%
|
||||
28
GNSS_SDR_IQ/geoFunctions/check_t.m
Normal file
28
GNSS_SDR_IQ/geoFunctions/check_t.m
Normal file
|
|
@ -0,0 +1,28 @@
|
|||
function corrTime = check_t(time)
|
||||
%CHECK_T accounting for beginning or end of week crossover.
|
||||
%
|
||||
%corrTime = check_t(time);
|
||||
%
|
||||
% Inputs:
|
||||
% time - time in seconds
|
||||
%
|
||||
% Outputs:
|
||||
% corrTime - corrected time (seconds)
|
||||
|
||||
%Kai Borre 04-01-96
|
||||
%Copyright (c) by Kai Borre
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: check_t.m,v 1.1.1.1.2.4 2006/08/22 13:45:59 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
half_week = 302400; % seconds
|
||||
|
||||
corrTime = time;
|
||||
|
||||
if time > half_week
|
||||
corrTime = time - 2*half_week;
|
||||
elseif time < -half_week
|
||||
corrTime = time + 2*half_week;
|
||||
end
|
||||
%%%%%%% end check_t.m %%%%%%%%%%%%%%%%%
|
||||
38
GNSS_SDR_IQ/geoFunctions/clksin.m
Normal file
38
GNSS_SDR_IQ/geoFunctions/clksin.m
Normal file
|
|
@ -0,0 +1,38 @@
|
|||
function [re, im] = clksin(ar, degree, arg_real, arg_imag)
|
||||
%Clenshaw summation of sinus with complex argument
|
||||
%[re, im] = clksin(ar, degree, arg_real, arg_imag);
|
||||
|
||||
% Written by Kai Borre
|
||||
% December 20, 1995
|
||||
%
|
||||
% See also WGS2UTM or CART2UTM
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: clksin.m,v 1.1.1.1.2.4 2006/08/22 13:45:59 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
sin_arg_r = sin(arg_real);
|
||||
cos_arg_r = cos(arg_real);
|
||||
sinh_arg_i = sinh(arg_imag);
|
||||
cosh_arg_i = cosh(arg_imag);
|
||||
|
||||
r = 2 * cos_arg_r * cosh_arg_i;
|
||||
i =-2 * sin_arg_r * sinh_arg_i;
|
||||
|
||||
hr1 = 0; hr = 0; hi1 = 0; hi = 0;
|
||||
|
||||
for t = degree : -1 : 1
|
||||
hr2 = hr1;
|
||||
hr1 = hr;
|
||||
hi2 = hi1;
|
||||
hi1 = hi;
|
||||
z = ar(t) + r*hr1 - i*hi - hr2;
|
||||
hi = i*hr1 + r*hi1 - hi2;
|
||||
hr = z;
|
||||
end
|
||||
|
||||
r = sin_arg_r * cosh_arg_i;
|
||||
i = cos_arg_r * sinh_arg_i;
|
||||
|
||||
re = r*hr - i*hi;
|
||||
im = r*hi + i*hr;
|
||||
26
GNSS_SDR_IQ/geoFunctions/clsin.m
Normal file
26
GNSS_SDR_IQ/geoFunctions/clsin.m
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
function result = clsin(ar, degree, argument)
|
||||
%Clenshaw summation of sinus of argument.
|
||||
%
|
||||
%result = clsin(ar, degree, argument);
|
||||
|
||||
% Written by Kai Borre
|
||||
% December 20, 1995
|
||||
%
|
||||
% See also WGS2UTM or CART2UTM
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: clsin.m,v 1.1.1.1.2.4 2006/08/22 13:45:59 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
cos_arg = 2 * cos(argument);
|
||||
hr1 = 0;
|
||||
hr = 0;
|
||||
|
||||
for t = degree : -1 : 1
|
||||
hr2 = hr1;
|
||||
hr1 = hr;
|
||||
hr = ar(t) + cos_arg*hr1 - hr2;
|
||||
end
|
||||
|
||||
result = hr * sin(argument);
|
||||
%%%%%%%%%%%%%%%%%%%%%%% end clsin.m %%%%%%%%%%%%%%%%%%%%%
|
||||
43
GNSS_SDR_IQ/geoFunctions/deg2dms.m
Normal file
43
GNSS_SDR_IQ/geoFunctions/deg2dms.m
Normal file
|
|
@ -0,0 +1,43 @@
|
|||
function dmsOutput = deg2dms(deg)
|
||||
%DEG2DMS Conversion of degrees to degrees, minutes, and seconds.
|
||||
%The output format (dms format) is: (degrees*100 + minutes + seconds/100)
|
||||
|
||||
% Written by Kai Borre
|
||||
% February 7, 2001
|
||||
% Updated by Darius Plausinaitis
|
||||
|
||||
%%% Save the sign for later processing
|
||||
neg_arg = false;
|
||||
if deg < 0
|
||||
% Only positive numbers should be used while spliting into deg/min/sec
|
||||
deg = -deg;
|
||||
neg_arg = true;
|
||||
end
|
||||
|
||||
%%% Split degrees minutes and seconds
|
||||
int_deg = floor(deg);
|
||||
decimal = deg - int_deg;
|
||||
min_part = decimal*60;
|
||||
min = floor(min_part);
|
||||
sec_part = min_part - floor(min_part);
|
||||
sec = sec_part*60;
|
||||
|
||||
%%% Check for overflow
|
||||
if sec == 60
|
||||
min = min + 1;
|
||||
sec = 0;
|
||||
end
|
||||
if min == 60
|
||||
int_deg = int_deg + 1;
|
||||
min = 0;
|
||||
end
|
||||
|
||||
%%% Construct the output
|
||||
dmsOutput = int_deg * 100 + min + sec/100;
|
||||
|
||||
%%% Correct the sign
|
||||
if neg_arg == true
|
||||
dmsOutput = -dmsOutput;
|
||||
end
|
||||
|
||||
%%%%%%%%%%%%%%%%%%% end deg2dms.m %%%%%%%%%%%%%%%%
|
||||
43
GNSS_SDR_IQ/geoFunctions/dms2mat.m
Normal file
43
GNSS_SDR_IQ/geoFunctions/dms2mat.m
Normal file
|
|
@ -0,0 +1,43 @@
|
|||
function matOutput = dms2mat(dmsInput,n)
|
||||
%DMS2MAT Splits a real a = dd*100 + mm + s/100 into[dd mm s.ssss]
|
||||
% where n specifies the power of 10, to which the resulting seconds
|
||||
% of the output should be rounded. E.g.: if a result is 23.823476
|
||||
% seconds, and n = -3, then the output will be 23.823.
|
||||
|
||||
% Written by Kai Borre
|
||||
% January 7, 2007
|
||||
% Updated by Darius Plausinaitis
|
||||
|
||||
neg_arg = false;
|
||||
if dmsInput < 0
|
||||
% Only positive numbers should be used while spliting into deg/min/sec
|
||||
dmsInput = -dmsInput;
|
||||
neg_arg = true;
|
||||
end
|
||||
|
||||
%%% Split degrees minutes and seconds
|
||||
int_deg = floor(dmsInput/100);
|
||||
mm = floor(dmsInput - 100*int_deg);
|
||||
%we assume n<7; hence %2.10f is sufficient to hold ssdec
|
||||
ssdec = sprintf('%2.10f', (dmsInput-100*int_deg-mm)*100);
|
||||
|
||||
%%% Check for overflow
|
||||
if ssdec == 60
|
||||
mm = mm+1;
|
||||
ssdec = 0;
|
||||
end
|
||||
if mm == 60
|
||||
int_deg = int_deg+1;
|
||||
mm = 0;
|
||||
end
|
||||
|
||||
%%% Corect the sign
|
||||
if neg_arg == true
|
||||
int_deg = -int_deg;
|
||||
end
|
||||
|
||||
%%% Compose the output
|
||||
matOutput(1) = int_deg;
|
||||
matOutput(2) = mm;
|
||||
matOutput(3) = str2double(ssdec(1:-n+3));
|
||||
%%%%%%%%%%%%%%%%%%% end dms2mat.m %%%%%%%%%%%%%%%%
|
||||
34
GNSS_SDR_IQ/geoFunctions/e_r_corr.m
Normal file
34
GNSS_SDR_IQ/geoFunctions/e_r_corr.m
Normal file
|
|
@ -0,0 +1,34 @@
|
|||
function X_sat_rot = e_r_corr(traveltime, X_sat)
|
||||
%E_R_CORR Returns rotated satellite ECEF coordinates due to Earth
|
||||
%rotation during signal travel time
|
||||
%
|
||||
%X_sat_rot = e_r_corr(traveltime, X_sat);
|
||||
%
|
||||
% Inputs:
|
||||
% travelTime - signal travel time
|
||||
% X_sat - satellite's ECEF coordinates
|
||||
%
|
||||
% Outputs:
|
||||
% X_sat_rot - rotated satellite's coordinates (ECEF)
|
||||
|
||||
%Written by Kai Borre
|
||||
%Copyright (c) by Kai Borre
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: e_r_corr.m,v 1.1.1.1.2.6 2006/08/22 13:45:59 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
Omegae_dot = 7.292115147e-5; % rad/sec
|
||||
|
||||
%--- Find rotation angle --------------------------------------------------
|
||||
omegatau = Omegae_dot * traveltime;
|
||||
|
||||
%--- Make a rotation matrix -----------------------------------------------
|
||||
R3 = [ cos(omegatau) sin(omegatau) 0;
|
||||
-sin(omegatau) cos(omegatau) 0;
|
||||
0 0 1];
|
||||
|
||||
%--- Do the rotation ------------------------------------------------------
|
||||
X_sat_rot = R3 * X_sat;
|
||||
|
||||
%%%%%%%% end e_r_corr.m %%%%%%%%%%%%%%%%%%%%
|
||||
72
GNSS_SDR_IQ/geoFunctions/findUtmZone.m
Normal file
72
GNSS_SDR_IQ/geoFunctions/findUtmZone.m
Normal file
|
|
@ -0,0 +1,72 @@
|
|||
function utmZone = findUtmZone(latitude, longitude)
|
||||
%Function finds the UTM zone number for given longitude and latitude.
|
||||
%The longitude value must be between -180 (180 degree West) and 180 (180
|
||||
%degree East) degree. The latitude must be within -80 (80 degree South) and
|
||||
%84 (84 degree North).
|
||||
%
|
||||
%utmZone = findUtmZone(latitude, longitude);
|
||||
%
|
||||
%Latitude and longitude must be in decimal degrees (e.g. 15.5 degrees not
|
||||
%15 deg 30 min).
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%==========================================================================
|
||||
|
||||
%CVS record:
|
||||
%$Id: findUtmZone.m,v 1.1.2.2 2006/08/22 13:45:59 dpl Exp $
|
||||
|
||||
%% Check value bounds =====================================================
|
||||
|
||||
if ((longitude > 180) || (longitude < -180))
|
||||
error('Longitude value exceeds limits (-180:180).');
|
||||
end
|
||||
|
||||
if ((latitude > 84) || (latitude < -80))
|
||||
error('Latitude value exceeds limits (-80:84).');
|
||||
end
|
||||
|
||||
%% Find zone ==============================================================
|
||||
|
||||
% Start at 180 deg west = -180 deg
|
||||
|
||||
utmZone = fix((180 + longitude)/ 6) + 1;
|
||||
|
||||
%% Correct zone numbers for particular areas ==============================
|
||||
|
||||
if (latitude > 72)
|
||||
% Corrections for zones 31 33 35 37
|
||||
if ((longitude >= 0) && (longitude < 9))
|
||||
utmZone = 31;
|
||||
elseif ((longitude >= 9) && (longitude < 21))
|
||||
utmZone = 33;
|
||||
elseif ((longitude >= 21) && (longitude < 33))
|
||||
utmZone = 35;
|
||||
elseif ((longitude >= 33) && (longitude < 42))
|
||||
utmZone = 37;
|
||||
end
|
||||
|
||||
elseif ((latitude >= 56) && (latitude < 64))
|
||||
% Correction for zone 32
|
||||
if ((longitude >= 3) && (longitude < 12))
|
||||
utmZone = 32;
|
||||
end
|
||||
end
|
||||
48
GNSS_SDR_IQ/geoFunctions/geo2cart.m
Normal file
48
GNSS_SDR_IQ/geoFunctions/geo2cart.m
Normal file
|
|
@ -0,0 +1,48 @@
|
|||
function [X, Y, Z] = geo2cart(phi, lambda, h, i)
|
||||
%GEO2CART Conversion of geographical coordinates (phi, lambda, h) to
|
||||
%Cartesian coordinates (X, Y, Z).
|
||||
%
|
||||
%[X, Y, Z] = geo2cart(phi, lambda, h, i);
|
||||
%
|
||||
%Format for phi and lambda: [degrees minutes seconds].
|
||||
%h, X, Y, and Z are in meters.
|
||||
%
|
||||
%Choices i of Reference Ellipsoid
|
||||
% 1. International Ellipsoid 1924
|
||||
% 2. International Ellipsoid 1967
|
||||
% 3. World Geodetic System 1972
|
||||
% 4. Geodetic Reference System 1980
|
||||
% 5. World Geodetic System 1984
|
||||
%
|
||||
% Inputs:
|
||||
% phi - geocentric latitude (format [degrees minutes seconds])
|
||||
% lambda - geocentric longitude (format [degrees minutes seconds])
|
||||
% h - height
|
||||
% i - reference ellipsoid type
|
||||
%
|
||||
% Outputs:
|
||||
% X, Y, Z - Cartesian coordinates (meters)
|
||||
|
||||
%Kai Borre 10-13-98
|
||||
%Copyright (c) by Kai Borre
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: geo2cart.m,v 1.1.2.7 2006/08/22 13:45:59 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
b = phi(1) + phi(2)/60 + phi(3)/3600;
|
||||
b = b*pi / 180;
|
||||
l = lambda(1) + lambda(2)/60 + lambda(3)/3600;
|
||||
l = l*pi / 180;
|
||||
|
||||
a = [6378388 6378160 6378135 6378137 6378137];
|
||||
f = [1/297 1/298.247 1/298.26 1/298.257222101 1/298.257223563];
|
||||
|
||||
ex2 = (2-f(i))*f(i) / ((1-f(i))^2);
|
||||
c = a(i) * sqrt(1+ex2);
|
||||
N = c / sqrt(1 + ex2*cos(b)^2);
|
||||
|
||||
X = (N+h) * cos(b) * cos(l);
|
||||
Y = (N+h) * cos(b) * sin(l);
|
||||
Z = ((1-f(i))^2*N + h) * sin(b);
|
||||
%%%%%%%%%%%%%% end geo2cart.m %%%%%%%%%%%%%%%%%%%%%%%%
|
||||
114
GNSS_SDR_IQ/geoFunctions/leastSquarePos.m
Normal file
114
GNSS_SDR_IQ/geoFunctions/leastSquarePos.m
Normal file
|
|
@ -0,0 +1,114 @@
|
|||
function [pos, el, az, dop] = leastSquarePos(satpos, obs, settings)
|
||||
%Function calculates the Least Square Solution.
|
||||
%
|
||||
%[pos, el, az, dop] = leastSquarePos(satpos, obs, settings);
|
||||
%
|
||||
% Inputs:
|
||||
% satpos - Satellites positions (in ECEF system: [X; Y; Z;] -
|
||||
% one column per satellite)
|
||||
% obs - Observations - the pseudorange measurements to each
|
||||
% satellite:
|
||||
% (e.g. [20000000 21000000 .... .... .... .... ....])
|
||||
% settings - receiver settings
|
||||
%
|
||||
% Outputs:
|
||||
% pos - receiver position and receiver clock error
|
||||
% (in ECEF system: [X, Y, Z, dt])
|
||||
% el - Satellites elevation angles (degrees)
|
||||
% az - Satellites azimuth angles (degrees)
|
||||
% dop - Dilutions Of Precision ([GDOP PDOP HDOP VDOP TDOP])
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%--------------------------------------------------------------------------
|
||||
%Based on Kai Borre
|
||||
%Copyright (c) by Kai Borre
|
||||
%Updated by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: leastSquarePos.m,v 1.1.2.12 2006/08/22 13:45:59 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
%=== Initialization =======================================================
|
||||
nmbOfIterations = 7;
|
||||
|
||||
dtr = pi/180;
|
||||
pos = zeros(4, 1);
|
||||
X = satpos;
|
||||
nmbOfSatellites = size(satpos, 2);
|
||||
|
||||
A = zeros(nmbOfSatellites, 4);
|
||||
omc = zeros(nmbOfSatellites, 1);
|
||||
az = zeros(1, nmbOfSatellites);
|
||||
el = az;
|
||||
|
||||
%=== Iteratively find receiver position ===================================
|
||||
for iter = 1:nmbOfIterations
|
||||
|
||||
for i = 1:nmbOfSatellites
|
||||
if iter == 1
|
||||
%--- Initialize variables at the first iteration --------------
|
||||
Rot_X = X(:, i);
|
||||
trop = 2;
|
||||
else
|
||||
%--- Update equations -----------------------------------------
|
||||
rho2 = (X(1, i) - pos(1))^2 + (X(2, i) - pos(2))^2 + ...
|
||||
(X(3, i) - pos(3))^2;
|
||||
traveltime = sqrt(rho2) / settings.c ;
|
||||
|
||||
%--- Correct satellite position (do to earth rotation) --------
|
||||
Rot_X = e_r_corr(traveltime, X(:, i));
|
||||
|
||||
%--- Find the elevation angel of the satellite ----------------
|
||||
[az(i), el(i), dist] = topocent(pos(1:3, :), Rot_X - pos(1:3, :));
|
||||
|
||||
if (settings.useTropCorr == 1)
|
||||
%--- Calculate tropospheric correction --------------------
|
||||
trop = tropo(sin(el(i) * dtr), ...
|
||||
0.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
|
||||
else
|
||||
% Do not calculate or apply the tropospheric corrections
|
||||
trop = 0;
|
||||
end
|
||||
end % if iter == 1 ... ... else
|
||||
|
||||
%--- Apply the corrections ----------------------------------------
|
||||
omc(i) = (obs(i) - norm(Rot_X - pos(1:3), 'fro') - pos(4) - trop);
|
||||
|
||||
%--- Construct the A matrix ---------------------------------------
|
||||
A(i, :) = [ (-(Rot_X(1) - pos(1))) / obs(i) ...
|
||||
(-(Rot_X(2) - pos(2))) / obs(i) ...
|
||||
(-(Rot_X(3) - pos(3))) / obs(i) ...
|
||||
1 ];
|
||||
end % for i = 1:nmbOfSatellites
|
||||
|
||||
% These lines allow the code to exit gracefully in case of any errors
|
||||
if rank(A) ~= 4
|
||||
pos = zeros(1, 4);
|
||||
return
|
||||
end
|
||||
|
||||
%--- Find position update ---------------------------------------------
|
||||
x = A \ omc;
|
||||
|
||||
%--- Apply position update --------------------------------------------
|
||||
pos = pos + x;
|
||||
|
||||
end % for iter = 1:nmbOfIterations
|
||||
|
||||
pos = pos';
|
||||
|
||||
%=== Calculate Dilution Of Precision ======================================
|
||||
if nargout == 4
|
||||
%--- Initialize output ------------------------------------------------
|
||||
dop = zeros(1, 5);
|
||||
|
||||
%--- Calculate DOP ----------------------------------------------------
|
||||
Q = inv(A'*A);
|
||||
|
||||
dop(1) = sqrt(trace(Q)); % GDOP
|
||||
dop(2) = sqrt(Q(1,1) + Q(2,2) + Q(3,3)); % PDOP
|
||||
dop(3) = sqrt(Q(1,1) + Q(2,2)); % HDOP
|
||||
dop(4) = sqrt(Q(3,3)); % VDOP
|
||||
dop(5) = sqrt(Q(4,4)); % TDOP
|
||||
end
|
||||
141
GNSS_SDR_IQ/geoFunctions/satpos.m
Normal file
141
GNSS_SDR_IQ/geoFunctions/satpos.m
Normal file
|
|
@ -0,0 +1,141 @@
|
|||
function [satPositions, satClkCorr] = satpos(transmitTime, prnList, ...
|
||||
eph, settings)
|
||||
%SATPOS Computation of satellite coordinates X,Y,Z at TRANSMITTIME for
|
||||
%given ephemeris EPH. Coordinates are computed for each satellite in the
|
||||
%list PRNLIST.
|
||||
%[satPositions, satClkCorr] = satpos(transmitTime, prnList, eph, settings);
|
||||
%
|
||||
% Inputs:
|
||||
% transmitTime - transmission time
|
||||
% prnList - list of PRN-s to be processed
|
||||
% eph - ephemerides of satellites
|
||||
% settings - receiver settings
|
||||
%
|
||||
% Outputs:
|
||||
% satPositions - position of satellites (in ECEF system [X; Y; Z;])
|
||||
% satClkCorr - correction of satellite clocks
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%--------------------------------------------------------------------------
|
||||
%Based on Kai Borre 04-09-96
|
||||
%Copyright (c) by Kai Borre
|
||||
%Updated by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: satpos.m,v 1.1.2.17 2007/01/30 09:45:12 dpl Exp $
|
||||
|
||||
%% Initialize constants ===================================================
|
||||
numOfSatellites = size(prnList, 2);
|
||||
|
||||
% GPS constatns
|
||||
|
||||
gpsPi = 3.1415926535898; % Pi used in the GPS coordinate
|
||||
% system
|
||||
|
||||
%--- Constants for satellite position calculation -------------------------
|
||||
Omegae_dot = 7.2921151467e-5; % Earth rotation rate, [rad/s]
|
||||
GM = 3.986005e14; % Universal gravitational constant times
|
||||
% the mass of the Earth, [m^3/s^2]
|
||||
F = -4.442807633e-10; % Constant, [sec/(meter)^(1/2)]
|
||||
|
||||
%% Initialize results =====================================================
|
||||
satClkCorr = zeros(1, numOfSatellites);
|
||||
satPositions = zeros(3, numOfSatellites);
|
||||
|
||||
%% Process each satellite =================================================
|
||||
|
||||
for satNr = 1 : numOfSatellites
|
||||
|
||||
prn = prnList(satNr);
|
||||
|
||||
%% Find initial satellite clock correction --------------------------------
|
||||
|
||||
%--- Find time difference ---------------------------------------------
|
||||
dt = check_t(transmitTime - eph(prn).t_oc);
|
||||
|
||||
%--- Calculate clock correction ---------------------------------------
|
||||
satClkCorr(satNr) = (eph(prn).a_f2 * dt + eph(prn).a_f1) * dt + ...
|
||||
eph(prn).a_f0 - ...
|
||||
eph(prn).T_GD;
|
||||
|
||||
time = transmitTime - satClkCorr(satNr);
|
||||
|
||||
%% Find satellite's position ----------------------------------------------
|
||||
|
||||
%Restore semi-major axis
|
||||
a = eph(prn).sqrtA * eph(prn).sqrtA;
|
||||
|
||||
%Time correction
|
||||
tk = check_t(time - eph(prn).t_oe);
|
||||
|
||||
%Initial mean motion
|
||||
n0 = sqrt(GM / a^3);
|
||||
%Mean motion
|
||||
n = n0 + eph(prn).deltan;
|
||||
|
||||
%Mean anomaly
|
||||
M = eph(prn).M_0 + n * tk;
|
||||
%Reduce mean anomaly to between 0 and 360 deg
|
||||
M = rem(M + 2*gpsPi, 2*gpsPi);
|
||||
|
||||
%Initial guess of eccentric anomaly
|
||||
E = M;
|
||||
|
||||
%--- Iteratively compute eccentric anomaly ----------------------------
|
||||
for ii = 1:10
|
||||
E_old = E;
|
||||
E = M + eph(prn).e * sin(E);
|
||||
dE = rem(E - E_old, 2*gpsPi);
|
||||
|
||||
if abs(dE) < 1.e-12
|
||||
% Necessary precision is reached, exit from the loop
|
||||
break;
|
||||
end
|
||||
end
|
||||
|
||||
%Reduce eccentric anomaly to between 0 and 360 deg
|
||||
E = rem(E + 2*gpsPi, 2*gpsPi);
|
||||
|
||||
%Compute relativistic correction term
|
||||
dtr = F * eph(prn).e * eph(prn).sqrtA * sin(E);
|
||||
|
||||
%Calculate the true anomaly
|
||||
nu = atan2(sqrt(1 - eph(prn).e^2) * sin(E), cos(E)-eph(prn).e);
|
||||
|
||||
%Compute angle phi
|
||||
phi = nu + eph(prn).omega;
|
||||
%Reduce phi to between 0 and 360 deg
|
||||
phi = rem(phi, 2*gpsPi);
|
||||
|
||||
%Correct argument of latitude
|
||||
u = phi + ...
|
||||
eph(prn).C_uc * cos(2*phi) + ...
|
||||
eph(prn).C_us * sin(2*phi);
|
||||
%Correct radius
|
||||
r = a * (1 - eph(prn).e*cos(E)) + ...
|
||||
eph(prn).C_rc * cos(2*phi) + ...
|
||||
eph(prn).C_rs * sin(2*phi);
|
||||
%Correct inclination
|
||||
i = eph(prn).i_0 + eph(prn).iDot * tk + ...
|
||||
eph(prn).C_ic * cos(2*phi) + ...
|
||||
eph(prn).C_is * sin(2*phi);
|
||||
|
||||
%Compute the angle between the ascending node and the Greenwich meridian
|
||||
Omega = eph(prn).omega_0 + (eph(prn).omegaDot - Omegae_dot)*tk - ...
|
||||
Omegae_dot * eph(prn).t_oe;
|
||||
%Reduce to between 0 and 360 deg
|
||||
Omega = rem(Omega + 2*gpsPi, 2*gpsPi);
|
||||
|
||||
%--- Compute satellite coordinates ------------------------------------
|
||||
satPositions(1, satNr) = cos(u)*r * cos(Omega) - sin(u)*r * cos(i)*sin(Omega);
|
||||
satPositions(2, satNr) = cos(u)*r * sin(Omega) + sin(u)*r * cos(i)*cos(Omega);
|
||||
satPositions(3, satNr) = sin(u)*r * sin(i);
|
||||
|
||||
|
||||
%% Include relativistic correction in clock correction --------------------
|
||||
satClkCorr(satNr) = (eph(prn).a_f2 * dt + eph(prn).a_f1) * dt + ...
|
||||
eph(prn).a_f0 - ...
|
||||
eph(prn).T_GD + dtr;
|
||||
|
||||
end % for satNr = 1 : numOfSatellites
|
||||
112
GNSS_SDR_IQ/geoFunctions/togeod.m
Normal file
112
GNSS_SDR_IQ/geoFunctions/togeod.m
Normal file
|
|
@ -0,0 +1,112 @@
|
|||
function [dphi, dlambda, h] = togeod(a, finv, X, Y, Z)
|
||||
%TOGEOD Subroutine to calculate geodetic coordinates latitude, longitude,
|
||||
% height given Cartesian coordinates X,Y,Z, and reference ellipsoid
|
||||
% values semi-major axis (a) and the inverse of flattening (finv).
|
||||
%
|
||||
%[dphi, dlambda, h] = togeod(a, finv, X, Y, Z);
|
||||
%
|
||||
% The units of linear parameters X,Y,Z,a must all agree (m,km,mi,ft,..etc)
|
||||
% The output units of angular quantities will be in decimal degrees
|
||||
% (15.5 degrees not 15 deg 30 min). The output units of h will be the
|
||||
% same as the units of X,Y,Z,a.
|
||||
%
|
||||
% Inputs:
|
||||
% a - semi-major axis of the reference ellipsoid
|
||||
% finv - inverse of flattening of the reference ellipsoid
|
||||
% X,Y,Z - Cartesian coordinates
|
||||
%
|
||||
% Outputs:
|
||||
% dphi - latitude
|
||||
% dlambda - longitude
|
||||
% h - height above reference ellipsoid
|
||||
|
||||
% Copyright (C) 1987 C. Goad, Columbus, Ohio
|
||||
% Reprinted with permission of author, 1996
|
||||
% Fortran code translated into MATLAB
|
||||
% Kai Borre 03-30-96
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: togeod.m,v 1.1.1.1.2.4 2006/08/22 13:45:59 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
h = 0;
|
||||
tolsq = 1.e-10;
|
||||
maxit = 10;
|
||||
|
||||
% compute radians-to-degree factor
|
||||
rtd = 180/pi;
|
||||
|
||||
% compute square of eccentricity
|
||||
if finv < 1.e-20
|
||||
esq = 0;
|
||||
else
|
||||
esq = (2 - 1/finv) / finv;
|
||||
end
|
||||
|
||||
oneesq = 1 - esq;
|
||||
|
||||
% first guess
|
||||
% P is distance from spin axis
|
||||
P = sqrt(X^2+Y^2);
|
||||
% direct calculation of longitude
|
||||
|
||||
if P > 1.e-20
|
||||
dlambda = atan2(Y,X) * rtd;
|
||||
else
|
||||
dlambda = 0;
|
||||
end
|
||||
|
||||
if (dlambda < 0)
|
||||
dlambda = dlambda + 360;
|
||||
end
|
||||
|
||||
% r is distance from origin (0,0,0)
|
||||
r = sqrt(P^2 + Z^2);
|
||||
|
||||
if r > 1.e-20
|
||||
sinphi = Z/r;
|
||||
else
|
||||
sinphi = 0;
|
||||
end
|
||||
|
||||
dphi = asin(sinphi);
|
||||
|
||||
% initial value of height = distance from origin minus
|
||||
% approximate distance from origin to surface of ellipsoid
|
||||
if r < 1.e-20
|
||||
h = 0;
|
||||
return
|
||||
end
|
||||
|
||||
h = r - a*(1-sinphi*sinphi/finv);
|
||||
|
||||
% iterate
|
||||
for i = 1:maxit
|
||||
sinphi = sin(dphi);
|
||||
cosphi = cos(dphi);
|
||||
|
||||
% compute radius of curvature in prime vertical direction
|
||||
N_phi = a/sqrt(1-esq*sinphi*sinphi);
|
||||
|
||||
% compute residuals in P and Z
|
||||
dP = P - (N_phi + h) * cosphi;
|
||||
dZ = Z - (N_phi*oneesq + h) * sinphi;
|
||||
|
||||
% update height and latitude
|
||||
h = h + (sinphi*dZ + cosphi*dP);
|
||||
dphi = dphi + (cosphi*dZ - sinphi*dP)/(N_phi + h);
|
||||
|
||||
% test for convergence
|
||||
if (dP*dP + dZ*dZ < tolsq)
|
||||
break;
|
||||
end
|
||||
|
||||
% Not Converged--Warn user
|
||||
if i == maxit
|
||||
fprintf([' Problem in TOGEOD, did not converge in %2.0f',...
|
||||
' iterations\n'], i);
|
||||
end
|
||||
end % for i = 1:maxit
|
||||
|
||||
dphi = dphi * rtd;
|
||||
%%%%%%%% end togeod.m %%%%%%%%%%%%%%%%%%%%%%
|
||||
57
GNSS_SDR_IQ/geoFunctions/topocent.m
Normal file
57
GNSS_SDR_IQ/geoFunctions/topocent.m
Normal file
|
|
@ -0,0 +1,57 @@
|
|||
function [Az, El, D] = topocent(X, dx)
|
||||
%TOPOCENT Transformation of vector dx into topocentric coordinate
|
||||
% system with origin at X.
|
||||
% Both parameters are 3 by 1 vectors.
|
||||
%
|
||||
%[Az, El, D] = topocent(X, dx);
|
||||
%
|
||||
% Inputs:
|
||||
% X - vector origin corrdinates (in ECEF system [X; Y; Z;])
|
||||
% dx - vector ([dX; dY; dZ;]).
|
||||
%
|
||||
% Outputs:
|
||||
% D - vector length. Units like units of the input
|
||||
% Az - azimuth from north positive clockwise, degrees
|
||||
% El - elevation angle, degrees
|
||||
|
||||
%Kai Borre 11-24-96
|
||||
%Copyright (c) by Kai Borre
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: topocent.m,v 1.1.1.1.2.4 2006/08/22 13:45:59 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
dtr = pi/180;
|
||||
|
||||
[phi, lambda, h] = togeod(6378137, 298.257223563, X(1), X(2), X(3));
|
||||
|
||||
cl = cos(lambda * dtr);
|
||||
sl = sin(lambda * dtr);
|
||||
cb = cos(phi * dtr);
|
||||
sb = sin(phi * dtr);
|
||||
|
||||
F = [-sl -sb*cl cb*cl;
|
||||
cl -sb*sl cb*sl;
|
||||
0 cb sb];
|
||||
|
||||
local_vector = F' * dx;
|
||||
E = local_vector(1);
|
||||
N = local_vector(2);
|
||||
U = local_vector(3);
|
||||
|
||||
hor_dis = sqrt(E^2 + N^2);
|
||||
|
||||
if hor_dis < 1.e-20
|
||||
Az = 0;
|
||||
El = 90;
|
||||
else
|
||||
Az = atan2(E, N)/dtr;
|
||||
El = atan2(U, hor_dis)/dtr;
|
||||
end
|
||||
|
||||
if Az < 0
|
||||
Az = Az + 360;
|
||||
end
|
||||
|
||||
D = sqrt(dx(1)^2 + dx(2)^2 + dx(3)^2);
|
||||
%%%%%%%%% end topocent.m %%%%%%%%%
|
||||
98
GNSS_SDR_IQ/geoFunctions/tropo.m
Normal file
98
GNSS_SDR_IQ/geoFunctions/tropo.m
Normal file
|
|
@ -0,0 +1,98 @@
|
|||
function ddr = tropo(sinel, hsta, p, tkel, hum, hp, htkel, hhum)
|
||||
%TROPO Calculation of tropospheric correction.
|
||||
% The range correction ddr in m is to be subtracted from
|
||||
% pseudo-ranges and carrier phases
|
||||
%
|
||||
%ddr = tropo(sinel, hsta, p, tkel, hum, hp, htkel, hhum);
|
||||
%
|
||||
% Inputs:
|
||||
% sinel - sin of elevation angle of satellite
|
||||
% hsta - height of station in km
|
||||
% p - atmospheric pressure in mb at height hp
|
||||
% tkel - surface temperature in degrees Kelvin at height htkel
|
||||
% hum - humidity in % at height hhum
|
||||
% hp - height of pressure measurement in km
|
||||
% htkel - height of temperature measurement in km
|
||||
% hhum - height of humidity measurement in km
|
||||
%
|
||||
% Outputs:
|
||||
% ddr - range correction (meters)
|
||||
%
|
||||
% Reference
|
||||
% Goad, C.C. & Goodman, L. (1974) A Modified Tropospheric
|
||||
% Refraction Correction Model. Paper presented at the
|
||||
% American Geophysical Union Annual Fall Meeting, San
|
||||
% Francisco, December 12-17
|
||||
|
||||
% A Matlab reimplementation of a C code from driver.
|
||||
% Kai Borre 06-28-95
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: tropo.m,v 1.1.1.1.2.4 2006/08/22 13:46:00 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
a_e = 6378.137; % semi-major axis of earth ellipsoid
|
||||
b0 = 7.839257e-5;
|
||||
tlapse = -6.5;
|
||||
tkhum = tkel + tlapse*(hhum-htkel);
|
||||
atkel = 7.5*(tkhum-273.15) / (237.3+tkhum-273.15);
|
||||
e0 = 0.0611 * hum * 10^atkel;
|
||||
tksea = tkel - tlapse*htkel;
|
||||
em = -978.77 / (2.8704e6*tlapse*1.0e-5);
|
||||
tkelh = tksea + tlapse*hhum;
|
||||
e0sea = e0 * (tksea/tkelh)^(4*em);
|
||||
tkelp = tksea + tlapse*hp;
|
||||
psea = p * (tksea/tkelp)^em;
|
||||
|
||||
if sinel < 0
|
||||
sinel = 0;
|
||||
end
|
||||
|
||||
tropo = 0;
|
||||
done = 'FALSE';
|
||||
refsea = 77.624e-6 / tksea;
|
||||
htop = 1.1385e-5 / refsea;
|
||||
refsea = refsea * psea;
|
||||
ref = refsea * ((htop-hsta)/htop)^4;
|
||||
|
||||
while 1
|
||||
rtop = (a_e+htop)^2 - (a_e+hsta)^2*(1-sinel^2);
|
||||
|
||||
% check to see if geometry is crazy
|
||||
if rtop < 0
|
||||
rtop = 0;
|
||||
end
|
||||
|
||||
rtop = sqrt(rtop) - (a_e+hsta)*sinel;
|
||||
a = -sinel/(htop-hsta);
|
||||
b = -b0*(1-sinel^2) / (htop-hsta);
|
||||
rn = zeros(8,1);
|
||||
|
||||
for i = 1:8
|
||||
rn(i) = rtop^(i+1);
|
||||
end
|
||||
|
||||
alpha = [2*a, 2*a^2+4*b/3, a*(a^2+3*b),...
|
||||
a^4/5+2.4*a^2*b+1.2*b^2, 2*a*b*(a^2+3*b)/3,...
|
||||
b^2*(6*a^2+4*b)*1.428571e-1, 0, 0];
|
||||
|
||||
if b^2 > 1.0e-35
|
||||
alpha(7) = a*b^3/2;
|
||||
alpha(8) = b^4/9;
|
||||
end
|
||||
|
||||
dr = rtop;
|
||||
dr = dr + alpha*rn;
|
||||
tropo = tropo + dr*ref*1000;
|
||||
|
||||
if done == 'TRUE '
|
||||
ddr = tropo;
|
||||
break;
|
||||
end
|
||||
|
||||
done = 'TRUE ';
|
||||
refsea = (371900.0e-6/tksea-12.92e-6)/tksea;
|
||||
htop = 1.1385e-5 * (1255/tksea+0.05)/refsea;
|
||||
ref = refsea * e0sea * ((htop-hsta)/htop)^4;
|
||||
end;
|
||||
%%%%%%%%% end tropo.m %%%%%%%%%%%%%%%%%%%
|
||||
45
GNSS_SDR_IQ/include/calcLoopCoef.m
Normal file
45
GNSS_SDR_IQ/include/calcLoopCoef.m
Normal file
|
|
@ -0,0 +1,45 @@
|
|||
function [tau1, tau2] = calcLoopCoef(LBW, zeta, k)
|
||||
%Function finds loop coefficients. The coefficients are used then in PLL-s
|
||||
%and DLL-s.
|
||||
%
|
||||
%[tau1, tau2] = calcLoopCoef(LBW, zeta, k)
|
||||
%
|
||||
% Inputs:
|
||||
% LBW - Loop noise bandwidth
|
||||
% zeta - Damping ratio
|
||||
% k - Loop gain
|
||||
%
|
||||
% Outputs:
|
||||
% tau1, tau2 - Loop filter coefficients
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis and Dennis M. Akos
|
||||
% Written by Darius Plausinaitis and Dennis M. Akos
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: calcLoopCoef.m,v 1.1.2.2 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
% Solve natural frequency
|
||||
Wn = LBW*8*zeta / (4*zeta.^2 + 1);
|
||||
|
||||
% solve for t1 & t2
|
||||
tau1 = k / (Wn * Wn);
|
||||
tau2 = 2.0 * zeta / Wn;
|
||||
46
GNSS_SDR_IQ/include/checkPhase.m
Normal file
46
GNSS_SDR_IQ/include/checkPhase.m
Normal file
|
|
@ -0,0 +1,46 @@
|
|||
function word = checkPhase(word, D30Star)
|
||||
%Checks the parity of the supplied 30bit word.
|
||||
%The last parity bit of the previous word is used for the calculation.
|
||||
%A note on the procedure is supplied by the GPS standard positioning
|
||||
%service signal specification.
|
||||
%
|
||||
%word = checkPhase(word, D30Star)
|
||||
%
|
||||
% Inputs:
|
||||
% word - an array with 30 bit long word from the navigation
|
||||
% message (a character array, must contain only '0' or
|
||||
% '1').
|
||||
% D30Star - the last bit of the previous word (char type).
|
||||
%
|
||||
% Outputs:
|
||||
% word - word with corrected polarity of the data bits
|
||||
% (character array).
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Written by Darius Plausinaitis and Dennis M. Akos
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: checkPhase.m,v 1.1.2.4 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
if D30Star == '1'
|
||||
% Data bits must be inverted
|
||||
word(1:24) = invert(word(1:24));
|
||||
end
|
||||
159
GNSS_SDR_IQ/include/ephemeris.m
Normal file
159
GNSS_SDR_IQ/include/ephemeris.m
Normal file
|
|
@ -0,0 +1,159 @@
|
|||
function [eph, TOW] = ephemeris(bits, D30Star)
|
||||
%Function decodes ephemerides and TOW from the given bit stream. The stream
|
||||
%(array) in the parameter BITS must contain 1500 bits. The first element in
|
||||
%the array must be the first bit of a subframe. The subframe ID of the
|
||||
%first subframe in the array is not important.
|
||||
%
|
||||
%Function does not check parity!
|
||||
%
|
||||
%[eph, TOW] = ephemeris(bits, D30Star)
|
||||
%
|
||||
% Inputs:
|
||||
% bits - bits of the navigation messages (5 subframes).
|
||||
% Type is character array and it must contain only
|
||||
% characters '0' or '1'.
|
||||
% D30Star - The last bit of the previous nav-word. Refer to the
|
||||
% GPS interface control document ICD (IS-GPS-200D) for
|
||||
% more details on the parity checking. Parameter type is
|
||||
% char. It must contain only characters '0' or '1'.
|
||||
% Outputs:
|
||||
% TOW - Time Of Week (TOW) of the first sub-frame in the bit
|
||||
% stream (in seconds)
|
||||
% eph - SV ephemeris
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis and Kristin Larson
|
||||
% Written by Darius Plausinaitis and Kristin Larson
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: ephemeris.m,v 1.1.2.7 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
|
||||
%% Check if there is enough data ==========================================
|
||||
if length(bits) < 1500
|
||||
error('The parameter BITS must contain 1500 bits!');
|
||||
end
|
||||
|
||||
%% Check if the parameters are strings ====================================
|
||||
if ~ischar(bits)
|
||||
error('The parameter BITS must be a character array!');
|
||||
end
|
||||
|
||||
if ~ischar(D30Star)
|
||||
error('The parameter D30Star must be a char!');
|
||||
end
|
||||
|
||||
% Pi used in the GPS coordinate system
|
||||
gpsPi = 3.1415926535898;
|
||||
eph=struct('weekNumber',[],'accuracy',[],'health',[],'T_GD',[],'IODC',[],'t_oc',[],'a_f2',[],'a_f1',[],'a_f0',[],...
|
||||
'IODE_sf2',[],'C_rs',[],'deltan',[],'M_0',[],'C_uc',[],'e',[],'C_us',[],'sqrtA',[],'t_oe',[],...
|
||||
'C_ic',[],'omega_0',[],'C_is',[],'i_0',[],'C_rc',[],'omega',[],'omegaDot',[],'IODE_sf3',[],'iDot',[]);
|
||||
%% Decode all 5 sub-frames ================================================
|
||||
for i = 1:5
|
||||
|
||||
%--- "Cut" one sub-frame's bits ---------------------------------------
|
||||
subframe = bits(300*(i-1)+1 : 300*i);
|
||||
|
||||
%--- Correct polarity of the data bits in all 10 words ----------------
|
||||
for j = 1:10
|
||||
[subframe(30*(j-1)+1 : 30*j)] = ...
|
||||
checkPhase(subframe(30*(j-1)+1 : 30*j), D30Star);
|
||||
|
||||
D30Star = subframe(30*j);
|
||||
end
|
||||
|
||||
%--- Decode the sub-frame id ------------------------------------------
|
||||
% For more details on sub-frame contents please refer to GPS IS.
|
||||
subframeID = bin2dec(subframe(50:52));
|
||||
|
||||
%--- Decode sub-frame based on the sub-frames id ----------------------
|
||||
% The task is to select the necessary bits and convert them to decimal
|
||||
% numbers. For more details on sub-frame contents please refer to GPS
|
||||
% ICD (IS-GPS-200D).
|
||||
switch subframeID
|
||||
case 1 %--- It is subframe 1 -------------------------------------
|
||||
% It contains WN, SV clock corrections, health and accuracy
|
||||
eph.weekNumber = bin2dec(subframe(61:70)) + 1024;
|
||||
eph.accuracy = bin2dec(subframe(73:76));
|
||||
eph.health = bin2dec(subframe(77:82));
|
||||
eph.T_GD = twosComp2dec(subframe(197:204)) * 2^(-31);
|
||||
eph.IODC = bin2dec([subframe(83:84) subframe(211:218)]);
|
||||
eph.t_oc = bin2dec(subframe(219:234)) * 2^4;
|
||||
eph.a_f2 = twosComp2dec(subframe(241:248)) * 2^(-55);
|
||||
eph.a_f1 = twosComp2dec(subframe(249:264)) * 2^(-43);
|
||||
eph.a_f0 = twosComp2dec(subframe(271:292)) * 2^(-31);
|
||||
|
||||
case 2 %--- It is subframe 2 -------------------------------------
|
||||
% It contains first part of ephemeris parameters
|
||||
eph.IODE_sf2 = bin2dec(subframe(61:68));
|
||||
eph.C_rs = twosComp2dec(subframe(69: 84)) * 2^(-5);
|
||||
eph.deltan = ...
|
||||
twosComp2dec(subframe(91:106)) * 2^(-43) * gpsPi;
|
||||
eph.M_0 = ...
|
||||
twosComp2dec([subframe(107:114) subframe(121:144)]) ...
|
||||
* 2^(-31) * gpsPi;
|
||||
eph.C_uc = twosComp2dec(subframe(151:166)) * 2^(-29);
|
||||
eph.e = ...
|
||||
bin2dec([subframe(167:174) subframe(181:204)]) ...
|
||||
* 2^(-33);
|
||||
eph.C_us = twosComp2dec(subframe(211:226)) * 2^(-29);
|
||||
eph.sqrtA = ...
|
||||
bin2dec([subframe(227:234) subframe(241:264)]) ...
|
||||
* 2^(-19);
|
||||
eph.t_oe = bin2dec(subframe(271:286)) * 2^4;
|
||||
|
||||
case 3 %--- It is subframe 3 -------------------------------------
|
||||
% It contains second part of ephemeris parameters
|
||||
eph.C_ic = twosComp2dec(subframe(61:76)) * 2^(-29);
|
||||
eph.omega_0 = ...
|
||||
twosComp2dec([subframe(77:84) subframe(91:114)]) ...
|
||||
* 2^(-31) * gpsPi;
|
||||
eph.C_is = twosComp2dec(subframe(121:136)) * 2^(-29);
|
||||
eph.i_0 = ...
|
||||
twosComp2dec([subframe(137:144) subframe(151:174)]) ...
|
||||
* 2^(-31) * gpsPi;
|
||||
eph.C_rc = twosComp2dec(subframe(181:196)) * 2^(-5);
|
||||
eph.omega = ...
|
||||
twosComp2dec([subframe(197:204) subframe(211:234)]) ...
|
||||
* 2^(-31) * gpsPi;
|
||||
eph.omegaDot = twosComp2dec(subframe(241:264)) * 2^(-43) * gpsPi;
|
||||
eph.IODE_sf3 = bin2dec(subframe(271:278));
|
||||
eph.iDot = twosComp2dec(subframe(279:292)) * 2^(-43) * gpsPi;
|
||||
|
||||
case 4 %--- It is subframe 4 -------------------------------------
|
||||
% Almanac, ionospheric model, UTC parameters.
|
||||
% SV health (PRN: 25-32).
|
||||
% Not decoded at the moment.
|
||||
|
||||
case 5 %--- It is subframe 5 -------------------------------------
|
||||
% SV almanac and health (PRN: 1-24).
|
||||
% Almanac reference week number and time.
|
||||
% Not decoded at the moment.
|
||||
|
||||
end % switch subframeID ...
|
||||
|
||||
end % for all 5 sub-frames ...
|
||||
|
||||
%% Compute the time of week (TOW) of the first sub-frames in the array ====
|
||||
% Also correct the TOW. The transmitted TOW is actual TOW of the next
|
||||
% subframe and we need the TOW of the first subframe in this data block
|
||||
% (the variable subframe at this point contains bits of the last subframe).
|
||||
TOW = bin2dec(subframe(31:47)) * 6 - 30;
|
||||
90
GNSS_SDR_IQ/include/generateCAcode.m
Normal file
90
GNSS_SDR_IQ/include/generateCAcode.m
Normal file
|
|
@ -0,0 +1,90 @@
|
|||
function CAcode = generateCAcode(PRN)
|
||||
% generateCAcode.m generates one of the 32 GPS satellite C/A codes.
|
||||
%
|
||||
% CAcode = generateCAcode(PRN)
|
||||
%
|
||||
% Inputs:
|
||||
% PRN - PRN number of the sequence.
|
||||
%
|
||||
% Outputs:
|
||||
% CAcode - a vector containing the desired C/A code sequence
|
||||
% (chips).
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis
|
||||
% Based on Dennis M. Akos, Peter Rinder and Nicolaj Bertelsen
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: generateCAcode.m,v 1.1.2.5 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
%--- Make the code shift array. The shift depends on the PRN number -------
|
||||
% The g2s vector holds the appropriate shift of the g2 code to generate
|
||||
% the C/A code (ex. for SV#19 - use a G2 shift of g2s(19) = 471)
|
||||
g2s = [ 5, 6, 7, 8, 17, 18, 139, 140, 141, 251, ...
|
||||
252, 254, 255, 256, 257, 258, 469, 470, 471, 472, ...
|
||||
473, 474, 509, 512, 513, 514, 515, 516, 859, 860, ...
|
||||
861, 862 ... end of shifts for GPS satellites
|
||||
... Shifts for the ground GPS transmitter are not included
|
||||
... Shifts for EGNOS and WAAS satellites (true_PRN = PRN + 87)
|
||||
145, 175, 52, 21, 237, 235, 886, 657, ...
|
||||
634, 762, 355, 1012, 176, 603, 130, 359, 595, 68, ...
|
||||
386];
|
||||
|
||||
%--- Pick right shift for the given PRN number ----------------------------
|
||||
g2shift = g2s(PRN);
|
||||
|
||||
%--- Generate G1 code -----------------------------------------------------
|
||||
|
||||
%--- Initialize g1 output to speed up the function ---
|
||||
g1 = zeros(1, 1023);
|
||||
%--- Load shift register ---
|
||||
reg = -1*ones(1, 10);
|
||||
|
||||
%--- Generate all G1 signal chips based on the G1 feedback polynomial -----
|
||||
for i=1:1023
|
||||
g1(i) = reg(10);
|
||||
saveBit = reg(3)*reg(10);
|
||||
reg(2:10) = reg(1:9);
|
||||
reg(1) = saveBit;
|
||||
end
|
||||
|
||||
%--- Generate G2 code -----------------------------------------------------
|
||||
|
||||
%--- Initialize g2 output to speed up the function ---
|
||||
g2 = zeros(1, 1023);
|
||||
%--- Load shift register ---
|
||||
reg = -1*ones(1, 10);
|
||||
|
||||
%--- Generate all G2 signal chips based on the G2 feedback polynomial -----
|
||||
for i=1:1023
|
||||
g2(i) = reg(10);
|
||||
saveBit = reg(2)*reg(3)*reg(6)*reg(8)*reg(9)*reg(10);
|
||||
reg(2:10) = reg(1:9);
|
||||
reg(1) = saveBit;
|
||||
end
|
||||
|
||||
%--- Shift G2 code --------------------------------------------------------
|
||||
%The idea: g2 = concatenate[ g2_right_part, g2_left_part ];
|
||||
g2 = [g2(1023-g2shift+1 : 1023), g2(1 : 1023-g2shift)];
|
||||
|
||||
%--- Form single sample C/A code by multiplying G1 and G2 -----------------
|
||||
CAcode = -(g1 .* g2);
|
||||
35
GNSS_SDR_IQ/include/invert.m
Normal file
35
GNSS_SDR_IQ/include/invert.m
Normal file
|
|
@ -0,0 +1,35 @@
|
|||
function result = invert(data)
|
||||
% Inverts the binary input-string so that 0 becomes 1 and 1 becomes 0.
|
||||
%
|
||||
%result = invert(data)
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Written by Darius Plausinaitis, Kristin Larson and Dennis M. Akos
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: invert.m,v 1.1.2.4 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
dataLength = length(data);
|
||||
temp(1:dataLength) = '1';
|
||||
|
||||
invertMask = bin2dec(char(temp));
|
||||
|
||||
result = dec2bin(bitxor(bin2dec(data), invertMask), dataLength);
|
||||
74
GNSS_SDR_IQ/include/makeCaTable.m
Normal file
74
GNSS_SDR_IQ/include/makeCaTable.m
Normal file
|
|
@ -0,0 +1,74 @@
|
|||
function caCodesTable = makeCaTable(settings)
|
||||
%Function generates CA codes for all 32 satellites based on the settings
|
||||
%provided in the structure "settings". The codes are digitized at the
|
||||
%sampling frequency specified in the settings structure.
|
||||
%One row in the "caCodesTable" is one C/A code. The row number is the PRN
|
||||
%number of the C/A code.
|
||||
%
|
||||
%caCodesTable = makeCaTable(settings)
|
||||
%
|
||||
% Inputs:
|
||||
% settings - receiver settings
|
||||
% Outputs:
|
||||
% caCodesTable - an array of arrays (matrix) containing C/A codes
|
||||
% for all satellite PRN-s
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis
|
||||
% Based on Peter Rinder and Nicolaj Bertelsen
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: makeCaTable.m,v 1.1.2.6 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
%--- Find number of samples per spreading code ----------------------------
|
||||
samplesPerCode = round(settings.samplingFreq / ...
|
||||
(settings.codeFreqBasis / settings.codeLength));
|
||||
|
||||
%--- Prepare the output matrix to speed up function -----------------------
|
||||
caCodesTable = zeros(32, samplesPerCode);
|
||||
|
||||
%--- Find time constants --------------------------------------------------
|
||||
ts = 1/settings.samplingFreq; % Sampling period in sec
|
||||
tc = 1/settings.codeFreqBasis; % C/A chip period in sec
|
||||
|
||||
%=== For all satellite PRN-s ...
|
||||
for PRN = 1:32
|
||||
%--- Generate CA code for given PRN -----------------------------------
|
||||
caCode = generateCAcode(PRN);
|
||||
|
||||
%=== Digitizing =======================================================
|
||||
|
||||
%--- Make index array to read C/A code values -------------------------
|
||||
% The length of the index array depends on the sampling frequency -
|
||||
% number of samples per millisecond (because one C/A code period is one
|
||||
% millisecond).
|
||||
codeValueIndex = ceil((ts * (1:samplesPerCode)) / tc);
|
||||
|
||||
%--- Correct the last index (due to number rounding issues) -----------
|
||||
codeValueIndex(end) = 1023;
|
||||
|
||||
%--- Make the digitized version of the C/A code -----------------------
|
||||
% The "upsampled" code is made by selecting values form the CA code
|
||||
% chip array (caCode) for the time instances of each sample.
|
||||
caCodesTable(PRN, :) = caCode(codeValueIndex);
|
||||
|
||||
end % for PRN = 1:32
|
||||
103
GNSS_SDR_IQ/include/navPartyChk.m
Normal file
103
GNSS_SDR_IQ/include/navPartyChk.m
Normal file
|
|
@ -0,0 +1,103 @@
|
|||
function status = navPartyChk(ndat)
|
||||
% This function is called to compute and status the parity bits on GPS word.
|
||||
% Based on the flowchart in Figure 2-10 in the 2nd Edition of the GPS-SPS
|
||||
% Signal Spec.
|
||||
%
|
||||
%status = navPartyChk(ndat)
|
||||
%
|
||||
% Inputs:
|
||||
% ndat - an array (1x32) of 32 bits represent a GPS navigation
|
||||
% word which is 30 bits plus two previous bits used in
|
||||
% the parity calculation (-2 -1 0 1 2 ... 28 29)
|
||||
%
|
||||
% Outputs:
|
||||
% status - the test value which equals EITHER +1 or -1 if parity
|
||||
% PASSED or 0 if parity fails. The +1 means bits #1-24
|
||||
% of the current word have the correct polarity, while -1
|
||||
% means the bits #1-24 of the current word must be
|
||||
% inverted.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Written by Darius Plausinaitis, Kristin Larson
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: navPartyChk.m,v 1.1.2.5 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
% In order to accomplish the exclusive or operation using multiplication
|
||||
% this program represents a '0' with a '-1' and a '1' with a '1' so that
|
||||
% the exclusive or table holds true for common data operations
|
||||
%
|
||||
% a b xor a b product
|
||||
% -------------- -----------------
|
||||
% 0 0 1 -1 -1 1
|
||||
% 0 1 0 -1 1 -1
|
||||
% 1 0 0 1 -1 -1
|
||||
% 1 1 1 1 1 1
|
||||
|
||||
%--- Check if the data bits must be inverted ------------------------------
|
||||
if (ndat(2) ~= 1)
|
||||
ndat(3:26)= -1 .* ndat(3:26); % Also could just negate
|
||||
end
|
||||
|
||||
%--- Calculate 6 parity bits ----------------------------------------------
|
||||
% The elements of the ndat array correspond to the bits showed in the table
|
||||
% 20-XIV (ICD-200C document) in the following way:
|
||||
% The first element in the ndat is the D29* bit and the second - D30*.
|
||||
% The elements 3 - 26 are bits d1-d24 in the table.
|
||||
% The elements 27 - 32 in the ndat array are the received bits D25-D30.
|
||||
% The array "parity" contains the computed D25-D30 (parity) bits.
|
||||
|
||||
parity(1) = ndat(1) * ndat(3) * ndat(4) * ndat(5) * ndat(7) * ...
|
||||
ndat(8) * ndat(12) * ndat(13) * ndat(14) * ndat(15) * ...
|
||||
ndat(16) * ndat(19) * ndat(20) * ndat(22) * ndat(25);
|
||||
|
||||
parity(2) = ndat(2) * ndat(4) * ndat(5) * ndat(6) * ndat(8) * ...
|
||||
ndat(9) * ndat(13) * ndat(14) * ndat(15) * ndat(16) * ...
|
||||
ndat(17) * ndat(20) * ndat(21) * ndat(23) * ndat(26);
|
||||
|
||||
parity(3) = ndat(1) * ndat(3) * ndat(5) * ndat(6) * ndat(7) * ...
|
||||
ndat(9) * ndat(10) * ndat(14) * ndat(15) * ndat(16) * ...
|
||||
ndat(17) * ndat(18) * ndat(21) * ndat(22) * ndat(24);
|
||||
|
||||
parity(4) = ndat(2) * ndat(4) * ndat(6) * ndat(7) * ndat(8) * ...
|
||||
ndat(10) * ndat(11) * ndat(15) * ndat(16) * ndat(17) * ...
|
||||
ndat(18) * ndat(19) * ndat(22) * ndat(23) * ndat(25);
|
||||
|
||||
parity(5) = ndat(2) * ndat(3) * ndat(5) * ndat(7) * ndat(8) * ...
|
||||
ndat(9) * ndat(11) * ndat(12) * ndat(16) * ndat(17) * ...
|
||||
ndat(18) * ndat(19) * ndat(20) * ndat(23) * ndat(24) * ...
|
||||
ndat(26);
|
||||
|
||||
parity(6) = ndat(1) * ndat(5) * ndat(7) * ndat(8) * ndat(10) * ...
|
||||
ndat(11) * ndat(12) * ndat(13) * ndat(15) * ndat(17) * ...
|
||||
ndat(21) * ndat(24) * ndat(25) * ndat(26);
|
||||
|
||||
%--- Compare if the received parity is equal the calculated parity --------
|
||||
if ((sum(parity == ndat(27:32))) == 6)
|
||||
|
||||
% Parity is OK. Function output is -1 or 1 depending if the data bits
|
||||
% must be inverted or not. The "ndat(2)" is D30* bit - the last bit of
|
||||
% previous subframe.
|
||||
status = -1 * ndat(2);
|
||||
else
|
||||
% Parity failure
|
||||
status = 0;
|
||||
end
|
||||
73
GNSS_SDR_IQ/include/preRun.m
Normal file
73
GNSS_SDR_IQ/include/preRun.m
Normal file
|
|
@ -0,0 +1,73 @@
|
|||
function [channel] = preRun(acqResults, settings)
|
||||
%Function initializes tracking channels from acquisition data. The acquired
|
||||
%signals are sorted according to the signal strength. This function can be
|
||||
%modified to use other satellite selection algorithms or to introduce
|
||||
%acquired signal properties offsets for testing purposes.
|
||||
%
|
||||
%[channel] = preRun(acqResults, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% acqResults - results from acquisition.
|
||||
% settings - receiver settings
|
||||
%
|
||||
% Outputs:
|
||||
% channel - structure contains information for each channel (like
|
||||
% properties of the tracked signal, channel status etc.).
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis
|
||||
% Based on Peter Rinder and Nicolaj Bertelsen
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: preRun.m,v 1.8.2.20 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
%% Initialize all channels ================================================
|
||||
channel = []; % Clear, create the structure
|
||||
|
||||
channel.PRN = 0; % PRN number of the tracked satellite
|
||||
channel.acquiredFreq = 0; % Used as the center frequency of the NCO
|
||||
channel.codePhase = 0; % Position of the C/A start
|
||||
|
||||
channel.status = '-'; % Mode/status of the tracking channel
|
||||
% "-" - "off" - no signal to track
|
||||
% "T" - Tracking state
|
||||
|
||||
%--- Copy initial data to all channels ------------------------------------
|
||||
channel = repmat(channel, 1, settings.numberOfChannels);
|
||||
|
||||
%% Copy acquisition results ===============================================
|
||||
|
||||
%--- Sort peaks to find strongest signals, keep the peak index information
|
||||
[junk, PRNindexes] = sort(acqResults.peakMetric, 2, 'descend');
|
||||
|
||||
%--- Load information about each satellite --------------------------------
|
||||
% Maximum number of initialized channels is number of detected signals, but
|
||||
% not more as the number of channels specified in the settings.
|
||||
%for ii = 1:min([settings.numberOfChannels, sum(acqResults.carrFreq > 0)])
|
||||
for ii = 1:settings.numberOfChannels
|
||||
channel(ii).PRN = PRNindexes(ii);
|
||||
channel(ii).acquiredFreq = acqResults.carrFreq(PRNindexes(ii));
|
||||
channel(ii).codePhase = acqResults.codePhase(PRNindexes(ii));
|
||||
|
||||
% Set tracking into mode (there can be more modes if needed e.g. pull-in)
|
||||
channel(ii).status = 'T';
|
||||
end
|
||||
56
GNSS_SDR_IQ/include/showChannelStatus.m
Normal file
56
GNSS_SDR_IQ/include/showChannelStatus.m
Normal file
|
|
@ -0,0 +1,56 @@
|
|||
function showChannelStatus(channel, settings)
|
||||
%Prints the status of all channels in a table.
|
||||
%
|
||||
%showChannelStatus(channel, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% channel - data for each channel. It is used to initialize and
|
||||
% at the processing of the signal (tracking part).
|
||||
% settings - receiver settings
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Peter Rinder and Nicolaj Bertelsen
|
||||
% Written by Peter Rinder Nicolaj Bertelsen and Darius Plausinaitis
|
||||
% Based on Peter Rinder and Nicolaj Bertelsen
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: showChannelStatus.m,v 1.4.2.8 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
fprintf('\n*=========*=====*===============*===========*=============*========*\n');
|
||||
fprintf( '| Channel | PRN | Frequency | Doppler | Code Offset | Status |\n');
|
||||
fprintf( '*=========*=====*===============*===========*=============*========*\n');
|
||||
|
||||
for channelNr = 1 : settings.numberOfChannels
|
||||
if (channel(channelNr).status ~= '-')
|
||||
fprintf('| %2d | %3d | %2.5e | %5.0f | %6d | %1s |\n', ...
|
||||
channelNr, ...
|
||||
channel(channelNr).PRN, ...
|
||||
channel(channelNr).acquiredFreq, ...
|
||||
channel(channelNr).acquiredFreq - settings.IF, ...
|
||||
channel(channelNr).codePhase, ...
|
||||
channel(channelNr).status);
|
||||
else
|
||||
fprintf('| %2d | --- | ------------ | ----- | ------ | Off |\n', ...
|
||||
channelNr);
|
||||
end
|
||||
end
|
||||
|
||||
fprintf('*=========*=====*===============*===========*=============*========*\n\n');
|
||||
177
GNSS_SDR_IQ/include/skyPlot.m
Normal file
177
GNSS_SDR_IQ/include/skyPlot.m
Normal file
|
|
@ -0,0 +1,177 @@
|
|||
function hpol = skyPlot(varargin)
|
||||
%Function plots "sky view" from the receiver perspective.
|
||||
%
|
||||
%h = skyPlot(AZ, EL, PRN, line_style)
|
||||
%
|
||||
% Inputs:
|
||||
% AZ - contains satellite azimuth angles. It is a 2D
|
||||
% matrix. One line contains data of one satellite.
|
||||
% The columns are the calculated azimuth values.
|
||||
% EL - contains satellite elevation angles. It is a 2D
|
||||
% matrix. One line contains data of one satellite.
|
||||
% The columns are the calculated elevations.
|
||||
% PRN - a row vector containing PRN numbers of the
|
||||
% satellites.
|
||||
% line_style - line style of the plot. The same style will be
|
||||
% used to plot all satellite positions (including
|
||||
% color).
|
||||
% Outputs:
|
||||
% h - handle to the plot
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis and Kristin Larson
|
||||
% Written by Darius Plausinaitis and Kristin Larson
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: skyPlot.m,v 1.1.2.5 2006/08/18 11:41:57 dpl Exp $
|
||||
|
||||
%% Check arguments and sort them ==========================================
|
||||
[hAxis, args, nargs] = axescheck(varargin{:});
|
||||
|
||||
if nargs < 3 || nargs > 4
|
||||
error('Requires 3 or 4 data arguments.')
|
||||
elseif nargs == 3
|
||||
[az, el, prn] = deal(args{1:3});
|
||||
line_style = 'auto';
|
||||
else
|
||||
[az, el, prn, line_style] = deal(args{1:4});
|
||||
end
|
||||
|
||||
if ischar(az) || ischar(el) || ischar(prn)
|
||||
error('AZ and EL must be numeric.');
|
||||
end
|
||||
|
||||
if ~isequal(size(az), size(el))
|
||||
error('AZ and EL must be same size.');
|
||||
end
|
||||
|
||||
%% Prepare axis ===========================================================
|
||||
hAxis = newplot(hAxis);
|
||||
|
||||
%--- Get x-axis text color so grid is in same color -----------------------
|
||||
tc = get(hAxis, 'xcolor');
|
||||
|
||||
hold(hAxis, 'on');
|
||||
|
||||
%--- Plot white background ------------------------------------------------
|
||||
rectangle('position', [-90, -90, 180, 180], ...
|
||||
'Curvature', [1 1], ...
|
||||
'facecolor', 'white', ...
|
||||
'edgecolor', tc);
|
||||
|
||||
%% Plot spokes ============================================================
|
||||
|
||||
%--- Find spoke angles ----------------------------------------------------
|
||||
% Only 6 lines are needed to divide circle into 12 parts
|
||||
th = (1:6) * 2*pi / 12;
|
||||
|
||||
%--- Convert spoke end point coordinate to Cartesian system ---------------
|
||||
cst = cos(th); snt = sin(th);
|
||||
cs = [cst; -cst];
|
||||
sn = [snt; -snt];
|
||||
|
||||
%--- Plot the spoke lines -------------------------------------------------
|
||||
line(90*sn, 90*cs, 'linestyle', ':', 'color', tc, 'linewidth', 0.5, ...
|
||||
'handlevisibility', 'off');
|
||||
|
||||
%% Annotate spokes in degrees =============================================
|
||||
rt = 1.1 * 90;
|
||||
|
||||
for i = 1:max(size(th))
|
||||
|
||||
%--- Write text in the first half of the plot -------------------------
|
||||
text(rt*snt(i), rt*cst(i), int2str(i*30), ...
|
||||
'horizontalalignment', 'center', 'handlevisibility', 'off');
|
||||
|
||||
if i == max(size(th))
|
||||
loc = int2str(0);
|
||||
else
|
||||
loc = int2str(180 + i*30);
|
||||
end
|
||||
|
||||
%--- Write text in the opposite half of the plot ----------------------
|
||||
text(-rt*snt(i), -rt*cst(i), loc, ...
|
||||
'handlevisibility', 'off', 'horizontalalignment', 'center');
|
||||
end
|
||||
|
||||
%% Plot elevation grid ====================================================
|
||||
|
||||
%--- Define a "unit" radius circle ----------------------------------------
|
||||
th = 0 : pi/50 : 2*pi;
|
||||
xunit = cos(th);
|
||||
yunit = sin(th);
|
||||
|
||||
%--- Plot elevation grid lines and tick text ------------------------------
|
||||
for elevation = 0 : 15 : 90
|
||||
elevationSpherical = 90*cos((pi/180) * elevation);
|
||||
|
||||
line(yunit * elevationSpherical, xunit * elevationSpherical, ...
|
||||
'lineStyle', ':', 'color', tc, 'linewidth', 0.5, ...
|
||||
'handlevisibility', 'off');
|
||||
|
||||
text(0, elevationSpherical, num2str(elevation), ...
|
||||
'BackgroundColor', 'white', 'horizontalalignment','center', ...
|
||||
'handlevisibility', 'off');
|
||||
end
|
||||
|
||||
%--- Set view to 2-D ------------------------------------------------------
|
||||
view(0, 90);
|
||||
|
||||
%--- Set axis limits ------------------------------------------------------
|
||||
%save some space for the title
|
||||
axis([-95 95 -90 101]);
|
||||
|
||||
%% Transform elevation angle to a distance to the center of the plot ------
|
||||
elSpherical = 90*cos(el * pi/180);
|
||||
|
||||
%--- Transform data to Cartesian coordinates ------------------------------
|
||||
yy = elSpherical .* cos(az * pi/180);
|
||||
xx = elSpherical .* sin(az * pi/180);
|
||||
|
||||
%% Plot data on top of the grid ===========================================
|
||||
|
||||
if strcmp(line_style, 'auto')
|
||||
%--- Plot with "default" line style -----------------------------------
|
||||
hpol = plot(hAxis, xx', yy', '.-');
|
||||
else
|
||||
%--- Plot with user specified line style ------------------------------
|
||||
% The same line style and color will be used for all satellites
|
||||
hpol = plot(hAxis, xx', yy', line_style);
|
||||
end
|
||||
|
||||
%--- Mark the last position of the satellite ------------------------------
|
||||
plot(hAxis, xx(:,end)', yy(:,end)', 'o', 'MarkerSize', 7);
|
||||
|
||||
%--- Place satellite PRN numbers at the latest position -------------------
|
||||
for i = 1:length(prn)
|
||||
if(prn(i) ~= 0)
|
||||
% The empthy space is used to place the text a side of the last
|
||||
% point. This solution results in constant offset even if a zoom
|
||||
% is used.
|
||||
text(xx(i, end), yy(i, end), [' ', int2str(prn(i))], 'color', 'b');
|
||||
end
|
||||
end
|
||||
|
||||
%--- Make sure both axis have the same data aspect ratio ------------------
|
||||
axis(hAxis, 'equal');
|
||||
|
||||
%--- Switch off the standard Cartesian axis -------------------------------
|
||||
axis(hAxis, 'off');
|
||||
BIN
GNSS_SDR_IQ/include/trackingResults.mat
Normal file
BIN
GNSS_SDR_IQ/include/trackingResults.mat
Normal file
Binary file not shown.
44
GNSS_SDR_IQ/include/twosComp2dec.m
Normal file
44
GNSS_SDR_IQ/include/twosComp2dec.m
Normal file
|
|
@ -0,0 +1,44 @@
|
|||
function intNumber = twosComp2dec(binaryNumber)
|
||||
% TWOSCOMP2DEC(binaryNumber) Converts a two's-complement binary number
|
||||
% BINNUMBER (in Matlab it is a string type), represented as a row vector of
|
||||
% zeros and ones, to an integer.
|
||||
%
|
||||
%intNumber = twosComp2dec(binaryNumber)
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: twosComp2dec.m,v 1.1.2.4 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
%--- Check if the input is string -----------------------------------------
|
||||
if ~isstr(binaryNumber)
|
||||
error('Input must be a string.')
|
||||
end
|
||||
|
||||
%--- Convert from binary form to a decimal number -------------------------
|
||||
intNumber = bin2dec(binaryNumber);
|
||||
|
||||
%--- If the number was negative, then correct the result ------------------
|
||||
if binaryNumber(1) == '1'
|
||||
intNumber = intNumber - 2^size(binaryNumber, 2);
|
||||
end
|
||||
77
GNSS_SDR_IQ/init.m
Normal file
77
GNSS_SDR_IQ/init.m
Normal file
|
|
@ -0,0 +1,77 @@
|
|||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis and Dennis M. Akos
|
||||
% Written by Darius Plausinaitis and Dennis M. Akos
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
%
|
||||
%Script initializes settings and environment of the software receiver.
|
||||
%Then the processing is started.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% CVS record:
|
||||
% $Id: init.m,v 1.14.2.21 2006/08/22 13:46:00 dpl Exp $
|
||||
|
||||
%% Clean up the environment first =========================================
|
||||
clear; close all; clc;
|
||||
|
||||
format ('compact');
|
||||
format ('long', 'g');
|
||||
|
||||
%--- Include folders with functions ---------------------------------------
|
||||
addpath include % The software receiver functions
|
||||
addpath geoFunctions % Position calculation related functions
|
||||
|
||||
%% Print startup ==========================================================
|
||||
fprintf(['\n',...
|
||||
'Welcome to: han trong thanh\n\n', ...
|
||||
'An open source GNSS SDR software project initiated by:\n\n', ...
|
||||
' Danish GPS Center/Aalborg University\n\n', ...
|
||||
'The code was improved by GNSS Laboratory/University of Colorado.\n\n',...
|
||||
'The software receiver softGNSS comes with ABSOLUTELY NO WARRANTY;\n',...
|
||||
'for details please read license details in the file license.txt. This\n',...
|
||||
'is free software, and you are welcome to redistribute it under\n',...
|
||||
'the terms described in the license.\n\n']);
|
||||
fprintf(' -------------------------------\n\n');
|
||||
|
||||
%% Initialize constants, settings =========================================
|
||||
settings = initSettings();
|
||||
|
||||
%% Generate plot of raw data and ask if ready to start processing =========
|
||||
try
|
||||
fprintf('Probing data (%s)...\n', settings.fileName)
|
||||
probeData(settings);
|
||||
catch
|
||||
% There was an error, print it and exit
|
||||
errStruct = lasterror;
|
||||
disp(errStruct.message);
|
||||
disp(' (run setSettings or change settings in "initSettings.m" to reconfigure)')
|
||||
return;
|
||||
end
|
||||
|
||||
disp(' Raw IF data plotted ')
|
||||
disp(' (run setSettings or change settings in "initSettings.m" to reconfigure)')
|
||||
disp(' ');
|
||||
gnssStart = 1;%input('Enter "1" to initiate GNSS processing or "0" to exit : ');
|
||||
|
||||
if (gnssStart == 1)
|
||||
disp(' ');
|
||||
%start things rolling...
|
||||
postProcessing
|
||||
end
|
||||
|
||||
125
GNSS_SDR_IQ/initSettings.m
Normal file
125
GNSS_SDR_IQ/initSettings.m
Normal file
|
|
@ -0,0 +1,125 @@
|
|||
function settings = initSettings()
|
||||
%Functions initializes and saves settings. Settings can be edited inside of
|
||||
%the function, updated from the command line or updated using a dedicated
|
||||
%GUI - "setSettings".
|
||||
%
|
||||
%All settings are described inside function code.
|
||||
%
|
||||
%settings = initSettings()
|
||||
%
|
||||
% Inputs: none
|
||||
%
|
||||
% Outputs:
|
||||
% settings - Receiver settings (a structure).
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: initSettings.m,v 1.9.2.32 2007/01/29 10:22:23 dpl Exp $
|
||||
|
||||
%% Processing settings ====================================================
|
||||
% Number of milliseconds to be processed used 36000 + any transients (see
|
||||
% below - in Nav parameters) to ensure nav subframes are provided
|
||||
settings.msToProcess =50000; %[ms]
|
||||
|
||||
% Number of channels to be used for signal processing
|
||||
settings.numberOfChannels = 6;
|
||||
|
||||
% Move the starting point of processing. Can be used to start the signal
|
||||
% processing at any point in the data record (e.g. for long records). fseek
|
||||
% function is used to move the file read point, therefore advance is byte
|
||||
% based only.
|
||||
settings.skipNumberOfBytes = 0;
|
||||
|
||||
%% Raw signal file name and other parameter ===============================
|
||||
% This is a "default" name of the data file (signal record) to be used in
|
||||
% the post-processing mode
|
||||
settings.fileName = ...
|
||||
'E:\data\data_ant_1.bin';
|
||||
% 'D:\Study\SDR\GPS_SDR\akos\GNSS_signal_records\GPS_and_GIOVE_A-NN-fs16_3676-if4_1304.bin';
|
||||
|
||||
% '..\GNSS_signal_records\GPSdata-DiscreteComponents-fs38_192-if9_55.
|
||||
% bin';
|
||||
% Data type used to store one sample
|
||||
settings.dataType = 'short';
|
||||
settings.dataTypeSize = 2;
|
||||
|
||||
% Intermediate, sampling and code frequencies
|
||||
settings.IF = ...
|
||||
2e6;
|
||||
%4.1304e6;%9.548e6; %[Hz]
|
||||
settings.samplingFreq = ...
|
||||
5e6;%5.71385e6;%16.3676e6;
|
||||
%16.3676e6;%38.192e6; %[Hz]
|
||||
settings.codeFreqBasis = 1.023e6; %[Hz]
|
||||
|
||||
% Define number of chips in a code period
|
||||
settings.codeLength = 1023;
|
||||
|
||||
%% Acquisition settings ===================================================
|
||||
% Skips acquisition in the script postProcessing.m if set to 1
|
||||
settings.skipAcquisition = 1000;
|
||||
% List of satellites to look for. Some satellites can be excluded to speed
|
||||
% up acquisition
|
||||
settings.acqSatelliteList = [1:32]; %[PRN numbers]
|
||||
% Band around IF to search for satellite signal. Depends on max Doppler
|
||||
settings.acqSearchBand = 14; %[kHz]
|
||||
% Threshold for the signal presence decision rule
|
||||
settings.acqThreshold = 2.0;
|
||||
|
||||
%% Tracking loops settings ================================================
|
||||
% Code tracking loop parameters
|
||||
settings.dllDampingRatio = 0.7;
|
||||
settings.dllNoiseBandwidth = 2; %[Hz]
|
||||
settings.dllCorrelatorSpacing = 0.5; %[chips]
|
||||
|
||||
% Carrier tracking loop parameters
|
||||
settings.pllDampingRatio = 0.7;
|
||||
settings.pllNoiseBandwidth = 25; %[Hz]
|
||||
|
||||
%% Navigation solution settings ===========================================
|
||||
|
||||
% Period for calculating pseudoranges and position
|
||||
settings.navSolPeriod = 500; %[ms]
|
||||
|
||||
% Elevation mask to exclude signals from satellites at low elevation
|
||||
settings.elevationMask = 0; %[degrees 0 - 90]
|
||||
% Enable/dissable use of tropospheric correction
|
||||
settings.useTropCorr = 1; % 0 - Off
|
||||
% 1 - On
|
||||
|
||||
% True position of the antenna in UTM system (if known). Otherwise enter
|
||||
% all NaN's and mean position will be used as a reference .
|
||||
settings.truePosition.E = nan;
|
||||
settings.truePosition.N = nan;
|
||||
settings.truePosition.U = nan;
|
||||
|
||||
%% Plot settings ==========================================================
|
||||
% Enable/disable plotting of the tracking results for each channel
|
||||
settings.plotTracking = 1; % 0 - Off
|
||||
% 1 - On
|
||||
|
||||
%% Constants ==============================================================
|
||||
|
||||
settings.c = 299792458; % The speed of light, [m/s]
|
||||
settings.startOffset = 68.802; %[ms] Initial sign. travel time
|
||||
110
GNSS_SDR_IQ/initSettings_IQ.m
Normal file
110
GNSS_SDR_IQ/initSettings_IQ.m
Normal file
|
|
@ -0,0 +1,110 @@
|
|||
function settings = initSettings_IQ()
|
||||
%Functions initializes and saves settings. Settings can be edited inside of
|
||||
%the function, updated from the command line or updated using a dedicated
|
||||
%GUI - "setSettings".
|
||||
%
|
||||
%All settings are described inside function code.r
|
||||
%
|
||||
%settings = initSettings()
|
||||
%
|
||||
% Inputs: none
|
||||
%
|
||||
% Outputs:
|
||||
% settings - Receiver settings (a structure).
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
%% Optional Parameters
|
||||
% Number of milliseconds to be processed used 36000 + any transients (see
|
||||
% below - in Nav parameters) to ensure nav subframes are provided
|
||||
settings.msToProcess = 5*1e3; %[ms]
|
||||
% Move the starting point of processing.
|
||||
settings.skipNumberOfBytes = 0*2.046e9; %0*2.046e6; %0*2.046e6;%1.5*4.092e6*2; % settings.samplingFreq;%13169313;%settings.samplingFreq/5*4;%+16e3*50;%16e3*100.;
|
||||
% The notch bandwidth of filter
|
||||
settings.Brej = 5e3;
|
||||
settings.fileName = 'D:\Long\NAVIS\Data\2023-12-20.bin';
|
||||
%settings.fileName = 'E:\TEXBAT\cleanDynamic_spoofing.bin';
|
||||
%settings.fileName ='K:\DATA\Projects\SDR\gnss-sdr-sim\vs-gps-sdr-sim\vs-gps-sdr-sim\x64\Debug\gpssim.bin';'D:\test_4093.bin';'D:\RTL2832U_Data\test_1.bin';'D:\test.bin';['C:\rtldata\test_0.bin'];%['C:\Users\thuan\Downloads\sdrsharp-x86\SDRSharp_20151223_155844Z_1575420000Hz_IQ.wav'];%
|
||||
% settings.fileName = ['D:\IF_DATA\RTL2832\140320_1243_1.dat'];
|
||||
settings.relativeFreq = 0;
|
||||
%% Independent parameters
|
||||
% Number of channels to be used for signal processing
|
||||
settings.numberOfChannels = 5;
|
||||
% Intermediate, sampling and code frequencies
|
||||
settings.IF = 0e3; %[Hz] tần số trung gian
|
||||
settings.samplingFreq = 2e6; %2.5e7; %2e6; 2.6e6; 8184000; [Hz] tần số lấy mẫu
|
||||
settings.codeFreqBasis = 1.023e6; %[Hz] tần số mã
|
||||
% Define number of chips in a code period
|
||||
settings.codeLength = 1023; % số lượng chip trong 1 chu kỳ mã
|
||||
settings.samplesPDI = settings.samplingFreq*10e-3;
|
||||
% Number of samples per spreading code
|
||||
settings.samplesPerCode = round(settings.samplingFreq / ...
|
||||
(settings.codeFreqBasis / settings.codeLength));
|
||||
settings.dataType = 'int16';
|
||||
if strcmp(settings.dataType,'int8')
|
||||
settings.dataTypeSize = 1;
|
||||
else
|
||||
settings.dataTypeSize = 2;
|
||||
end;
|
||||
%% Acquisition settings ===================================================
|
||||
% Skips acquisition in the script postProcessing.m if set to 1
|
||||
settings.skipAcquisition = 2e6;
|
||||
% List of satellites to look for. Some satellites can be excluded to speed
|
||||
% up acquisition
|
||||
settings.acqSatelliteList = 1:32; %[PRN numbers]
|
||||
% Band around IF to search for satellite signal. Depends on max Doppler
|
||||
settings.acqSearchBand = 10; %[kHz]
|
||||
% Threshold for the signal presence decision rule
|
||||
settings.acqThreshold = 2.4;
|
||||
|
||||
%% Tracking loops settings ================================================
|
||||
% Code tracking loop parameters
|
||||
settings.dllDampingRatio = 0.7;
|
||||
settings.dllNoiseBandwidth = 2; %[Hz] 2
|
||||
settings.dllCorrelatorSpacing = 0.5; %[chips]
|
||||
% Carrier tracking loop parameters
|
||||
settings.pllDampingRatio = 0.7;
|
||||
settings.pllNoiseBandwidth = 25; %[Hz] 25
|
||||
|
||||
%% Navigation solution settings ===========================================
|
||||
% Period for calculating pseudoranges and position
|
||||
settings.navSolPeriod = 100; %[ms]
|
||||
% Elevation mask to exclude signals from satellites at low elevation
|
||||
settings.elevationMask = 10; %[degrees 0 - 90]
|
||||
% Enable/disable use of tropospheric correction
|
||||
settings.useTropCorr = 1; % 0 - Off
|
||||
% 1 - On
|
||||
% True position of the antenna in UTM system (if known). Otherwise enter
|
||||
% all NaN's and mean position will be used as a reference .
|
||||
settings.truePosition.E = nan;
|
||||
settings.truePosition.N = nan;
|
||||
settings.truePosition.U = nan;
|
||||
|
||||
%% Plot settings ==========================================================
|
||||
% Enable/disable plotting of the tracking results for each channel
|
||||
settings.plotTracking = 1; % 0 - Off
|
||||
% 1 - On
|
||||
settings.plotAcquisition = 1;
|
||||
|
||||
%% Constants ==============================================================
|
||||
settings.c = 299792458; % The speed of light, [m/s]
|
||||
settings.startOffset = 68.802; %[ms] Initial sign. travel time
|
||||
140
GNSS_SDR_IQ/leastSquarePos_Snapshot.asv
Normal file
140
GNSS_SDR_IQ/leastSquarePos_Snapshot.asv
Normal file
|
|
@ -0,0 +1,140 @@
|
|||
function [pos, el, az, dop] = leastSquarePos_Snapshot(satpos, obs_fract1ms,obs_1ms,Doppler,satClkCorr, settings)
|
||||
%Function calculates the Least Square Solution.
|
||||
%
|
||||
%[pos, el, az, dop] = leastSquarePos(satpos, obs, settings);
|
||||
%
|
||||
% Inputs:
|
||||
% satpos - Satellites positions (in ECEF system: [X; Y; Z;] -
|
||||
% one column per satellite)
|
||||
% obs - Observations - the pseudorange measurements to each
|
||||
% satellite:
|
||||
% (e.g. [20000000 21000000 .... .... .... .... ....])
|
||||
% settings - receiver settings
|
||||
%
|
||||
% Outputs:
|
||||
% pos - receiver position and receiver clock error
|
||||
% (in ECEF system: [X, Y, Z, dt])
|
||||
% el - Satellites elevation angles (degrees)
|
||||
% az - Satellites azimuth angles (degrees)
|
||||
% dop - Dilutions Of Precision ([GDOP PDOP HDOP VDOP TDOP])
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%--------------------------------------------------------------------------
|
||||
%Based on Kai Borre
|
||||
%Copyright (c) by Kai Borre
|
||||
%Updated by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: leastSquarePos.m,v 1.1.2.12 2006/08/22 13:45:59 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
%=== Initialization =======================================================
|
||||
%% THUAN
|
||||
obs=obs_fract1ms;%+obs_1ms*(settings.c*0.001) + satClkCorr * settings.c;
|
||||
[tmp idx_ref]=min(obs_1ms);
|
||||
obs_ref1ms=68;
|
||||
%%
|
||||
nmbOfIterations = 7;
|
||||
|
||||
dtr = pi/180;
|
||||
pos = zeros(5, 1);
|
||||
% pos(1)=-1.626058869465007e+006;
|
||||
% pos(2)=5.730480840292945e+006;
|
||||
% pos(3)=2.272159906059972e+006;
|
||||
pos(1)= -1541.802e3;
|
||||
pos(2)= 5754.083e3;
|
||||
pos(3)= 2271.395e3;
|
||||
[pos(1) pos(2) pos(3)]=llh2xyz(21,105,0);
|
||||
|
||||
|
||||
X = satpos;
|
||||
nmbOfSatellites = size(satpos, 2);
|
||||
|
||||
A = zeros(nmbOfSatellites, 5);
|
||||
omc = zeros(nmbOfSatellites, 1);
|
||||
az = zeros(1, nmbOfSatellites);
|
||||
el = az;
|
||||
|
||||
%=== Iteratively find receiver position ===================================
|
||||
for iter = 1:nmbOfIterations
|
||||
for i=1:nmbOfSatellites
|
||||
rr(i) = sqrt((X(1, i) - pos(1))^2 + (X(2, i) - pos(2))^2 + ...
|
||||
(X(3, i) - pos(3))^2);
|
||||
end;
|
||||
N_1ms=round((rr-rr(idx_ref)+(obs_fract1ms(idx_ref)-obs_fract1ms)+satClkCorr-satClkCorr(idx_ref))/(settings.c*0.001)+obs_ref1ms);
|
||||
obs=obs_fract1ms+N_1ms*(settings.c*0.001) + satClkCorr * settings.c;
|
||||
yy=obs-rr;
|
||||
yy(yy>149000)=yy(yy>149000)-settings.c*0.001;
|
||||
yy(yy<-149000)=yy(yy<-149000)+settings.c*0.001;
|
||||
for i = 1:nmbOfSatellites
|
||||
if iter == 1
|
||||
%--- Initialize variables at the first iteration --------------
|
||||
Rot_X = X(:, i);
|
||||
trop = 2;
|
||||
else
|
||||
%--- Update equations -----------------------------------------
|
||||
rho2 = (X(1, i) - pos(1))^2 + (X(2, i) - pos(2))^2 + ...
|
||||
(X(3, i) - pos(3))^2;
|
||||
traveltime = sqrt(rho2) / settings.c ;
|
||||
|
||||
%--- Correct satellite position (do to earth rotation) --------
|
||||
Rot_X = e_r_corr(traveltime, X(:, i));
|
||||
|
||||
%--- Find the elevation angel of the satellite ----------------
|
||||
[az(i), el(i), dist] = topocent(pos(1:3, :), Rot_X - pos(1:3, :));
|
||||
|
||||
if (settings.useTropCorr == 1)
|
||||
%--- Calculate tropospheric correction --------------------
|
||||
trop = tropo(sin(el(i) * dtr), ...
|
||||
0.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
|
||||
else
|
||||
% Do not calculate or apply the tropospheric corrections
|
||||
trop = 0;
|
||||
end
|
||||
end % if iter == 1 ... ... else
|
||||
|
||||
%% THUAN
|
||||
|
||||
%%
|
||||
%--- Apply the corrections ----------------------------------------
|
||||
|
||||
omc(i) = (obs(i) - norm(Rot_X - pos(1:3), 'fro') - pos(4) - trop);
|
||||
|
||||
%--- Construct the A matrix ---------------------------------------
|
||||
A(i, :) = [ (-(Rot_X(1) - pos(1))) / obs(i) ...
|
||||
(-(Rot_X(2) - pos(2))) / obs(i) ...
|
||||
(-(Rot_X(3) - pos(3))) / obs(i) ...
|
||||
1 Doppler(i)*0.001*settings.c/(1.57542e9) ];
|
||||
end % for i = 1:nmbOfSatellites
|
||||
|
||||
% These lines allow the code to exit gracefully in case of any errors
|
||||
if rank(A) ~= 5
|
||||
pos = zeros(1, 4);
|
||||
return
|
||||
end
|
||||
|
||||
%--- Find position update ---------------------------------------------
|
||||
x = A \ omc;
|
||||
|
||||
%--- Apply position update --------------------------------------------
|
||||
pos = pos + x;
|
||||
|
||||
end % for iter = 1:nmbOfIterations
|
||||
|
||||
pos = pos';
|
||||
|
||||
%=== Calculate Dilution Of Precision ======================================
|
||||
if nargout == 4
|
||||
%--- Initialize output ------------------------------------------------
|
||||
dop = zeros(1, 5);
|
||||
|
||||
%--- Calculate DOP ----------------------------------------------------
|
||||
Q = inv(A'*A);
|
||||
|
||||
dop(1) = sqrt(trace(Q)); % GDOP
|
||||
dop(2) = sqrt(Q(1,1) + Q(2,2) + Q(3,3)); % PDOP
|
||||
dop(3) = sqrt(Q(1,1) + Q(2,2)); % HDOP
|
||||
dop(4) = sqrt(Q(3,3)); % VDOP
|
||||
dop(5) = sqrt(Q(4,4)); % TDOP
|
||||
end
|
||||
145
GNSS_SDR_IQ/leastSquarePos_Snapshot.m
Normal file
145
GNSS_SDR_IQ/leastSquarePos_Snapshot.m
Normal file
|
|
@ -0,0 +1,145 @@
|
|||
function [pos, el, az, dop] = leastSquarePos_Snapshot(satpos, obs_fract1ms,obs_1ms,Doppler,satClkCorr, settings)
|
||||
%Function calculates the Least Square Solution.
|
||||
%
|
||||
%[pos, el, az, dop] = leastSquarePos(satpos, obs, settings);
|
||||
%
|
||||
% Inputs:
|
||||
% satpos - Satellites positions (in ECEF system: [X; Y; Z;] -
|
||||
% one column per satellite)
|
||||
% obs - Observations - the pseudorange measurements to each
|
||||
% satellite:
|
||||
% (e.g. [20000000 21000000 .... .... .... .... ....])
|
||||
% settings - receiver settings
|
||||
%
|
||||
% Outputs:
|
||||
% pos - receiver position and receiver clock error
|
||||
% (in ECEF system: [X, Y, Z, dt])
|
||||
% el - Satellites elevation angles (degrees)
|
||||
% az - Satellites azimuth angles (degrees)
|
||||
% dop - Dilutions Of Precision ([GDOP PDOP HDOP VDOP TDOP])
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%--------------------------------------------------------------------------
|
||||
%Based on Kai Borre
|
||||
%Copyright (c) by Kai Borre
|
||||
%Updated by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: leastSquarePos.m,v 1.1.2.12 2006/08/22 13:45:59 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
%=== Initialization =======================================================
|
||||
%% THUAN
|
||||
obs=obs_fract1ms;%+obs_1ms*(settings.c*0.001) + satClkCorr * settings.c;
|
||||
[tmp idx_ref]=min(obs_1ms);
|
||||
obs_ref1ms=68;
|
||||
%%
|
||||
nmbOfIterations = 7;
|
||||
|
||||
dtr = pi/180;
|
||||
pos = zeros(5, 1);
|
||||
% pos(1)=-1.626058869465007e+006;
|
||||
% pos(2)=5.730480840292945e+006;
|
||||
% pos(3)=2.272159906059972e+006;
|
||||
[pos(1) pos(2) pos(3)]=llh2xyz(21,105,0);
|
||||
|
||||
|
||||
X = satpos;
|
||||
nmbOfSatellites = size(satpos, 2);
|
||||
|
||||
A = zeros(nmbOfSatellites, 5);
|
||||
omc = zeros(nmbOfSatellites, 1);
|
||||
az = zeros(1, nmbOfSatellites);
|
||||
el = az;
|
||||
|
||||
%=== Iteratively find receiver position ===================================
|
||||
for iter = 1:nmbOfIterations
|
||||
for i=1:nmbOfSatellites
|
||||
rr(i) = sqrt((X(1, i) - pos(1))^2 + (X(2, i) - pos(2))^2 + ...
|
||||
(X(3, i) - pos(3))^2);
|
||||
end;
|
||||
N_1ms=round((rr-rr(idx_ref)+(obs_fract1ms(idx_ref)-obs_fract1ms)+satClkCorr-satClkCorr(idx_ref))/(settings.c*0.001)+obs_ref1ms);
|
||||
obs=obs_fract1ms+N_1ms*(settings.c*0.001) + satClkCorr * settings.c;
|
||||
yy=obs-rr;
|
||||
%[tmp idx_ref]=min(yy);
|
||||
yyy=yy-yy(idx_ref);
|
||||
for i=1:nmbOfSatellites
|
||||
if(yyy(i)>149000)
|
||||
obs(i)=obs(i)-settings.c*0.001;
|
||||
end;
|
||||
if(yyy(i)<-149000)
|
||||
obs(i)=obs(i)+settings.c*0.001;
|
||||
end;
|
||||
end;
|
||||
for i = 1:nmbOfSatellites
|
||||
if iter == 1
|
||||
%--- Initialize variables at the first iteration --------------
|
||||
Rot_X = X(:, i);
|
||||
trop = 2;
|
||||
else
|
||||
%--- Update equations -----------------------------------------
|
||||
rho2 = (X(1, i) - pos(1))^2 + (X(2, i) - pos(2))^2 + ...
|
||||
(X(3, i) - pos(3))^2;
|
||||
traveltime = sqrt(rho2) / settings.c ;
|
||||
|
||||
%--- Correct satellite position (do to earth rotation) --------
|
||||
Rot_X = e_r_corr(traveltime, X(:, i));
|
||||
|
||||
%--- Find the elevation angel of the satellite ----------------
|
||||
[az(i), el(i), dist] = topocent(pos(1:3, :), Rot_X - pos(1:3, :));
|
||||
|
||||
if (settings.useTropCorr == 1)
|
||||
%--- Calculate tropospheric correction --------------------
|
||||
trop = tropo(sin(el(i) * dtr), ...
|
||||
0.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
|
||||
else
|
||||
% Do not calculate or apply the tropospheric corrections
|
||||
trop = 0;
|
||||
end
|
||||
end % if iter == 1 ... ... else
|
||||
|
||||
%% THUAN
|
||||
|
||||
%%
|
||||
%--- Apply the corrections ----------------------------------------
|
||||
|
||||
omc(i) = (obs(i) - norm(Rot_X - pos(1:3), 'fro') - pos(4) - trop);
|
||||
|
||||
%--- Construct the A matrix ---------------------------------------
|
||||
A(i, :) = [ (-(Rot_X(1) - pos(1))) / obs(i) ...
|
||||
(-(Rot_X(2) - pos(2))) / obs(i) ...
|
||||
(-(Rot_X(3) - pos(3))) / obs(i) ...
|
||||
1 Doppler(i)*settings.c/(1.57542e9) ];
|
||||
end % for i = 1:nmbOfSatellites
|
||||
|
||||
% These lines allow the code to exit gracefully in case of any errors
|
||||
if rank(A) ~= 5
|
||||
pos = zeros(1, 4);
|
||||
return
|
||||
end
|
||||
|
||||
%--- Find position update ---------------------------------------------
|
||||
x = A \ omc;
|
||||
|
||||
%--- Apply position update --------------------------------------------
|
||||
pos = pos + x;
|
||||
|
||||
end % for iter = 1:nmbOfIterations
|
||||
|
||||
pos = pos';
|
||||
|
||||
%=== Calculate Dilution Of Precision ======================================
|
||||
if nargout == 4
|
||||
%--- Initialize output ------------------------------------------------
|
||||
dop = zeros(1, 5);
|
||||
|
||||
%--- Calculate DOP ----------------------------------------------------
|
||||
Q = inv(A'*A);
|
||||
|
||||
dop(1) = sqrt(trace(Q)); % GDOP
|
||||
dop(2) = sqrt(Q(1,1) + Q(2,2) + Q(3,3)); % PDOP
|
||||
dop(3) = sqrt(Q(1,1) + Q(2,2)); % HDOP
|
||||
dop(4) = sqrt(Q(3,3)); % VDOP
|
||||
dop(5) = sqrt(Q(4,4)); % TDOP
|
||||
end
|
||||
147
GNSS_SDR_IQ/leastSquarePos_Snapshot_0.m
Normal file
147
GNSS_SDR_IQ/leastSquarePos_Snapshot_0.m
Normal file
|
|
@ -0,0 +1,147 @@
|
|||
function [pos, el, az, dop] = leastSquarePos_Snapshot(satpos, obs_fract1ms,obs_1ms,Doppler,satClkCorr, settings)
|
||||
%Function calculates the Least Square Solution.
|
||||
%
|
||||
%[pos, el, az, dop] = leastSquarePos(satpos, obs, settings);
|
||||
%
|
||||
% Inputs:
|
||||
% satpos - Satellites positions (in ECEF system: [X; Y; Z;] -
|
||||
% one column per satellite)
|
||||
% obs - Observations - the pseudorange measurements to each
|
||||
% satellite:
|
||||
% (e.g. [20000000 21000000 .... .... .... .... ....])
|
||||
% settings - receiver settings
|
||||
%
|
||||
% Outputs:
|
||||
% pos - receiver position and receiver clock error
|
||||
% (in ECEF system: [X, Y, Z, dt])
|
||||
% el - Satellites elevation angles (degrees)
|
||||
% az - Satellites azimuth angles (degrees)
|
||||
% dop - Dilutions Of Precision ([GDOP PDOP HDOP VDOP TDOP])
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%--------------------------------------------------------------------------
|
||||
%Based on Kai Borre
|
||||
%Copyright (c) by Kai Borre
|
||||
%Updated by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||
%
|
||||
% CVS record:
|
||||
% $Id: leastSquarePos.m,v 1.1.2.12 2006/08/22 13:45:59 dpl Exp $
|
||||
%==========================================================================
|
||||
|
||||
%=== Initialization =======================================================
|
||||
%% THUAN
|
||||
obs=obs_fract1ms;%+obs_1ms*(settings.c*0.001) + satClkCorr * settings.c;
|
||||
[tmp idx_ref]=min(obs_1ms);
|
||||
obs_ref1ms=68;
|
||||
%%
|
||||
nmbOfIterations = 7;
|
||||
|
||||
dtr = pi/180;
|
||||
pos = zeros(4, 1);
|
||||
% pos(1)=-1.626058869465007e+006;
|
||||
% pos(2)=5.730480840292945e+006;
|
||||
% pos(3)=2.272159906059972e+006;
|
||||
pos(1)= -1541.802e3;
|
||||
pos(2)= 5754.083e3;
|
||||
pos(3)= 2271.395e3;
|
||||
[pos(1) pos(2) pos(3)]=llh2xyz(21,105,0);
|
||||
|
||||
|
||||
X = satpos;
|
||||
nmbOfSatellites = size(satpos, 2);
|
||||
|
||||
A = zeros(nmbOfSatellites, 4);
|
||||
omc = zeros(nmbOfSatellites, 1);
|
||||
az = zeros(1, nmbOfSatellites);
|
||||
el = az;
|
||||
|
||||
%=== Iteratively find receiver position ===================================
|
||||
for iter = 1:nmbOfIterations
|
||||
for i=1:nmbOfSatellites
|
||||
rr(i) = sqrt((X(1, i) - pos(1))^2 + (X(2, i) - pos(2))^2 + ...
|
||||
(X(3, i) - pos(3))^2);
|
||||
end;
|
||||
N_1ms=round((rr-rr(idx_ref)+(obs_fract1ms(idx_ref)-obs_fract1ms)+satClkCorr-satClkCorr(idx_ref))/(settings.c*0.001)+obs_ref1ms);
|
||||
obs=obs_fract1ms+N_1ms*(settings.c*0.001) + satClkCorr * settings.c;
|
||||
yy=obs-rr;
|
||||
yyy=yy-yy(idx_ref);
|
||||
for i=1:nmbOfSatellites
|
||||
if(yyy(i)>149000)
|
||||
obs(i)=obs(i)-settings.c*0.001;
|
||||
end;
|
||||
if(yyy(i)<-149000)
|
||||
obs(i)=obs(i)+settings.c*0.001;
|
||||
end;
|
||||
end;
|
||||
for i = 1:nmbOfSatellites
|
||||
if iter == 1
|
||||
%--- Initialize variables at the first iteration --------------
|
||||
Rot_X = X(:, i);
|
||||
trop = 2;
|
||||
else
|
||||
%--- Update equations -----------------------------------------
|
||||
rho2 = (X(1, i) - pos(1))^2 + (X(2, i) - pos(2))^2 + ...
|
||||
(X(3, i) - pos(3))^2;
|
||||
traveltime = sqrt(rho2) / settings.c ;
|
||||
|
||||
%--- Correct satellite position (do to earth rotation) --------
|
||||
Rot_X = e_r_corr(traveltime, X(:, i));
|
||||
|
||||
%--- Find the elevation angel of the satellite ----------------
|
||||
[az(i), el(i), dist] = topocent(pos(1:3, :), Rot_X - pos(1:3, :));
|
||||
|
||||
if (settings.useTropCorr == 1)
|
||||
%--- Calculate tropospheric correction --------------------
|
||||
trop = tropo(sin(el(i) * dtr), ...
|
||||
0.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
|
||||
else
|
||||
% Do not calculate or apply the tropospheric corrections
|
||||
trop = 0;
|
||||
end
|
||||
end % if iter == 1 ... ... else
|
||||
|
||||
%% THUAN
|
||||
|
||||
%%
|
||||
%--- Apply the corrections ----------------------------------------
|
||||
|
||||
omc(i) = (obs(i) - norm(Rot_X - pos(1:3), 'fro') - pos(4) - trop);
|
||||
|
||||
%--- Construct the A matrix ---------------------------------------
|
||||
A(i, :) = [ (-(Rot_X(1) - pos(1))) / obs(i) ...
|
||||
(-(Rot_X(2) - pos(2))) / obs(i) ...
|
||||
(-(Rot_X(3) - pos(3))) / obs(i) ...
|
||||
1 ];
|
||||
end % for i = 1:nmbOfSatellites
|
||||
|
||||
% These lines allow the code to exit gracefully in case of any errors
|
||||
if rank(A) ~= 4
|
||||
pos = zeros(1, 4);
|
||||
return
|
||||
end
|
||||
|
||||
%--- Find position update ---------------------------------------------
|
||||
x = A \ omc;
|
||||
|
||||
%--- Apply position update --------------------------------------------
|
||||
pos = pos + x;
|
||||
|
||||
end % for iter = 1:nmbOfIterations
|
||||
|
||||
pos = pos';
|
||||
|
||||
%=== Calculate Dilution Of Precision ======================================
|
||||
if nargout == 4
|
||||
%--- Initialize output ------------------------------------------------
|
||||
dop = zeros(1, 5);
|
||||
|
||||
%--- Calculate DOP ----------------------------------------------------
|
||||
Q = inv(A'*A);
|
||||
|
||||
dop(1) = sqrt(trace(Q)); % GDOP
|
||||
dop(2) = sqrt(Q(1,1) + Q(2,2) + Q(3,3)); % PDOP
|
||||
dop(3) = sqrt(Q(1,1) + Q(2,2)); % HDOP
|
||||
dop(4) = sqrt(Q(3,3)); % VDOP
|
||||
dop(5) = sqrt(Q(4,4)); % TDOP
|
||||
end
|
||||
340
GNSS_SDR_IQ/license.txt
Normal file
340
GNSS_SDR_IQ/license.txt
Normal file
|
|
@ -0,0 +1,340 @@
|
|||
GNU GENERAL PUBLIC LICENSE
|
||||
Version 2, June 1991
|
||||
|
||||
Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
|
||||
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
Preamble
|
||||
|
||||
The licenses for most software are designed to take away your
|
||||
freedom to share and change it. By contrast, the GNU General Public
|
||||
License is intended to guarantee your freedom to share and change free
|
||||
software--to make sure the software is free for all its users. This
|
||||
General Public License applies to most of the Free Software
|
||||
Foundation's software and to any other program whose authors commit to
|
||||
using it. (Some other Free Software Foundation software is covered by
|
||||
the GNU Lesser General Public License instead.) You can apply it to
|
||||
your programs, too.
|
||||
|
||||
When we speak of free software, we are referring to freedom, not
|
||||
price. Our General Public Licenses are designed to make sure that you
|
||||
have the freedom to distribute copies of free software (and charge for
|
||||
this service if you wish), that you receive source code or can get it
|
||||
if you want it, that you can change the software or use pieces of it
|
||||
in new free programs; and that you know you can do these things.
|
||||
|
||||
To protect your rights, we need to make restrictions that forbid
|
||||
anyone to deny you these rights or to ask you to surrender the rights.
|
||||
These restrictions translate to certain responsibilities for you if you
|
||||
distribute copies of the software, or if you modify it.
|
||||
|
||||
For example, if you distribute copies of such a program, whether
|
||||
gratis or for a fee, you must give the recipients all the rights that
|
||||
you have. You must make sure that they, too, receive or can get the
|
||||
source code. And you must show them these terms so they know their
|
||||
rights.
|
||||
|
||||
We protect your rights with two steps: (1) copyright the software, and
|
||||
(2) offer you this license which gives you legal permission to copy,
|
||||
distribute and/or modify the software.
|
||||
|
||||
Also, for each author's protection and ours, we want to make certain
|
||||
that everyone understands that there is no warranty for this free
|
||||
software. If the software is modified by someone else and passed on, we
|
||||
want its recipients to know that what they have is not the original, so
|
||||
that any problems introduced by others will not reflect on the original
|
||||
authors' reputations.
|
||||
|
||||
Finally, any free program is threatened constantly by software
|
||||
patents. We wish to avoid the danger that redistributors of a free
|
||||
program will individually obtain patent licenses, in effect making the
|
||||
program proprietary. To prevent this, we have made it clear that any
|
||||
patent must be licensed for everyone's free use or not licensed at all.
|
||||
|
||||
The precise terms and conditions for copying, distribution and
|
||||
modification follow.
|
||||
|
||||
GNU GENERAL PUBLIC LICENSE
|
||||
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||
|
||||
0. This License applies to any program or other work which contains
|
||||
a notice placed by the copyright holder saying it may be distributed
|
||||
under the terms of this General Public License. The "Program", below,
|
||||
refers to any such program or work, and a "work based on the Program"
|
||||
means either the Program or any derivative work under copyright law:
|
||||
that is to say, a work containing the Program or a portion of it,
|
||||
either verbatim or with modifications and/or translated into another
|
||||
language. (Hereinafter, translation is included without limitation in
|
||||
the term "modification".) Each licensee is addressed as "you".
|
||||
|
||||
Activities other than copying, distribution and modification are not
|
||||
covered by this License; they are outside its scope. The act of
|
||||
running the Program is not restricted, and the output from the Program
|
||||
is covered only if its contents constitute a work based on the
|
||||
Program (independent of having been made by running the Program).
|
||||
Whether that is true depends on what the Program does.
|
||||
|
||||
1. You may copy and distribute verbatim copies of the Program's
|
||||
source code as you receive it, in any medium, provided that you
|
||||
conspicuously and appropriately publish on each copy an appropriate
|
||||
copyright notice and disclaimer of warranty; keep intact all the
|
||||
notices that refer to this License and to the absence of any warranty;
|
||||
and give any other recipients of the Program a copy of this License
|
||||
along with the Program.
|
||||
|
||||
You may charge a fee for the physical act of transferring a copy, and
|
||||
you may at your option offer warranty protection in exchange for a fee.
|
||||
|
||||
2. You may modify your copy or copies of the Program or any portion
|
||||
of it, thus forming a work based on the Program, and copy and
|
||||
distribute such modifications or work under the terms of Section 1
|
||||
above, provided that you also meet all of these conditions:
|
||||
|
||||
a) You must cause the modified files to carry prominent notices
|
||||
stating that you changed the files and the date of any change.
|
||||
|
||||
b) You must cause any work that you distribute or publish, that in
|
||||
whole or in part contains or is derived from the Program or any
|
||||
part thereof, to be licensed as a whole at no charge to all third
|
||||
parties under the terms of this License.
|
||||
|
||||
c) If the modified program normally reads commands interactively
|
||||
when run, you must cause it, when started running for such
|
||||
interactive use in the most ordinary way, to print or display an
|
||||
announcement including an appropriate copyright notice and a
|
||||
notice that there is no warranty (or else, saying that you provide
|
||||
a warranty) and that users may redistribute the program under
|
||||
these conditions, and telling the user how to view a copy of this
|
||||
License. (Exception: if the Program itself is interactive but
|
||||
does not normally print such an announcement, your work based on
|
||||
the Program is not required to print an announcement.)
|
||||
|
||||
These requirements apply to the modified work as a whole. If
|
||||
identifiable sections of that work are not derived from the Program,
|
||||
and can be reasonably considered independent and separate works in
|
||||
themselves, then this License, and its terms, do not apply to those
|
||||
sections when you distribute them as separate works. But when you
|
||||
distribute the same sections as part of a whole which is a work based
|
||||
on the Program, the distribution of the whole must be on the terms of
|
||||
this License, whose permissions for other licensees extend to the
|
||||
entire whole, and thus to each and every part regardless of who wrote it.
|
||||
|
||||
Thus, it is not the intent of this section to claim rights or contest
|
||||
your rights to work written entirely by you; rather, the intent is to
|
||||
exercise the right to control the distribution of derivative or
|
||||
collective works based on the Program.
|
||||
|
||||
In addition, mere aggregation of another work not based on the Program
|
||||
with the Program (or with a work based on the Program) on a volume of
|
||||
a storage or distribution medium does not bring the other work under
|
||||
the scope of this License.
|
||||
|
||||
3. You may copy and distribute the Program (or a work based on it,
|
||||
under Section 2) in object code or executable form under the terms of
|
||||
Sections 1 and 2 above provided that you also do one of the following:
|
||||
|
||||
a) Accompany it with the complete corresponding machine-readable
|
||||
source code, which must be distributed under the terms of Sections
|
||||
1 and 2 above on a medium customarily used for software interchange; or,
|
||||
|
||||
b) Accompany it with a written offer, valid for at least three
|
||||
years, to give any third party, for a charge no more than your
|
||||
cost of physically performing source distribution, a complete
|
||||
machine-readable copy of the corresponding source code, to be
|
||||
distributed under the terms of Sections 1 and 2 above on a medium
|
||||
customarily used for software interchange; or,
|
||||
|
||||
c) Accompany it with the information you received as to the offer
|
||||
to distribute corresponding source code. (This alternative is
|
||||
allowed only for noncommercial distribution and only if you
|
||||
received the program in object code or executable form with such
|
||||
an offer, in accord with Subsection b above.)
|
||||
|
||||
The source code for a work means the preferred form of the work for
|
||||
making modifications to it. For an executable work, complete source
|
||||
code means all the source code for all modules it contains, plus any
|
||||
associated interface definition files, plus the scripts used to
|
||||
control compilation and installation of the executable. However, as a
|
||||
special exception, the source code distributed need not include
|
||||
anything that is normally distributed (in either source or binary
|
||||
form) with the major components (compiler, kernel, and so on) of the
|
||||
operating system on which the executable runs, unless that component
|
||||
itself accompanies the executable.
|
||||
|
||||
If distribution of executable or object code is made by offering
|
||||
access to copy from a designated place, then offering equivalent
|
||||
access to copy the source code from the same place counts as
|
||||
distribution of the source code, even though third parties are not
|
||||
compelled to copy the source along with the object code.
|
||||
|
||||
4. You may not copy, modify, sublicense, or distribute the Program
|
||||
except as expressly provided under this License. Any attempt
|
||||
otherwise to copy, modify, sublicense or distribute the Program is
|
||||
void, and will automatically terminate your rights under this License.
|
||||
However, parties who have received copies, or rights, from you under
|
||||
this License will not have their licenses terminated so long as such
|
||||
parties remain in full compliance.
|
||||
|
||||
5. You are not required to accept this License, since you have not
|
||||
signed it. However, nothing else grants you permission to modify or
|
||||
distribute the Program or its derivative works. These actions are
|
||||
prohibited by law if you do not accept this License. Therefore, by
|
||||
modifying or distributing the Program (or any work based on the
|
||||
Program), you indicate your acceptance of this License to do so, and
|
||||
all its terms and conditions for copying, distributing or modifying
|
||||
the Program or works based on it.
|
||||
|
||||
6. Each time you redistribute the Program (or any work based on the
|
||||
Program), the recipient automatically receives a license from the
|
||||
original licensor to copy, distribute or modify the Program subject to
|
||||
these terms and conditions. You may not impose any further
|
||||
restrictions on the recipients' exercise of the rights granted herein.
|
||||
You are not responsible for enforcing compliance by third parties to
|
||||
this License.
|
||||
|
||||
7. If, as a consequence of a court judgment or allegation of patent
|
||||
infringement or for any other reason (not limited to patent issues),
|
||||
conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot
|
||||
distribute so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you
|
||||
may not distribute the Program at all. For example, if a patent
|
||||
license would not permit royalty-free redistribution of the Program by
|
||||
all those who receive copies directly or indirectly through you, then
|
||||
the only way you could satisfy both it and this License would be to
|
||||
refrain entirely from distribution of the Program.
|
||||
|
||||
If any portion of this section is held invalid or unenforceable under
|
||||
any particular circumstance, the balance of the section is intended to
|
||||
apply and the section as a whole is intended to apply in other
|
||||
circumstances.
|
||||
|
||||
It is not the purpose of this section to induce you to infringe any
|
||||
patents or other property right claims or to contest validity of any
|
||||
such claims; this section has the sole purpose of protecting the
|
||||
integrity of the free software distribution system, which is
|
||||
implemented by public license practices. Many people have made
|
||||
generous contributions to the wide range of software distributed
|
||||
through that system in reliance on consistent application of that
|
||||
system; it is up to the author/donor to decide if he or she is willing
|
||||
to distribute software through any other system and a licensee cannot
|
||||
impose that choice.
|
||||
|
||||
This section is intended to make thoroughly clear what is believed to
|
||||
be a consequence of the rest of this License.
|
||||
|
||||
8. If the distribution and/or use of the Program is restricted in
|
||||
certain countries either by patents or by copyrighted interfaces, the
|
||||
original copyright holder who places the Program under this License
|
||||
may add an explicit geographical distribution limitation excluding
|
||||
those countries, so that distribution is permitted only in or among
|
||||
countries not thus excluded. In such case, this License incorporates
|
||||
the limitation as if written in the body of this License.
|
||||
|
||||
9. The Free Software Foundation may publish revised and/or new versions
|
||||
of the General Public License from time to time. Such new versions will
|
||||
be similar in spirit to the present version, but may differ in detail to
|
||||
address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the Program
|
||||
specifies a version number of this License which applies to it and "any
|
||||
later version", you have the option of following the terms and conditions
|
||||
either of that version or of any later version published by the Free
|
||||
Software Foundation. If the Program does not specify a version number of
|
||||
this License, you may choose any version ever published by the Free Software
|
||||
Foundation.
|
||||
|
||||
10. If you wish to incorporate parts of the Program into other free
|
||||
programs whose distribution conditions are different, write to the author
|
||||
to ask for permission. For software which is copyrighted by the Free
|
||||
Software Foundation, write to the Free Software Foundation; we sometimes
|
||||
make exceptions for this. Our decision will be guided by the two goals
|
||||
of preserving the free status of all derivatives of our free software and
|
||||
of promoting the sharing and reuse of software generally.
|
||||
|
||||
NO WARRANTY
|
||||
|
||||
11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
|
||||
FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
|
||||
OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
|
||||
PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
|
||||
OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
|
||||
TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
|
||||
PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
|
||||
REPAIR OR CORRECTION.
|
||||
|
||||
12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
|
||||
REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
|
||||
INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
|
||||
OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
|
||||
TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
|
||||
YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
|
||||
PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGES.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Programs
|
||||
|
||||
If you develop a new program, and you want it to be of the greatest
|
||||
possible use to the public, the best way to achieve this is to make it
|
||||
free software which everyone can redistribute and change under these terms.
|
||||
|
||||
To do so, attach the following notices to the program. It is safest
|
||||
to attach them to the start of each source file to most effectively
|
||||
convey the exclusion of warranty; and each file should have at least
|
||||
the "copyright" line and a pointer to where the full notice is found.
|
||||
|
||||
<one line to give the program's name and a brief idea of what it does.>
|
||||
Copyright (C) <year> <name of author>
|
||||
|
||||
This program 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 2 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
||||
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||
|
||||
Also add information on how to contact you by electronic and paper mail.
|
||||
|
||||
If the program is interactive, make it output a short notice like this
|
||||
when it starts in an interactive mode:
|
||||
|
||||
Gnomovision version 69, Copyright (C) year name of author
|
||||
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||
This is free software, and you are welcome to redistribute it
|
||||
under certain conditions; type `show c' for details.
|
||||
|
||||
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||
parts of the General Public License. Of course, the commands you use may
|
||||
be called something other than `show w' and `show c'; they could even be
|
||||
mouse-clicks or menu items--whatever suits your program.
|
||||
|
||||
You should also get your employer (if you work as a programmer) or your
|
||||
school, if any, to sign a "copyright disclaimer" for the program, if
|
||||
necessary. Here is a sample; alter the names:
|
||||
|
||||
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
|
||||
`Gnomovision' (which makes passes at compilers) written by James Hacker.
|
||||
|
||||
<signature of Ty Coon>, 1 April 1989
|
||||
Ty Coon, President of Vice
|
||||
|
||||
This General Public License does not permit incorporating your program into
|
||||
proprietary programs. If your program is a subroutine library, you may
|
||||
consider it more useful to permit linking proprietary applications with the
|
||||
library. If this is what you want to do, use the GNU Lesser General
|
||||
Public License instead of this License.
|
||||
|
||||
24
GNSS_SDR_IQ/llh2xyz.m
Normal file
24
GNSS_SDR_IQ/llh2xyz.m
Normal file
|
|
@ -0,0 +1,24 @@
|
|||
% llh2xyz.m
|
||||
%
|
||||
% DESCRIPTION:
|
||||
% Convert lat, long, height in WGS84 to ECEF X,Y,Z
|
||||
% lat and long given in decimal degrees.
|
||||
% altitude should be given in meters
|
||||
%
|
||||
% PFMS Project, 2009
|
||||
% Nicholas Rutherford
|
||||
|
||||
% NOTES:
|
||||
% None.
|
||||
|
||||
function [X,Y,Z] = llh2xyz(lat,long, h)
|
||||
lat = lat/180*pi; %converting to radians
|
||||
long = long/180*pi; %converting to radians
|
||||
a = 6378137.0; % earth semimajor axis in meters
|
||||
f = 1/298.257223563; % reciprocal flattening
|
||||
e2 = 2*f -f^2; % eccentricity squared
|
||||
|
||||
chi = sqrt(1-e2*(sin(lat)).^2);
|
||||
X = (a./chi +h).*cos(lat).*cos(long);
|
||||
Y = (a./chi +h).*cos(lat).*sin(long);
|
||||
Z = (a*(1-e2)./chi + h).*sin(lat);
|
||||
BIN
GNSS_SDR_IQ/matlab.mat
Normal file
BIN
GNSS_SDR_IQ/matlab.mat
Normal file
Binary file not shown.
60
GNSS_SDR_IQ/plotAcquisition.m
Normal file
60
GNSS_SDR_IQ/plotAcquisition.m
Normal file
|
|
@ -0,0 +1,60 @@
|
|||
function plotAcquisition(acqResults)
|
||||
%Functions plots bar plot of acquisition results (acquisition metrics). No
|
||||
%bars are shown for the satellites not included in the acquisition list (in
|
||||
%structure SETTINGS).
|
||||
%
|
||||
%plotAcquisition(acqResults)
|
||||
%
|
||||
% Inputs:
|
||||
% acqResults - Acquisition results from function acquisition.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: plotAcquisition.m,v 1.1.2.4 2006/08/09 17:20:11 dpl Exp $
|
||||
|
||||
%% Plot all results =======================================================
|
||||
figure(101);
|
||||
|
||||
hAxes = newplot();
|
||||
|
||||
bar(hAxes, acqResults.peakMetric);
|
||||
|
||||
title (hAxes, 'Acquisition results');
|
||||
xlabel(hAxes, 'PRN number (no bar - SV is not in the acquisition list)');
|
||||
ylabel(hAxes, 'Acquisition Metric');
|
||||
|
||||
oldAxis = axis(hAxes);
|
||||
axis (hAxes, [0, 33, 0, oldAxis(4)]);
|
||||
set (hAxes, 'XMinorTick', 'on');
|
||||
set (hAxes, 'YGrid', 'on');
|
||||
|
||||
%% Mark acquired signals ==================================================
|
||||
|
||||
acquiredSignals = acqResults.peakMetric .* (acqResults.carrFreq > 0);
|
||||
|
||||
hold(hAxes, 'on');
|
||||
bar (hAxes, acquiredSignals, 'FaceColor', [0 0.8 0]);
|
||||
hold(hAxes, 'off');
|
||||
|
||||
legend(hAxes, 'Not acquired signals', 'Acquired signals');
|
||||
139
GNSS_SDR_IQ/plotNavigation.m
Normal file
139
GNSS_SDR_IQ/plotNavigation.m
Normal file
|
|
@ -0,0 +1,139 @@
|
|||
function plotNavigation(navSolutions, settings)
|
||||
%Functions plots variations of coordinates over time and a 3D position
|
||||
%plot. It plots receiver coordinates in UTM system or coordinate offsets if
|
||||
%the true UTM receiver coordinates are provided.
|
||||
%
|
||||
%plotNavigation(navSolutions, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% navSolutions - Results from navigation solution function. It
|
||||
% contains measured pseudoranges and receiver
|
||||
% coordinates.
|
||||
% settings - Receiver settings. The true receiver coordinates
|
||||
% are contained in this structure.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: plotNavigation.m,v 1.1.2.25 2006/08/09 17:20:11 dpl Exp $
|
||||
|
||||
%% Plot results in the necessary data exists ==============================
|
||||
if (~isempty(navSolutions))
|
||||
|
||||
%% If reference position is not provided, then set reference position
|
||||
%% to the average postion
|
||||
if isnan(settings.truePosition.E) || isnan(settings.truePosition.N) ...
|
||||
|| isnan(settings.truePosition.U)
|
||||
|
||||
%=== Compute mean values ==========================================
|
||||
% Remove NaN-s or the output of the function MEAN will be NaN.
|
||||
refCoord.E = mean(navSolutions.E(~isnan(navSolutions.E)));
|
||||
refCoord.N = mean(navSolutions.N(~isnan(navSolutions.N)));
|
||||
refCoord.U = mean(navSolutions.U(~isnan(navSolutions.U)));
|
||||
|
||||
%Also convert geodetic coordinates to deg:min:sec vector format
|
||||
meanLongitude = dms2mat(deg2dms(...
|
||||
mean(navSolutions.longitude(~isnan(navSolutions.longitude)))), -5);
|
||||
meanLatitude = dms2mat(deg2dms(...
|
||||
mean(navSolutions.latitude(~isnan(navSolutions.latitude)))), -5);
|
||||
|
||||
refPointLgText = ['Mean Position\newline Lat: ', ...
|
||||
num2str(meanLatitude(1)), '{\circ}', ...
|
||||
num2str(meanLatitude(2)), '{\prime}', ...
|
||||
num2str(meanLatitude(3)), '{\prime}{\prime}', ...
|
||||
'\newline Lng: ', ...
|
||||
num2str(meanLongitude(1)), '{\circ}', ...
|
||||
num2str(meanLongitude(2)), '{\prime}', ...
|
||||
num2str(meanLongitude(3)), '{\prime}{\prime}', ...
|
||||
'\newline Hgt: ', ...
|
||||
num2str(mean(navSolutions.height(~isnan(navSolutions.height))), '%+6.1f')];
|
||||
else
|
||||
refPointLgText = 'Reference Position';
|
||||
refCoord.E = settings.truePosition.E;
|
||||
refCoord.N = settings.truePosition.N;
|
||||
refCoord.U = settings.truePosition.U;
|
||||
end
|
||||
|
||||
figureNumber = 300;
|
||||
% The 300 is chosen for more convenient handling of the open
|
||||
% figure windows, when many figures are closed and reopened. Figures
|
||||
% drawn or opened by the user, will not be "overwritten" by this
|
||||
% function if the auto numbering is not used.
|
||||
|
||||
%=== Select (or create) and clear the figure ==========================
|
||||
figure(figureNumber);
|
||||
clf (figureNumber);
|
||||
set (figureNumber, 'Name', 'Navigation solutions');
|
||||
|
||||
%--- Draw axes --------------------------------------------------------
|
||||
handles(1, 1) = subplot(4, 2, 1 : 4);
|
||||
handles(3, 1) = subplot(4, 2, [5, 7]);
|
||||
handles(3, 2) = subplot(4, 2, [6, 8]);
|
||||
|
||||
%% Plot all figures =======================================================
|
||||
|
||||
%--- Coordinate differences in UTM system -----------------------------
|
||||
plot(handles(1, 1), [(navSolutions.E - refCoord.E)', ...
|
||||
(navSolutions.N - refCoord.N)',...
|
||||
(navSolutions.U - refCoord.U)']);
|
||||
|
||||
title (handles(1, 1), 'Coordinates variations in UTM system');
|
||||
legend(handles(1, 1), 'E', 'N', 'U');
|
||||
xlabel(handles(1, 1), ['Measurement period: ', ...
|
||||
num2str(settings.navSolPeriod), 'ms']);
|
||||
ylabel(handles(1, 1), 'Variations (m)');
|
||||
grid (handles(1, 1));
|
||||
axis (handles(1, 1), 'tight');
|
||||
|
||||
%--- Position plot in UTM system --------------------------------------
|
||||
plot3 (handles(3, 1), navSolutions.E - refCoord.E, ...
|
||||
navSolutions.N - refCoord.N, ...
|
||||
navSolutions.U - refCoord.U, '+');
|
||||
hold (handles(3, 1), 'on');
|
||||
%Plot the reference point
|
||||
plot3 (handles(3, 1), 0, 0, 0, 'r+', 'LineWidth', 1.5, 'MarkerSize', 10);
|
||||
hold (handles(3, 1), 'off');
|
||||
|
||||
view (handles(3, 1), 0, 90);
|
||||
axis (handles(3, 1), 'equal');
|
||||
grid (handles(3, 1), 'minor');
|
||||
|
||||
legend(handles(3, 1), 'Measurements', refPointLgText);
|
||||
|
||||
title (handles(3, 1), 'Positions in UTM system (3D plot)');
|
||||
xlabel(handles(3, 1), 'East (m)');
|
||||
ylabel(handles(3, 1), 'North (m)');
|
||||
zlabel(handles(3, 1), 'Upping (m)');
|
||||
|
||||
%--- Satellite sky plot -----------------------------------------------
|
||||
skyPlot(handles(3, 2), ...
|
||||
navSolutions.channel.az, ...
|
||||
navSolutions.channel.el, ...
|
||||
navSolutions.channel.PRN(:, 1));
|
||||
|
||||
title (handles(3, 2), ['Sky plot (mean PDOP: ', ...
|
||||
num2str(mean(navSolutions.DOP(2,:))), ')']);
|
||||
|
||||
else
|
||||
disp('plotNavigation: No navigation data to plot.');
|
||||
end % if (~isempty(navSolutions))
|
||||
153
GNSS_SDR_IQ/plotTracking.m
Normal file
153
GNSS_SDR_IQ/plotTracking.m
Normal file
|
|
@ -0,0 +1,153 @@
|
|||
function plotTracking(channelList, trackResults, settings)
|
||||
%This function plots the tracking results for the given channel list.
|
||||
%
|
||||
%plotTracking(channelList, trackResults, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% channelList - list of channels to be plotted.
|
||||
% trackResults - tracking results from the tracking function.
|
||||
% settings - receiver settings.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: plotTracking.m,v 1.5.2.23 2006/08/14 14:45:14 dpl Exp $
|
||||
|
||||
% Protection - if the list contains incorrect channel numbers
|
||||
channelList = intersect(channelList, 1:settings.numberOfChannels);
|
||||
|
||||
%=== For all listed channels ==============================================
|
||||
for channelNr = channelList
|
||||
|
||||
%% Select (or create) and clear the figure ================================
|
||||
% The number 200 is added just for more convenient handling of the open
|
||||
% figure windows, when many figures are closed and reopened.
|
||||
% Figures drawn or opened by the user, will not be "overwritten" by
|
||||
% this function.
|
||||
|
||||
figure(channelNr +200);
|
||||
clf(channelNr +200);
|
||||
set(channelNr +200, 'Name', ['Channel ', num2str(channelNr), ...
|
||||
' (PRN ', ...
|
||||
num2str(trackResults(channelNr).PRN), ...
|
||||
') results']);
|
||||
|
||||
%% Draw axes ==============================================================
|
||||
% Row 1
|
||||
handles(1, 1) = subplot(3, 3, 1);
|
||||
handles(1, 2) = subplot(3, 3, [2 3]);
|
||||
% Row 2
|
||||
handles(2, 1) = subplot(3, 3, 4);
|
||||
handles(2, 2) = subplot(3, 3, [5 6]);
|
||||
% Row 3
|
||||
handles(3, 1) = subplot(3, 3, 7);
|
||||
handles(3, 2) = subplot(3, 3, 8);
|
||||
handles(3, 3) = subplot(3, 3, 9);
|
||||
|
||||
%% Plot all figures =======================================================
|
||||
|
||||
timeAxisInSeconds = (1:settings.msToProcess)/1000;
|
||||
|
||||
%----- Discrete-Time Scatter Plot ---------------------------------
|
||||
plot(handles(1, 1), trackResults(channelNr).I_P,...
|
||||
trackResults(channelNr).Q_P, ...
|
||||
'.');
|
||||
|
||||
grid (handles(1, 1));
|
||||
axis (handles(1, 1), 'equal');
|
||||
title (handles(1, 1), 'Discrete-Time Scatter Plot');
|
||||
xlabel(handles(1, 1), 'I prompt');
|
||||
ylabel(handles(1, 1), 'Q prompt');
|
||||
|
||||
%----- Nav bits ---------------------------------------------------
|
||||
plot (handles(1, 2), timeAxisInSeconds, ...
|
||||
trackResults(channelNr).I_P);
|
||||
|
||||
grid (handles(1, 2));
|
||||
title (handles(1, 2), 'Bits of the navigation message');
|
||||
xlabel(handles(1, 2), 'Time (s)');
|
||||
axis (handles(1, 2), 'tight');
|
||||
|
||||
%----- PLL discriminator unfiltered--------------------------------
|
||||
plot (handles(2, 1), timeAxisInSeconds, ...
|
||||
trackResults(channelNr).pllDiscr, 'r');
|
||||
|
||||
grid (handles(2, 1));
|
||||
axis (handles(2, 1), 'tight');
|
||||
xlabel(handles(2, 1), 'Time (s)');
|
||||
ylabel(handles(2, 1), 'Amplitude');
|
||||
title (handles(2, 1), 'Raw PLL discriminator');
|
||||
|
||||
%----- Correlation ------------------------------------------------
|
||||
plot(handles(2, 2), timeAxisInSeconds, ...
|
||||
[sqrt(trackResults(channelNr).I_E.^2 + ...
|
||||
trackResults(channelNr).Q_E.^2)', ...
|
||||
sqrt(trackResults(channelNr).I_P.^2 + ...
|
||||
trackResults(channelNr).Q_P.^2)', ...
|
||||
sqrt(trackResults(channelNr).I_L.^2 + ...
|
||||
trackResults(channelNr).Q_L.^2)'], ...
|
||||
'-*');
|
||||
|
||||
grid (handles(2, 2));
|
||||
title (handles(2, 2), 'Correlation results');
|
||||
xlabel(handles(2, 2), 'Time (s)');
|
||||
axis (handles(2, 2), 'tight');
|
||||
|
||||
hLegend = legend(handles(2, 2), '$\sqrt{I_{E}^2 + Q_{E}^2}$', ...
|
||||
'$\sqrt{I_{P}^2 + Q_{P}^2}$', ...
|
||||
'$\sqrt{I_{L}^2 + Q_{L}^2}$');
|
||||
|
||||
%set interpreter from tex to latex. This will draw \sqrt correctly
|
||||
set(hLegend, 'Interpreter', 'Latex');
|
||||
|
||||
%----- PLL discriminator filtered----------------------------------
|
||||
plot (handles(3, 1), timeAxisInSeconds, ...
|
||||
trackResults(channelNr).pllDiscrFilt, 'b');
|
||||
|
||||
grid (handles(3, 1));
|
||||
axis (handles(3, 1), 'tight');
|
||||
xlabel(handles(3, 1), 'Time (s)');
|
||||
ylabel(handles(3, 1), 'Amplitude');
|
||||
title (handles(3, 1), 'Filtered PLL discriminator');
|
||||
|
||||
%----- DLL discriminator unfiltered--------------------------------
|
||||
plot (handles(3, 2), timeAxisInSeconds, ...
|
||||
trackResults(channelNr).dllDiscr, 'r');
|
||||
|
||||
grid (handles(3, 2));
|
||||
axis (handles(3, 2), 'tight');
|
||||
xlabel(handles(3, 2), 'Time (s)');
|
||||
ylabel(handles(3, 2), 'Amplitude');
|
||||
title (handles(3, 2), 'Raw DLL discriminator');
|
||||
|
||||
%----- DLL discriminator filtered----------------------------------
|
||||
plot (handles(3, 3), timeAxisInSeconds, ...
|
||||
trackResults(channelNr).dllDiscrFilt, 'b');
|
||||
|
||||
grid (handles(3, 3));
|
||||
axis (handles(3, 3), 'tight');
|
||||
xlabel(handles(3, 3), 'Time (s)');
|
||||
ylabel(handles(3, 3), 'Amplitude');
|
||||
title (handles(3, 3), 'Filtered DLL discriminator');
|
||||
|
||||
end % for channelNr = channelList
|
||||
254
GNSS_SDR_IQ/postNavigation.m
Normal file
254
GNSS_SDR_IQ/postNavigation.m
Normal file
|
|
@ -0,0 +1,254 @@
|
|||
function [navSolutions, eph] = postNavigation(trackResults, settings)
|
||||
%Function calculates navigation solutions for the receiver (pseudoranges,
|
||||
%positions). At the end it converts coordinates from the WGS84 system to
|
||||
%the UTM, geocentric or any additional coordinate system.
|
||||
%
|
||||
%[navSolutions, eph] = postNavigation(trackResults, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% trackResults - results from the tracking function (structure
|
||||
% array).
|
||||
% settings - receiver settings.
|
||||
% Outputs:
|
||||
% navSolutions - contains measured pseudoranges, receiver
|
||||
% clock error, receiver coordinates in several
|
||||
% coordinate systems (at least ECEF and UTM).
|
||||
% eph - received ephemerides of all SV (structure array).
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis with help from Kristin Larson
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: postNavigation.m,v 1.1.2.22 2006/08/09 17:20:11 dpl Exp $
|
||||
|
||||
%% Check is there enough data to obtain any navigation solution ===========
|
||||
% It is necessary to have at least three subframes (number 1, 2 and 3) to
|
||||
% find satellite coordinates. Then receiver position can be found too.
|
||||
% The function requires all 5 subframes, because the tracking starts at
|
||||
% arbitrary point. Therefore the first received subframes can be any three
|
||||
% from the 5.
|
||||
% One subframe length is 6 seconds, therefore we need at least 30 sec long
|
||||
% record (5 * 6 = 30 sec = 30000ms). We add extra seconds for the cases,
|
||||
% when tracking has started in a middle of a subframe.
|
||||
|
||||
if (settings.msToProcess < 36000) || (sum([trackResults.status] ~= '-') < 4)
|
||||
% Show the error message and exit
|
||||
disp('Record is to short or too few satellites tracked. Exiting!');
|
||||
navSolutions = [];
|
||||
eph = [];
|
||||
return
|
||||
end
|
||||
|
||||
%% Find preamble start positions ==========================================
|
||||
|
||||
[subFrameStart, activeChnList] = findPreambles(trackResults, settings);
|
||||
|
||||
%% Decode ephemerides =====================================================
|
||||
|
||||
for channelNr = activeChnList
|
||||
|
||||
%=== Convert tracking output to navigation bits =======================
|
||||
|
||||
%--- Copy 5 sub-frames long record from tracking output ---------------
|
||||
navBitsSamples = trackResults(channelNr).I_P(subFrameStart(channelNr) - 20 : ...
|
||||
subFrameStart(channelNr) + (1500 * 20) -1)';
|
||||
|
||||
%--- Group every 20 vales of bits into columns ------------------------
|
||||
navBitsSamples = reshape(navBitsSamples, ...
|
||||
20, (size(navBitsSamples, 1) / 20));
|
||||
|
||||
%--- Sum all samples in the bits to get the best estimate -------------
|
||||
navBits = sum(navBitsSamples);
|
||||
|
||||
%--- Now threshold and make 1 and 0 -----------------------------------
|
||||
% The expression (navBits > 0) returns an array with elements set to 1
|
||||
% if the condition is met and set to 0 if it is not met.
|
||||
navBits = (navBits > 0);
|
||||
|
||||
%--- Convert from decimal to binary -----------------------------------
|
||||
% The function ephemeris expects input in binary form. In Matlab it is
|
||||
% a string array containing only "0" and "1" characters.
|
||||
navBitsBin = dec2bin(navBits);
|
||||
|
||||
%=== Decode ephemerides and TOW of the first sub-frame ================
|
||||
[eph(trackResults(channelNr).PRN), TOW] = ...
|
||||
ephemeris(navBitsBin(2:1501)', navBitsBin(1));
|
||||
|
||||
%--- Exclude satellite if it does not have the necessary nav data -----
|
||||
if (isempty(eph(trackResults(channelNr).PRN).IODC) || ...
|
||||
isempty(eph(trackResults(channelNr).PRN).IODE_sf2) || ...
|
||||
isempty(eph(trackResults(channelNr).PRN).IODE_sf3))
|
||||
|
||||
%--- Exclude channel from the list (from further processing) ------
|
||||
activeChnList = setdiff(activeChnList, channelNr);
|
||||
end
|
||||
end
|
||||
|
||||
%% Check if the number of satellites is still above 3 =====================
|
||||
if (isempty(activeChnList) || (size(activeChnList, 2) < 4))
|
||||
% Show error message and exit
|
||||
disp('Too few satellites with ephemeris data for postion calculations. Exiting!');
|
||||
navSolutions = [];
|
||||
eph = [];
|
||||
return
|
||||
end
|
||||
|
||||
%% Initialization =========================================================
|
||||
|
||||
% Set the satellite elevations array to INF to include all satellites for
|
||||
% the first calculation of receiver position. There is no reference point
|
||||
% to find the elevation angle as there is no receiver position estimate at
|
||||
% this point.
|
||||
satElev = inf(1, settings.numberOfChannels);
|
||||
|
||||
% Save the active channel list. The list contains satellites that are
|
||||
% tracked and have the required ephemeris data. In the next step the list
|
||||
% will depend on each satellite's elevation angle, which will change over
|
||||
% time.
|
||||
readyChnList = activeChnList;
|
||||
|
||||
transmitTime = TOW;
|
||||
|
||||
%##########################################################################
|
||||
%# Do the satellite and receiver position calculations #
|
||||
%##########################################################################
|
||||
|
||||
%% Initialization of current measurement ==================================
|
||||
for currMeasNr = 1:fix((settings.msToProcess - max(subFrameStart)) / ...
|
||||
settings.navSolPeriod)
|
||||
|
||||
% Exclude satellites, that are belove elevation mask
|
||||
activeChnList = intersect(find(satElev >= settings.elevationMask), ...
|
||||
readyChnList);
|
||||
|
||||
% Save list of satellites used for position calculation
|
||||
navSolutions.channel.PRN(activeChnList, currMeasNr) = ...
|
||||
[trackResults(activeChnList).PRN];
|
||||
|
||||
% These two lines help the skyPlot function. The satellites excluded
|
||||
% do to elevation mask will not "jump" to possition (0,0) in the sky
|
||||
% plot.
|
||||
navSolutions.channel.el(:, currMeasNr) = ...
|
||||
NaN(settings.numberOfChannels, 1);
|
||||
navSolutions.channel.az(:, currMeasNr) = ...
|
||||
NaN(settings.numberOfChannels, 1);
|
||||
|
||||
%% Find pseudoranges ======================================================
|
||||
navSolutions.channel.rawP(:, currMeasNr) = calculatePseudoranges(...
|
||||
trackResults, ...
|
||||
subFrameStart + settings.navSolPeriod * (currMeasNr-1), ...
|
||||
activeChnList, settings);
|
||||
|
||||
%% Find satellites positions and clocks corrections =======================
|
||||
[satPositions, satClkCorr] = satpos(transmitTime, ...
|
||||
[trackResults(activeChnList).PRN], ...
|
||||
eph, settings);
|
||||
|
||||
%% Find receiver position =================================================
|
||||
|
||||
% 3D receiver position can be found only if signals from more than 3
|
||||
% satellites are available
|
||||
if size(activeChnList, 2) > 3
|
||||
|
||||
%=== Calculate receiver position ==================================
|
||||
[xyzdt, ...
|
||||
navSolutions.channel.el(activeChnList, currMeasNr), ...
|
||||
navSolutions.channel.az(activeChnList, currMeasNr), ...
|
||||
navSolutions.DOP(:, currMeasNr)] = ...
|
||||
leastSquarePos(satPositions, ...
|
||||
navSolutions.channel.rawP(activeChnList, currMeasNr)' + satClkCorr * settings.c, ...
|
||||
settings);
|
||||
|
||||
%--- Save results -------------------------------------------------
|
||||
navSolutions.X(currMeasNr) = xyzdt(1);
|
||||
navSolutions.Y(currMeasNr) = xyzdt(2);
|
||||
navSolutions.Z(currMeasNr) = xyzdt(3);
|
||||
navSolutions.dt(currMeasNr) = xyzdt(4);
|
||||
|
||||
% Update the satellites elevations vector
|
||||
satElev = navSolutions.channel.el(:, currMeasNr);
|
||||
|
||||
%=== Correct pseudorange measurements for clocks errors ===========
|
||||
navSolutions.channel.correctedP(activeChnList, currMeasNr) = ...
|
||||
navSolutions.channel.rawP(activeChnList, currMeasNr) + ...
|
||||
satClkCorr' * settings.c + navSolutions.dt(currMeasNr);
|
||||
|
||||
%% Coordinate conversion ==================================================
|
||||
|
||||
%=== Convert to geodetic coordinates ==============================
|
||||
[navSolutions.latitude(currMeasNr), ...
|
||||
navSolutions.longitude(currMeasNr), ...
|
||||
navSolutions.height(currMeasNr)] = cart2geo(...
|
||||
navSolutions.X(currMeasNr), ...
|
||||
navSolutions.Y(currMeasNr), ...
|
||||
navSolutions.Z(currMeasNr), ...
|
||||
5);
|
||||
|
||||
%=== Convert to UTM coordinate system =============================
|
||||
navSolutions.utmZone = findUtmZone(navSolutions.latitude(currMeasNr), ...
|
||||
navSolutions.longitude(currMeasNr));
|
||||
|
||||
[navSolutions.E(currMeasNr), ...
|
||||
navSolutions.N(currMeasNr), ...
|
||||
navSolutions.U(currMeasNr)] = cart2utm(xyzdt(1), xyzdt(2), ...
|
||||
xyzdt(3), ...
|
||||
navSolutions.utmZone);
|
||||
|
||||
else % if size(activeChnList, 2) > 3
|
||||
%--- There are not enough satellites to find 3D position ----------
|
||||
disp([' Measurement No. ', num2str(currMeasNr), ...
|
||||
': Not enough information for position solution.']);
|
||||
|
||||
%--- Set the missing solutions to NaN. These results will be
|
||||
%excluded automatically in all plots. For DOP it is easier to use
|
||||
%zeros. NaN values might need to be excluded from results in some
|
||||
%of further processing to obtain correct results.
|
||||
navSolutions.X(currMeasNr) = NaN;
|
||||
navSolutions.Y(currMeasNr) = NaN;
|
||||
navSolutions.Z(currMeasNr) = NaN;
|
||||
navSolutions.dt(currMeasNr) = NaN;
|
||||
navSolutions.DOP(:, currMeasNr) = zeros(5, 1);
|
||||
navSolutions.latitude(currMeasNr) = NaN;
|
||||
navSolutions.longitude(currMeasNr) = NaN;
|
||||
navSolutions.height(currMeasNr) = NaN;
|
||||
navSolutions.E(currMeasNr) = NaN;
|
||||
navSolutions.N(currMeasNr) = NaN;
|
||||
navSolutions.U(currMeasNr) = NaN;
|
||||
|
||||
navSolutions.channel.az(activeChnList, currMeasNr) = ...
|
||||
NaN(1, length(activeChnList));
|
||||
navSolutions.channel.el(activeChnList, currMeasNr) = ...
|
||||
NaN(1, length(activeChnList));
|
||||
|
||||
% TODO: Know issue. Satellite positions are not updated if the
|
||||
% satellites are excluded do to elevation mask. Therefore rasing
|
||||
% satellites will be not included even if they will be above
|
||||
% elevation mask at some point. This would be a good place to
|
||||
% update positions of the excluded satellites.
|
||||
|
||||
end % if size(activeChnList, 2) > 3
|
||||
|
||||
%=== Update the transmit time ("measurement time") ====================
|
||||
transmitTime = transmitTime + settings.navSolPeriod / 1000;
|
||||
|
||||
end %for currMeasNr...
|
||||
x=0;
|
||||
273
GNSS_SDR_IQ/postNavigation0.m
Normal file
273
GNSS_SDR_IQ/postNavigation0.m
Normal file
|
|
@ -0,0 +1,273 @@
|
|||
function [navSolutions, eph,TOW] = postNavigation0(trackResults, settings)
|
||||
%Function calculates navigation solutions for the receiver (pseudoranges,
|
||||
%positions). At the end it converts coordinates from the WGS84 system to
|
||||
%the UTM, geocentric or any additional coordinate system.
|
||||
%
|
||||
%[navSolutions, eph] = postNavigation(trackResults, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% trackResults - results from the tracking function (structure
|
||||
% array).
|
||||
% settings - receiver settings.
|
||||
% Outputs:
|
||||
% navSolutions - contains measured pseudoranges, receiver
|
||||
% clock error, receiver coordinates in several
|
||||
% coordinate systems (at least ECEF and UTM).
|
||||
% eph - received ephemerides of all SV (structure array).
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis with help from Kristin Larson
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: postNavigation.m,v 1.1.2.22 2006/08/09 17:20:11 dpl Exp $
|
||||
|
||||
%% Check is there enough data to obtain any navigation solution ===========
|
||||
% It is necessary to have at least three subframes (number 1, 2 and 3) to
|
||||
% find satellite coordinates. Then receiver position can be found too.
|
||||
% The function requires all 5 subframes, because the tracking starts at
|
||||
% arbitrary point. Therefore the first received subframes can be any three
|
||||
% from the 5.
|
||||
% One subframe length is 6 seconds, therefore we need at least 30 sec long
|
||||
% record (5 * 6 = 30 sec = 30000ms). We add extra seconds for the cases,
|
||||
% when tracking has started in a middle of a subframe.
|
||||
|
||||
if (settings.msToProcess < 36000) || (sum([trackResults.status] ~= '-') < 4)
|
||||
% Show the error message and exit
|
||||
disp('Record is to short or too few satellites tracked. Exiting!');
|
||||
navSolutions = [];
|
||||
eph = [];
|
||||
return
|
||||
end
|
||||
|
||||
%% Find preamble start positions ==========================================
|
||||
|
||||
[subFrameStart, activeChnList] = findPreambles(trackResults, settings);
|
||||
|
||||
%% Decode ephemerides =====================================================
|
||||
|
||||
for channelNr = activeChnList
|
||||
|
||||
%=== Convert tracking output to navigation bits =======================
|
||||
|
||||
%--- Copy 5 sub-frames long record from tracking output ---------------
|
||||
navBitsSamples = trackResults(channelNr).I_P(subFrameStart(channelNr) - 20 : ...
|
||||
subFrameStart(channelNr) + (1500 * 20) -1)';
|
||||
|
||||
%--- Group every 20 vales of bits into columns ------------------------
|
||||
navBitsSamples = reshape(navBitsSamples, ...
|
||||
20, (size(navBitsSamples, 1) / 20));
|
||||
|
||||
%--- Sum all samples in the bits to get the best estimate -------------
|
||||
navBits = sum(navBitsSamples);
|
||||
|
||||
%--- Now threshold and make 1 and 0 -----------------------------------
|
||||
% The expression (navBits > 0) returns an array with elements set to 1
|
||||
% if the condition is met and set to 0 if it is not met.
|
||||
navBits = (navBits > 0);
|
||||
|
||||
%--- Convert from decimal to binary -----------------------------------
|
||||
% The function ephemeris expects input in binary form. In Matlab it is
|
||||
% a string array containing only "0" and "1" characters.
|
||||
navBitsBin = dec2bin(navBits);
|
||||
|
||||
%=== Decode ephemerides and TOW of the first sub-frame ================
|
||||
[eph(trackResults(channelNr).PRN), TOW] = ...
|
||||
ephemeris(navBitsBin(2:1501)', navBitsBin(1));
|
||||
|
||||
%--- Exclude satellite if it does not have the necessary nav data -----
|
||||
if (isempty(eph(trackResults(channelNr).PRN).IODC) || ...
|
||||
isempty(eph(trackResults(channelNr).PRN).IODE_sf2) || ...
|
||||
isempty(eph(trackResults(channelNr).PRN).IODE_sf3))
|
||||
|
||||
%--- Exclude channel from the list (from further processing) ------
|
||||
activeChnList = setdiff(activeChnList, channelNr);
|
||||
end
|
||||
end
|
||||
|
||||
%% Check if the number of satellites is still above 3 =====================
|
||||
if (isempty(activeChnList) || (size(activeChnList, 2) < 4))
|
||||
% Show error message and exit
|
||||
disp('Too few satellites with ephemeris data for postion calculations. Exiting!');
|
||||
navSolutions = [];
|
||||
eph = [];
|
||||
return
|
||||
end
|
||||
|
||||
%% Initialization =========================================================
|
||||
|
||||
% Set the satellite elevations array to INF to include all satellites for
|
||||
% the first calculation of receiver position. There is no reference point
|
||||
% to find the elevation angle as there is no receiver position estimate at
|
||||
% this point.
|
||||
satElev = inf(1, settings.numberOfChannels);
|
||||
|
||||
% Save the active channel list. The list contains satellites that are
|
||||
% tracked and have the required ephemeris data. In the next step the list
|
||||
% will depend on each satellite's elevation angle, which will change over
|
||||
% time.
|
||||
readyChnList = activeChnList;
|
||||
|
||||
transmitTime = TOW;
|
||||
|
||||
%##########################################################################
|
||||
%# Do the satellite and receiver position calculations #
|
||||
%##########################################################################
|
||||
prevClkDrift=0;
|
||||
bias=0;
|
||||
%Start Clock in samples
|
||||
%Find the seconds nearest the startOfFrame and converting it to samples
|
||||
%tmp=ceil(trackResults(1).absoluteSample(subFrameStart(1))/settings.samplingFreq);
|
||||
%startClock_PVT_GPS=tmp*settings.samplingFreq;
|
||||
%% Initialization of current measurement ==================================
|
||||
for currMeasNr = 1:fix((settings.msToProcess - max(subFrameStart)) / ...
|
||||
settings.navSolPeriod)
|
||||
|
||||
% Exclude satellites, that are belove elevation mask
|
||||
activeChnList = intersect(find(satElev >= settings.elevationMask), ...
|
||||
readyChnList);
|
||||
|
||||
% Save list of satellites used for position calculation
|
||||
navSolutions.channel.PRN(activeChnList, currMeasNr) = ...
|
||||
[trackResults(activeChnList).PRN];
|
||||
|
||||
% These two lines help the skyPlot fun ction. The satellites excluded
|
||||
% do to elevation mask will not "jump" to possition (0,0) in the sky
|
||||
% plot.
|
||||
navSolutions.channel.el(:, currMeasNr) = ...
|
||||
NaN(settings.numberOfChannels, 1);
|
||||
navSolutions.channel.az(:, currMeasNr) = ...
|
||||
NaN(settings.numberOfChannels, 1);
|
||||
|
||||
|
||||
%% THUAN
|
||||
if currMeasNr>1
|
||||
settings.startOffset=settings.startOffset-1000*(navSolutions.dt(currMeasNr-1))/settings.c;
|
||||
end;
|
||||
|
||||
navSolutions.channel.rawP(:, currMeasNr) = calculatePseudoranges(...
|
||||
trackResults, ...
|
||||
subFrameStart+settings.navSolPeriod*(currMeasNr-1)-1, ...
|
||||
activeChnList, settings);
|
||||
|
||||
xx=subFrameStart+settings.navSolPeriod*(currMeasNr-1);
|
||||
for channelNr = activeChnList
|
||||
yy(channelNr)=(1023-trackResults(channelNr).remCodePhase(xx(channelNr)-1))/trackResults(channelNr).codeFreq(xx(channelNr)-1)*settings.c;
|
||||
end;
|
||||
|
||||
|
||||
navSolutions.channel.rawP(:, currMeasNr)=navSolutions.channel.rawP(:, currMeasNr)+yy';
|
||||
%% END THUAN
|
||||
|
||||
%% Find satellites positions and clocks corrections =======================
|
||||
[satPositions, satClkCorr] = satpos(transmitTime, ...
|
||||
[trackResults(activeChnList).PRN], ...
|
||||
eph, settings);
|
||||
|
||||
%% Find receiver position =================================================
|
||||
|
||||
% 3D receiver position can be found only if signals from more than 3
|
||||
% satellites are available
|
||||
if size(activeChnList, 2) > 3
|
||||
|
||||
%=== Calculate receiver position ==================================
|
||||
[xyzdt, ...
|
||||
navSolutions.channel.el(activeChnList, currMeasNr), ...
|
||||
navSolutions.channel.az(activeChnList, currMeasNr), ...
|
||||
navSolutions.DOP(:, currMeasNr)] = ...
|
||||
leastSquarePos(satPositions, ...
|
||||
navSolutions.channel.rawP(activeChnList, currMeasNr)' + satClkCorr * settings.c, ...
|
||||
settings);
|
||||
|
||||
%--- Save results -------------------------------------------------
|
||||
navSolutions.X(currMeasNr) = xyzdt(1);
|
||||
navSolutions.Y(currMeasNr) = xyzdt(2);
|
||||
navSolutions.Z(currMeasNr) = xyzdt(3);
|
||||
navSolutions.dt(currMeasNr) = xyzdt(4);
|
||||
|
||||
% Update the satellites elevations vector
|
||||
satElev = navSolutions.channel.el(:, currMeasNr);
|
||||
|
||||
%=== Correct pseudorange measurements for clocks errors ===========
|
||||
navSolutions.channel.correctedP(activeChnList, currMeasNr) = ...
|
||||
navSolutions.channel.rawP(activeChnList, currMeasNr) + ...
|
||||
satClkCorr' * settings.c + navSolutions.dt(currMeasNr);
|
||||
|
||||
%% Coordinate conversion ==================================================
|
||||
|
||||
%=== Convert to geodetic coordinates ==============================
|
||||
[navSolutions.latitude(currMeasNr), ...
|
||||
navSolutions.longitude(currMeasNr), ...
|
||||
navSolutions.height(currMeasNr)] = cart2geo(...
|
||||
navSolutions.X(currMeasNr), ...
|
||||
navSolutions.Y(currMeasNr), ...
|
||||
navSolutions.Z(currMeasNr), ...
|
||||
5);
|
||||
|
||||
%=== Convert to UTM coordinate system =============================
|
||||
navSolutions.utmZone = findUtmZone(navSolutions.latitude(currMeasNr), ...
|
||||
navSolutions.longitude(currMeasNr));
|
||||
|
||||
[navSolutions.E(currMeasNr), ...
|
||||
navSolutions.N(currMeasNr), ...
|
||||
navSolutions.U(currMeasNr)] = cart2utm(xyzdt(1), xyzdt(2), ...
|
||||
xyzdt(3), ...
|
||||
navSolutions.utmZone);
|
||||
|
||||
else % if size(activeChnList, 2) > 3
|
||||
%--- There are not enough satellites to find 3D position ----------
|
||||
disp([' Measurement No. ', num2str(currMeasNr), ...
|
||||
': Not enough information for position solution.']);
|
||||
|
||||
%--- Set the missing solutions to NaN. These results will be
|
||||
%excluded automatically in all plots. For DOP it is easier to use
|
||||
%zeros. NaN values might need to be excluded from results in some
|
||||
%of further processing to obtain correct results.
|
||||
navSolutions.X(currMeasNr) = NaN;
|
||||
navSolutions.Y(currMeasNr) = NaN;
|
||||
navSolutions.Z(currMeasNr) = NaN;
|
||||
navSolutions.dt(currMeasNr) = NaN;
|
||||
navSolutions.DOP(:, currMeasNr) = zeros(5, 1);
|
||||
navSolutions.latitude(currMeasNr) = NaN;
|
||||
navSolutions.longitude(currMeasNr) = NaN;
|
||||
navSolutions.height(currMeasNr) = NaN;
|
||||
navSolutions.E(currMeasNr) = NaN;
|
||||
navSolutions.N(currMeasNr) = NaN;
|
||||
navSolutions.U(currMeasNr) = NaN;
|
||||
|
||||
navSolutions.channel.az(activeChnList, currMeasNr) = ...
|
||||
NaN(1, length(activeChnList));
|
||||
navSolutions.channel.el(activeChnList, currMeasNr) = ...
|
||||
NaN(1, length(activeChnList));
|
||||
|
||||
% TODO: Know issue. Satellite positions are not updated if the
|
||||
% satellites are excluded do to elevation mask. Therefore rasing
|
||||
% satellites will be not included even if they will be above
|
||||
% elevation mask at some point. This would be a good place to
|
||||
% update positions of the excluded satellites.
|
||||
|
||||
end % if size(activeChnList, 2) > 3
|
||||
|
||||
%=== Update the transmit time ("measurement time") ====================
|
||||
transmitTime = transmitTime + settings.navSolPeriod / 1000;
|
||||
|
||||
end %for currMeasNr...
|
||||
x=0;
|
||||
282
GNSS_SDR_IQ/postNavigationSnapshot.m
Normal file
282
GNSS_SDR_IQ/postNavigationSnapshot.m
Normal file
|
|
@ -0,0 +1,282 @@
|
|||
function [navSolutions, eph,TOW] = postNavigationSnapshot(trackResults, settings)
|
||||
%Function calculates navigation solutions for the receiver (pseudoranges,
|
||||
%positions). At the end it converts coordinates from the WGS84 system to
|
||||
%the UTM, geocentric or any additional coordinate system.
|
||||
%
|
||||
%[navSolutions, eph] = postNavigation(trackResults, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% trackResults - results from the tracking function (structure
|
||||
% array).
|
||||
% settings - receiver settings.
|
||||
% Outputs:
|
||||
% navSolutions - contains measured pseudoranges, receiver
|
||||
% clock error, receiver coordinates in several
|
||||
% coordinate systems (at least ECEF and UTM).
|
||||
% eph - received ephemerides of all SV (structure array).
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis with help from Kristin Larson
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: postNavigation.m,v 1.1.2.22 2006/08/09 17:20:11 dpl Exp $
|
||||
|
||||
%% Check is there enough data to obtain any navigation solution ===========
|
||||
% It is necessary to have at least three subframes (number 1, 2 and 3) to
|
||||
% find satellite coordinates. Then receiver position can be found too.
|
||||
% The function requires all 5 subframes, because the tracking starts at
|
||||
% arbitrary point. Therefore the first received subframes can be any three
|
||||
% from the 5.
|
||||
% One subframe length is 6 seconds, therefore we need at least 30 sec long
|
||||
% record (5 * 6 = 30 sec = 30000ms). We add extra seconds for the cases,
|
||||
% when tracking has started in a middle of a subframe.
|
||||
|
||||
if (settings.msToProcess < 36000) || (sum([trackResults.status] ~= '-') < 4)
|
||||
% Show the error message and exit
|
||||
disp('Record is to short or too few satellites tracked. Exiting!');
|
||||
navSolutions = [];
|
||||
eph = [];
|
||||
return
|
||||
end
|
||||
|
||||
%% Find preamble start positions ==========================================
|
||||
|
||||
[subFrameStart, activeChnList] = findPreambles(trackResults, settings);
|
||||
%% Decode ephemerides =====================================================
|
||||
|
||||
for channelNr = activeChnList
|
||||
|
||||
%=== Convert tracking output to navigation bits =======================
|
||||
|
||||
%--- Copy 5 sub-frames long record from tracking output ---------------
|
||||
navBitsSamples = trackResults(channelNr).I_P(subFrameStart(channelNr) - 20 : ...
|
||||
subFrameStart(channelNr) + (1500 * 20) -1)';
|
||||
|
||||
%--- Group every 20 vales of bits into columns ------------------------
|
||||
navBitsSamples = reshape(navBitsSamples, ...
|
||||
20, (size(navBitsSamples, 1) / 20));
|
||||
|
||||
%--- Sum all samples in the bits to get the best estimate -------------
|
||||
navBits = sum(navBitsSamples);
|
||||
|
||||
%--- Now threshold and make 1 and 0 -----------------------------------
|
||||
% The expression (navBits > 0) returns an array with elements set to 1
|
||||
% if the condition is met and set to 0 if it is not met.
|
||||
navBits = (navBits > 0);
|
||||
|
||||
%--- Convert from decimal to binary -----------------------------------
|
||||
% The function ephemeris expects input in binary form. In Matlab it is
|
||||
% a string array containing only "0" and "1" characters.
|
||||
navBitsBin = dec2bin(navBits);
|
||||
|
||||
%=== Decode ephemerides and TOW of the first sub-frame ================
|
||||
[eph(trackResults(channelNr).PRN), TOW] = ...
|
||||
ephemeris(navBitsBin(2:1501)', navBitsBin(1));
|
||||
|
||||
%--- Exclude satellite if it does not have the necessary nav data -----
|
||||
if (isempty(eph(trackResults(channelNr).PRN).IODC) || ...
|
||||
isempty(eph(trackResults(channelNr).PRN).IODE_sf2) || ...
|
||||
isempty(eph(trackResults(channelNr).PRN).IODE_sf3))
|
||||
|
||||
%--- Exclude channel from the list (from further processing) ------
|
||||
activeChnList = setdiff(activeChnList, channelNr);
|
||||
end
|
||||
end
|
||||
|
||||
%% Check if the number of satellites is still above 3 =====================
|
||||
if (isempty(activeChnList) || (size(activeChnList, 2) < 4))
|
||||
% Show error message and exit
|
||||
disp('Too few satellites with ephemeris data for postion calculations. Exiting!');
|
||||
navSolutions = [];
|
||||
eph = [];
|
||||
return
|
||||
end
|
||||
|
||||
%% Initialization =========================================================
|
||||
|
||||
% Set the satellite elevations array to INF to include all satellites for
|
||||
% the first calculation of receiver position. There is no reference point
|
||||
% to find the elevation angle as there is no receiver position estimate at
|
||||
% this point.
|
||||
satElev = inf(1, settings.numberOfChannels);
|
||||
|
||||
% Save the active channel list. The list contains satellites that are
|
||||
% tracked and have the required ephemeris data. In the next step the list
|
||||
% will depend on each satellite's elevation angle, which will change over
|
||||
% time.
|
||||
readyChnList = activeChnList;
|
||||
|
||||
transmitTime = TOW;
|
||||
|
||||
%##########################################################################
|
||||
%# Do the satellite and receiver position calculations #
|
||||
%##########################################################################
|
||||
prevClkDrift=0;
|
||||
bias=0;
|
||||
%Start Clock in samples
|
||||
%Find the seconds nearest the startOfFrame and converting it to samples
|
||||
%tmp=ceil(trackResults(1).absoluteSample(subFrameStart(1))/settings.samplingFreq);
|
||||
%startClock_PVT_GPS=tmp*settings.samplingFreq;
|
||||
%% Initialization of current measurement ==================================
|
||||
for currMeasNr = 1:240
|
||||
|
||||
% Exclude satellites, that are belove elevation mask
|
||||
activeChnList = intersect(find(satElev >= settings.elevationMask), ...
|
||||
readyChnList);
|
||||
|
||||
% Save list of satellites used for position calculation
|
||||
navSolutions.channel.PRN(activeChnList, currMeasNr) = ...
|
||||
[trackResults(activeChnList).PRN];
|
||||
|
||||
% These two lines help the skyPlot function. The satellites excluded
|
||||
% do to elevation mask will not "jump" to possition (0,0) in the sky
|
||||
% plot.
|
||||
navSolutions.channel.el(:, currMeasNr) = ...
|
||||
NaN(settings.numberOfChannels, 1);
|
||||
navSolutions.channel.az(:, currMeasNr) = ...
|
||||
NaN(settings.numberOfChannels, 1);
|
||||
|
||||
|
||||
%% THUAN
|
||||
if currMeasNr>1
|
||||
settings.startOffset=settings.startOffset-1000*(navSolutions.dt(currMeasNr-1))/settings.c;
|
||||
end;
|
||||
|
||||
navSolutions.channel.rawP(:, currMeasNr) = calculatePseudoranges(...
|
||||
trackResults, ...
|
||||
subFrameStart+settings.navSolPeriod*(currMeasNr-1), ...
|
||||
activeChnList, settings);
|
||||
% navSolutions.channel.rawP(:, currMeasNr) = calculatePseudoranges(...
|
||||
% trackResults, ...
|
||||
% subFrameStart+settings.navSolPeriod*(currMeasNr-1)-1, ...
|
||||
% activeChnList, settings);
|
||||
%
|
||||
xx=subFrameStart+settings.navSolPeriod*(currMeasNr-1);
|
||||
yy=inf(1,settings.numberOfChannels);
|
||||
if size(activeChnList,1)>1
|
||||
activeChnList=activeChnList';
|
||||
end;
|
||||
for channelNr = activeChnList
|
||||
yy(channelNr)=(1023-trackResults(channelNr).remCodePhase(xx(channelNr)-1))/trackResults(channelNr).codeFreq(xx(channelNr)-1)*settings.c;
|
||||
Doppler(channelNr)=trackResults(channelNr).carrFreq(xx(channelNr));
|
||||
end;
|
||||
% navSolutions.channel.rawP(:, currMeasNr)=navSolutions.channel.rawP(:, currMeasNr)+yy';
|
||||
|
||||
% navSolutions.channel.carrFreq(:,currMeasNr)=trackResults(channelNr
|
||||
%% END THUAN
|
||||
|
||||
%% Find satellites positions and clocks corrections =======================
|
||||
[satPositions, satClkCorr] = satpos(transmitTime+0, ...
|
||||
[trackResults(activeChnList).PRN], ...
|
||||
eph, settings);
|
||||
|
||||
%% Find receiver position =================================================
|
||||
|
||||
% 3D receiver position can be found only if signals from more than 3
|
||||
% satellites are available
|
||||
if size(activeChnList, 2) > 3
|
||||
|
||||
%=== Calculate receiver position ==================================
|
||||
ps_fract1ms=rem(navSolutions.channel.rawP(activeChnList, currMeasNr)',settings.c*0.001);
|
||||
ps_1ms=floor(navSolutions.channel.rawP(activeChnList, currMeasNr)'/(settings.c*0.001));
|
||||
[xyzdt, ...
|
||||
navSolutions.channel.el(activeChnList, currMeasNr), ...
|
||||
navSolutions.channel.az(activeChnList, currMeasNr), ...
|
||||
navSolutions.DOP(:, currMeasNr)] = ...
|
||||
leastSquarePos_Snapshot(satPositions, ...
|
||||
ps_fract1ms,ps_1ms,Doppler, satClkCorr, ...
|
||||
settings);
|
||||
|
||||
%--- Save results -------------------------------------------------
|
||||
navSolutions.X(currMeasNr) = xyzdt(1);
|
||||
navSolutions.Y(currMeasNr) = xyzdt(2);
|
||||
navSolutions.Z(currMeasNr) = xyzdt(3);
|
||||
navSolutions.dt(currMeasNr) = xyzdt(4);
|
||||
|
||||
% Update the satellites elevations vector
|
||||
satElev = navSolutions.channel.el(:, currMeasNr);
|
||||
|
||||
%=== Correct pseudorange measurements for clocks errors ===========
|
||||
navSolutions.channel.correctedP(activeChnList, currMeasNr) = ...
|
||||
navSolutions.channel.rawP(activeChnList, currMeasNr) + ...
|
||||
satClkCorr' * settings.c + navSolutions.dt(currMeasNr);
|
||||
|
||||
%% Coordinate conversion ==================================================
|
||||
|
||||
%=== Convert to geodetic coordinates ==============================
|
||||
[navSolutions.latitude(currMeasNr), ...
|
||||
navSolutions.longitude(currMeasNr), ...
|
||||
navSolutions.height(currMeasNr)] = cart2geo(...
|
||||
navSolutions.X(currMeasNr), ...
|
||||
navSolutions.Y(currMeasNr), ...
|
||||
navSolutions.Z(currMeasNr), ...
|
||||
5);
|
||||
|
||||
%=== Convert to UTM coordinate system =============================
|
||||
navSolutions.utmZone = findUtmZone(navSolutions.latitude(currMeasNr), ...
|
||||
navSolutions.longitude(currMeasNr));
|
||||
|
||||
[navSolutions.E(currMeasNr), ...
|
||||
navSolutions.N(currMeasNr), ...
|
||||
navSolutions.U(currMeasNr)] = cart2utm(xyzdt(1), xyzdt(2), ...
|
||||
xyzdt(3), ...
|
||||
navSolutions.utmZone);
|
||||
|
||||
else % if size(activeChnList, 2) > 3
|
||||
%--- There are not enough satellites to find 3D position ----------
|
||||
disp([' Measurement No. ', num2str(currMeasNr), ...
|
||||
': Not enough information for position solution.']);
|
||||
|
||||
%--- Set the missing solutions to NaN. These results will be
|
||||
%excluded automatically in all plots. For DOP it is easier to use
|
||||
%zeros. NaN values might need to be excluded from results in some
|
||||
%of further processing to obtain correct results.
|
||||
navSolutions.X(currMeasNr) = NaN;
|
||||
navSolutions.Y(currMeasNr) = NaN;
|
||||
navSolutions.Z(currMeasNr) = NaN;
|
||||
navSolutions.dt(currMeasNr) = NaN;
|
||||
navSolutions.DOP(:, currMeasNr) = zeros(5, 1);
|
||||
navSolutions.latitude(currMeasNr) = NaN;
|
||||
navSolutions.longitude(currMeasNr) = NaN;
|
||||
navSolutions.height(currMeasNr) = NaN;
|
||||
navSolutions.E(currMeasNr) = NaN;
|
||||
navSolutions.N(currMeasNr) = NaN;
|
||||
navSolutions.U(currMeasNr) = NaN;
|
||||
|
||||
navSolutions.channel.az(activeChnList, currMeasNr) = ...
|
||||
NaN(1, length(activeChnList));
|
||||
navSolutions.channel.el(activeChnList, currMeasNr) = ...
|
||||
NaN(1, length(activeChnList));
|
||||
|
||||
% TODO: Know issue. Satellite positions are not updated if the
|
||||
% satellites are excluded do to elevation mask. Therefore rasing
|
||||
% satellites will be not included even if they will be above
|
||||
% elevation mask at some point. This would be a good place to
|
||||
% update positions of the excluded satellites.
|
||||
|
||||
end % if size(activeChnList, 2) > 3
|
||||
|
||||
%=== Update the transmit time ("measurement time") ====================
|
||||
transmitTime = transmitTime+ settings.navSolPeriod / 1000;
|
||||
|
||||
end %for currMeasNr...
|
||||
x=0;
|
||||
144
GNSS_SDR_IQ/postProcessing.m
Normal file
144
GNSS_SDR_IQ/postProcessing.m
Normal file
|
|
@ -0,0 +1,144 @@
|
|||
%--------------------------------------------------------------------------
|
||||
% Script postProcessing.m processes the raw signal from the specified data
|
||||
% file (in settings) operating on blocks of 37 seconds of data.
|
||||
%
|
||||
% First it runs acquisition code identifying the satellites in the file,
|
||||
% then the code and carrier for each of the satellites are tracked, storing
|
||||
% the 1msec accumulations. After processing all satellites in the 37 sec
|
||||
% data block, then postNavigation is called. It calculates pseudoranges
|
||||
% and attempts a position solutions. At the end plots are made for that
|
||||
% block of data.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis, Dennis M. Akos
|
||||
% Some ideas by Dennis M. Akos
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% THE SCRIPT "RECIPE"
|
||||
%
|
||||
% The purpose of this script is to combine all parts of the software
|
||||
% receiver.
|
||||
%
|
||||
% 1.1) Open the data file for the processing and seek to desired point.
|
||||
%
|
||||
% 2.1) Acquire satellites
|
||||
%
|
||||
% 3.1) Initialize channels (preRun.m).
|
||||
% 3.2) Pass the channel structure and the file identifier to the tracking
|
||||
% function. It will read and process the data. The tracking results are
|
||||
% stored in the trackResults structure. The results can be accessed this
|
||||
% way (the results are stored each millisecond):
|
||||
% trackResults(channelNumber).XXX(fromMillisecond : toMillisecond), where
|
||||
% XXX is a field name of the result (e.g. I_P, codePhase etc.)
|
||||
%
|
||||
% 4) Pass tracking results to the navigation solution function. It will
|
||||
% decode navigation messages, find satellite positions, measure
|
||||
% pseudoranges and find receiver position.
|
||||
%
|
||||
% 5) Plot the results.
|
||||
|
||||
%% Initialization =========================================================
|
||||
disp ('Starting processing...');
|
||||
|
||||
[fid, message] = fopen(settings.fileName, 'rb');
|
||||
|
||||
%If success, then process the data
|
||||
if (fid > 0)
|
||||
|
||||
% Move the starting point of processing. Can be used to start the
|
||||
% signal processing at any point in the data record (e.g. good for long
|
||||
% records or for signal processing in blocks).
|
||||
fseek(fid, settings.skipNumberOfBytes, 'bof');
|
||||
|
||||
%% Acquisition ============================================================
|
||||
|
||||
% Do acquisition if it is not disabled in settings or if the variable
|
||||
% acqResults does not exist.
|
||||
if ((settings.skipAcquisition == 0) || ~exist('acqResults', 'var'))
|
||||
|
||||
% Find number of samples per spreading code
|
||||
samplesPerCode = round(settings.samplingFreq / ...
|
||||
(settings.codeFreqBasis / settings.codeLength));
|
||||
|
||||
% Read data for acquisition. 11ms of signal are needed for the fine
|
||||
% frequency estimation
|
||||
data = fread(fid, 11*samplesPerCode, settings.dataType)';
|
||||
|
||||
%--- Do the acquisition -------------------------------------------
|
||||
disp (' Acquiring satellites...');
|
||||
acqResults = acquisition(data, settings);
|
||||
|
||||
plotAcquisition(acqResults);
|
||||
end
|
||||
|
||||
%% Initialize channels and prepare for the run ============================
|
||||
|
||||
% Start further processing only if a GNSS signal was acquired (the
|
||||
% field FREQUENCY will be set to 0 for all not acquired signals)
|
||||
if (any(acqResults.carrFreq))
|
||||
channel = preRun(acqResults, settings);
|
||||
showChannelStatus(channel, settings);
|
||||
else
|
||||
% No satellites to track, exit
|
||||
disp('No GNSS signals detected, signal processing finished.');
|
||||
trackResults = [];
|
||||
return;
|
||||
end
|
||||
|
||||
%% Track the signal =======================================================
|
||||
startTime = now;
|
||||
disp ([' Tracking started at ', datestr(startTime)]);
|
||||
|
||||
% Process all channels for given data block
|
||||
[trackResults, channel] = tracking(fid, channel, settings);
|
||||
|
||||
% Close the data file
|
||||
fclose(fid);
|
||||
|
||||
disp([' Tracking is over (elapsed time ', ...
|
||||
datestr(now - startTime, 13), ')'])
|
||||
|
||||
% Auto save the acquisition & tracking results to a file to allow
|
||||
% running the positioning solution afterwards.
|
||||
disp(' Saving Acq & Tracking results to file "trackingResults.mat"')
|
||||
save('trackingResults', ...
|
||||
'trackResults', 'settings', 'acqResults', 'channel');
|
||||
|
||||
%% Calculate navigation solutions =========================================
|
||||
disp(' Calculating navigation solutions...');
|
||||
navSolutions = postNavigation(trackResults, settings);
|
||||
|
||||
disp(' Processing is complete for this data block');
|
||||
|
||||
%% Plot all results ===================================================
|
||||
disp (' Ploting results...');
|
||||
if settings.plotTracking
|
||||
plotTracking(1:settings.numberOfChannels, trackResults, settings);
|
||||
end
|
||||
|
||||
plotNavigation0(navSolutions, settings);
|
||||
|
||||
disp('Post processing of the signal is over.');
|
||||
|
||||
else
|
||||
% Error while opening the data file.
|
||||
error('Unable to read file %s: %s.', settings.fileName, message);
|
||||
end % if (fid > 0)
|
||||
118
GNSS_SDR_IQ/probeData.m
Normal file
118
GNSS_SDR_IQ/probeData.m
Normal file
|
|
@ -0,0 +1,118 @@
|
|||
function probeData(varargin)
|
||||
%Function plots raw data information: time domain plot, a frequency domain
|
||||
%plot and a histogram.
|
||||
%
|
||||
%The function can be called in two ways:
|
||||
% probeData(settings)
|
||||
% or
|
||||
% probeData(fileName, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% fileName - name of the data file. File name is read from
|
||||
% settings if parameter fileName is not provided.
|
||||
%
|
||||
% settings - receiver settings. Type of data file, sampling
|
||||
% frequency and the default filename are specified
|
||||
% here.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Dennis M. Akos
|
||||
% Written by Darius Plausinaitis and Dennis M. Akos
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: probeData.m,v 1.1.2.7 2006/08/22 13:46:00 dpl Exp $
|
||||
|
||||
%% Check the number of arguments ==========================================
|
||||
if (nargin == 1)
|
||||
settings = deal(varargin{1});
|
||||
fileNameStr = settings.fileName;
|
||||
elseif (nargin == 2)
|
||||
[fileNameStr, settings] = deal(varargin{1:2});
|
||||
if ~ischar(fileNameStr)
|
||||
error('File name must be a string');
|
||||
end
|
||||
else
|
||||
error('Incorect number of arguments');
|
||||
end
|
||||
|
||||
%% Generate plot of raw data ==============================================
|
||||
[fid, message] = fopen(fileNameStr, 'rb');
|
||||
|
||||
if (fid > 0)
|
||||
% Move the starting point of processing. Can be used to start the
|
||||
% signal processing at any point in the data record (e.g. for long
|
||||
% records).
|
||||
fseek(fid, settings.skipNumberOfBytes, 'bof');
|
||||
|
||||
% Find number of samples per spreading code
|
||||
samplesPerCode = round(settings.samplingFreq / ...
|
||||
(settings.codeFreqBasis / settings.codeLength));
|
||||
|
||||
% Read 10ms of signal
|
||||
[data, count] = fread(fid, [1, 10*samplesPerCode], settings.dataType);
|
||||
|
||||
fclose(fid);
|
||||
|
||||
if (count < 10*samplesPerCode)
|
||||
% The file is to short
|
||||
error('Could not read enough data from the data file.');
|
||||
end
|
||||
|
||||
%--- Initialization ---------------------------------------------------
|
||||
figure(100);
|
||||
clf(100);
|
||||
|
||||
timeScale = 0 : 1/settings.samplingFreq : 5e-3;
|
||||
|
||||
%--- Time domain plot -------------------------------------------------
|
||||
subplot(2, 2, 1);
|
||||
plot(1000 * timeScale(1:round(samplesPerCode/50)), ...
|
||||
data(1:round(samplesPerCode/50)));
|
||||
|
||||
axis tight;
|
||||
grid on;
|
||||
title ('Time domain plot');
|
||||
xlabel('Time (ms)'); ylabel('Amplitude');
|
||||
|
||||
%--- Frequency domain plot --------------------------------------------
|
||||
subplot(2,2,2);
|
||||
pwelch(data-mean(data), 16384, 1024, 2048, settings.samplingFreq/1e6)
|
||||
|
||||
axis tight;
|
||||
grid on;
|
||||
title ('Frequency domain plot');
|
||||
xlabel('Frequency (MHz)'); ylabel('Magnitude');
|
||||
|
||||
%--- Histogram --------------------------------------------------------
|
||||
subplot(2, 2, 3.5);
|
||||
hist(data, -128:128)
|
||||
|
||||
dmax = max(abs(data)) + 1;
|
||||
axis tight;
|
||||
adata = axis;
|
||||
axis([-dmax dmax adata(3) adata(4)]);
|
||||
grid on;
|
||||
title ('Histogram');
|
||||
xlabel('Bin'); ylabel('Number in bin');
|
||||
else
|
||||
%=== Error while opening the data file ================================
|
||||
error('Unable to read file %s: %s.', fileNameStr, message);
|
||||
end % if (fid > 0)
|
||||
BIN
GNSS_SDR_IQ/setSettings.fig
Normal file
BIN
GNSS_SDR_IQ/setSettings.fig
Normal file
Binary file not shown.
384
GNSS_SDR_IQ/setSettings.m
Normal file
384
GNSS_SDR_IQ/setSettings.m
Normal file
|
|
@ -0,0 +1,384 @@
|
|||
function varargout = setSettings(varargin)
|
||||
% SETSETTINGS M-file for setSettings.fig
|
||||
% SETSETTINGS, by itself, creates a new SETSETTINGS or raises the existing
|
||||
% singleton*.
|
||||
%
|
||||
% H = SETSETTINGS returns the handle to a new SETSETTINGS or the handle to
|
||||
% the existing singleton*.
|
||||
%
|
||||
% SETSETTINGS('CALLBACK',hObject,eventData,handles,...) calls the local
|
||||
% function named CALLBACK in SETSETTINGS.M with the given input arguments.
|
||||
%
|
||||
% SETSETTINGS('Property','Value',...) creates a new SETSETTINGS or raises the
|
||||
% existing singleton*. Starting from the left, property value pairs are
|
||||
% applied to the GUI before setSettings_OpeningFunction gets called. An
|
||||
% unrecognized property name or invalid value makes property application
|
||||
% stop. All inputs are passed to setSettings_OpeningFcn via varargin.
|
||||
%
|
||||
% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
|
||||
% instance to run (singleton)".
|
||||
%
|
||||
% See also: GUIDE, GUIDATA, GUIHANDLES
|
||||
|
||||
% Edit the above text to modify the response to help setSettings
|
||||
|
||||
% Last Modified by GUIDE v2.5 02-Aug-2006 10:33:09
|
||||
|
||||
% Begin initialization code - DO NOT EDIT
|
||||
gui_Singleton = 1;
|
||||
gui_State = struct('gui_Name', mfilename, ...
|
||||
'gui_Singleton', gui_Singleton, ...
|
||||
'gui_OpeningFcn', @setSettings_OpeningFcn, ...
|
||||
'gui_OutputFcn', @setSettings_OutputFcn, ...
|
||||
'gui_LayoutFcn', [] , ...
|
||||
'gui_Callback', []);
|
||||
if nargin && ischar(varargin{1})
|
||||
gui_State.gui_Callback = str2func(varargin{1});
|
||||
end
|
||||
|
||||
if nargout
|
||||
[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
|
||||
else
|
||||
gui_mainfcn(gui_State, varargin{:});
|
||||
end
|
||||
% End initialization code - DO NOT EDIT
|
||||
|
||||
|
||||
% --- Executes just before setSettings is made visible.
|
||||
function setSettings_OpeningFcn(hObject, eventdata, handles, varargin)
|
||||
% This function has no output args, see OutputFcn.
|
||||
% hObject handle to figure
|
||||
% eventdata reserved - to be defined in a future version of MATLAB
|
||||
% handles structure with handles and user data (see GUIDATA)
|
||||
% varargin command line arguments to setSettings (see VARARGIN)
|
||||
|
||||
%--- Try to read data from the variable "settings" ------------------------
|
||||
% (variable "settings" is in the base Matlab workspace)
|
||||
try
|
||||
handles.settings = evalin('base', 'settings');
|
||||
catch
|
||||
%--- Creat a new settings structure in case of an error ---------------
|
||||
handles.settings = initSettings();
|
||||
end
|
||||
|
||||
%--- Assign it to the GUI data structure ----------------------------------
|
||||
loadSettings(handles);
|
||||
|
||||
% Choose default command line output for setSettings
|
||||
handles.output = hObject;
|
||||
|
||||
% Update handles structure
|
||||
guidata(hObject, handles);
|
||||
|
||||
% UIWAIT makes setSettings wait for user response (see UIRESUME)
|
||||
% uiwait(handles.figure1);
|
||||
|
||||
|
||||
% --- Outputs from this function are returned to the command line.
|
||||
function varargout = setSettings_OutputFcn(hObject, eventdata, handles)
|
||||
% varargout cell array for returning output args (see VARARGOUT);
|
||||
% hObject handle to figure
|
||||
% eventdata reserved - to be defined in a future version of MATLAB
|
||||
% handles structure with handles and user data (see GUIDATA)
|
||||
|
||||
% Get default command line output from handles structure
|
||||
varargout{1} = handles.output;
|
||||
|
||||
%### Callback functions ###################################################
|
||||
|
||||
% --- Executes during object creation, after setting all properties.
|
||||
function edit_CreateFcn(hObject, eventdata, handles)
|
||||
% hObject handle to edit (see GCBO)
|
||||
% eventdata reserved - to be defined in a future version of MATLAB
|
||||
% handles empty - handles not created until after all CreateFcns called
|
||||
|
||||
% Hint: edit controls usually have a white background on Windows.
|
||||
% See ISPC and COMPUTER.
|
||||
if ispc && isequal(get(hObject,'BackgroundColor'), ...
|
||||
get(0,'defaultUicontrolBackgroundColor'))
|
||||
set(hObject,'BackgroundColor','white');
|
||||
end
|
||||
|
||||
|
||||
function edit_Callback(hObject, eventdata, handles)
|
||||
% hObject handle to edit (see GCBO)
|
||||
% eventdata reserved - to be defined in a future version of MATLAB
|
||||
% handles structure with handles and user data (see GUIDATA)
|
||||
|
||||
% Hints: get(hObject,'String') returns contents of edit as text
|
||||
% str2double(get(hObject,'String')) returns contents of edit as a double
|
||||
|
||||
%--- Enable the apply button on any input event ---------------------------
|
||||
set(handles.pushbuttonApply, 'Enable', 'on');
|
||||
|
||||
|
||||
% --- Executes on button press in any checkbox.
|
||||
function checkbox_Callback(hObject, eventdata, handles)
|
||||
% hObject handle to PRN1checkbox (see GCBO)
|
||||
% eventdata reserved - to be defined in a future version of MATLAB
|
||||
% handles structure with handles and user data (see GUIDATA)
|
||||
% Hint: get(hObject,'Value') returns toggle state of PRN1checkbox
|
||||
|
||||
%--- Enable the apply button on any input event ---------------------------
|
||||
set(handles.pushbuttonApply, 'Enable', 'on');
|
||||
|
||||
% --- Executes on button press in applybutton.
|
||||
function pushbuttonApply_Callback(hObject, eventdata, handles)
|
||||
% hObject handle to applybutton (see GCBO)
|
||||
% eventdata reserved - to be defined in a future version of MATLAB
|
||||
% handles structure with handles and user data (see GUIDATA)
|
||||
|
||||
%--- Try to read values from the GUI input fields -------------------------
|
||||
[settings, error] = saveSettings(handles);
|
||||
|
||||
%--- If no errors, then ...
|
||||
if error == 0
|
||||
%--- Save the updated settings in the main workspace ------------------
|
||||
assignin('base', 'settings', settings);
|
||||
|
||||
% Turn off the apply button
|
||||
set(hObject, 'Enable', 'off');
|
||||
end
|
||||
|
||||
% --- Executes on button press in resetbutton.
|
||||
function pushbuttonReset_Callback(hObject, eventdata, handles)
|
||||
% hObject handle to resetbutton (see GCBO)
|
||||
% eventdata reserved - to be defined in a future version of MATLAB
|
||||
% handles structure with handles and user data (see GUIDATA)
|
||||
|
||||
%--- Try to read data from the variable "settings" ------------------------
|
||||
% (variable "settings" is in the base Matlab workspace)
|
||||
try
|
||||
handles.settings = evalin('base', 'settings');
|
||||
catch
|
||||
%--- Create a new settings structure in case of an error --------------
|
||||
handles.settings = initSettings();
|
||||
end
|
||||
|
||||
%--- Assign it to the GUI data structure ----------------------------------
|
||||
loadSettings(handles);
|
||||
|
||||
%--- Save changes in the GUI data structure -------------------------------
|
||||
guidata(hObject, handles);
|
||||
|
||||
%--- Turn off the apply button --------------------------------------------
|
||||
set(handles.pushbuttonApply, 'Enable', 'off');
|
||||
|
||||
%@@@ Function reads values from the GUI and updates the settings structure
|
||||
function [settings, error] = saveSettings(handles)
|
||||
settings = handles.settings;
|
||||
error = 0; % no error
|
||||
|
||||
try
|
||||
%Please read the Matlab help for mo details on TRY, CATCH and ERROR
|
||||
%commands.
|
||||
|
||||
%--- Signal properties related fields ---------------------------------
|
||||
settings.fileName = get(handles.editFileName, 'String');
|
||||
settings.numberOfChannels = edit2double(handles.editNumberOfChannels);
|
||||
settings.msToProcess = edit2double(handles.editMsToProcess);
|
||||
settings.skipNumberOfBytes = edit2double(handles.editSkipNumberOfBytes);
|
||||
settings.IF = edit2double(handles.editIF);
|
||||
settings.samplingFreq = edit2double(handles.editSamplingFreq);
|
||||
settings.dataType = get(handles.editDataType, 'String');
|
||||
|
||||
%--- Satellite PRN numbers --------------------------------------------
|
||||
for PRN = 1:32
|
||||
%If checkbox is checked
|
||||
if getCheckbox(getfield(handles, ['checkboxPRN', num2str(PRN)])) == 1
|
||||
|
||||
% Include satellite in the list
|
||||
settings.acqSatelliteList = ...
|
||||
union(settings.acqSatelliteList, PRN);
|
||||
else
|
||||
% Exclude satellite from the list
|
||||
settings.acqSatelliteList = ...
|
||||
setdiff(settings.acqSatelliteList, PRN);
|
||||
end
|
||||
end
|
||||
|
||||
%--- Acquisition parameters -------------------------------------------
|
||||
settings.acqSearchBand = edit2double(handles.editAcqSearchBand);
|
||||
settings.acqThreshold = edit2double(handles.editAcqThreshold);
|
||||
settings.skipAcquisition = getCheckbox(handles.checkboxSkipAcquisition);
|
||||
|
||||
%--- Tracking ---------------------------------------------------------
|
||||
settings.dllCorrelatorSpacing = edit2double(handles.editDllCorrelatorSpacing);
|
||||
settings.dllDampingRatio = edit2double(handles.editDllDampingRatio);
|
||||
settings.dllNoiseBandwidth = edit2double(handles.editDllNoiseBandwidth);
|
||||
settings.pllDampingRatio = edit2double(handles.editPllDampingRatio);
|
||||
settings.pllNoiseBandwidth = edit2double(handles.editPllNoiseBandwidth);
|
||||
|
||||
%--- Nav solutions ----------------------------------------------------
|
||||
settings.elevationMask = edit2double(handles.editElevationMask);
|
||||
settings.navSolPeriod = edit2double(handles.editNavSolPeriod);
|
||||
settings.useTropCorr = getCheckbox(handles.checkboxUseTropCorr);
|
||||
settings.truePosition.E = edit2double(handles.editUtmE);
|
||||
settings.truePosition.N = edit2double(handles.editUtmN);
|
||||
settings.truePosition.U = edit2double(handles.editUtmU);
|
||||
|
||||
%--- Plotting ---------------------------------------------------------
|
||||
settings.plotTracking = getCheckbox(handles.checkboxPlotTracking);
|
||||
|
||||
catch
|
||||
%Please read the Matlab help for mo details on TRY, CATCH and ERROR
|
||||
%commands.
|
||||
|
||||
%--- Read error information -------------------------------------------
|
||||
e = lasterror;
|
||||
|
||||
%If this error caused by bad input
|
||||
if strcmp(e.identifier, 'setSettings:badInput')
|
||||
% then do not save settings, return an error indication
|
||||
error = 1;
|
||||
else
|
||||
% Not our error, this error must be handled/reported in the system
|
||||
rethrow(e);
|
||||
end
|
||||
end
|
||||
|
||||
%@@@ Function loads the settings into the GUI @@@@@@@@@@@@@@@@@@@@@@@@@@@@@
|
||||
function loadSettings(handles)
|
||||
|
||||
%--- Signal properties related fields -------------------------------------
|
||||
set(handles.editFileName, 'String', handles.settings.fileName);
|
||||
set(handles.editNumberOfChannels, 'String', num2str(handles.settings.numberOfChannels));
|
||||
set(handles.editSkipNumberOfBytes, 'String', num2str(handles.settings.skipNumberOfBytes));
|
||||
set(handles.editMsToProcess, 'String', num2str(handles.settings.msToProcess));
|
||||
set(handles.editIF, 'String', num2str(handles.settings.IF));
|
||||
set(handles.editSamplingFreq, 'String', num2str(handles.settings.samplingFreq ));
|
||||
set(handles.editDataType, 'String', handles.settings.dataType);
|
||||
|
||||
%--- Satellite PRN numbers ------------------------------------------------
|
||||
for PRN = 1:32
|
||||
% If the PRN number is in the list
|
||||
if ismember(PRN, handles.settings.acqSatelliteList)
|
||||
% then set the checkbox to "checked" state
|
||||
setCheckbox(getfield(handles, ['checkboxPRN', num2str(PRN)]), 1);
|
||||
else
|
||||
% set the checkbox to "unchecked" state
|
||||
setCheckbox(getfield(handles, ['checkboxPRN', num2str(PRN)]), 0);
|
||||
end
|
||||
end
|
||||
|
||||
%--- Acquisition parameters -------------------------------------------
|
||||
set(handles.editAcqSearchBand, 'String', num2str(handles.settings.acqSearchBand));
|
||||
set(handles.editAcqThreshold, 'String', num2str(handles.settings.acqThreshold));
|
||||
setCheckbox(handles.checkboxSkipAcquisition, handles.settings.skipAcquisition);
|
||||
|
||||
%--- Tracking ---------------------------------------------------------
|
||||
set(handles.editDllCorrelatorSpacing, 'String', num2str(handles.settings.dllCorrelatorSpacing));
|
||||
set(handles.editDllDampingRatio, 'String', num2str(handles.settings.dllDampingRatio));
|
||||
set(handles.editDllNoiseBandwidth, 'String', num2str(handles.settings.dllNoiseBandwidth));
|
||||
set(handles.editPllDampingRatio, 'String', num2str(handles.settings.pllDampingRatio));
|
||||
set(handles.editPllNoiseBandwidth, 'String', num2str(handles.settings.pllNoiseBandwidth));
|
||||
|
||||
%--- Nav solutions --------------------------------------------------------
|
||||
set(handles.editElevationMask, 'String', num2str(handles.settings.elevationMask));
|
||||
set(handles.editNavSolPeriod, 'String', num2str(handles.settings.navSolPeriod));
|
||||
setCheckbox(handles.checkboxUseTropCorr, handles.settings.useTropCorr);
|
||||
set(handles.editUtmE, 'String', num2str(handles.settings.truePosition.E));
|
||||
set(handles.editUtmN, 'String', num2str(handles.settings.truePosition.N));
|
||||
set(handles.editUtmU, 'String', num2str(handles.settings.truePosition.U));
|
||||
|
||||
%--- Plotting -------------------------------------------------------------
|
||||
setCheckbox(handles.checkboxPlotTracking, handles.settings.plotTracking);
|
||||
|
||||
%@@@ Function reads current state of a checkbox "in the Matlab way" @@@@@@@
|
||||
function value = getCheckbox(handle)
|
||||
|
||||
if (get(handle, 'Value') == get(handle,'Max'))
|
||||
% then checkbox is checked
|
||||
value = 1;
|
||||
else
|
||||
% checkbox is not checked
|
||||
value = 0;
|
||||
end
|
||||
|
||||
%@@@ Function sets checkbox state @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
|
||||
% Setting the "Value" variable to some number not equal to "Min" or "Max"
|
||||
% will cause Matlab runtime error.
|
||||
function setCheckbox(handle, value)
|
||||
|
||||
if (value == 1)
|
||||
% "check" the checkbox
|
||||
set(handle, 'Value', get(handle,'Max'));
|
||||
else
|
||||
% "uncheck" the checkbox
|
||||
set(handle, 'Value', get(handle,'Min'));
|
||||
end
|
||||
|
||||
%@@@ Function checks if the edit field contains a numeric value. If yes,
|
||||
%then it converts string type value to double. @@@@@@@@@@@@@@@@@@@@@@@@@@@@
|
||||
function value = edit2double(handle)
|
||||
|
||||
%--- Try to convert string in the entry field to double -------------------
|
||||
value = str2double(get(handle, 'String'));
|
||||
|
||||
% If it is not a number, then handle the incorect input -------------------
|
||||
if isnan(value) && ~strcmpi(get(handle, 'String'), 'NaN')
|
||||
%--- Make the message text ---
|
||||
text = ['Bad input in the field "', get(handle, 'UserData'),...
|
||||
'". You must enter a numeric value.'];
|
||||
|
||||
% Show the error message in a message box
|
||||
errordlg(text, 'Bad Input', 'modal');
|
||||
|
||||
%--- Stop code execution here and "Throw an error". The error will be
|
||||
% "cached" by the "CATCH" statement. The code execution resumes from
|
||||
% at the "CATCH" statement. Please read the Matlab help for mo details
|
||||
% on TRY, CATCH and ERROR commands.
|
||||
error('setSettings:badInput', text);
|
||||
end
|
||||
|
||||
|
||||
% --- Executes on button press in pushbuttonSelectDataFile.
|
||||
function pushbuttonSelectDataFile_Callback(hObject, eventdata, handles)
|
||||
% hObject handle to pushbuttonSelectDataFile (see GCBO)
|
||||
% eventdata reserved - to be defined in a future version of MATLAB
|
||||
% handles structure with handles and user data (see GUIDATA)
|
||||
|
||||
[fileName, pathName] = uigetfile('*.bin', ...
|
||||
'Select data file...', ...
|
||||
get(handles.editFileName, 'String'));
|
||||
|
||||
if (~isequal(fileName, 0) && ~isequal(pathName, 0))
|
||||
set(handles.editFileName, 'String', fullfile(pathName, fileName));
|
||||
set(handles.pushbuttonApply, 'Enable', 'on');
|
||||
end
|
||||
|
||||
% --- Executes on button press in pushbuttonProbeData.
|
||||
function pushbuttonProbeData_Callback(hObject, eventdata, handles)
|
||||
% hObject handle to pushbuttonProbeData (see GCBO)
|
||||
% eventdata reserved - to be defined in a future version of MATLAB
|
||||
% handles structure with handles and user data (see GUIDATA)
|
||||
|
||||
[settings, error] = saveSettings(handles);
|
||||
|
||||
%--- If no errors, then ...
|
||||
if error == 0
|
||||
try
|
||||
probeData(settings);
|
||||
catch
|
||||
errStruct = lasterror;
|
||||
msgbox(errStruct.message, 'Error', 'error');
|
||||
end
|
||||
end
|
||||
|
||||
|
||||
% --- Executes on button press in pushbuttonDefault.
|
||||
function pushbuttonDefault_Callback(hObject, eventdata, handles)
|
||||
% hObject handle to pushbuttonDefault (see GCBO)
|
||||
% eventdata reserved - to be defined in a future version of MATLAB
|
||||
% handles structure with handles and user data (see GUIDATA)
|
||||
|
||||
handles.settings = initSettings();
|
||||
|
||||
% Assign it to the GUI data structure
|
||||
loadSettings(handles);
|
||||
|
||||
% Update handles structure
|
||||
guidata(hObject, handles);
|
||||
|
||||
% Turn on the apply button
|
||||
set(handles.pushbuttonApply, 'Enable', 'on');
|
||||
BIN
GNSS_SDR_IQ/test/InitCodePhase.mat
Normal file
BIN
GNSS_SDR_IQ/test/InitCodePhase.mat
Normal file
Binary file not shown.
1
GNSS_SDR_IQ/test/NAV/navascii13
Normal file
1
GNSS_SDR_IQ/test/NAV/navascii13
Normal file
File diff suppressed because one or more lines are too long
1
GNSS_SDR_IQ/test/NAV/navascii16
Normal file
1
GNSS_SDR_IQ/test/NAV/navascii16
Normal file
File diff suppressed because one or more lines are too long
1
GNSS_SDR_IQ/test/NAV/navascii19
Normal file
1
GNSS_SDR_IQ/test/NAV/navascii19
Normal file
File diff suppressed because one or more lines are too long
1
GNSS_SDR_IQ/test/NAV/navascii23
Normal file
1
GNSS_SDR_IQ/test/NAV/navascii23
Normal file
File diff suppressed because one or more lines are too long
1
GNSS_SDR_IQ/test/NAV/navascii3
Normal file
1
GNSS_SDR_IQ/test/NAV/navascii3
Normal file
File diff suppressed because one or more lines are too long
1
GNSS_SDR_IQ/test/NAV/navascii6
Normal file
1
GNSS_SDR_IQ/test/NAV/navascii6
Normal file
File diff suppressed because one or more lines are too long
1
GNSS_SDR_IQ/test/NAV3/navascii1
Normal file
1
GNSS_SDR_IQ/test/NAV3/navascii1
Normal file
|
|
@ -0,0 +1 @@
|
|||
1000111101101011101001111111111111111000100100000000011101000101000001110000000001111001101110100011001110101000001101110100101010011101010110010011110011010110010111101001101100100000010101101010100111001111010101011010110000011110010011110000000011110000000000000000000000000101001100111110101000111111111110011011101001111111111111111101101011111111100010101010011110101111111111101000111111111111011111111111111111111111111111111000000000001101111011000000110011111110100001000110011001010000111100101011110111011110000001010100110001011101000011000111111111010101100100010010000000000001111110101100000001011011101001111111111111111101101011111111100010011001111101100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000100010110000000000000000010010100000000011101110110100111110000000000001000001100100110001011100001110111100110011000010111111010100101000000000000100101000010000110001001001101000100011001001011111100111010010111001010001000000111110000011000001010110111100110101101011000010001111111111001111010011100010110000000000000000010010100000000011100110100100001101111111111111111011111111011000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000011111001100100001010010110000010101110001100000000000000000000001111101011111000011010000001000111101101011101001111111111111111000100100000000011101000101000001110000000001111001101110100011001110101000001101110100101010011101010110010011110011010110010111101001101100100000010101101010100111001111010101011010110000011110010011110000000011110000000000000000000000000101001100111110101000111111111110011011101001111111111111111101101011111111100010101010011110101111111111101000111111111111011111111111111111111111111111111000000000001101111011000000110011111110100001000110011001010000111100101011110111011110000001010100110001011101000011000111111111010101100100010010000000000001111110101100000001011011101001111111111111111101101011111111100010011001111101100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000100010110000000000000000010010100000000011101110110100111110000000000001000001100100110001011100001110111100110011000010111111010100101000000000000100101000010000110001001001101000100011001001011111100111010010111001010001000000111110000011000001010110111100110101101011000010001111111111001111010011
|
||||
1
GNSS_SDR_IQ/test/NAV3/navascii14
Normal file
1
GNSS_SDR_IQ/test/NAV3/navascii14
Normal file
|
|
@ -0,0 +1 @@
|
|||
1000111101101011101001111111111111111000100100000000011101000101000001110000000001111001101110100011001110101000001101110100101010011101010110010011110011010110010111101001101100100000010101101010100111001111010101011010110000011110010011110000000011110000000000000000000000000101001100111110101000111111111110011011101001111111111111111101101011111111100010101010011110101111111111101000111111111111011111111111111111111111111111111000000000001101111011000000110011111110100001000110011001010000111100101011110111011110000001010100110001011101000011000111111111010101100100010010000000000001111110101100000001011011101001111111111111111101101011111111100010011001111101100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000100010110000000000000000010010100000000011101110110100111110000000000001000001100100110001011100001110111100110011000010111111010100101000000000000100101000010000110001001001101000100011001001011111100111010010111001010001000000111110000011000001010110111100110101101011000010001111111111001111010011100010110000000000000000010010100000000011100110100100001101111111111111111011111111011000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000011111001100100001010010110000010101110001100000000000000000000001111101011111000011010000001000111101101011101001111111111111111000100100000000011101000101000001110000000001111001101110100011001110101000001101110100101010011101010110010011110011010110010111101001101100100000010101101010100111001111010101011010110000011110010011110000000011110000000000000000000000000101001100111110101000111111111110011011101001111111111111111101101011111111100010101010011110101111111111101000111111111111011111111111111111111111111111111000000000001101111011000000110011111110100001000110011001010000111100101011110111011110000001010100110001011101000011000111111111010101100100010010000000000001111110101100000001011011101001111111111111111101101011111111100010011001111101100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000100010110000000000000000010010100000000011101110110100111110000000000001000001100100110001011100001110111100110011000010111111010100101000000000000100101000010000110001001001101000100011001001011111100111010010111001010001000000111110000011000001010110111100110101101011000010001111111111001111010011
|
||||
1
GNSS_SDR_IQ/test/NAV3/navascii6
Normal file
1
GNSS_SDR_IQ/test/NAV3/navascii6
Normal file
|
|
@ -0,0 +1 @@
|
|||
011101001111111111111111101101011111111100011001011011110010000000000000000100000000100111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111100000110011011110101101001111101010001110011111111111111111111110000010100000111100101111110111000010010100010110000000000000000111011011111111100010111010111110001111111110000110010001011100110001010111110010001011010101100010101001101100001100101001101000010110010011011111101010010101011000110000101010100101001111100001101100001111111100001111111111111111111111111010110011000001010111000000000001100100010110000000000000000010010100000000011101010101100001010000000000010111000000000000100000000000000000000000000000000111111111110010000100111111001100000001011110111001100110101111000011010100001000100001111110101011001110100010111100111000000000101010011011101101111111111110000001010011111110100100010110000000000000000010010100000000011101100110000010011111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111011101001111111111111111101101011111111100010001001011000001111111111110111110011011001110100011110001000011001100111101000000101011010111111111111011010111101111001110110110010111011100110110100000011000101101000110101110111111000001111100111110101001000011001010010100111101110000000000110000101100
|
||||
17
GNSS_SDR_IQ/test/Test_Tracking.m
Normal file
17
GNSS_SDR_IQ/test/Test_Tracking.m
Normal file
|
|
@ -0,0 +1,17 @@
|
|||
%Test tracking only
|
||||
clear; close all; clc;
|
||||
|
||||
format ('compact');
|
||||
format ('long', 'g');
|
||||
|
||||
%--- Include folders with functions ---------------------------------------
|
||||
addpath ..\include % The software receiver functions
|
||||
addpath ..\geoFunctions % Position calculation related functions
|
||||
addpath ..
|
||||
|
||||
load trackingResults.mat;
|
||||
settings=initSettings();
|
||||
|
||||
navSolutions = postNavigation(trackResults, settings);
|
||||
%plot(navSolutions.latitude,navSolutions.longitude,'o');
|
||||
plotNavigation(navSolutions, settings);
|
||||
167
GNSS_SDR_IQ/test/TrackResults2NavBits.m
Normal file
167
GNSS_SDR_IQ/test/TrackResults2NavBits.m
Normal file
|
|
@ -0,0 +1,167 @@
|
|||
function [firstSubFrame, activeChnList] =TrackResults2NavBits(trackResults, ...
|
||||
settings)
|
||||
% findPreambles finds the first preamble occurrence in the bit stream of
|
||||
% each channel. The preamble is verified by check of the spacing between
|
||||
% preambles (6sec) and parity checking of the first two words in a
|
||||
% subframe. At the same time function returns list of channels, that are in
|
||||
% tracking state and with valid preambles in the nav data stream.
|
||||
%
|
||||
%[firstSubFrame, activeChnList] = findPreambles(trackResults, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% trackResults - output from the tracking function
|
||||
% settings - Receiver settings.
|
||||
%
|
||||
% Outputs:
|
||||
% firstSubframe - the array contains positions of the first
|
||||
% preamble in each channel. The position is ms count
|
||||
% since start of tracking. Corresponding value will
|
||||
% be set to 0 if no valid preambles were detected in
|
||||
% the channel.
|
||||
% activeChnList - list of channels containing valid preambles
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||
% Written by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||
%--------------------------------------------------------------------------
|
||||
%
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: findPreambles.m,v 1.1.2.10 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
% Preamble search can be delayed to a later point in the tracking results
|
||||
% to avoid noise due to tracking loop transients
|
||||
searchStartOffset = 0;
|
||||
|
||||
%--- Initialize the firstSubFrame array -----------------------------------
|
||||
firstSubFrame = zeros(1, settings.numberOfChannels);
|
||||
|
||||
%--- Generate the preamble pattern ----------------------------------------
|
||||
preamble_bits = [1 -1 -1 -1 1 -1 1 1];
|
||||
|
||||
% "Upsample" the preamble - make 20 vales per one bit. The preamble must be
|
||||
% found with precision of a sample.
|
||||
preamble_ms = kron(preamble_bits, ones(1, 20));
|
||||
|
||||
%--- Make a list of channels excluding not tracking channels --------------
|
||||
activeChnList = find([trackResults.status] ~= '-');
|
||||
|
||||
%=== For all tracking channels ...
|
||||
for channelNr = activeChnList
|
||||
|
||||
%% Correlate tracking output with preamble ================================
|
||||
% Read output from tracking. It contains the navigation bits. The start
|
||||
% of record is skiped here to avoid tracking loop transients.
|
||||
bits = trackResults(channelNr).I_P(1 + searchStartOffset : end);
|
||||
|
||||
% Now threshold the output and convert it to -1 and +1
|
||||
bits(bits > 0) = 1;
|
||||
bits(bits <= 0) = -1;
|
||||
|
||||
% Correlate tracking output with the preamble
|
||||
tlmXcorrResult = xcorr(bits, preamble_ms);
|
||||
|
||||
%% Find all starting points off all preamble like patterns ================
|
||||
clear index
|
||||
clear index2
|
||||
|
||||
xcorrLength = (length(tlmXcorrResult) + 1) /2;
|
||||
|
||||
%--- Find at what index/ms the preambles start ------------------------
|
||||
index = find(...
|
||||
abs(tlmXcorrResult(xcorrLength : xcorrLength * 2 - 1)) > 153)' + ...
|
||||
searchStartOffset;
|
||||
|
||||
%% Analyze detected preamble like patterns ================================
|
||||
for i = 1:size(index) % For each occurrence
|
||||
|
||||
%--- Find distances in time between this occurrence and the rest of
|
||||
%preambles like patterns. If the distance is 6000 milliseconds (one
|
||||
%subframe), the do further verifications by validating the parities
|
||||
%of two GPS words
|
||||
|
||||
index2 = index - index(i);
|
||||
|
||||
if (~isempty(find(index2 == 6000)))
|
||||
|
||||
%=== Re-read bit vales for preamble verification ==============
|
||||
% Preamble occurrence is verified by checking the parity of
|
||||
% the first two words in the subframe. Now it is assumed that
|
||||
% bit boundaries a known. Therefore the bit values over 20ms are
|
||||
% combined to increase receiver performance for noisy signals.
|
||||
% in Total 62 bits mast be read :
|
||||
% 2 bits from previous subframe are needed for parity checking;
|
||||
% 60 bits for the first two 30bit words (TLM and HOW words).
|
||||
% The index is pointing at the start of TLM word.
|
||||
bits = trackResults(channelNr).I_P(index(i)-40 : ...
|
||||
index(i) + 20 * 60 -1)';
|
||||
|
||||
%--- Combine the 20 values of each bit ------------------------
|
||||
bits = reshape(bits, 20, (size(bits, 1) / 20));
|
||||
bits = sum(bits);
|
||||
|
||||
% Now threshold and make it -1 and +1
|
||||
bits(bits > 0) = 1;
|
||||
bits(bits <= 0) = -1;
|
||||
|
||||
%--- Check the parity of the TLM and HOW words ----------------
|
||||
if (navPartyChk(bits(1:32)) ~= 0) && ...
|
||||
(navPartyChk(bits(31:62)) ~= 0)
|
||||
% Parity was OK. Record the preamble start position. Skip
|
||||
% the rest of preamble pattern checking for this channel
|
||||
% and process next channel.
|
||||
|
||||
firstSubFrame(channelNr) = index(i);
|
||||
|
||||
%%
|
||||
Nsamp=floor((length(trackResults(channelNr).I_P)-index(i)+40)/20)*20 ;
|
||||
tmpbits = trackResults(channelNr).I_P(index(i)-40 : index(i)-40+Nsamp-1)';
|
||||
|
||||
%--- Combine the 20 values of each bit ------------------------
|
||||
tmpbits = reshape(tmpbits, 20, (size(tmpbits, 1) / 20));
|
||||
tmpbits = sum(tmpbits);
|
||||
|
||||
% Now threshold and make it -1 and +1
|
||||
tmpbits(tmpbits > 0) = '1';
|
||||
tmpbits(tmpbits <= 0) = '0';
|
||||
|
||||
fid=fopen(['NAV\navascii',num2str(trackResults(channelNr).PRN)],'wt');
|
||||
fwrite(fid,tmpbits,'char');
|
||||
fclose(fid);
|
||||
%%
|
||||
break;
|
||||
end % if parity is OK ...
|
||||
|
||||
end % if (~isempty(find(index2 == 6000)))
|
||||
end % for i = 1:size(index)
|
||||
|
||||
% Exclude channel from the active channel list if no valid preamble was
|
||||
% detected
|
||||
if firstSubFrame(channelNr) == 0
|
||||
|
||||
% Exclude channel from further processing. It does not contain any
|
||||
% valid preamble and therefore nothing more can be done for it.
|
||||
activeChnList = setdiff(activeChnList, channelNr);
|
||||
|
||||
disp(['Could not find valid preambles in channel ', ...
|
||||
num2str(channelNr),'!']);
|
||||
end
|
||||
|
||||
end % for channelNr = activeChnList
|
||||
150
GNSS_SDR_IQ/test/findPreambles2.m
Normal file
150
GNSS_SDR_IQ/test/findPreambles2.m
Normal file
|
|
@ -0,0 +1,150 @@
|
|||
function [firstSubFrame, activeChnList] = findPreambles2(trackResults, ...
|
||||
settings)
|
||||
% findPreambles finds the first preamble occurrence in the bit stream of
|
||||
% each channel. The preamble is verified by check of the spacing between
|
||||
% preambles (6sec) and parity checking of the first two words in a
|
||||
% subframe. At the same time function returns list of channels, that are in
|
||||
% tracking state and with valid preambles in the nav data stream.
|
||||
%
|
||||
%[firstSubFrame, activeChnList] = findPreambles(trackResults, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% trackResults - output from the tracking function
|
||||
% settings - Receiver settings.
|
||||
%
|
||||
% Outputs:
|
||||
% firstSubframe - the array contains positions of the first
|
||||
% preamble in each channel. The position is ms count
|
||||
% since start of tracking. Corresponding value will
|
||||
% be set to 0 if no valid preambles were detected in
|
||||
% the channel.
|
||||
% activeChnList - list of channels containing valid preambles
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||
% Written by Darius Plausinaitis, Peter Rinder and Nicolaj Bertelsen
|
||||
%--------------------------------------------------------------------------
|
||||
%
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: findPreambles.m,v 1.1.2.10 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
% Preamble search can be delayed to a later point in the tracking results
|
||||
% to avoid noise due to tracking loop transients
|
||||
searchStartOffset = 0;
|
||||
|
||||
%--- Initialize the firstSubFrame array -----------------------------------
|
||||
firstSubFrame = zeros(1, settings.numberOfChannels);
|
||||
|
||||
%--- Generate the preamble pattern ----------------------------------------
|
||||
preamble_bits = [1 -1 -1 -1 1 -1 1 1];
|
||||
|
||||
% "Upsample" the preamble - make 20 vales per one bit. The preamble must be
|
||||
% found with precision of a sample.
|
||||
preamble_ms = kron(preamble_bits, ones(1, 20));
|
||||
|
||||
%--- Make a list of channels excluding not tracking channels --------------
|
||||
activeChnList = find([trackResults.status] ~= '-');
|
||||
|
||||
%=== For all tracking channels ...
|
||||
for channelNr = activeChnList
|
||||
|
||||
%% Correlate tracking output with preamble ================================
|
||||
% Read output from tracking. It contains the navigation bits. The start
|
||||
% of record is skiped here to avoid tracking loop transients.
|
||||
bits = trackResults(channelNr).I_P(1 + searchStartOffset : end);
|
||||
|
||||
% Now threshold the output and convert it to -1 and +1
|
||||
bits(bits > 0) = 1;
|
||||
bits(bits <= 0) = -1;
|
||||
|
||||
% Correlate tracking output with the preamble
|
||||
tlmXcorrResult = xcorr(bits, preamble_ms);
|
||||
|
||||
%% Find all starting points off all preamble like patterns ================
|
||||
clear index
|
||||
clear index2
|
||||
|
||||
xcorrLength = (length(tlmXcorrResult) + 1) /2;
|
||||
|
||||
%--- Find at what index/ms the preambles start ------------------------
|
||||
index = find(...
|
||||
abs(tlmXcorrResult(xcorrLength : xcorrLength * 2 - 1)) > 153)' + ...
|
||||
searchStartOffset;
|
||||
|
||||
%% Analyze detected preamble like patterns ================================
|
||||
for i = 1:size(index) % For each occurrence
|
||||
|
||||
%--- Find distances in time between this occurrence and the rest of
|
||||
%preambles like patterns. If the distance is 6000 milliseconds (one
|
||||
%subframe), the do further verifications by validating the parities
|
||||
%of two GPS words
|
||||
|
||||
index2 = index - index(i);
|
||||
|
||||
if (~isempty(find(index2 == 6000)))
|
||||
|
||||
%=== Re-read bit vales for preamble verification ==============
|
||||
% Preamble occurrence is verified by checking the parity of
|
||||
% the first two words in the subframe. Now it is assumed that
|
||||
% bit boundaries a known. Therefore the bit values over 20ms are
|
||||
% combined to increase receiver performance for noisy signals.
|
||||
% in Total 62 bits mast be read :
|
||||
% 2 bits from previous subframe are needed for parity checking;
|
||||
% 60 bits for the first two 30bit words (TLM and HOW words).
|
||||
% The index is pointing at the start of TLM word.
|
||||
bits = trackResults(channelNr).I_P(index(i)-40 : ...
|
||||
index(i) + 20 * 60 -1)';
|
||||
|
||||
%--- Combine the 20 values of each bit ------------------------
|
||||
bits = reshape(bits, 20, (size(bits, 1) / 20));
|
||||
bits = sum(bits);
|
||||
|
||||
% Now threshold and make it -1 and +1
|
||||
bits(bits > 0) = 1;
|
||||
bits(bits <= 0) = -1;
|
||||
|
||||
%--- Check the parity of the TLM and HOW words ----------------
|
||||
if (navPartyChk(bits(1:32)) ~= 0) && ...
|
||||
(navPartyChk(bits(31:62)) ~= 0)
|
||||
% Parity was OK. Record the preamble start position. Skip
|
||||
% the rest of preamble pattern checking for this channel
|
||||
% and process next channel.
|
||||
|
||||
firstSubFrame(channelNr) = index(i);
|
||||
break;
|
||||
end % if parity is OK ...
|
||||
|
||||
end % if (~isempty(find(index2 == 6000)))
|
||||
end % for i = 1:size(index)
|
||||
|
||||
% Exclude channel from the active channel list if no valid preamble was
|
||||
% detected
|
||||
if firstSubFrame(channelNr) == 0
|
||||
|
||||
% Exclude channel from further processing. It does not contain any
|
||||
% valid preamble and therefore nothing more can be done for it.
|
||||
activeChnList = setdiff(activeChnList, channelNr);
|
||||
|
||||
disp(['Could not find valid preambles in channel ', ...
|
||||
num2str(channelNr),'!']);
|
||||
end
|
||||
|
||||
end % for channelNr = activeChnList
|
||||
90
GNSS_SDR_IQ/test/generateCAcode.m
Normal file
90
GNSS_SDR_IQ/test/generateCAcode.m
Normal file
|
|
@ -0,0 +1,90 @@
|
|||
function CAcode = generateCAcode(PRN)
|
||||
% generateCAcode.m generates one of the 32 GPS satellite C/A codes.
|
||||
%
|
||||
% CAcode = generateCAcode(PRN)
|
||||
%
|
||||
% Inputs:
|
||||
% PRN - PRN number of the sequence.
|
||||
%
|
||||
% Outputs:
|
||||
% CAcode - a vector containing the desired C/A code sequence
|
||||
% (chips).
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Darius Plausinaitis
|
||||
% Written by Darius Plausinaitis
|
||||
% Based on Dennis M. Akos, Peter Rinder and Nicolaj Bertelsen
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: generateCAcode.m,v 1.1.2.5 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
%--- Make the code shift array. The shift depends on the PRN number -------
|
||||
% The g2s vector holds the appropriate shift of the g2 code to generate
|
||||
% the C/A code (ex. for SV#19 - use a G2 shift of g2s(19) = 471)
|
||||
g2s = [ 5, 6, 7, 8, 17, 18, 139, 140, 141, 251, ...
|
||||
252, 254, 255, 256, 257, 258, 469, 470, 471, 472, ...
|
||||
473, 474, 509, 512, 513, 514, 515, 516, 859, 860, ...
|
||||
861, 862 ... end of shifts for GPS satellites
|
||||
... Shifts for the ground GPS transmitter are not included
|
||||
... Shifts for EGNOS and WAAS satellites (true_PRN = PRN + 87)
|
||||
145, 175, 52, 21, 237, 235, 886, 657, ...
|
||||
634, 762, 355, 1012, 176, 603, 130, 359, 595, 68, ...
|
||||
386];
|
||||
|
||||
%--- Pick right shift for the given PRN number ----------------------------
|
||||
g2shift = g2s(PRN);
|
||||
|
||||
%--- Generate G1 code -----------------------------------------------------
|
||||
|
||||
%--- Initialize g1 output to speed up the function ---
|
||||
g1 = zeros(1, 1023);
|
||||
%--- Load shift register ---
|
||||
reg = -1*ones(1, 10);
|
||||
|
||||
%--- Generate all G1 signal chips based on the G1 feedback polynomial -----
|
||||
for i=1:1023
|
||||
g1(i) = reg(10);
|
||||
saveBit = reg(3)*reg(10);
|
||||
reg(2:10) = reg(1:9);
|
||||
reg(1) = saveBit;
|
||||
end
|
||||
|
||||
%--- Generate G2 code -----------------------------------------------------
|
||||
|
||||
%--- Initialize g2 output to speed up the function ---
|
||||
g2 = zeros(1, 1023);
|
||||
%--- Load shift register ---
|
||||
reg = -1*ones(1, 10);
|
||||
|
||||
%--- Generate all G2 signal chips based on the G2 feedback polynomial -----
|
||||
for i=1:1023
|
||||
g2(i) = reg(10);
|
||||
saveBit = reg(2)*reg(3)*reg(6)*reg(8)*reg(9)*reg(10);
|
||||
reg(2:10) = reg(1:9);
|
||||
reg(1) = saveBit;
|
||||
end
|
||||
|
||||
%--- Shift G2 code --------------------------------------------------------
|
||||
%The idea: g2 = concatenate[ g2_right_part, g2_left_part ];
|
||||
g2 = [g2(1023-g2shift+1 : 1023), g2(1 : 1023-g2shift)];
|
||||
|
||||
%--- Form single sample C/A code by multiplying G1 and G2 -----------------
|
||||
CAcode = -(g1 .* g2);
|
||||
103
GNSS_SDR_IQ/test/navPartyChk.m
Normal file
103
GNSS_SDR_IQ/test/navPartyChk.m
Normal file
|
|
@ -0,0 +1,103 @@
|
|||
function status = navPartyChk(ndat)
|
||||
% This function is called to compute and status the parity bits on GPS word.
|
||||
% Based on the flowchart in Figure 2-10 in the 2nd Edition of the GPS-SPS
|
||||
% Signal Spec.
|
||||
%
|
||||
%status = navPartyChk(ndat)
|
||||
%
|
||||
% Inputs:
|
||||
% ndat - an array (1x32) of 32 bits represent a GPS navigation
|
||||
% word which is 30 bits plus two previous bits used in
|
||||
% the parity calculation (-2 -1 0 1 2 ... 28 29)
|
||||
%
|
||||
% Outputs:
|
||||
% status - the test value which equals EITHER +1 or -1 if parity
|
||||
% PASSED or 0 if parity fails. The +1 means bits #1-24
|
||||
% of the current word have the correct polarity, while -1
|
||||
% means the bits #1-24 of the current word must be
|
||||
% inverted.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Written by Darius Plausinaitis, Kristin Larson
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
% CVS record:
|
||||
% $Id: navPartyChk.m,v 1.1.2.5 2006/08/14 11:38:22 dpl Exp $
|
||||
|
||||
% In order to accomplish the exclusive or operation using multiplication
|
||||
% this program represents a '0' with a '-1' and a '1' with a '1' so that
|
||||
% the exclusive or table holds true for common data operations
|
||||
%
|
||||
% a b xor a b product
|
||||
% -------------- -----------------
|
||||
% 0 0 1 -1 -1 1
|
||||
% 0 1 0 -1 1 -1
|
||||
% 1 0 0 1 -1 -1
|
||||
% 1 1 1 1 1 1
|
||||
|
||||
%--- Check if the data bits must be inverted ------------------------------
|
||||
if (ndat(2) ~= 1)
|
||||
ndat(3:26)= -1 .* ndat(3:26); % Also could just negate
|
||||
end
|
||||
|
||||
%--- Calculate 6 parity bits ----------------------------------------------
|
||||
% The elements of the ndat array correspond to the bits showed in the table
|
||||
% 20-XIV (ICD-200C document) in the following way:
|
||||
% The first element in the ndat is the D29* bit and the second - D30*.
|
||||
% The elements 3 - 26 are bits d1-d24 in the table.
|
||||
% The elements 27 - 32 in the ndat array are the received bits D25-D30.
|
||||
% The array "parity" contains the computed D25-D30 (parity) bits.
|
||||
|
||||
parity(1) = ndat(1) * ndat(3) * ndat(4) * ndat(5) * ndat(7) * ...
|
||||
ndat(8) * ndat(12) * ndat(13) * ndat(14) * ndat(15) * ...
|
||||
ndat(16) * ndat(19) * ndat(20) * ndat(22) * ndat(25);
|
||||
|
||||
parity(2) = ndat(2) * ndat(4) * ndat(5) * ndat(6) * ndat(8) * ...
|
||||
ndat(9) * ndat(13) * ndat(14) * ndat(15) * ndat(16) * ...
|
||||
ndat(17) * ndat(20) * ndat(21) * ndat(23) * ndat(26);
|
||||
|
||||
parity(3) = ndat(1) * ndat(3) * ndat(5) * ndat(6) * ndat(7) * ...
|
||||
ndat(9) * ndat(10) * ndat(14) * ndat(15) * ndat(16) * ...
|
||||
ndat(17) * ndat(18) * ndat(21) * ndat(22) * ndat(24);
|
||||
|
||||
parity(4) = ndat(2) * ndat(4) * ndat(6) * ndat(7) * ndat(8) * ...
|
||||
ndat(10) * ndat(11) * ndat(15) * ndat(16) * ndat(17) * ...
|
||||
ndat(18) * ndat(19) * ndat(22) * ndat(23) * ndat(25);
|
||||
|
||||
parity(5) = ndat(2) * ndat(3) * ndat(5) * ndat(7) * ndat(8) * ...
|
||||
ndat(9) * ndat(11) * ndat(12) * ndat(16) * ndat(17) * ...
|
||||
ndat(18) * ndat(19) * ndat(20) * ndat(23) * ndat(24) * ...
|
||||
ndat(26);
|
||||
|
||||
parity(6) = ndat(1) * ndat(5) * ndat(7) * ndat(8) * ndat(10) * ...
|
||||
ndat(11) * ndat(12) * ndat(13) * ndat(15) * ndat(17) * ...
|
||||
ndat(21) * ndat(24) * ndat(25) * ndat(26);
|
||||
|
||||
%--- Compare if the received parity is equal the calculated parity --------
|
||||
if ((sum(parity == ndat(27:32))) == 6)
|
||||
|
||||
% Parity is OK. Function output is -1 or 1 depending if the data bits
|
||||
% must be inverted or not. The "ndat(2)" is D30* bit - the last bit of
|
||||
% previous subframe.
|
||||
status = -1 * ndat(2);
|
||||
else
|
||||
% Parity failure
|
||||
status = 0;
|
||||
end
|
||||
BIN
GNSS_SDR_IQ/test/pseudorange.mat
Normal file
BIN
GNSS_SDR_IQ/test/pseudorange.mat
Normal file
Binary file not shown.
13
GNSS_SDR_IQ/test/test_RefinePhase.asv
Normal file
13
GNSS_SDR_IQ/test/test_RefinePhase.asv
Normal file
|
|
@ -0,0 +1,13 @@
|
|||
load tmpEndAcquisitionphase.mat
|
||||
clc
|
||||
%Refine the frequency range to choose the most suitable frequency
|
||||
caCode=generateCAcode(PRN);
|
||||
codeValueIndex=floor((1:10*samplesPerCode)/settings.samplingFreq*settings.codeFreqBasis);
|
||||
longCaCode=caCode((rem(codeValueIndex,1023)+1));
|
||||
xCarrier=signal0DC(codePhase:codePhase+10*samplesPerCode-1).*longCaCode;
|
||||
plot(xCarrier);
|
||||
numPts=8*(2^(nextpow2(length(xCarrier))));
|
||||
|
||||
fftRst=abs(fft(xCarrier,fftNumPts));
|
||||
|
||||
plot(fftRst)
|
||||
17
GNSS_SDR_IQ/test/test_RefinePhase.m
Normal file
17
GNSS_SDR_IQ/test/test_RefinePhase.m
Normal file
|
|
@ -0,0 +1,17 @@
|
|||
load tmpEndAcquisitionphase.mat
|
||||
clc
|
||||
%Refine the frequency range to choose the most suitable frequency
|
||||
PRN=3;
|
||||
caCode=generateCAcode(PRN);
|
||||
codeValueIndex=floor((1:10*samplesPerCode)/settings.samplingFreq*settings.codeFreqBasis);
|
||||
longCaCode=caCode((rem(codeValueIndex,1023)+1));
|
||||
xCarrier=signal0DC(codePhase:codePhase+10*samplesPerCode-1).*longCaCode;
|
||||
plot(xCarrier);
|
||||
numPts=8*(2^(nextpow2(length(xCarrier))));
|
||||
|
||||
fftRst=abs(fft(xCarrier,numPts));
|
||||
[fftMax2, fftMaxIndex2] = max(fftxc(5 : numPts/2-5));
|
||||
rangeFreq=(0:numPts)*settings.samplingFreq/numPts;
|
||||
frequency=rangeFreq(fftMaxIndex2)
|
||||
plot(fftRst)
|
||||
|
||||
2
GNSS_SDR_IQ/test/test_TrackResults2NavBits.m
Normal file
2
GNSS_SDR_IQ/test/test_TrackResults2NavBits.m
Normal file
|
|
@ -0,0 +1,2 @@
|
|||
%load('..\trackingResults.mat');
|
||||
TrackResults2NavBits(trackResults,settings)
|
||||
78
GNSS_SDR_IQ/test/test_alm2eph.asv
Normal file
78
GNSS_SDR_IQ/test/test_alm2eph.asv
Normal file
|
|
@ -0,0 +1,78 @@
|
|||
format ('compact');
|
||||
format ('long', 'g');
|
||||
|
||||
%--- Include folders with functions ---------------------------------------
|
||||
addpath include % The software receiver functions
|
||||
addpath geoFunctions % Position calculation related functions
|
||||
%
|
||||
eph(1)=alm2eph(01,000,0.6089210510E-003,319488.0000,0.9603762360,-0.7703178011E-008,5153.611328,-0.4829672597E+000,0.448441831,0.1078930031E+001,0.2498626709E-003,0.3637978807E-011,660);
|
||||
eph(2)=alm2eph(02,000,0.1115465164E-001,319488.0000,0.9389244734,-0.7908900866E-008,5153.631348,-0.4958443094E+000,-2.809621010,0.2218454550E+001,0.3871917725E-003,0.0000000000E+000,660);
|
||||
eph(3)=alm2eph(03,000,0.1515722275E-001,319488.0000,0.9305415081,-0.8491782288E-008,5153.643066,-0.1659458993E+001,1.181482789,0.2379413177E+001,0.3719329834E-004,0.3637978807E-011,660);
|
||||
eph(4)=alm2eph(04,000,0.9991168976E-002,319488.0000,0.9379956960,-0.7943188009E-008,5153.538574,-0.4788974919E+000,0.847107933,-0.9274007423E+000,0.1573562622E-003,0.1091393642E-010,660);
|
||||
eph(5)=alm2eph(05,000,0.2665519714E-002,319488.0000,0.9516277518,-0.8114623721E-008,5153.590820,0.5668834241E+000,0.270158135,-0.2060905436E+001,-0.3061294556E-003,-0.3637978807E-011,660);
|
||||
eph(6)=alm2eph(06,000,0.7264614105E-002,319488.0000,0.9374384295,-0.8388920861E-008,5153.626465,-0.1583104500E+001,-0.571736286,-0.1994561141E+001,0.3051757812E-004,0.0000000000E+000,660);
|
||||
eph(7)=alm2eph(07,000,0.5239486694E-002,319488.0000,0.9759377520,-0.7600316584E-008,5153.573242,0.2677930857E+001,-3.025051684,0.7919763793E+000,0.7343292236E-004,0.3637978807E-011,660);
|
||||
eph(8)=alm2eph(08,000,0.1217508316E-001,319488.0000,0.9981205523,-0.7360306586E-008,5153.654297,0.2760384571E+001,-2.973606028,0.1349558547E+000,0.9536743164E-006,0.0000000000E+000,660);
|
||||
eph(9)=alm2eph(09,000,0.1739597321E-001,319488.0000,0.9846802441,-0.7531742299E-008,5153.587402,0.2651920220E+001,1.608567982,0.1053926444E+000,0.1525878906E-003,0.3637978807E-011,660);
|
||||
eph(10)=alm2eph(10,000,0.1123762131E-001,319488.0000,0.9464985035,-0.8160339911E-008,5153.638184,0.5886651274E+000,0.750733793,-0.1733515886E+001,-0.3623962402E-004,0.0000000000E+000,660);
|
||||
eph(11)=alm2eph(11,000,0.1282930374E-001,319488.0000,0.8881173519,-0.8491782288E-008,5153.611328,-0.7499888984E+000,1.039330032,0.9152022994E+000,-0.2527236938E-003,-0.3637978807E-011,660);
|
||||
eph(12)=alm2eph(12,000,0.4001140594E-002,319488.0000,0.9794311536,-0.7771752296E-008,5153.480469,-0.2549682797E+001,0.000377129,0.6203858726E+000,0.6389617920E-004,0.3637978807E-011,660);
|
||||
eph(13)=alm2eph(13,000,0.4957675934E-002,319488.0000,0.9858367218,-0.7943188009E-008,5153.634766,0.1706998915E+001,1.966194481,0.3108981705E+001,0.2126693726E-003,-0.3637978807E-011,660);
|
||||
eph(14)=alm2eph(14,000,0.6207942963E-002,319488.0000,0.9787001159,-0.8034620388E-008,5153.526367,0.1680551604E+001,-2.062171644,-0.3064875263E+001,0.2002716064E-003,0.0000000000E+000,660);
|
||||
eph(15)=alm2eph(15,000,0.4376411438E-002,319488.0000,0.9455757182,-0.8423208003E-008,5153.482910,0.1593964081E+001,0.051864355,0.2731660256E+001,-0.9155273438E-004,0.0000000000E+000,660);
|
||||
eph(16)=alm2eph(16,000,0.6625175476E-002,319488.0000,0.9802640572,-0.7760323249E-008,5153.603516,-0.2531562275E+001,-0.045607466,-0.1728320350E+001,-0.2317428589E-003,0.0000000000E+000,660);
|
||||
eph(17)=alm2eph(17,000,0.7328033447E-002,319488.0000,0.9623176804,-0.8068907531E-008,5153.607910,-0.1490675042E+001,-2.304936462,-0.2711252245E+001,0.1344680786E-003,-0.3637978807E-011,660);
|
||||
eph(18)=alm2eph(18,000,0.1311016083E-001,319488.0000,0.9303317841,-0.8308917528E-008,5153.628906,0.5780654549E+000,-2.186412103,-0.1227346417E+001,0.1916885376E-003,0.0000000000E+000,660);
|
||||
eph(19)=alm2eph(19,000,0.8131980896E-002,319488.0000,0.9597111115,-0.8126052768E-008,5153.715820,-0.1437500287E+001,0.147952747,0.2737129183E+001,-0.2565383911E-003,-0.3637978807E-011,660);
|
||||
eph(20)=alm2eph(20,000,0.5052089691E-002,319488.0000,0.9307991689,-0.8286059433E-008,5153.665039,0.5243289395E+000,1.294038254,-0.8728399369E+000,0.6294250488E-004,0.0000000000E+000,660);
|
||||
eph(21)=alm2eph(21,000,0.1900386810E-001,319488.0000,0.9316919937,-0.7966046104E-008,5153.575684,-0.4726548342E+000,-2.265382153,-0.1699243249E+000,-0.2183914185E-003,-0.3637978807E-011,660);
|
||||
eph(22)=alm2eph(22,000,0.5940437317E-002,319488.0000,0.9280487893,-0.8331775623E-008,5153.624023,0.5815221548E+000,-2.014531354,-0.2056676877E+001,0.1430511475E-003,0.0000000000E+000,660);
|
||||
eph(23)=alm2eph(23,000,0.7733345032E-002,319488.0000,0.9602863543,-0.8251772291E-008,5153.587891,0.1629128043E+001,-3.022881416,0.2337312969E+001,0.2136230469E-003,-0.3637978807E-011,660);
|
||||
eph(25)=alm2eph(25,000,0.1533985138E-002,319488.0000,0.9682918165,-0.7851755629E-008,5153.677246,-0.2583294803E+001,0.621595530,-0.6206161945E+000,0.3337860107E-004,0.0000000000E+000,660);
|
||||
eph(26)=alm2eph(26,000,0.2096986771E-001,319488.0000,0.9833859478,-0.7954617056E-008,5153.609863,0.1701079083E+001,1.187253567,0.2193132632E+001,-0.3204345703E-003,-0.5456968211E-010,660);
|
||||
eph(27)=alm2eph(27,000,0.2174186707E-001,319488.0000,0.9821335963,-0.7531742299E-008,5153.707031,0.2625158322E+001,-1.095356284,0.3105322022E+001,0.3786087036E-003,0.3637978807E-011,660);
|
||||
eph(28)=alm2eph(28,000,0.1785039902E-001,319488.0000,0.9786162263,-0.7737465154E-008,5153.660156,-0.2524778080E+001,-1.828244817,-0.2137146453E+001,0.1344680786E-003,0.3637978807E-011,660);
|
||||
eph(29)=alm2eph(29,000,0.2323150635E-002,319488.0000,0.9628449863,-0.8091765626E-008,5153.538574,-0.1482118306E+001,-1.161227201,0.9249274979E-001,0.3042221069E-003,0.3637978807E-011,660);
|
||||
eph(30)=alm2eph(30,000,0.1097297668E-001,319488.0000,0.9595912692,-0.7908900866E-008,5153.588867,-0.2673797423E+001,1.557179251,-0.2834284919E+001,-0.1373291016E-003,-0.1818989404E-010,660);
|
||||
eph(31)=alm2eph(31,000,0.7861614227E-002,319488.0000,0.9810130713,-0.7566029441E-008,5153.592285,0.2680669252E+001,-0.868619243,0.7378893253E+000,0.2326965332E-003,0.3637978807E-011,660);
|
||||
eph(32)=alm2eph(32,000,0.1181650162E-001,319488.0000,0.9522149788,-0.8160339911E-008,5153.648438,0.6558501902E+000,-0.590281500,0.1336976234E+001,-0.4339218140E-003,-0.3637978807E-011,660);
|
||||
|
||||
[x y z]=llh2xyz(21,105,6.4e3);
|
||||
userxyz=[x y z];
|
||||
transmitTime=471007.5;
|
||||
settings=initSettings();
|
||||
speedOfLight=299792458;
|
||||
lengthOfChips=speedOfLight/1.023e6;
|
||||
validPRN=[];
|
||||
PRNlist=[9 5 26 12 4];
|
||||
for PRN=PRNlist;
|
||||
[satPosition, satClkCorr] = satpos(transmitTime, ...
|
||||
PRN, ...
|
||||
eph, settings);
|
||||
satPositions(:,PRN)=satPosition;
|
||||
[az(PRN), el(PRN), tmpDist] = topocent(userxyz', satPosition - userxyz');
|
||||
dist(PRN)=tmpDist;
|
||||
distByChips(PRN)=tmpDist/lengthOfChips;
|
||||
if (el(PRN)>0)&& (el(PRN)<=90)
|
||||
validPRN=[validPRN PRN];
|
||||
end;
|
||||
end;
|
||||
plot(dist(validPRN),'o');
|
||||
xx=dist-min(dist);
|
||||
ps=[dist(1) dist(2) dist(3) dist(4) dist(5)];
|
||||
|
||||
startOffset=68.802;
|
||||
ps3=[6004.95552297165 6005.69098240469 6002.47195747801 6004.55846774194 6005.05083088954];
|
||||
ps3=[];
|
||||
minimum = floor(min(ps3));
|
||||
ps3=ps3-minimum+startOffset;
|
||||
ps3=(ps3+startOffset)*speedOfLight/1000;
|
||||
|
||||
satpos_ref=[15258895.3388724,6757743.69186398,-3907619.74040496,18272464.1559595,-16672583.5535756;
|
||||
8945334.1891453,21235153.5042233,25286052.4794101,19125668.5414435,15211201.3079099;
|
||||
19270542.1020887,-14566012.6011023,7190086.32956048,198778.602063672,-13989910.5530641];
|
||||
|
||||
satposs=[satPositions(:,PRNlist)];
|
||||
satClkCorr=[0.000152592247958558 -0.000306111922962724 -0.000320253229144185 6.38808423644018e-005 0.000157333359758884];
|
||||
|
||||
[xyzdt,el,az,dop]=leastSquarePos(satpos_ref,ps3+satClkCorr*speedOfLight,settings);
|
||||
90
GNSS_SDR_IQ/test/test_alm2eph.m
Normal file
90
GNSS_SDR_IQ/test/test_alm2eph.m
Normal file
|
|
@ -0,0 +1,90 @@
|
|||
format ('compact');
|
||||
format ('long', 'g');
|
||||
|
||||
%--- Include folders with functions ---------------------------------------
|
||||
addpath include % The software receiver functions
|
||||
addpath geoFunctions % Position calculation related functions
|
||||
%
|
||||
eph(1)=alm2eph(01,000,0.6089210510E-003,319488.0000,0.9603762360,-0.7703178011E-008,5153.611328,-0.4829672597E+000,0.448441831,0.1078930031E+001,0.2498626709E-003,0.3637978807E-011,660);
|
||||
eph(2)=alm2eph(02,000,0.1115465164E-001,319488.0000,0.9389244734,-0.7908900866E-008,5153.631348,-0.4958443094E+000,-2.809621010,0.2218454550E+001,0.3871917725E-003,0.0000000000E+000,660);
|
||||
eph(3)=alm2eph(03,000,0.1515722275E-001,319488.0000,0.9305415081,-0.8491782288E-008,5153.643066,-0.1659458993E+001,1.181482789,0.2379413177E+001,0.3719329834E-004,0.3637978807E-011,660);
|
||||
eph(4)=alm2eph(04,000,0.9991168976E-002,319488.0000,0.9379956960,-0.7943188009E-008,5153.538574,-0.4788974919E+000,0.847107933,-0.9274007423E+000,0.1573562622E-003,0.1091393642E-010,660);
|
||||
eph(5)=alm2eph(05,000,0.2665519714E-002,319488.0000,0.9516277518,-0.8114623721E-008,5153.590820,0.5668834241E+000,0.270158135,-0.2060905436E+001,-0.3061294556E-003,-0.3637978807E-011,660);
|
||||
eph(6)=alm2eph(06,000,0.7264614105E-002,319488.0000,0.9374384295,-0.8388920861E-008,5153.626465,-0.1583104500E+001,-0.571736286,-0.1994561141E+001,0.3051757812E-004,0.0000000000E+000,660);
|
||||
eph(7)=alm2eph(07,000,0.5239486694E-002,319488.0000,0.9759377520,-0.7600316584E-008,5153.573242,0.2677930857E+001,-3.025051684,0.7919763793E+000,0.7343292236E-004,0.3637978807E-011,660);
|
||||
eph(8)=alm2eph(08,000,0.1217508316E-001,319488.0000,0.9981205523,-0.7360306586E-008,5153.654297,0.2760384571E+001,-2.973606028,0.1349558547E+000,0.9536743164E-006,0.0000000000E+000,660);
|
||||
eph(9)=alm2eph(09,000,0.1739597321E-001,319488.0000,0.9846802441,-0.7531742299E-008,5153.587402,0.2651920220E+001,1.608567982,0.1053926444E+000,0.1525878906E-003,0.3637978807E-011,660);
|
||||
eph(10)=alm2eph(10,000,0.1123762131E-001,319488.0000,0.9464985035,-0.8160339911E-008,5153.638184,0.5886651274E+000,0.750733793,-0.1733515886E+001,-0.3623962402E-004,0.0000000000E+000,660);
|
||||
eph(11)=alm2eph(11,000,0.1282930374E-001,319488.0000,0.8881173519,-0.8491782288E-008,5153.611328,-0.7499888984E+000,1.039330032,0.9152022994E+000,-0.2527236938E-003,-0.3637978807E-011,660);
|
||||
eph(12)=alm2eph(12,000,0.4001140594E-002,319488.0000,0.9794311536,-0.7771752296E-008,5153.480469,-0.2549682797E+001,0.000377129,0.6203858726E+000,0.6389617920E-004,0.3637978807E-011,660);
|
||||
eph(13)=alm2eph(13,000,0.4957675934E-002,319488.0000,0.9858367218,-0.7943188009E-008,5153.634766,0.1706998915E+001,1.966194481,0.3108981705E+001,0.2126693726E-003,-0.3637978807E-011,660);
|
||||
eph(14)=alm2eph(14,000,0.6207942963E-002,319488.0000,0.9787001159,-0.8034620388E-008,5153.526367,0.1680551604E+001,-2.062171644,-0.3064875263E+001,0.2002716064E-003,0.0000000000E+000,660);
|
||||
eph(15)=alm2eph(15,000,0.4376411438E-002,319488.0000,0.9455757182,-0.8423208003E-008,5153.482910,0.1593964081E+001,0.051864355,0.2731660256E+001,-0.9155273438E-004,0.0000000000E+000,660);
|
||||
eph(16)=alm2eph(16,000,0.6625175476E-002,319488.0000,0.9802640572,-0.7760323249E-008,5153.603516,-0.2531562275E+001,-0.045607466,-0.1728320350E+001,-0.2317428589E-003,0.0000000000E+000,660);
|
||||
eph(17)=alm2eph(17,000,0.7328033447E-002,319488.0000,0.9623176804,-0.8068907531E-008,5153.607910,-0.1490675042E+001,-2.304936462,-0.2711252245E+001,0.1344680786E-003,-0.3637978807E-011,660);
|
||||
eph(18)=alm2eph(18,000,0.1311016083E-001,319488.0000,0.9303317841,-0.8308917528E-008,5153.628906,0.5780654549E+000,-2.186412103,-0.1227346417E+001,0.1916885376E-003,0.0000000000E+000,660);
|
||||
eph(19)=alm2eph(19,000,0.8131980896E-002,319488.0000,0.9597111115,-0.8126052768E-008,5153.715820,-0.1437500287E+001,0.147952747,0.2737129183E+001,-0.2565383911E-003,-0.3637978807E-011,660);
|
||||
eph(20)=alm2eph(20,000,0.5052089691E-002,319488.0000,0.9307991689,-0.8286059433E-008,5153.665039,0.5243289395E+000,1.294038254,-0.8728399369E+000,0.6294250488E-004,0.0000000000E+000,660);
|
||||
eph(21)=alm2eph(21,000,0.1900386810E-001,319488.0000,0.9316919937,-0.7966046104E-008,5153.575684,-0.4726548342E+000,-2.265382153,-0.1699243249E+000,-0.2183914185E-003,-0.3637978807E-011,660);
|
||||
eph(22)=alm2eph(22,000,0.5940437317E-002,319488.0000,0.9280487893,-0.8331775623E-008,5153.624023,0.5815221548E+000,-2.014531354,-0.2056676877E+001,0.1430511475E-003,0.0000000000E+000,660);
|
||||
eph(23)=alm2eph(23,000,0.7733345032E-002,319488.0000,0.9602863543,-0.8251772291E-008,5153.587891,0.1629128043E+001,-3.022881416,0.2337312969E+001,0.2136230469E-003,-0.3637978807E-011,660);
|
||||
eph(25)=alm2eph(25,000,0.1533985138E-002,319488.0000,0.9682918165,-0.7851755629E-008,5153.677246,-0.2583294803E+001,0.621595530,-0.6206161945E+000,0.3337860107E-004,0.0000000000E+000,660);
|
||||
eph(26)=alm2eph(26,000,0.2096986771E-001,319488.0000,0.9833859478,-0.7954617056E-008,5153.609863,0.1701079083E+001,1.187253567,0.2193132632E+001,-0.3204345703E-003,-0.5456968211E-010,660);
|
||||
eph(27)=alm2eph(27,000,0.2174186707E-001,319488.0000,0.9821335963,-0.7531742299E-008,5153.707031,0.2625158322E+001,-1.095356284,0.3105322022E+001,0.3786087036E-003,0.3637978807E-011,660);
|
||||
eph(28)=alm2eph(28,000,0.1785039902E-001,319488.0000,0.9786162263,-0.7737465154E-008,5153.660156,-0.2524778080E+001,-1.828244817,-0.2137146453E+001,0.1344680786E-003,0.3637978807E-011,660);
|
||||
eph(29)=alm2eph(29,000,0.2323150635E-002,319488.0000,0.9628449863,-0.8091765626E-008,5153.538574,-0.1482118306E+001,-1.161227201,0.9249274979E-001,0.3042221069E-003,0.3637978807E-011,660);
|
||||
eph(30)=alm2eph(30,000,0.1097297668E-001,319488.0000,0.9595912692,-0.7908900866E-008,5153.588867,-0.2673797423E+001,1.557179251,-0.2834284919E+001,-0.1373291016E-003,-0.1818989404E-010,660);
|
||||
eph(31)=alm2eph(31,000,0.7861614227E-002,319488.0000,0.9810130713,-0.7566029441E-008,5153.592285,0.2680669252E+001,-0.868619243,0.7378893253E+000,0.2326965332E-003,0.3637978807E-011,660);
|
||||
eph(32)=alm2eph(32,000,0.1181650162E-001,319488.0000,0.9522149788,-0.8160339911E-008,5153.648438,0.6558501902E+000,-0.590281500,0.1336976234E+001,-0.4339218140E-003,-0.3637978807E-011,660);
|
||||
|
||||
[x y z]=llh2xyz(21,105,6.4e3);
|
||||
userxyz=[x y z];
|
||||
transmitTime=471007.5;
|
||||
settings=initSettings();
|
||||
speedOfLight=299792458;
|
||||
lengthOfChips=speedOfLight/1.023e6;
|
||||
validPRN=[];
|
||||
PRNlist=[9 5 26 12 4];
|
||||
for PRN=PRNlist;
|
||||
[satPosition, satClkCorr] = satpos(transmitTime, ...
|
||||
PRN, ...
|
||||
eph, settings);
|
||||
satPositions(:,PRN)=satPosition;
|
||||
[az(PRN), el(PRN), tmpDist] = topocent(userxyz', satPosition - userxyz');
|
||||
dist(PRN)=tmpDist;
|
||||
distByChips(PRN)=tmpDist/lengthOfChips;
|
||||
if (el(PRN)>0)&& (el(PRN)<=90)
|
||||
validPRN=[validPRN PRN];
|
||||
end;
|
||||
end;
|
||||
plot(dist(validPRN),'o');
|
||||
xx=dist-min(dist);
|
||||
ps=[distByChips(PRNlist)];
|
||||
ps=ps/1023;
|
||||
ps=ps-min(ps)+68.802;
|
||||
ps=ps*speedOfLight/1000;
|
||||
|
||||
startOffset=68.802;
|
||||
|
||||
ps3=[6004.95552297165 6005.69098240469 6002.47195747801 6004.55846774194 6005.05083088954];
|
||||
|
||||
prngen=[4 5 9 12 26];
|
||||
tmpps=[3143.9476 3798.775 3046.4926 2640.26467 505.75956]/1023;
|
||||
%Rearrange
|
||||
ps3=[];
|
||||
for i=1:length(prngen)
|
||||
ps3=[ps3 tmpps(find(prngen==PRNlist(i),1))];
|
||||
end;
|
||||
|
||||
minimum = floor(min(ps3));
|
||||
ps3=ps3-minimum;
|
||||
ps3=(ps3+startOffset)*speedOfLight/1000;
|
||||
|
||||
satpos_ref=[15258895.3388724,6757743.69186398,-3907619.74040496,18272464.1559595,-16672583.5535756;
|
||||
8945334.1891453,21235153.5042233,25286052.4794101,19125668.5414435,15211201.3079099;
|
||||
19270542.1020887,-14566012.6011023,7190086.32956048,198778.602063672,-13989910.5530641];
|
||||
|
||||
satposs=[satPositions(:,PRNlist)];
|
||||
satClkCorr=[0.000152592247958558 -0.000306111922962724 -0.000320253229144185 6.38808423644018e-005 0.000157333359758884];
|
||||
|
||||
[xyzdt,el,az,dop]=leastSquarePos(satposs,ps+satClkCorr*speedOfLight,settings);
|
||||
65
GNSS_SDR_IQ/test/test_compare_pseudorange.m
Normal file
65
GNSS_SDR_IQ/test/test_compare_pseudorange.m
Normal file
|
|
@ -0,0 +1,65 @@
|
|||
%Test compare pseudorange
|
||||
clear all
|
||||
%%
|
||||
|
||||
%--- Include folders with functions ---------------------------------------
|
||||
addpath ..\include % The software receiver functions
|
||||
addpath ..\geoFunctions % Position calculation related functions
|
||||
addpath ..
|
||||
|
||||
load trackingResults
|
||||
|
||||
navSolutions = postNavigation(trackResults, settings);
|
||||
% plot(navSolutions.latitude,navSolutions.longitude,'o');
|
||||
pseudorange=navSolutions.channel.rawP;
|
||||
save pseudorange pseudorange
|
||||
PRNsa=[];
|
||||
for idxprn=1:length(trackResults)
|
||||
PRNsa=[PRNsa,trackResults(idxprn).PRN];
|
||||
end;
|
||||
%%
|
||||
load InitCodePhase.mat
|
||||
InitCodePhase=InitCodePhase(6000:end,:);
|
||||
startOffset=68.802;
|
||||
speedOfLight=299792458;
|
||||
|
||||
PRNs=sort(PRNsa);
|
||||
%PRNs=[8 15 17 26 27 28];
|
||||
%PRNsa=[17 15 26 27 28];
|
||||
|
||||
%Re-arrange the actual pseudorange measurement
|
||||
load pseudorange;
|
||||
psa=[];
|
||||
pseudorange=pseudorange';
|
||||
for prn=1:length(PRNs)
|
||||
psa=[psa,pseudorange(:,find(PRNsa==PRNs(prn)))];
|
||||
end;
|
||||
step=500;
|
||||
for idx=1:150
|
||||
tmpps=InitCodePhase((idx-1)*step+1,:)/1023;
|
||||
minimum = floor(min(tmpps));
|
||||
ps(idx,:)=(tmpps-minimum+startOffset)*speedOfLight/1000;
|
||||
end;
|
||||
%ps=ps(:,2:end);
|
||||
figure;hold on;
|
||||
plot(ps(:,1),'r--','LineWidth',2); hold on;
|
||||
plot(psa(:,1),'b--');hold on;
|
||||
plot(ps(:,2),'r-o','LineWidth',2); hold on;
|
||||
plot(psa(:,2),'b-o');hold on;
|
||||
plot(ps(:,3),'r-.','LineWidth',2); hold on;
|
||||
plot(psa(:,3),'b-.');hold on;
|
||||
plot(ps(:,4),'r','LineWidth',2); hold on;
|
||||
plot(psa(:,4),'b');hold on;
|
||||
plot(ps(:,5),'r-*','LineWidth',2); hold on;
|
||||
plot(psa(:,5),'b-*');
|
||||
|
||||
figure;
|
||||
sizea=min(size(psa,1),size(ps,1));
|
||||
ps=ps(1:sizea,:);
|
||||
psa=psa(1:sizea,:);
|
||||
plot(ps(:,1)-psa(:,1),'r--','LineWidth',2); hold on;
|
||||
plot(ps(:,2)-psa(:,2),'b-o','LineWidth',2); hold on;
|
||||
plot(ps(:,3)-psa(:,3),'m-.','LineWidth',2); hold on;
|
||||
plot(ps(:,4)-psa(:,4),'r','LineWidth',2); hold on;
|
||||
plot(ps(:,5)-psa(:,5),'r-*','LineWidth',2); hold on;
|
||||
|
||||
70
GNSS_SDR_IQ/test/test_compare_pseudorangv2.m
Normal file
70
GNSS_SDR_IQ/test/test_compare_pseudorangv2.m
Normal file
|
|
@ -0,0 +1,70 @@
|
|||
%Test compare pseudorange
|
||||
clear all
|
||||
%%
|
||||
|
||||
%--- Include folders with functions ---------------------------------------
|
||||
addpath ..\include % The software receiver functions
|
||||
addpath ..\geoFunctions % Position calculation related functions
|
||||
addpath ..
|
||||
|
||||
load trackingResults
|
||||
|
||||
navSolutions = postNavigation(trackResults, settings);
|
||||
% plot(navSolutions.latitude,navSolutions.longitude,'o');
|
||||
pseudorange=navSolutions.channel.rawP;
|
||||
save pseudorange pseudorange
|
||||
PRNsa=[];
|
||||
for idxprn=1:length(trackResults)
|
||||
PRNsa=[PRNsa,trackResults(idxprn).PRN];
|
||||
end;
|
||||
%%
|
||||
fid=fopen('C:\Users\Administrator\Google Drive\PhD\works\EstimatingCN0\GNSS_SIM\GenSatInfor\pseudorange.bin','rb');
|
||||
NumMS=100000;
|
||||
InitCodePhase=zeros(NumMS,6);
|
||||
for ii=1:NumMS
|
||||
InitCodePhase(ii,:)=fread(fid,6,'double');
|
||||
end;
|
||||
InitCodePhase=InitCodePhase(6000:end,:);
|
||||
startOffset=68.802;
|
||||
speedOfLight=299792458;
|
||||
|
||||
PRNs=sort(PRNsa);
|
||||
%PRNs=[8 15 17 26 27 28];
|
||||
%PRNsa=[17 15 26 27 28];
|
||||
|
||||
%Re-arrange the actual pseudorange measurement
|
||||
load pseudorange;
|
||||
psa=[];
|
||||
pseudorange=pseudorange';
|
||||
for prn=1:length(PRNs)
|
||||
psa=[psa,pseudorange(:,find(PRNsa==PRNs(prn)))];
|
||||
end;
|
||||
step=500;
|
||||
for idx=1:150
|
||||
tmpps=InitCodePhase((idx-1)*step+1,:)/speedOfLight*1000;
|
||||
minimum = floor(min(tmpps));
|
||||
ps(idx,:)=(tmpps-minimum+startOffset)*speedOfLight/1000;
|
||||
end;
|
||||
%ps=ps(:,2:end);
|
||||
figure;hold on;
|
||||
plot(ps(:,1),'r--','LineWidth',2); hold on;
|
||||
plot(psa(:,1),'b--');hold on;
|
||||
plot(ps(:,2),'r-o','LineWidth',2); hold on;
|
||||
plot(psa(:,2),'b-o');hold on;
|
||||
plot(ps(:,3),'r-.','LineWidth',2); hold on;
|
||||
plot(psa(:,3),'b-.');hold on;
|
||||
plot(ps(:,4),'r','LineWidth',2); hold on;
|
||||
plot(psa(:,4),'b');hold on;
|
||||
plot(ps(:,5),'r-*','LineWidth',2); hold on;
|
||||
plot(psa(:,5),'b-*');
|
||||
|
||||
figure;
|
||||
sizea=min(size(psa,1),size(ps,1));
|
||||
ps=ps(1:sizea,:);
|
||||
psa=psa(1:sizea,:);
|
||||
plot(ps(:,1)-psa(:,1),'r--','LineWidth',2); hold on;
|
||||
plot(ps(:,2)-psa(:,2),'b-o','LineWidth',2); hold on;
|
||||
plot(ps(:,3)-psa(:,3),'m-.','LineWidth',2); hold on;
|
||||
plot(ps(:,4)-psa(:,4),'r','LineWidth',2); hold on;
|
||||
plot(ps(:,5)-psa(:,5),'r-*','LineWidth',2); hold on;
|
||||
|
||||
21
GNSS_SDR_IQ/test/test_createGPSsignal.asv
Normal file
21
GNSS_SDR_IQ/test/test_createGPSsignal.asv
Normal file
|
|
@ -0,0 +1,21 @@
|
|||
%Create signal
|
||||
A=1;
|
||||
N0=3;
|
||||
|
||||
caCode = generateCAcode(1);
|
||||
Fs=16.368e6;
|
||||
nn=[0:2047]+3;
|
||||
tt=rem(floor(nn*1.023e6/Fs),1023)+1;
|
||||
caCode2 = caCode(tt);
|
||||
carrier = cos(2*pi*4.092e6/Fs*nn+0.05);
|
||||
|
||||
signal=caCode2.*carrier;
|
||||
|
||||
|
||||
%Do tin hieu
|
||||
%Do theo carrier
|
||||
signal2=signal.*carrier;
|
||||
signal3=signal2.*caCode2;
|
||||
plot(signal);hold on;
|
||||
plot(signal2,'r');
|
||||
plot(signal3,'m','LineWidth',1);
|
||||
25
GNSS_SDR_IQ/test/test_createGPSsignal.m
Normal file
25
GNSS_SDR_IQ/test/test_createGPSsignal.m
Normal file
|
|
@ -0,0 +1,25 @@
|
|||
%Create signal
|
||||
A=1;
|
||||
N0=3;
|
||||
|
||||
caCode = generateCAcode(1);
|
||||
Fs=16.368e6;
|
||||
nn=[0:16367]+16;
|
||||
tt=rem(floor(nn*1.023e6/Fs),1023)+1;
|
||||
caCode2 = caCode(tt);
|
||||
carrier = cos(2*pi*(4.092e6+5e3)/Fs*nn+0.05);
|
||||
carrier_sai = cos(2*pi*(4.092e6)/Fs*nn+0.05);
|
||||
|
||||
signal=caCode2.*carrier;
|
||||
|
||||
nn_sai=[0:2047]+30;
|
||||
tt_sai=rem(floor(nn_sai*1.023e6/Fs),1023)+1;
|
||||
caCode_sai = caCode(tt_sai);
|
||||
|
||||
%Do tin hieu
|
||||
%Do theo carrier
|
||||
signal2=signal.*carrier;
|
||||
signal3=signal2.*caCode2;
|
||||
plot(signal);hold on;
|
||||
plot(signal2,'r');
|
||||
plot(signal3,'m','LineWidth',1);
|
||||
11
GNSS_SDR_IQ/test/test_find_pseudorange.asv
Normal file
11
GNSS_SDR_IQ/test/test_find_pseudorange.asv
Normal file
|
|
@ -0,0 +1,11 @@
|
|||
%
|
||||
satPositions =[654521.924219358,-16672583.5535756,-18808700.1235432,-5625385.49668232;...
|
||||
-26410472.714435,15211201.3079099,-7290186.59129119,16770256.8394436;...
|
||||
3463374.83499896,-13989910.5530641,17255070.2946831,-19831374.5989722];
|
||||
[x y z]=llh2xyz(21,105,0)
|
||||
userxyz=[x y z];
|
||||
speedOfLight=299792458;
|
||||
lengthOfChips=speedOfLight/1.023e6;
|
||||
for i=1:4
|
||||
dist(i)=norm(userxyz-satPositions(:,i)')/;
|
||||
end;
|
||||
13
GNSS_SDR_IQ/test/test_find_pseudorange.m
Normal file
13
GNSS_SDR_IQ/test/test_find_pseudorange.m
Normal file
|
|
@ -0,0 +1,13 @@
|
|||
%
|
||||
satPositions =[654521.924219358,-16672583.5535756,-18808700.1235432,-5625385.49668232;...
|
||||
-26410472.714435,15211201.3079099,-7290186.59129119,16770256.8394436;...
|
||||
3463374.83499896,-13989910.5530641,17255070.2946831,-19831374.5989722];
|
||||
[x y z]=llh2xyz(21,105,0)
|
||||
userxyz=[x y z];
|
||||
speedOfLight=299792458;
|
||||
lengthOfChips=speedOfLight/1.023e6;
|
||||
for i=1:4
|
||||
dist(i)=norm(userxyz-satPositions(:,i)')/lengthOfChips;
|
||||
end;
|
||||
[mindist minidx]=min(dist);
|
||||
diffDist=dist-min(dist)
|
||||
96
GNSS_SDR_IQ/test/test_find_pseudorangeV2.m
Normal file
96
GNSS_SDR_IQ/test/test_find_pseudorangeV2.m
Normal file
|
|
@ -0,0 +1,96 @@
|
|||
clear all;
|
||||
format ('compact');
|
||||
format ('long', 'g');
|
||||
|
||||
%--- Include folders with functions ---------------------------------------
|
||||
addpath include % The software receiver functions
|
||||
addpath geoFunctions % Position calculation related functions
|
||||
%
|
||||
eph(1)=alm2eph(01,000,0.6089210510E-003,319488.0000,0.9603762360,-0.7703178011E-008,5153.611328,-0.4829672597E+000,0.448441831,0.1078930031E+001,0.2498626709E-003,0.3637978807E-011,660);
|
||||
eph(2)=alm2eph(02,000,0.1115465164E-001,319488.0000,0.9389244734,-0.7908900866E-008,5153.631348,-0.4958443094E+000,-2.809621010,0.2218454550E+001,0.3871917725E-003,0.0000000000E+000,660);
|
||||
eph(3)=alm2eph(03,000,0.1515722275E-001,319488.0000,0.9305415081,-0.8491782288E-008,5153.643066,-0.1659458993E+001,1.181482789,0.2379413177E+001,0.3719329834E-004,0.3637978807E-011,660);
|
||||
eph(4)=alm2eph(04,000,0.9991168976E-002,319488.0000,0.9379956960,-0.7943188009E-008,5153.538574,-0.4788974919E+000,0.847107933,-0.9274007423E+000,0.1573562622E-003,0.1091393642E-010,660);
|
||||
eph(5)=alm2eph(05,000,0.2665519714E-002,319488.0000,0.9516277518,-0.8114623721E-008,5153.590820,0.5668834241E+000,0.270158135,-0.2060905436E+001,-0.3061294556E-003,-0.3637978807E-011,660);
|
||||
eph(6)=alm2eph(06,000,0.7264614105E-002,319488.0000,0.9374384295,-0.8388920861E-008,5153.626465,-0.1583104500E+001,-0.571736286,-0.1994561141E+001,0.3051757812E-004,0.0000000000E+000,660);
|
||||
eph(7)=alm2eph(07,000,0.5239486694E-002,319488.0000,0.9759377520,-0.7600316584E-008,5153.573242,0.2677930857E+001,-3.025051684,0.7919763793E+000,0.7343292236E-004,0.3637978807E-011,660);
|
||||
eph(8)=alm2eph(08,000,0.1217508316E-001,319488.0000,0.9981205523,-0.7360306586E-008,5153.654297,0.2760384571E+001,-2.973606028,0.1349558547E+000,0.9536743164E-006,0.0000000000E+000,660);
|
||||
eph(9)=alm2eph(09,000,0.1739597321E-001,319488.0000,0.9846802441,-0.7531742299E-008,5153.587402,0.2651920220E+001,1.608567982,0.1053926444E+000,0.1525878906E-003,0.3637978807E-011,660);
|
||||
eph(10)=alm2eph(10,000,0.1123762131E-001,319488.0000,0.9464985035,-0.8160339911E-008,5153.638184,0.5886651274E+000,0.750733793,-0.1733515886E+001,-0.3623962402E-004,0.0000000000E+000,660);
|
||||
eph(11)=alm2eph(11,000,0.1282930374E-001,319488.0000,0.8881173519,-0.8491782288E-008,5153.611328,-0.7499888984E+000,1.039330032,0.9152022994E+000,-0.2527236938E-003,-0.3637978807E-011,660);
|
||||
eph(12)=alm2eph(12,000,0.4001140594E-002,319488.0000,0.9794311536,-0.7771752296E-008,5153.480469,-0.2549682797E+001,0.000377129,0.6203858726E+000,0.6389617920E-004,0.3637978807E-011,660);
|
||||
eph(13)=alm2eph(13,000,0.4957675934E-002,319488.0000,0.9858367218,-0.7943188009E-008,5153.634766,0.1706998915E+001,1.966194481,0.3108981705E+001,0.2126693726E-003,-0.3637978807E-011,660);
|
||||
eph(14)=alm2eph(14,000,0.6207942963E-002,319488.0000,0.9787001159,-0.8034620388E-008,5153.526367,0.1680551604E+001,-2.062171644,-0.3064875263E+001,0.2002716064E-003,0.0000000000E+000,660);
|
||||
eph(15)=alm2eph(15,000,0.4376411438E-002,319488.0000,0.9455757182,-0.8423208003E-008,5153.482910,0.1593964081E+001,0.051864355,0.2731660256E+001,-0.9155273438E-004,0.0000000000E+000,660);
|
||||
eph(16)=alm2eph(16,000,0.6625175476E-002,319488.0000,0.9802640572,-0.7760323249E-008,5153.603516,-0.2531562275E+001,-0.045607466,-0.1728320350E+001,-0.2317428589E-003,0.0000000000E+000,660);
|
||||
eph(17)=alm2eph(17,000,0.7328033447E-002,319488.0000,0.9623176804,-0.8068907531E-008,5153.607910,-0.1490675042E+001,-2.304936462,-0.2711252245E+001,0.1344680786E-003,-0.3637978807E-011,660);
|
||||
eph(18)=alm2eph(18,000,0.1311016083E-001,319488.0000,0.9303317841,-0.8308917528E-008,5153.628906,0.5780654549E+000,-2.186412103,-0.1227346417E+001,0.1916885376E-003,0.0000000000E+000,660);
|
||||
eph(19)=alm2eph(19,000,0.8131980896E-002,319488.0000,0.9597111115,-0.8126052768E-008,5153.715820,-0.1437500287E+001,0.147952747,0.2737129183E+001,-0.2565383911E-003,-0.3637978807E-011,660);
|
||||
eph(20)=alm2eph(20,000,0.5052089691E-002,319488.0000,0.9307991689,-0.8286059433E-008,5153.665039,0.5243289395E+000,1.294038254,-0.8728399369E+000,0.6294250488E-004,0.0000000000E+000,660);
|
||||
eph(21)=alm2eph(21,000,0.1900386810E-001,319488.0000,0.9316919937,-0.7966046104E-008,5153.575684,-0.4726548342E+000,-2.265382153,-0.1699243249E+000,-0.2183914185E-003,-0.3637978807E-011,660);
|
||||
eph(22)=alm2eph(22,000,0.5940437317E-002,319488.0000,0.9280487893,-0.8331775623E-008,5153.624023,0.5815221548E+000,-2.014531354,-0.2056676877E+001,0.1430511475E-003,0.0000000000E+000,660);
|
||||
eph(23)=alm2eph(23,000,0.7733345032E-002,319488.0000,0.9602863543,-0.8251772291E-008,5153.587891,0.1629128043E+001,-3.022881416,0.2337312969E+001,0.2136230469E-003,-0.3637978807E-011,660);
|
||||
eph(25)=alm2eph(25,000,0.1533985138E-002,319488.0000,0.9682918165,-0.7851755629E-008,5153.677246,-0.2583294803E+001,0.621595530,-0.6206161945E+000,0.3337860107E-004,0.0000000000E+000,660);
|
||||
eph(26)=alm2eph(26,000,0.2096986771E-001,319488.0000,0.9833859478,-0.7954617056E-008,5153.609863,0.1701079083E+001,1.187253567,0.2193132632E+001,-0.3204345703E-003,-0.5456968211E-010,660);
|
||||
eph(27)=alm2eph(27,000,0.2174186707E-001,319488.0000,0.9821335963,-0.7531742299E-008,5153.707031,0.2625158322E+001,-1.095356284,0.3105322022E+001,0.3786087036E-003,0.3637978807E-011,660);
|
||||
eph(28)=alm2eph(28,000,0.1785039902E-001,319488.0000,0.9786162263,-0.7737465154E-008,5153.660156,-0.2524778080E+001,-1.828244817,-0.2137146453E+001,0.1344680786E-003,0.3637978807E-011,660);
|
||||
eph(29)=alm2eph(29,000,0.2323150635E-002,319488.0000,0.9628449863,-0.8091765626E-008,5153.538574,-0.1482118306E+001,-1.161227201,0.9249274979E-001,0.3042221069E-003,0.3637978807E-011,660);
|
||||
eph(30)=alm2eph(30,000,0.1097297668E-001,319488.0000,0.9595912692,-0.7908900866E-008,5153.588867,-0.2673797423E+001,1.557179251,-0.2834284919E+001,-0.1373291016E-003,-0.1818989404E-010,660);
|
||||
eph(31)=alm2eph(31,000,0.7861614227E-002,319488.0000,0.9810130713,-0.7566029441E-008,5153.592285,0.2680669252E+001,-0.868619243,0.7378893253E+000,0.2326965332E-003,0.3637978807E-011,660);
|
||||
eph(32)=alm2eph(32,000,0.1181650162E-001,319488.0000,0.9522149788,-0.8160339911E-008,5153.648438,0.6558501902E+000,-0.590281500,0.1336976234E+001,-0.4339218140E-003,-0.3637978807E-011,660);
|
||||
|
||||
[x y z]=llh2xyz(45,7.7,6.4e3);
|
||||
userxyz=[x y z];
|
||||
transmitTime=471006;
|
||||
settings=initSettings();
|
||||
speedOfLight=299792458;
|
||||
lengthOfChips=speedOfLight/1.023e6;
|
||||
validPRN=[];
|
||||
PRNlist=[1:32];
|
||||
for PRN=PRNlist;
|
||||
if PRN==24
|
||||
continue;
|
||||
end;
|
||||
[satPosition, satClkCorr] = satpos(transmitTime, ...
|
||||
PRN, ...
|
||||
eph, settings);
|
||||
satPositions(:,PRN)=satPosition;
|
||||
satClkCorrs(PRN)=satClkCorr;
|
||||
|
||||
[az(PRN), el(PRN), tmpDist] = topocent(userxyz', satPosition - userxyz');
|
||||
dist(PRN)=tmpDist-satClkCorr*speedOfLight;
|
||||
distByChips(PRN)=dist(PRN)/lengthOfChips;
|
||||
if (el(PRN)>=30)&& (el(PRN)<=90)
|
||||
validPRN=[validPRN PRN];
|
||||
end;
|
||||
end;
|
||||
validPRN=validPRN(1:end);
|
||||
plot(dist(validPRN),'o');
|
||||
|
||||
startOffset=68.802;
|
||||
% prna=[17 26 27 15 28 8];
|
||||
% tmppsa=[6071.46755865103 6068.62744379277 6078.94049364614 6074.95430107527 6078.44605327468 6077.53574046921];
|
||||
% tmpsatpossa=[-15036649.0002903 -3907619.74040496 8231874.41562561 8900529.04635426 -13239060.1540972 -23821990.3839858;...
|
||||
% 17589741.4128689 25286052.4794101 12970359.0398929 17767729.2571505 7698143.23982526 8633624.86765844;...
|
||||
% 13421050.6855703 7190086.32956048 22234841.921193 17711061.7438771 22235906.105048 6948364.48670885];
|
||||
% tmppsa2=[21665868.6265664 20814423.6122064 23906198.1772253 22711167.7083428 23757968.682932 23485063.7694301];
|
||||
% %re-arrange the pseudorange list
|
||||
% psa=[];
|
||||
% psa2=[];
|
||||
% for i=1:length(prna)
|
||||
% psa=[psa tmppsa(find(prna==validPRN(i),1))];
|
||||
% satpossa(:,i)=tmpsatpossa(:,find(prna==validPRN(i),1));
|
||||
%
|
||||
% psa2=[psa2 tmppsa2(find(prna==validPRN(i),1))];
|
||||
% end;
|
||||
% startOffset=68.802;
|
||||
% minimum = floor(min(psa));
|
||||
% psa=psa-minimum;
|
||||
% psa=(psa+startOffset)*speedOfLight/1000;
|
||||
|
||||
satposs=satPositions(:,validPRN);
|
||||
ps=distByChips(validPRN)/1023;
|
||||
minimum = floor(min(ps));
|
||||
ps=ps-minimum;
|
||||
ps=(ps+startOffset)*speedOfLight/1000;
|
||||
[xyzdt,el,az,dop]=leastSquarePos(satposs,ps+satClkCorrs(validPRN)*speedOfLight,settings);
|
||||
|
||||
79
GNSS_SDR_IQ/test/test_find_pseudorangeV3.m
Normal file
79
GNSS_SDR_IQ/test/test_find_pseudorangeV3.m
Normal file
|
|
@ -0,0 +1,79 @@
|
|||
clear all;
|
||||
format ('compact');
|
||||
format ('long', 'g');
|
||||
|
||||
%--- Include folders with functions ---------------------------------------
|
||||
addpath ..\include % The software receiver functions
|
||||
addpath ..\geoFunctions % Position calculation related functions
|
||||
addpath ..\
|
||||
%
|
||||
eph(1)=alm2eph(01,000,0.6089210510E-003,319488.0000,0.9603762360,-0.7703178011E-008,5153.611328,-0.4829672597E+000,0.448441831,0.1078930031E+001,0.2498626709E-003,0.3637978807E-011,660);
|
||||
eph(2)=alm2eph(02,000,0.1115465164E-001,319488.0000,0.9389244734,-0.7908900866E-008,5153.631348,-0.4958443094E+000,-2.809621010,0.2218454550E+001,0.3871917725E-003,0.0000000000E+000,660);
|
||||
eph(3)=alm2eph(03,000,0.1515722275E-001,319488.0000,0.9305415081,-0.8491782288E-008,5153.643066,-0.1659458993E+001,1.181482789,0.2379413177E+001,0.3719329834E-004,0.3637978807E-011,660);
|
||||
eph(4)=alm2eph(04,000,0.9991168976E-002,319488.0000,0.9379956960,-0.7943188009E-008,5153.538574,-0.4788974919E+000,0.847107933,-0.9274007423E+000,0.1573562622E-003,0.1091393642E-010,660);
|
||||
eph(5)=alm2eph(05,000,0.2665519714E-002,319488.0000,0.9516277518,-0.8114623721E-008,5153.590820,0.5668834241E+000,0.270158135,-0.2060905436E+001,-0.3061294556E-003,-0.3637978807E-011,660);
|
||||
eph(6)=alm2eph(06,000,0.7264614105E-002,319488.0000,0.9374384295,-0.8388920861E-008,5153.626465,-0.1583104500E+001,-0.571736286,-0.1994561141E+001,0.3051757812E-004,0.0000000000E+000,660);
|
||||
eph(7)=alm2eph(07,000,0.5239486694E-002,319488.0000,0.9759377520,-0.7600316584E-008,5153.573242,0.2677930857E+001,-3.025051684,0.7919763793E+000,0.7343292236E-004,0.3637978807E-011,660);
|
||||
eph(8)=alm2eph(08,000,0.1217508316E-001,319488.0000,0.9981205523,-0.7360306586E-008,5153.654297,0.2760384571E+001,-2.973606028,0.1349558547E+000,0.9536743164E-006,0.0000000000E+000,660);
|
||||
eph(9)=alm2eph(09,000,0.1739597321E-001,319488.0000,0.9846802441,-0.7531742299E-008,5153.587402,0.2651920220E+001,1.608567982,0.1053926444E+000,0.1525878906E-003,0.3637978807E-011,660);
|
||||
eph(10)=alm2eph(10,000,0.1123762131E-001,319488.0000,0.9464985035,-0.8160339911E-008,5153.638184,0.5886651274E+000,0.750733793,-0.1733515886E+001,-0.3623962402E-004,0.0000000000E+000,660);
|
||||
eph(11)=alm2eph(11,000,0.1282930374E-001,319488.0000,0.8881173519,-0.8491782288E-008,5153.611328,-0.7499888984E+000,1.039330032,0.9152022994E+000,-0.2527236938E-003,-0.3637978807E-011,660);
|
||||
eph(12)=alm2eph(12,000,0.4001140594E-002,319488.0000,0.9794311536,-0.7771752296E-008,5153.480469,-0.2549682797E+001,0.000377129,0.6203858726E+000,0.6389617920E-004,0.3637978807E-011,660);
|
||||
eph(13)=alm2eph(13,000,0.4957675934E-002,319488.0000,0.9858367218,-0.7943188009E-008,5153.634766,0.1706998915E+001,1.966194481,0.3108981705E+001,0.2126693726E-003,-0.3637978807E-011,660);
|
||||
eph(14)=alm2eph(14,000,0.6207942963E-002,319488.0000,0.9787001159,-0.8034620388E-008,5153.526367,0.1680551604E+001,-2.062171644,-0.3064875263E+001,0.2002716064E-003,0.0000000000E+000,660);
|
||||
eph(15)=alm2eph(15,000,0.4376411438E-002,319488.0000,0.9455757182,-0.8423208003E-008,5153.482910,0.1593964081E+001,0.051864355,0.2731660256E+001,-0.9155273438E-004,0.0000000000E+000,660);
|
||||
eph(16)=alm2eph(16,000,0.6625175476E-002,319488.0000,0.9802640572,-0.7760323249E-008,5153.603516,-0.2531562275E+001,-0.045607466,-0.1728320350E+001,-0.2317428589E-003,0.0000000000E+000,660);
|
||||
eph(17)=alm2eph(17,000,0.7328033447E-002,319488.0000,0.9623176804,-0.8068907531E-008,5153.607910,-0.1490675042E+001,-2.304936462,-0.2711252245E+001,0.1344680786E-003,-0.3637978807E-011,660);
|
||||
eph(18)=alm2eph(18,000,0.1311016083E-001,319488.0000,0.9303317841,-0.8308917528E-008,5153.628906,0.5780654549E+000,-2.186412103,-0.1227346417E+001,0.1916885376E-003,0.0000000000E+000,660);
|
||||
eph(19)=alm2eph(19,000,0.8131980896E-002,319488.0000,0.9597111115,-0.8126052768E-008,5153.715820,-0.1437500287E+001,0.147952747,0.2737129183E+001,-0.2565383911E-003,-0.3637978807E-011,660);
|
||||
eph(20)=alm2eph(20,000,0.5052089691E-002,319488.0000,0.9307991689,-0.8286059433E-008,5153.665039,0.5243289395E+000,1.294038254,-0.8728399369E+000,0.6294250488E-004,0.0000000000E+000,660);
|
||||
eph(21)=alm2eph(21,000,0.1900386810E-001,319488.0000,0.9316919937,-0.7966046104E-008,5153.575684,-0.4726548342E+000,-2.265382153,-0.1699243249E+000,-0.2183914185E-003,-0.3637978807E-011,660);
|
||||
eph(22)=alm2eph(22,000,0.5940437317E-002,319488.0000,0.9280487893,-0.8331775623E-008,5153.624023,0.5815221548E+000,-2.014531354,-0.2056676877E+001,0.1430511475E-003,0.0000000000E+000,660);
|
||||
eph(23)=alm2eph(23,000,0.7733345032E-002,319488.0000,0.9602863543,-0.8251772291E-008,5153.587891,0.1629128043E+001,-3.022881416,0.2337312969E+001,0.2136230469E-003,-0.3637978807E-011,660);
|
||||
eph(25)=alm2eph(25,000,0.1533985138E-002,319488.0000,0.9682918165,-0.7851755629E-008,5153.677246,-0.2583294803E+001,0.621595530,-0.6206161945E+000,0.3337860107E-004,0.0000000000E+000,660);
|
||||
eph(26)=alm2eph(26,000,0.2096986771E-001,319488.0000,0.9833859478,-0.7954617056E-008,5153.609863,0.1701079083E+001,1.187253567,0.2193132632E+001,-0.3204345703E-003,-0.5456968211E-010,660);
|
||||
eph(27)=alm2eph(27,000,0.2174186707E-001,319488.0000,0.9821335963,-0.7531742299E-008,5153.707031,0.2625158322E+001,-1.095356284,0.3105322022E+001,0.3786087036E-003,0.3637978807E-011,660);
|
||||
eph(28)=alm2eph(28,000,0.1785039902E-001,319488.0000,0.9786162263,-0.7737465154E-008,5153.660156,-0.2524778080E+001,-1.828244817,-0.2137146453E+001,0.1344680786E-003,0.3637978807E-011,660);
|
||||
eph(29)=alm2eph(29,000,0.2323150635E-002,319488.0000,0.9628449863,-0.8091765626E-008,5153.538574,-0.1482118306E+001,-1.161227201,0.9249274979E-001,0.3042221069E-003,0.3637978807E-011,660);
|
||||
eph(30)=alm2eph(30,000,0.1097297668E-001,319488.0000,0.9595912692,-0.7908900866E-008,5153.588867,-0.2673797423E+001,1.557179251,-0.2834284919E+001,-0.1373291016E-003,-0.1818989404E-010,660);
|
||||
eph(31)=alm2eph(31,000,0.7861614227E-002,319488.0000,0.9810130713,-0.7566029441E-008,5153.592285,0.2680669252E+001,-0.868619243,0.7378893253E+000,0.2326965332E-003,0.3637978807E-011,660);
|
||||
eph(32)=alm2eph(32,000,0.1181650162E-001,319488.0000,0.9522149788,-0.8160339911E-008,5153.648438,0.6558501902E+000,-0.590281500,0.1336976234E+001,-0.4339218140E-003,-0.3637978807E-011,660);
|
||||
|
||||
[x y z]=llh2xyz(40.7127,74.0059,6.4e3);
|
||||
userxyz=[x y z];
|
||||
obsTime=[471000:0.001:471006+90];
|
||||
settings=initSettings();
|
||||
speedOfLight=299792458;
|
||||
lengthOfChips=speedOfLight/1.023e6;
|
||||
validPRN=[];
|
||||
PRNlist=[9 12 15 17 26 27];
|
||||
idxTTime=1;
|
||||
hwb=waitbar(0,'Please wait');
|
||||
distByChips=zeros(length(obsTime),length(PRNlist));
|
||||
for transmitTime=obsTime
|
||||
waitbar((transmitTime-obsTime(1))/(obsTime(end)-obsTime(1)),hwb);
|
||||
validPRN=[];
|
||||
for PRN=PRNlist;
|
||||
if PRN==24
|
||||
continue;
|
||||
end;
|
||||
[satPosition, satClkCorr] = satpos(transmitTime, ...
|
||||
PRN, ...
|
||||
eph, settings);
|
||||
|
||||
[az, el, tmpDist] = topocent(userxyz', satPosition - userxyz');
|
||||
dist=tmpDist-satClkCorr*speedOfLight;
|
||||
distByChips(idxTTime,PRN)=dist/lengthOfChips;
|
||||
if (el>=30)&& (el<=90)
|
||||
validPRN=[validPRN PRN];
|
||||
end;
|
||||
end;
|
||||
idxTTime=idxTTime+1;
|
||||
validPRN=validPRN(1:end);
|
||||
%plot(dist(validPRN),'o');
|
||||
end;
|
||||
startOffset=68.802;
|
||||
InitCodePhase=distByChips(:,validPRN);
|
||||
save InitCodePhase.mat InitCodePhase
|
||||
close(hwb);
|
||||
msgbox('Finish');
|
||||
81
GNSS_SDR_IQ/test/test_genPseudorange.m
Normal file
81
GNSS_SDR_IQ/test/test_genPseudorange.m
Normal file
|
|
@ -0,0 +1,81 @@
|
|||
%function InitCodePhase=GenerateSatellitesPseudoranges(InitObsTime,DurationTime,LLH,PRNlist,ElevationMask)
|
||||
clear all
|
||||
addpath ..\include % The software receiver functions
|
||||
addpath ..\geoFunctions % Position calculation related functions
|
||||
addpath ..
|
||||
|
||||
load trackingResults_HN.mat
|
||||
%navSolutions = postNavigation(trackResults, settings);
|
||||
%pseudorange=navSolutions.channel.rawP;
|
||||
|
||||
%Gen ephemeris message for every satellite
|
||||
[subFrameStart, activeChnList] = findPreambles(trackResults, settings);
|
||||
|
||||
LLH=[21.004498873852768 105.8435979060256 50.956094086170197];
|
||||
PRNlist=[3 6 13 16 19 23];
|
||||
ElevationMask=10;
|
||||
for channelNr = activeChnList
|
||||
|
||||
%=== Convert tracking output to navigation bits =======================
|
||||
|
||||
%--- Copy 5 sub-frames long record from tracking output ---------------
|
||||
navBitsSamples = trackResults(channelNr).I_P(subFrameStart(channelNr) - 20 : ...
|
||||
subFrameStart(channelNr) + (1500 * 20) -1)';
|
||||
|
||||
%--- Group every 20 vales of bits into columns ------------------------
|
||||
navBitsSamples = reshape(navBitsSamples, ...
|
||||
20, (size(navBitsSamples, 1) / 20));
|
||||
|
||||
%--- Sum all samples in the bits to get the best estimate -------------
|
||||
navBits = sum(navBitsSamples);
|
||||
|
||||
%--- Now threshold and make 1 and 0 -----------------------------------
|
||||
% The expression (navBits > 0) returns an array with elements set to 1
|
||||
% if the condition is met and set to 0 if it is not met.
|
||||
navBits = (navBits > 0);
|
||||
|
||||
%--- Convert from decimal to binary -----------------------------------
|
||||
% The function ephemeris expects input in binary form. In Matlab it is
|
||||
% a string array containing only "0" and "1" characters.
|
||||
navBitsBin = dec2bin(navBits);
|
||||
|
||||
%=== Decode ephemerides and TOW of the first sub-frame ================
|
||||
[eph(trackResults(channelNr).PRN), TOW] = ...
|
||||
ephemeris(navBitsBin(2:1501)', navBitsBin(1));
|
||||
end
|
||||
[tmpx tmpy tmpz]=llh2xyz(LLH(1),LLH(2),LLH(3));
|
||||
userxyz=[tmpx tmpy tmpz];
|
||||
InitObsTime=TOW;
|
||||
DurationTime=360;
|
||||
obsTime=[InitObsTime:0.001:InitObsTime+DurationTime+1];
|
||||
speedOfLight=299792458;
|
||||
lengthOfChips=speedOfLight/1.023e6;
|
||||
idxTTime=1;
|
||||
hwb=waitbar(0,'Please wait');
|
||||
distByChips=zeros(length(obsTime),length(PRNlist));
|
||||
|
||||
for transmitTime=obsTime
|
||||
if rem(idxTTime,10)==0
|
||||
waitbar((transmitTime-obsTime(1))/(obsTime(end)-obsTime(1)),hwb);
|
||||
end;
|
||||
validPRN=[];
|
||||
for PRN=PRNlist;
|
||||
if PRN==24
|
||||
continue;
|
||||
end;
|
||||
[satPosition, satClkCorr] = satpos(transmitTime, ...
|
||||
PRN, ...
|
||||
eph);
|
||||
|
||||
[az, el, tmpDist] = topocent(userxyz', satPosition - userxyz');
|
||||
dist=tmpDist-satClkCorr*speedOfLight;
|
||||
distByChips(idxTTime,PRN)=dist/lengthOfChips;
|
||||
if (el>=ElevationMask)&& (el<=90)
|
||||
validPRN=[validPRN PRN];
|
||||
end;
|
||||
end;
|
||||
idxTTime=idxTTime+1;
|
||||
end;
|
||||
InitCodePhase=distByChips(:,validPRN);
|
||||
close(hwb);
|
||||
save InitCodePhase InitCodePhase
|
||||
56
GNSS_SDR_IQ/test/test_nav_file.m
Normal file
56
GNSS_SDR_IQ/test/test_nav_file.m
Normal file
|
|
@ -0,0 +1,56 @@
|
|||
%Gen ephemeris message for every satellite
|
||||
|
||||
%function InitCodePhase=GenerateSatellitesPseudoranges(InitObsTime,DurationTime,LLH,PRNlist,ElevationMask)
|
||||
clear workspace
|
||||
addpath ..\include % The software receiver functions
|
||||
addpath ..\geoFunctions % Position calculation related functions
|
||||
addpath ..
|
||||
|
||||
load trackingResults_HN.mat
|
||||
|
||||
|
||||
%fidASCII=fopen('..\..\..\works\EstimatingCN0\GNSS_SIM\NAV3\nav_test','rt');
|
||||
fidASCII=fopen('..\..\..\works\EstimatingCN0\GNSS_SIM\Ephemeris\nav02','rt');
|
||||
%fidASCII=fopen('..\..\..\works\EstimatingCN0\GNSS_SIM\NAV3\navascii2','rt');
|
||||
data=fread(fidASCII,'char')-48;
|
||||
data(data==0)=-1;
|
||||
data=data(532:end)';
|
||||
clear trackResults;
|
||||
trackResults(1).I_P=kron(data,ones(1,20));
|
||||
%trackResults(1).I_P=trackResults(1).I_P(15000*20:end);
|
||||
trackResults(2:end)=[];
|
||||
trackResults(1).status='T';
|
||||
[subFrameStart, activeChnList] = findPreambles2(trackResults, settings);
|
||||
|
||||
LLH=[21.004498873852768 105.8435979060256 50.956094086170197];
|
||||
PRNlist=[3 6 13 16 19 23];
|
||||
ElevationMask=10;
|
||||
for channelNr = activeChnList
|
||||
|
||||
%=== Convert tracking output to navigation bits =======================
|
||||
|
||||
%--- Copy 5 sub-frames long record from tracking output ---------------
|
||||
navBitsSamples = trackResults(channelNr).I_P(subFrameStart(channelNr) - 20 : ...
|
||||
subFrameStart(channelNr) + (1500 * 20) -1)';
|
||||
|
||||
%--- Group every 20 vales of bits into columns ------------------------
|
||||
navBitsSamples = reshape(navBitsSamples, ...
|
||||
20, (size(navBitsSamples, 1) / 20));
|
||||
|
||||
%--- Sum all samples in the bits to get the best estimate -------------
|
||||
navBits = sum(navBitsSamples);
|
||||
|
||||
%--- Now threshold and make 1 and 0 -----------------------------------
|
||||
% The expression (navBits > 0) returns an array with elements set to 1
|
||||
% if the condition is met and set to 0 if it is not met.
|
||||
navBits = (navBits > 0);
|
||||
|
||||
%--- Convert from decimal to binary -----------------------------------
|
||||
% The function ephemeris expects input in binary form. In Matlab it is
|
||||
% a string array containing only "0" and "1" characters.
|
||||
navBitsBin = dec2bin(navBits);
|
||||
|
||||
%=== Decode ephemerides and TOW of the first sub-frame ================
|
||||
[eph(trackResults(channelNr).PRN), TOW] = ...
|
||||
ephemeris(navBitsBin(2:1501)', navBitsBin(1));
|
||||
end
|
||||
83
GNSS_SDR_IQ/testCorrelation.m
Normal file
83
GNSS_SDR_IQ/testCorrelation.m
Normal file
|
|
@ -0,0 +1,83 @@
|
|||
%Check autocorrelation
|
||||
|
||||
clear; close all; clc;
|
||||
|
||||
format ('compact');
|
||||
format ('long', 'g');
|
||||
|
||||
%--- Include folders with functions ---------------------------------------
|
||||
addpath include % The software receiver functions
|
||||
addpath geoFunctions % Position calculation related functions
|
||||
|
||||
|
||||
CodePhase =-1:0.001:1; %[chips]
|
||||
caCode = generateCAcode(1);
|
||||
%caCode = [caCode caCode caCode];
|
||||
|
||||
codeFreq = 1.023e6;
|
||||
earlyLateSpc = 0.5;
|
||||
Td = 0.001;
|
||||
|
||||
idxSamplingFreq = 1;
|
||||
samplingFreqRange = [4]*1.023e6;
|
||||
varDLLError = size(1,length(samplingFreqRange));
|
||||
maxDLLError = varDLLError;
|
||||
minDLLError =varDLLError;
|
||||
for samplingFreq = samplingFreqRange;
|
||||
|
||||
codePhaseStep = codeFreq / samplingFreq;
|
||||
blksize = Td*samplingFreq;
|
||||
tcode = 0:codePhaseStep : ((blksize-1)*codePhaseStep);
|
||||
%tcode2 =ceil(tcode)+1023;
|
||||
tcode2 = floor(rem(tcode+1023,1023)) + 1;
|
||||
incomingSignal = caCode(tcode2);
|
||||
|
||||
I_E=size(1,length(CodePhase));
|
||||
I_P=I_E;
|
||||
I_L=I_E;
|
||||
idxCodePhase=1;
|
||||
for remCodePhase=CodePhase
|
||||
tcode = (remCodePhase-earlyLateSpc) : ...
|
||||
codePhaseStep : ...
|
||||
((blksize-1)*codePhaseStep+remCodePhase-earlyLateSpc);
|
||||
tcode2 = floor(rem(tcode+1023,1023)) + 1;
|
||||
%tcode2 =ceil(tcode)+1023;
|
||||
earlyCode = caCode(tcode2);
|
||||
|
||||
% Define index into late code vector
|
||||
tcode = (remCodePhase+earlyLateSpc) : ...
|
||||
codePhaseStep : ...
|
||||
((blksize-1)*codePhaseStep+remCodePhase+earlyLateSpc);
|
||||
tcode2 = floor(rem(tcode+1023,1023)) + 1;
|
||||
%tcode2 =ceil(tcode)+1023;
|
||||
lateCode = caCode(tcode2);
|
||||
|
||||
% Define index into prompt code vector
|
||||
tcode = remCodePhase : ...
|
||||
codePhaseStep : ...
|
||||
((blksize-1)*codePhaseStep+remCodePhase);
|
||||
tcode2 = floor(rem(tcode+1023,1023)) + 1;
|
||||
%tcode2 =ceil(tcode)+1023;
|
||||
promptCode = caCode(tcode2);
|
||||
|
||||
I_P(idxCodePhase)=sum(promptCode.*incomingSignal)/blksize;
|
||||
I_L(idxCodePhase)=sum(lateCode.*incomingSignal)/blksize;
|
||||
I_E(idxCodePhase)=sum(earlyCode.*incomingSignal)/blksize;
|
||||
|
||||
idxCodePhase =idxCodePhase+1;
|
||||
|
||||
%Code Error
|
||||
end;
|
||||
figure(300);
|
||||
plot(CodePhase,I_P,'r','LineWidth',2);grid on;hold on;
|
||||
disp(sprintf('Processing Fs =%d',samplingFreq));
|
||||
codeError=(I_E-I_L)./(2*(I_E+I_L))- CodePhase;
|
||||
codeError2=codeError(find(CodePhase>=-0.5 & CodePhase<=0.5));
|
||||
minDLLError(idxSamplingFreq) = min(abs(codeError2));
|
||||
maxDLLError(idxSamplingFreq) = max(codeError2);
|
||||
varDLLError(idxSamplingFreq) = var(abs(codeError2));
|
||||
idxSamplingFreq = idxSamplingFreq+1;
|
||||
end;
|
||||
|
||||
figure(100);
|
||||
plot(samplingFreqRange/1.023e6,sqrt(varDLLError)*299792458/codeFreq,'-o');grid on;
|
||||
300
GNSS_SDR_IQ/tracking.m
Normal file
300
GNSS_SDR_IQ/tracking.m
Normal file
|
|
@ -0,0 +1,300 @@
|
|||
function [trackResults, channel]= tracking(fid, channel, settings)
|
||||
% Performs code and carrier tracking for all channels.
|
||||
%
|
||||
%[trackResults, channel] = tracking(fid, channel, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% fid - file identifier of the signal record.
|
||||
% channel - PRN, carrier frequencies and code phases of all
|
||||
% satellites to be tracked (prepared by preRum.m from
|
||||
% acquisition results).
|
||||
% settings - receiver settings.
|
||||
% Outputs:
|
||||
% trackResults - tracking results (structure array). Contains
|
||||
% in-phase prompt outputs and absolute starting
|
||||
% positions of spreading codes, together with other
|
||||
% observation data from the tracking loops. All are
|
||||
% saved every millisecond.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Dennis M. Akos
|
||||
% Written by Darius Plausinaitis and Dennis M. Akos
|
||||
% Based on code by DMAkos Oct-1999
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: tracking.m,v 1.14.2.32 2007/01/30 09:45:12 dpl Exp $
|
||||
|
||||
%% Initialize result structure ============================================
|
||||
|
||||
% Channel status
|
||||
trackResults.status = '-'; % No tracked signal, or lost lock
|
||||
|
||||
% The absolute sample in the record of the C/A code start:
|
||||
trackResults.absoluteSample = zeros(1, settings.msToProcess);
|
||||
|
||||
% Freq of the C/A code:
|
||||
trackResults.codeFreq = inf(1, settings.msToProcess);
|
||||
|
||||
% Frequency of the tracked carrier wave:
|
||||
trackResults.carrFreq = inf(1, settings.msToProcess);
|
||||
|
||||
% Outputs from the correlators (In-phase):
|
||||
trackResults.I_P = zeros(1, settings.msToProcess);
|
||||
trackResults.I_E = zeros(1, settings.msToProcess);
|
||||
trackResults.I_L = zeros(1, settings.msToProcess);
|
||||
|
||||
% Outputs from the correlators (Quadrature-phase):
|
||||
trackResults.Q_E = zeros(1, settings.msToProcess);
|
||||
trackResults.Q_P = zeros(1, settings.msToProcess);
|
||||
trackResults.Q_L = zeros(1, settings.msToProcess);
|
||||
|
||||
% Loop discriminators
|
||||
trackResults.dllDiscr = inf(1, settings.msToProcess);
|
||||
trackResults.dllDiscrFilt = inf(1, settings.msToProcess);
|
||||
trackResults.pllDiscr = inf(1, settings.msToProcess);
|
||||
trackResults.pllDiscrFilt = inf(1, settings.msToProcess);
|
||||
|
||||
%--- Copy initial settings for all channels -------------------------------
|
||||
trackResults = repmat(trackResults, 1, settings.numberOfChannels);
|
||||
|
||||
%% Initialize tracking variables ==========================================
|
||||
|
||||
codePeriods = settings.msToProcess; % For GPS one C/A code is one ms
|
||||
|
||||
%--- DLL variables --------------------------------------------------------
|
||||
% Define early-late offset (in chips)
|
||||
earlyLateSpc = settings.dllCorrelatorSpacing;
|
||||
|
||||
% Summation interval
|
||||
PDIcode = 0.001;
|
||||
|
||||
% Calculate filter coefficient values
|
||||
[tau1code, tau2code] = calcLoopCoef(settings.dllNoiseBandwidth, ...
|
||||
settings.dllDampingRatio, ...
|
||||
1.0);
|
||||
|
||||
%--- PLL variables --------------------------------------------------------
|
||||
% Summation interval
|
||||
PDIcarr = 0.001;
|
||||
|
||||
% Calculate filter coefficient values
|
||||
[tau1carr, tau2carr] = calcLoopCoef(settings.pllNoiseBandwidth, ...
|
||||
settings.pllDampingRatio, ...
|
||||
0.25);
|
||||
hwb = waitbar(0,'Tracking...');
|
||||
|
||||
%% Start processing channels ==============================================
|
||||
for channelNr = 1:settings.numberOfChannels
|
||||
|
||||
% Only process if PRN is non zero (acquisition was successful)
|
||||
if (channel(channelNr).PRN ~= 0)
|
||||
% Save additional information - each channel's tracked PRN
|
||||
trackResults(channelNr).PRN = channel(channelNr).PRN;
|
||||
|
||||
% Move the starting point of processing. Can be used to start the
|
||||
% signal processing at any point in the data record (e.g. for long
|
||||
% records). In addition skip through that data file to start at the
|
||||
% appropriate sample (corresponding to code phase). Assumes sample
|
||||
% type is schar (or 1 byte per sample)
|
||||
fseek(fid, ...
|
||||
settings.skipNumberOfBytes + (channel(channelNr).codePhase-1)*settings.dataTypeSize, ...
|
||||
'bof');
|
||||
|
||||
|
||||
% Get a vector with the C/A code sampled 1x/chip
|
||||
caCode = generateCAcode(channel(channelNr).PRN);
|
||||
% Then make it possible to do early and late versions
|
||||
caCode = [caCode(1023) caCode caCode(1)];
|
||||
|
||||
%--- Perform various initializations ------------------------------
|
||||
|
||||
% define initial code frequency basis of NCO
|
||||
codeFreq = settings.codeFreqBasis;
|
||||
% define residual code phase (in chips)
|
||||
remCodePhase = 0.0;
|
||||
% define carrier frequency which is used over whole tracking period
|
||||
carrFreq = channel(channelNr).acquiredFreq;
|
||||
carrFreqBasis = channel(channelNr).acquiredFreq;
|
||||
% define residual carrier phase
|
||||
remCarrPhase = 0.0;
|
||||
|
||||
%code tracking loop parameters
|
||||
oldCodeNco = 0.0;
|
||||
oldCodeError = 0.0;
|
||||
|
||||
%carrier/Costas loop parameters
|
||||
oldCarrNco = 0.0;
|
||||
oldCarrError = 0.0;
|
||||
|
||||
%=== Process the number of specified code periods =================
|
||||
for loopCnt = 1:codePeriods
|
||||
|
||||
%% GUI update -------------------------------------------------------------
|
||||
% The GUI is updated every 50ms. This way Matlab GUI is still
|
||||
% responsive enough. At the same time Matlab is not occupied
|
||||
% all the time with GUI task.
|
||||
if (rem(loopCnt, 50) == 0)
|
||||
try
|
||||
waitbar(loopCnt/codePeriods, ...
|
||||
hwb, ...
|
||||
['Tracking: Ch ', int2str(channelNr), ...
|
||||
' of ', int2str(settings.numberOfChannels), ...
|
||||
'; PRN#', int2str(channel(channelNr).PRN), ...
|
||||
'; Completed ',int2str(loopCnt), ...
|
||||
' of ', int2str(codePeriods), ' msec']);
|
||||
catch
|
||||
% The progress bar was closed. It is used as a signal
|
||||
% to stop, "cancel" processing. Exit.
|
||||
disp('Progress bar closed, exiting...');
|
||||
return
|
||||
end
|
||||
end
|
||||
|
||||
%% Read next block of data ------------------------------------------------
|
||||
% Find the size of a "block" or code period in whole samples
|
||||
|
||||
% Update the phasestep based on code freq (variable) and
|
||||
% sampling frequency (fixed)
|
||||
codePhaseStep = codeFreq / settings.samplingFreq;
|
||||
|
||||
blksize = ceil((settings.codeLength-remCodePhase) / codePhaseStep);
|
||||
|
||||
% Read in the appropriate number of samples to process this
|
||||
% interation
|
||||
[rawSignal, samplesRead] = fread(fid, ...
|
||||
blksize, settings.dataType);
|
||||
rawSignal = rawSignal'; %transpose vector
|
||||
|
||||
% If did not read in enough samples, then could be out of
|
||||
% data - better exit
|
||||
if (samplesRead ~= blksize)
|
||||
disp('Not able to read the specified number of samples for tracking, exiting!')
|
||||
fclose(fid);
|
||||
return
|
||||
end
|
||||
|
||||
%% Set up all the code phase tracking information -------------------------
|
||||
% Define index into early code vector
|
||||
tcode = (remCodePhase-earlyLateSpc) : ...
|
||||
codePhaseStep : ...
|
||||
((blksize-1)*codePhaseStep+remCodePhase-earlyLateSpc);
|
||||
tcode2 = ceil(tcode) + 1;
|
||||
earlyCode = caCode(tcode2);
|
||||
|
||||
% Define index into late code vector
|
||||
tcode = (remCodePhase+earlyLateSpc) : ...
|
||||
codePhaseStep : ...
|
||||
((blksize-1)*codePhaseStep+remCodePhase+earlyLateSpc);
|
||||
tcode2 = ceil(tcode) + 1;
|
||||
lateCode = caCode(tcode2);
|
||||
|
||||
% Define index into prompt code vector
|
||||
tcode = remCodePhase : ...
|
||||
codePhaseStep : ...
|
||||
((blksize-1)*codePhaseStep+remCodePhase);
|
||||
tcode2 = ceil(tcode) + 1;
|
||||
promptCode = caCode(tcode2);
|
||||
|
||||
remCodePhase = (tcode(blksize) + codePhaseStep) - 1023.0;
|
||||
|
||||
%% Generate the carrier frequency to mix the signal to baseband -----------
|
||||
time = (0:blksize) ./ settings.samplingFreq;
|
||||
|
||||
% Get the argument to sin/cos functions
|
||||
trigarg = ((carrFreq * 2.0 * pi) .* time) + remCarrPhase;
|
||||
remCarrPhase = rem(trigarg(blksize+1), (2 * pi));
|
||||
|
||||
% Finally compute the signal to mix the collected data to bandband
|
||||
carrCos = cos(trigarg(1:blksize));
|
||||
carrSin = sin(trigarg(1:blksize));
|
||||
|
||||
%% Generate the six standard accumulated values ---------------------------
|
||||
% First mix to baseband
|
||||
qBasebandSignal = carrCos .* rawSignal;
|
||||
iBasebandSignal = carrSin .* rawSignal;
|
||||
|
||||
% Now get early, late, and prompt values for each
|
||||
I_E = sum(earlyCode .* iBasebandSignal);
|
||||
Q_E = sum(earlyCode .* qBasebandSignal);
|
||||
I_P = sum(promptCode .* iBasebandSignal);
|
||||
Q_P = sum(promptCode .* qBasebandSignal);
|
||||
I_L = sum(lateCode .* iBasebandSignal);
|
||||
Q_L = sum(lateCode .* qBasebandSignal);
|
||||
|
||||
%% Find PLL error and update carrier NCO ----------------------------------
|
||||
|
||||
% Implement carrier loop discriminator (phase detector)
|
||||
carrError = atan(Q_P / I_P) / (2.0 * pi);
|
||||
|
||||
% Implement carrier loop filter and generate NCO command
|
||||
carrNco = oldCarrNco + (tau2carr/tau1carr) * ...
|
||||
(carrError - oldCarrError) + carrError * (PDIcarr/tau1carr);
|
||||
oldCarrNco = carrNco;
|
||||
oldCarrError = carrError;
|
||||
|
||||
% Modify carrier freq based on NCO command
|
||||
carrFreq = carrFreqBasis + carrNco;
|
||||
|
||||
trackResults(channelNr).carrFreq(loopCnt) = carrFreq;
|
||||
|
||||
%% Find DLL error and update code NCO -------------------------------------
|
||||
codeError = (sqrt(I_E * I_E + Q_E * Q_E) - sqrt(I_L * I_L + Q_L * Q_L)) / ...
|
||||
(sqrt(I_E * I_E + Q_E * Q_E) + sqrt(I_L * I_L + Q_L * Q_L));
|
||||
|
||||
% Implement code loop filter and generate NCO command
|
||||
codeNco = oldCodeNco + (tau2code/tau1code) * ...
|
||||
(codeError - oldCodeError) + codeError * (PDIcode/tau1code);
|
||||
oldCodeNco = codeNco;
|
||||
oldCodeError = codeError;
|
||||
|
||||
% Modify code freq based on NCO command
|
||||
codeFreq = settings.codeFreqBasis - codeNco;
|
||||
|
||||
trackResults(channelNr).codeFreq(loopCnt) = codeFreq;
|
||||
|
||||
%% Record various measures to show in postprocessing ----------------------
|
||||
% Record sample number (based on 8bit samples)
|
||||
trackResults(channelNr).absoluteSample(loopCnt) = (1/settings.dataTypeSize)*ftell(fid);
|
||||
trackResults(channelNr).remCodePhase(loopCnt) = remCodePhase;
|
||||
|
||||
trackResults(channelNr).dllDiscr(loopCnt) = codeError;
|
||||
trackResults(channelNr).dllDiscrFilt(loopCnt) = codeNco;
|
||||
trackResults(channelNr).pllDiscr(loopCnt) = carrError;
|
||||
trackResults(channelNr).pllDiscrFilt(loopCnt) = carrNco;
|
||||
|
||||
trackResults(channelNr).I_E(loopCnt) = I_E;
|
||||
trackResults(channelNr).I_P(loopCnt) = I_P;
|
||||
trackResults(channelNr).I_L(loopCnt) = I_L;
|
||||
trackResults(channelNr).Q_E(loopCnt) = Q_E;
|
||||
trackResults(channelNr).Q_P(loopCnt) = Q_P;
|
||||
trackResults(channelNr).Q_L(loopCnt) = Q_L;
|
||||
end % for loopCnt
|
||||
|
||||
% If we got so far, this means that the tracking was successful
|
||||
% Now we only copy status, but it can be update by a lock detector
|
||||
% if implemented
|
||||
trackResults(channelNr).status = channel(channelNr).status;
|
||||
|
||||
end % if a PRN is assigned
|
||||
end % for channelNr
|
||||
|
||||
% Close the waitbar
|
||||
close(hwb)
|
||||
BIN
GNSS_SDR_IQ/trackingResults.mat
Normal file
BIN
GNSS_SDR_IQ/trackingResults.mat
Normal file
Binary file not shown.
368
GNSS_SDR_IQ/tracking_V0_IQ.asv
Normal file
368
GNSS_SDR_IQ/tracking_V0_IQ.asv
Normal file
|
|
@ -0,0 +1,368 @@
|
|||
function [trackResults, channel]= tracking_V0_IQ(fid, channel, settings)
|
||||
% Performs code and carrier tracking for all channels.
|
||||
%
|
||||
%[trackResults, channel] = tracking(fid, channel, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% fid - file identifier of the signal record.
|
||||
% channel - PRN, carrier frequencies and code phases of all
|
||||
% satellites to be tracked (prepared by preRum.m from
|
||||
% acquisition results).
|
||||
% settings - receiver settings.
|
||||
% Outputs:
|
||||
% trackResults - tracking results (structure array). Contains
|
||||
% in-phase prompt outputs and absolute starting
|
||||
% positions of spreading codes, together with other
|
||||
% observation data from the tracking loops. All are
|
||||
% saved every millisecond.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Dennis M. Akos
|
||||
% Written by Darius Plausinaitis and Dennis M. Akos
|
||||
% Based on code by DMAkos Oct-1999
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: tracking.m,v 1.14.2.32 2007/01/30 09:45:12 dpl Exp $
|
||||
|
||||
%% Initialize result structure ============================================
|
||||
|
||||
% Channel status: trạng thái kênh
|
||||
trackResults.status = '-'; % No tracked signal, or lost lock
|
||||
|
||||
% The absolute sample in the record of the C/A code start: khởi tạo mẫu tuyệt đối
|
||||
% trong bản ghi C/A
|
||||
trackResults.absoluteSample = zeros(1, settings.msToProcess);
|
||||
|
||||
% Freq of the C/A code: tần số mã C/A
|
||||
trackResults.codeFreq = inf(1, settings.msToProcess);
|
||||
|
||||
% Frequency of the tracked carrier wave: tần số của sóng mang được theo dõi
|
||||
trackResults.carrFreq = inf(1, settings.msToProcess);
|
||||
|
||||
% Outputs from the correlators (In-phase): đầu ra của các bộ tương quan (I)
|
||||
trackResults.I_P = zeros(1, settings.msToProcess);
|
||||
trackResults.I_E = zeros(1, settings.msToProcess);
|
||||
trackResults.I_L = zeros(1, settings.msToProcess);
|
||||
|
||||
% Outputs from the correlators (Quadrature-phase): đầu ra của các bộ tương
|
||||
% quan (Q)
|
||||
trackResults.Q_E = zeros(1, settings.msToProcess);
|
||||
trackResults.Q_P = zeros(1, settings.msToProcess);
|
||||
trackResults.Q_L = zeros(1, settings.msToProcess);
|
||||
|
||||
% Loop discriminators
|
||||
trackResults.dllDiscr = inf(1, settings.msToProcess);
|
||||
trackResults.dllDiscrFilt = inf(1, settings.msToProcess);
|
||||
trackResults.pllDiscr = inf(1, settings.msToProcess);
|
||||
trackResults.pllDiscrFilt = inf(1, settings.msToProcess);
|
||||
|
||||
%--- Copy initial settings for all channels -------------------------------
|
||||
trackResults = repmat(trackResults, 1, settings.numberOfChannels);
|
||||
|
||||
%% Initialize tracking variables ==========================================
|
||||
|
||||
codePeriods = settings.msToProcess; % For GPS one C/A code is one ms (với GPS thì 1 mã C/A là 1 ms)
|
||||
|
||||
%--- DLL variables --------------------------------------------------------
|
||||
% Define early-late offset (in chips): Xác định độ lệch sớm-muộn (tính
|
||||
% bằng chip)
|
||||
earlyLateSpc = settings.dllCorrelatorSpacing;
|
||||
|
||||
% Summation interval: khoảng tính tổng
|
||||
PDIcode = 0.001;
|
||||
|
||||
% Calculate filter coefficient values: Tính toán giá trị hệ số bộ lọc
|
||||
[tau1code, tau2code] = calcLoopCoef(settings.dllNoiseBandwidth, ...
|
||||
settings.dllDampingRatio, ...
|
||||
1.0);
|
||||
|
||||
%--- PLL variables --------------------------------------------------------
|
||||
% Summation interval
|
||||
PDIcarr = 0.001;
|
||||
|
||||
% Calculate filter coefficient values
|
||||
[tau1carr, tau2carr] = calcLoopCoef(settings.pllNoiseBandwidth, ...
|
||||
settings.pllDampingRatio, ...
|
||||
0.25);
|
||||
% CARRIER TRACKING LOOP
|
||||
Bl_carr =5; % Bandwith in hertz: băng thông tính bằng Hz
|
||||
wn_carr = Bl_carr/0.7845; % Natural Frequency: tần số tự nhiên
|
||||
% k_carr = 1; % Gain of the overall loop
|
||||
% loop filter coefficients: hệ số lọc vòng lặp
|
||||
a3=1.1*wn_carr^2;
|
||||
b3=2.4*wn_carr;
|
||||
wn3=wn_carr^3;
|
||||
|
||||
% filter values initialization: khởi tạo giá trị bộ lọc
|
||||
olderrort_carr = 0;
|
||||
oldolderrort_carr = 0;
|
||||
oldcarrier_nco = 0;
|
||||
oldoldcarrier_nco = 0;
|
||||
T_int = 1e-3; % integration time
|
||||
Acoeff=((T_int^2)*wn3/4)+(a3*T_int/2)+b3;
|
||||
Bcoeff=((T_int^2)*wn3/2)-2*b3;
|
||||
Ccoeff=((T_int^2)*wn3/4)-(a3*T_int/2)+b3;
|
||||
|
||||
hwb = waitbar(0,'Tracking...');
|
||||
try
|
||||
%% Start processing channels ==============================================
|
||||
for channelNr = 1:settings.numberOfChannels
|
||||
|
||||
% Only process if PRN is non zero (acquisition was successful)
|
||||
% Chỉ xử lý nếu PRN khác 0 (acquisition thành công)
|
||||
if (channel(channelNr).PRN ~= 0)
|
||||
% Save additional information - each channel's tracked PRN:
|
||||
% Lưu thông tin bổ sung - PRN được tracked ở mỗi kênh
|
||||
trackResults(channelNr).PRN = channel(channelNr).PRN;
|
||||
|
||||
% Move the starting point of processing. Can be used to start the
|
||||
% signal processing at any point in the data record (e.g. for long
|
||||
% records). In addition skip through that data file to start at the
|
||||
% appropriate sample (corresponding to code phase). Assumes sample
|
||||
% type is schar (or 1 byte per sample)
|
||||
|
||||
% Di chuyển điểm bắt đầu xử lý. Có thể được sử dụng để bắt đầu xử lý
|
||||
% tín hiệu tại bất kỳ điểm nào trong bản ghi dữ liệu (ví dụ: đối với
|
||||
% các bản ghi dài). Ngoài ra, hãy bỏ qua tệp dữ liệu đó để bắt đầu
|
||||
% với mẫu thích hợp (tương ứng với giai đoạn mã). Giả sử loại mẫu là
|
||||
% schar (hoặc 1 byte cho mỗi mẫu)
|
||||
fseek(fid, ...
|
||||
settings.skipNumberOfBytes + (channel(channelNr).codePhase-1)*settings.dataTypeSize*2, ...
|
||||
'bof');
|
||||
|
||||
|
||||
% Get a vector with the C/A code sampled 1x/chip
|
||||
% Nhận 1 vector có mã C/A được lấy mẫu 1x/chip
|
||||
caCode = generateCAcode(channel(channelNr).PRN);
|
||||
% Then make it possible to do early and late versions: từ đó
|
||||
% mới có thể tạo được early và late
|
||||
caCode = [caCode(1023) caCode caCode(1)];
|
||||
|
||||
%--- Perform various initializations ------------------------------
|
||||
% Thực hiện các khởi tạo khác nhau
|
||||
|
||||
% define initial code frequency basis of NCO
|
||||
% Xác định tần số cơ sở mã ban đầu của NCO
|
||||
codeFreq = settings.codeFreqBasis;
|
||||
% define residual code phase (in chips)
|
||||
% Xác định pha mã dư (trong chip)
|
||||
remCodePhase = 0.0;
|
||||
% define carrier frequency which is used over whole tracking period
|
||||
% Xác định tần số sóng mang được sử dụng trong toàn bộ thời
|
||||
% gian tracking
|
||||
carrFreq = channel(channelNr).acquiredFreq;
|
||||
carrFreqBasis = channel(channelNr).acquiredFreq;
|
||||
% define residual carrier phase: xác định pha sóng mang dư
|
||||
remCarrPhase = 0.0;
|
||||
|
||||
%code tracking loop parameters: tham số vòng lặp tracking
|
||||
oldCodeNco = 0.0;
|
||||
oldCodeError = 0.0;
|
||||
|
||||
%carrier/Costas loop parametersL: tham số vòng lặp sóng mang/
|
||||
%Costas
|
||||
oldCarrNco = 0.0;
|
||||
oldCarrError = 0.0;
|
||||
|
||||
%=== Process the number of specified code periods =================
|
||||
% Xử lý khoảng thời gian mã được chỉ định
|
||||
for loopCnt = 1:codePeriods
|
||||
%% GUI update -------------------------------------------------------------
|
||||
% The GUI is updated every 50ms. This way Matlab GUI is still
|
||||
% responsive enough. At the same time Matlab is not occupied
|
||||
% all the time with GUI task.
|
||||
|
||||
% GUI được cập nhật cứ sau 50ms. Bằng cách này, GUI Matlab vẫn
|
||||
% đủ đáp ứng. Đồng thời Matlab không phải lúc nào cũng bận rộn
|
||||
% với nhiệm vụ GUI.
|
||||
if (rem(loopCnt, 50) == 0)
|
||||
try
|
||||
waitbar(loopCnt/codePeriods, ...
|
||||
hwb, ...
|
||||
['Tracking: Ch ', int2str(channelNr), ...
|
||||
' of ', int2str(settings.numberOfChannels), ...
|
||||
'; PRN#', int2str(channel(channelNr).PRN), ...
|
||||
'; Completed ',int2str(loopCnt), ...
|
||||
' of ', int2str(codePeriods), ' msec']);
|
||||
catch
|
||||
% The progress bar was closed. It is used as a signal
|
||||
% to stop, "cancel" processing. Exit.
|
||||
disp('Progress bar closed, exiting...');
|
||||
return
|
||||
end
|
||||
end
|
||||
|
||||
%% Read next block of data ------------------------------------------------
|
||||
%% Đọc khối dữ liệu tiếp theo
|
||||
% Find the size of a "block" or code period in whole samples
|
||||
% Tìm kích thước của một "khối" hoặc đoạn mã trong toàn bộ mẫu
|
||||
|
||||
% Update the phasestep based on code freq (variable) and
|
||||
% sampling frequency (fixed)
|
||||
% Cập nhật bước pha dựa trên tần số mã (biến) và tần số lấy mẫu (cố định)
|
||||
codePhaseStep = codeFreq / settings.samplingFreq;
|
||||
|
||||
blksize = ceil((settings.codeLength-remCodePhase) / codePhaseStep);
|
||||
|
||||
% Read in the appropriate number of samples to process this
|
||||
% interation: Đọc số lượng mẫu thích hợp để xử lý sự tương tác này
|
||||
[tmp, samplesRead] = fread(fid, ...
|
||||
2*blksize, settings.dataType);
|
||||
rawSignal=tmp(1:2:end)+1i*tmp(2:2:end);
|
||||
|
||||
rawSignal = transpose(rawSignal); %transpose vector: vector chuyển vị
|
||||
|
||||
% If did not read in enough samples, then could be out of
|
||||
% data - better exit: Nếu không đọc đủ mẫu thì có thể hết
|
||||
% dữ liệu - tốt hơn là thoát
|
||||
if (samplesRead < 2*blksize)
|
||||
disp('Not able to read the specified number of samples for tracking, exiting!')
|
||||
fclose(fid);
|
||||
return
|
||||
end
|
||||
|
||||
%% Set up all the code phase tracking information -------------------------
|
||||
%% Thiết lập thông tin theo dõi pha mã
|
||||
% Define index into early code vector
|
||||
tcode = (remCodePhase-earlyLateSpc) : ...
|
||||
codePhaseStep : ...
|
||||
((blksize-1)*codePhaseStep+remCodePhase-earlyLateSpc);
|
||||
tcode2 = ceil(tcode) + 1;
|
||||
earlyCode = caCode(tcode2);
|
||||
|
||||
% Define index into late code vector
|
||||
tcode = (remCodePhase+earlyLateSpc) : ...
|
||||
codePhaseStep : ...
|
||||
((blksize-1)*codePhaseStep+remCodePhase+earlyLateSpc);
|
||||
tcode2 = ceil(tcode) + 1;
|
||||
lateCode = caCode(tcode2);
|
||||
|
||||
% Define index into prompt code vector
|
||||
tcode = remCodePhase : ...
|
||||
codePhaseStep : ...
|
||||
((blksize-1)*codePhaseStep+remCodePhase);
|
||||
tcode2 = ceil(tcode) + 1;
|
||||
promptCode = caCode(tcode2);
|
||||
|
||||
remCodePhase = (tcode(blksize) + codePhaseStep) - 1023.0;
|
||||
|
||||
%% Generate the carrier frequency to mix the signal to baseband -----------
|
||||
%% Tạo tần số sóng mang để trộn tín hiệu vào băng cơ sở
|
||||
time = (0:blksize) ./ settings.samplingFreq;
|
||||
|
||||
% Get the argument to sin/cos functions
|
||||
% Lấy đối số cho hàm sin/cos
|
||||
trigarg = ((carrFreq * 2.0 * pi) .* time) + remCarrPhase;
|
||||
remCarrPhase = rem(trigarg(blksize+1), (2 * pi));
|
||||
|
||||
% Finally compute the signal to mix the collected data to bandband
|
||||
carrCos = cos(trigarg(1:blksize));
|
||||
carrSin = sin(trigarg(1:blksize));
|
||||
|
||||
%% Generate the six standard accumulated values ---------------------------
|
||||
% First mix to baseband
|
||||
iqBasebandSignal=(carrSin+1i*carrCos).* rawSignal;
|
||||
|
||||
|
||||
|
||||
qBasebandSignal = imag(iqBasebandSignal);
|
||||
iBasebandSignal = real(iqBasebandSignal);
|
||||
|
||||
% Now get early, late, and prompt values for each
|
||||
I_E = sum(earlyCode .* iBasebandSignal);
|
||||
Q_E = sum(earlyCode .* qBasebandSignal);
|
||||
I_P = sum(promptCode .* iBasebandSignal);
|
||||
Q_P = sum(promptCode .* qBasebandSignal);
|
||||
I_L = sum(lateCode .* iBasebandSignal);
|
||||
Q_L = sum(lateCode .* qBasebandSignal);
|
||||
|
||||
%% Find PLL error and update carrier NCO ----------------------------------
|
||||
|
||||
% Implement carrier loop discriminator (phase detector)
|
||||
carrError = atan(Q_P / I_P) / (2.0 * pi);
|
||||
|
||||
% Implement carrier loop filter and generate NCO command
|
||||
carrNco = oldCarrNco + (tau2carr/tau1carr) * ...
|
||||
(carrError - oldCarrError) + carrError * (PDIcarr/tau1carr);
|
||||
oldCarrNco = carrNco;
|
||||
oldCarrError = carrError;
|
||||
|
||||
% Modify carrier freq based on NCO command
|
||||
carrFreq = carrFreqBasis + carrNco;
|
||||
|
||||
trackResults(channelNr).carrFreq(loopCnt) = carrFreq;
|
||||
%% Implement phase loop filter and generate NCO command (second order open loop transfer function F(Z))
|
||||
% errort_carr=atan(Q_P / I_P) / (2.0 * pi);
|
||||
% errort_carr_filt=(Acoeff*errort_carr + Bcoeff*olderrort_carr + Ccoeff*oldolderrort_carr);
|
||||
% carrNco = 2*oldcarrier_nco - oldoldcarrier_nco + errort_carr_filt;
|
||||
% carrFreq = carrFreqBasis + carrNco; %% NCO integrator (with the added pole of the integrator we complete the second order loop transfer function)
|
||||
%
|
||||
% oldolderrort_carr = olderrort_carr;
|
||||
% olderrort_carr = errort_carr;
|
||||
% oldoldcarrier_nco = oldcarrier_nco ;
|
||||
% oldcarrier_nco = carrNco;
|
||||
|
||||
%% Find DLL error and update code NCO -------------------------------------
|
||||
codeError = (sqrt(I_E * I_E + Q_E * Q_E) - sqrt(I_L * I_L + Q_L * Q_L)) / ...
|
||||
(sqrt(I_E * I_E + Q_E * Q_E) + sqrt(I_L * I_L + Q_L * Q_L));
|
||||
|
||||
% Implement code loop filter and generate NCO command
|
||||
codeNco = oldCodeNco + (tau2code/tau1code) * ...
|
||||
(codeError - oldCodeError) + codeError * (PDIcode/tau1code);
|
||||
oldCodeNco = codeNco;
|
||||
oldCodeError = codeError;
|
||||
|
||||
% Modify code freq based on NCO command
|
||||
codeFreq = settings.codeFreqBasis - codeNco+carrFreq*codeFreq/(-carrFreq+1575.42e6);
|
||||
|
||||
trackResults(channelNr).codeFreq(loopCnt) = codeFreq;
|
||||
|
||||
%% Record various measures to show in postprocessing ----------------------
|
||||
% Record sample number (based on 8bit samples)
|
||||
trackResults(channelNr).absoluteSample(loopCnt) = (1/settings.dataTypeSize/2)*ftell(fid);
|
||||
trackResults(channelNr).remCodePhase(loopCnt) = remCodePhase;
|
||||
|
||||
|
||||
trackResults(channelNr).dllDiscr(loopCnt) = codeError;
|
||||
trackResults(channelNr).dllDiscrFilt(loopCnt) = codeNco;
|
||||
trackResults(channelNr).pllDiscr(loopCnt) = carrError;
|
||||
trackResults(channelNr).pllDiscrFilt(loopCnt) = carrNco;
|
||||
|
||||
trackResults(channelNr).I_E(loopCnt) = I_E;
|
||||
trackResults(channelNr).I_P(loopCnt) = I_P;
|
||||
trackResults(channelNr).I_L(loopCnt) = I_L;
|
||||
trackResults(channelNr).Q_E(loopCnt) = Q_E;
|
||||
trackResults(channelNr).Q_P(loopCnt) = Q_P;
|
||||
trackResults(channelNr).Q_L(loopCnt) = Q_L;
|
||||
end % for loopCnt
|
||||
|
||||
% If we got so far, this means that the tracking was successful
|
||||
% Now we only copy status, but it can be update by a lock detector
|
||||
% if implemented
|
||||
trackResults(channelNr).status = channel(channelNr).status;
|
||||
|
||||
end % if a PRN is assigned
|
||||
end % for channelNr
|
||||
catch exception
|
||||
disp(exception.message);
|
||||
end;
|
||||
% Close the waitbar
|
||||
close(hwb)
|
||||
381
GNSS_SDR_IQ/tracking_V0_IQ.m
Normal file
381
GNSS_SDR_IQ/tracking_V0_IQ.m
Normal file
|
|
@ -0,0 +1,381 @@
|
|||
function [trackResults, channel]= tracking_V0_IQ(fid, channel, settings)
|
||||
% Performs code and carrier tracking for all channels.
|
||||
%
|
||||
%[trackResults, channel] = tracking(fid, channel, settings)
|
||||
%
|
||||
% Inputs:
|
||||
% fid - file identifier of the signal record.
|
||||
% channel - PRN, carrier frequencies and code phases of all
|
||||
% satellites to be tracked (prepared by preRum.m from
|
||||
% acquisition results).
|
||||
% settings - receiver settings.
|
||||
% Outputs:
|
||||
% trackResults - tracking results (structure array). Contains
|
||||
% in-phase prompt outputs and absolute starting
|
||||
% positions of spreading codes, together with other
|
||||
% observation data from the tracking loops. All are
|
||||
% saved every millisecond.
|
||||
|
||||
%--------------------------------------------------------------------------
|
||||
% SoftGNSS v3.0
|
||||
%
|
||||
% Copyright (C) Dennis M. Akos
|
||||
% Written by Darius Plausinaitis and Dennis M. Akos
|
||||
% Based on code by DMAkos Oct-1999
|
||||
%--------------------------------------------------------------------------
|
||||
%This program 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 2
|
||||
%of the License, or (at your option) any later version.
|
||||
%
|
||||
%This program 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 this program; if not, write to the Free Software
|
||||
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
|
||||
%USA.
|
||||
%--------------------------------------------------------------------------
|
||||
|
||||
%CVS record:
|
||||
%$Id: tracking.m,v 1.14.2.32 2007/01/30 09:45:12 dpl Exp $
|
||||
|
||||
%% Initialize result structure ============================================
|
||||
|
||||
% Channel status: trạng thái kênh
|
||||
trackResults.status = '-'; % No tracked signal, or lost lock
|
||||
|
||||
% The absolute sample in the record of the C/A code start: khởi tạo mẫu tuyệt đối
|
||||
% trong bản ghi C/A
|
||||
trackResults.absoluteSample = zeros(1, settings.msToProcess);
|
||||
|
||||
% Freq of the C/A code: tần số mã C/A
|
||||
trackResults.codeFreq = inf(1, settings.msToProcess);
|
||||
|
||||
% Frequency of the tracked carrier wave: tần số của sóng mang được theo dõi
|
||||
trackResults.carrFreq = inf(1, settings.msToProcess);
|
||||
|
||||
% Outputs from the correlators (In-phase): đầu ra của các bộ tương quan (I)
|
||||
trackResults.I_P = zeros(1, settings.msToProcess);
|
||||
trackResults.I_E = zeros(1, settings.msToProcess);
|
||||
trackResults.I_L = zeros(1, settings.msToProcess);
|
||||
|
||||
% Outputs from the correlators (Quadrature-phase): đầu ra của các bộ tương
|
||||
% quan (Q)
|
||||
trackResults.Q_E = zeros(1, settings.msToProcess);
|
||||
trackResults.Q_P = zeros(1, settings.msToProcess);
|
||||
trackResults.Q_L = zeros(1, settings.msToProcess);
|
||||
|
||||
% Loop discriminators
|
||||
trackResults.dllDiscr = inf(1, settings.msToProcess);
|
||||
trackResults.dllDiscrFilt = inf(1, settings.msToProcess);
|
||||
trackResults.pllDiscr = inf(1, settings.msToProcess);
|
||||
trackResults.pllDiscrFilt = inf(1, settings.msToProcess);
|
||||
|
||||
%--- Copy initial settings for all channels -------------------------------
|
||||
trackResults = repmat(trackResults, 1, settings.numberOfChannels);
|
||||
|
||||
%% Initialize tracking variables ==========================================
|
||||
|
||||
codePeriods = settings.msToProcess; % For GPS one C/A code is one ms (với GPS thì 1 mã C/A là 1 ms)
|
||||
|
||||
%--- DLL variables --------------------------------------------------------
|
||||
% Define early-late offset (in chips): Xác định độ lệch sớm-muộn (tính
|
||||
% bằng chip)
|
||||
earlyLateSpc = settings.dllCorrelatorSpacing;
|
||||
|
||||
% Summation interval: khoảng tính tổng
|
||||
PDIcode = 0.001;
|
||||
|
||||
% Calculate filter coefficient values: Tính toán giá trị hệ số bộ lọc
|
||||
[tau1code, tau2code] = calcLoopCoef(settings.dllNoiseBandwidth, ...
|
||||
settings.dllDampingRatio, ...
|
||||
1.0);
|
||||
|
||||
%--- PLL variables --------------------------------------------------------
|
||||
% Summation interval
|
||||
PDIcarr = 0.001;
|
||||
|
||||
% Calculate filter coefficient values
|
||||
[tau1carr, tau2carr] = calcLoopCoef(settings.pllNoiseBandwidth, ...
|
||||
settings.pllDampingRatio, ...
|
||||
0.25);
|
||||
% CARRIER TRACKING LOOP
|
||||
Bl_carr =5; % Bandwith in hertz: băng thông tính bằng Hz
|
||||
wn_carr = Bl_carr/0.7845; % Natural Frequency: tần số tự nhiên
|
||||
% k_carr = 1; % Gain of the overall loop
|
||||
% loop filter coefficients: hệ số lọc vòng lặp
|
||||
a3=1.1*wn_carr^2;
|
||||
b3=2.4*wn_carr;
|
||||
wn3=wn_carr^3;
|
||||
|
||||
% filter values initialization: khởi tạo giá trị bộ lọc
|
||||
olderrort_carr = 0;
|
||||
oldolderrort_carr = 0;
|
||||
oldcarrier_nco = 0;
|
||||
oldoldcarrier_nco = 0;
|
||||
T_int = 1e-3; % integration time
|
||||
Acoeff=((T_int^2)*wn3/4)+(a3*T_int/2)+b3;
|
||||
Bcoeff=((T_int^2)*wn3/2)-2*b3;
|
||||
Ccoeff=((T_int^2)*wn3/4)-(a3*T_int/2)+b3;
|
||||
|
||||
hwb = waitbar(0,'Tracking...');
|
||||
try
|
||||
%% Start processing channels ==============================================
|
||||
for channelNr = 1:settings.numberOfChannels
|
||||
|
||||
% Only process if PRN is non zero (acquisition was successful)
|
||||
% Chỉ xử lý nếu PRN khác 0 (acquisition thành công)
|
||||
if (channel(channelNr).PRN ~= 0)
|
||||
% Save additional information - each channel's tracked PRN:
|
||||
% Lưu thông tin bổ sung - PRN được tracked ở mỗi kênh
|
||||
trackResults(channelNr).PRN = channel(channelNr).PRN;
|
||||
|
||||
% Move the starting point of processing. Can be used to start the
|
||||
% signal processing at any point in the data record (e.g. for long
|
||||
% records). In addition skip through that data file to start at the
|
||||
% appropriate sample (corresponding to code phase). Assumes sample
|
||||
% type is schar (or 1 byte per sample)
|
||||
|
||||
% Di chuyển điểm bắt đầu xử lý. Có thể được sử dụng để bắt đầu xử lý
|
||||
% tín hiệu tại bất kỳ điểm nào trong bản ghi dữ liệu (ví dụ: đối với
|
||||
% các bản ghi dài). Ngoài ra, hãy bỏ qua tệp dữ liệu đó để bắt đầu
|
||||
% với mẫu thích hợp (tương ứng với giai đoạn mã). Giả sử loại mẫu là
|
||||
% schar (hoặc 1 byte cho mỗi mẫu)
|
||||
fseek(fid, ...
|
||||
settings.skipNumberOfBytes + (channel(channelNr).codePhase-1)*settings.dataTypeSize*2, ...
|
||||
'bof');
|
||||
|
||||
|
||||
% Get a vector with the C/A code sampled 1x/chip
|
||||
% Nhận 1 vector có mã C/A được lấy mẫu 1x/chip
|
||||
caCode = generateCAcode(channel(channelNr).PRN);
|
||||
% Then make it possible to do early and late versions: từ đó
|
||||
% mới có thể tạo được early và late
|
||||
caCode = [caCode(1023) caCode caCode(1)];
|
||||
|
||||
%--- Perform various initializations ------------------------------
|
||||
% Thực hiện các khởi tạo khác nhau
|
||||
|
||||
% define initial code frequency basis of NCO
|
||||
% Xác định tần số cơ sở mã ban đầu của NCO
|
||||
codeFreq = settings.codeFreqBasis;
|
||||
% define residual code phase (in chips)
|
||||
% Xác định pha mã dư (trong chip)
|
||||
remCodePhase = 0.0;
|
||||
% define carrier frequency which is used over whole tracking period
|
||||
% Xác định tần số sóng mang được sử dụng trong toàn bộ thời
|
||||
% gian tracking
|
||||
carrFreq = channel(channelNr).acquiredFreq;
|
||||
carrFreqBasis = channel(channelNr).acquiredFreq;
|
||||
% define residual carrier phase: xác định pha sóng mang dư
|
||||
remCarrPhase = 0.0;
|
||||
|
||||
%code tracking loop parameters: tham số vòng lặp tracking
|
||||
oldCodeNco = 0.0;
|
||||
oldCodeError = 0.0;
|
||||
|
||||
%carrier/Costas loop parametersL: tham số vòng lặp sóng mang/
|
||||
%Costas
|
||||
oldCarrNco = 0.0;
|
||||
oldCarrError = 0.0;
|
||||
|
||||
%=== Process the number of specified code periods =================
|
||||
% Xử lý khoảng thời gian mã được chỉ định
|
||||
for loopCnt = 1:codePeriods
|
||||
%% GUI update -------------------------------------------------------------
|
||||
% The GUI is updated every 50ms. This way Matlab GUI is still
|
||||
% responsive enough. At the same time Matlab is not occupied
|
||||
% all the time with GUI task.
|
||||
|
||||
% GUI được cập nhật cứ sau 50ms. Bằng cách này, GUI Matlab vẫn
|
||||
% đủ đáp ứng. Đồng thời Matlab không phải lúc nào cũng bận rộn
|
||||
% với nhiệm vụ GUI.
|
||||
if (rem(loopCnt, 50) == 0)
|
||||
try
|
||||
waitbar(loopCnt/codePeriods, ...
|
||||
hwb, ...
|
||||
['Tracking: Ch ', int2str(channelNr), ...
|
||||
' of ', int2str(settings.numberOfChannels), ...
|
||||
'; PRN#', int2str(channel(channelNr).PRN), ...
|
||||
'; Completed ',int2str(loopCnt), ...
|
||||
' of ', int2str(codePeriods), ' msec']);
|
||||
catch
|
||||
% The progress bar was closed. It is used as a signal
|
||||
% to stop, "cancel" processing. Exit.
|
||||
disp('Progress bar closed, exiting...');
|
||||
return
|
||||
end
|
||||
end
|
||||
|
||||
%% Read next block of data ------------------------------------------------
|
||||
%% Đọc khối dữ liệu tiếp theo
|
||||
% Find the size of a "block" or code period in whole samples
|
||||
% Tìm kích thước của một "khối" hoặc đoạn mã trong toàn bộ mẫu
|
||||
|
||||
% Update the phasestep based on code freq (variable) and
|
||||
% sampling frequency (fixed)
|
||||
% Cập nhật bước pha dựa trên tần số mã (biến) và tần số lấy mẫu (cố định)
|
||||
codePhaseStep = codeFreq / settings.samplingFreq;
|
||||
|
||||
blksize = ceil((settings.codeLength-remCodePhase) / codePhaseStep);
|
||||
|
||||
% Read in the appropriate number of samples to process this
|
||||
% interation: Đọc số lượng mẫu thích hợp để xử lý sự tương tác này
|
||||
[tmp, samplesRead] = fread(fid, ...
|
||||
2*blksize, settings.dataType);
|
||||
rawSignal=tmp(1:2:end)+1i*tmp(2:2:end);
|
||||
|
||||
rawSignal = transpose(rawSignal); %transpose vector: vector chuyển vị
|
||||
|
||||
% If did not read in enough samples, then could be out of
|
||||
% data - better exit: Nếu không đọc đủ mẫu thì có thể hết
|
||||
% dữ liệu - tốt hơn là thoát
|
||||
if (samplesRead < 2*blksize)
|
||||
disp('Not able to read the specified number of samples for tracking, exiting!')
|
||||
fclose(fid);
|
||||
return
|
||||
end
|
||||
|
||||
%% Set up all the code phase tracking information -------------------------
|
||||
%% Thiết lập thông tin theo dõi pha mã
|
||||
% Define index into early code vector
|
||||
tcode = (remCodePhase-earlyLateSpc) : ...
|
||||
codePhaseStep : ...
|
||||
((blksize-1)*codePhaseStep+remCodePhase-earlyLateSpc);
|
||||
tcode2 = ceil(tcode) + 1;
|
||||
earlyCode = caCode(tcode2);
|
||||
|
||||
% Define index into late code vector
|
||||
tcode = (remCodePhase+earlyLateSpc) : ...
|
||||
codePhaseStep : ...
|
||||
((blksize-1)*codePhaseStep+remCodePhase+earlyLateSpc);
|
||||
tcode2 = ceil(tcode) + 1;
|
||||
lateCode = caCode(tcode2);
|
||||
|
||||
% Define index into prompt code vector
|
||||
tcode = remCodePhase : ...
|
||||
codePhaseStep : ...
|
||||
((blksize-1)*codePhaseStep+remCodePhase);
|
||||
tcode2 = ceil(tcode) + 1;
|
||||
promptCode = caCode(tcode2);
|
||||
|
||||
remCodePhase = (tcode(blksize) + codePhaseStep) - 1023.0;
|
||||
|
||||
%% Generate the carrier frequency to mix the signal to baseband -----------
|
||||
%% Tạo tần số sóng mang để trộn tín hiệu vào băng cơ sở
|
||||
time = (0:blksize) ./ settings.samplingFreq;
|
||||
|
||||
% Get the argument to sin/cos functions
|
||||
% Lấy đối số cho hàm sin/cos
|
||||
trigarg = ((carrFreq * 2.0 * pi) .* time) + remCarrPhase;
|
||||
remCarrPhase = rem(trigarg(blksize+1), (2 * pi));
|
||||
|
||||
% Finally compute the signal to mix the collected data to bandband
|
||||
% Cuối cùng tính toán tín hiệu để trộn dữ liệu thu thập được vào băng thông
|
||||
carrCos = cos(trigarg(1:blksize));
|
||||
carrSin = sin(trigarg(1:blksize));
|
||||
|
||||
%% Generate the six standard accumulated values ---------------------------
|
||||
%% Tạo sáu giá trị tích lũy tiêu chuẩn
|
||||
% First mix to baseband
|
||||
% Trộn đầu tiên vào baseband
|
||||
iqBasebandSignal=(carrSin+1i*carrCos).* rawSignal;
|
||||
|
||||
|
||||
|
||||
qBasebandSignal = imag(iqBasebandSignal);
|
||||
iBasebandSignal = real(iqBasebandSignal);
|
||||
|
||||
% Now get early, late, and prompt values for each
|
||||
I_E = sum(earlyCode .* iBasebandSignal);
|
||||
Q_E = sum(earlyCode .* qBasebandSignal);
|
||||
I_P = sum(promptCode .* iBasebandSignal);
|
||||
Q_P = sum(promptCode .* qBasebandSignal);
|
||||
I_L = sum(lateCode .* iBasebandSignal);
|
||||
Q_L = sum(lateCode .* qBasebandSignal);
|
||||
|
||||
%% Find PLL error and update carrier NCO ----------------------------------
|
||||
|
||||
% Implement carrier loop discriminator (phase detector)
|
||||
% Triển khai bộ phân biệt vòng lặp sóng mang (bộ dò pha)
|
||||
carrError = atan(Q_P / I_P) / (2.0 * pi);
|
||||
|
||||
% Implement carrier loop filter and generate NCO command
|
||||
% Triển khai bộ lọc vòng lặp sóng mang và tạo lệnh NCO
|
||||
carrNco = oldCarrNco + (tau2carr/tau1carr) * ...
|
||||
(carrError - oldCarrError) + carrError * (PDIcarr/tau1carr);
|
||||
oldCarrNco = carrNco;
|
||||
oldCarrError = carrError;
|
||||
|
||||
% Modify carrier freq based on NCO command
|
||||
% Sửa đổi tần số sóng mang dựa trên lệnh NCO
|
||||
carrFreq = carrFreqBasis + carrNco;
|
||||
|
||||
trackResults(channelNr).carrFreq(loopCnt) = carrFreq;
|
||||
%% Implement phase loop filter and generate NCO command (second order open loop transfer function F(Z))
|
||||
% errort_carr=atan(Q_P / I_P) / (2.0 * pi);
|
||||
% errort_carr_filt=(Acoeff*errort_carr + Bcoeff*olderrort_carr + Ccoeff*oldolderrort_carr);
|
||||
% carrNco = 2*oldcarrier_nco - oldoldcarrier_nco + errort_carr_filt;
|
||||
% carrFreq = carrFreqBasis + carrNco; %% NCO integrator (with the added pole of the integrator we complete the second order loop transfer function)
|
||||
%
|
||||
% oldolderrort_carr = olderrort_carr;
|
||||
% olderrort_carr = errort_carr;
|
||||
% oldoldcarrier_nco = oldcarrier_nco ;
|
||||
% oldcarrier_nco = carrNco;
|
||||
|
||||
%% Find DLL error and update code NCO -------------------------------------
|
||||
%% Tìm lỗi DLL và cập nhật mã NCO
|
||||
codeError = (sqrt(I_E * I_E + Q_E * Q_E) - sqrt(I_L * I_L + Q_L * Q_L)) / ...
|
||||
(sqrt(I_E * I_E + Q_E * Q_E) + sqrt(I_L * I_L + Q_L * Q_L));
|
||||
|
||||
% Implement code loop filter and generate NCO command
|
||||
% Triển khai bộ lọc vòng lặp mã và tạo lệnh NCO
|
||||
codeNco = oldCodeNco + (tau2code/tau1code) * ...
|
||||
(codeError - oldCodeError) + codeError * (PDIcode/tau1code);
|
||||
oldCodeNco = codeNco;
|
||||
oldCodeError = codeError;
|
||||
|
||||
% Modify code freq based on NCO command
|
||||
% Sửa đổi tần số mã dựa trên lệnh NCO
|
||||
codeFreq = settings.codeFreqBasis - codeNco+carrFreq*codeFreq/(-carrFreq+1575.42e6);
|
||||
|
||||
trackResults(channelNr).codeFreq(loopCnt) = codeFreq;
|
||||
|
||||
%% Record various measures to show in postprocessing ----------------------
|
||||
%% Ghi lại các biện pháp khác nhau để hiển thị trong quá trình xử lý hậu kỳ
|
||||
% Record sample number (based on 8bit samples)
|
||||
trackResults(channelNr).absoluteSample(loopCnt) = (1/settings.dataTypeSize/2)*ftell(fid);
|
||||
trackResults(channelNr).remCodePhase(loopCnt) = remCodePhase;
|
||||
|
||||
|
||||
trackResults(channelNr).dllDiscr(loopCnt) = codeError;
|
||||
trackResults(channelNr).dllDiscrFilt(loopCnt) = codeNco;
|
||||
trackResults(channelNr).pllDiscr(loopCnt) = carrError;
|
||||
trackResults(channelNr).pllDiscrFilt(loopCnt) = carrNco;
|
||||
|
||||
trackResults(channelNr).I_E(loopCnt) = I_E;
|
||||
trackResults(channelNr).I_P(loopCnt) = I_P;
|
||||
trackResults(channelNr).I_L(loopCnt) = I_L;
|
||||
trackResults(channelNr).Q_E(loopCnt) = Q_E;
|
||||
trackResults(channelNr).Q_P(loopCnt) = Q_P;
|
||||
trackResults(channelNr).Q_L(loopCnt) = Q_L;
|
||||
end % for loopCnt
|
||||
|
||||
% If we got so far, this means that the tracking was successful
|
||||
% Now we only copy status, but it can be update by a lock detector
|
||||
% if implemented
|
||||
% Nếu chúng tôi đã đi xa đến thế, điều này có nghĩa là việc theo dõi đã thành công
|
||||
% Bây giờ chúng tôi chỉ sao chép trạng thái, nhưng nó có thể được cập nhật
|
||||
% bằng trình phát hiện khóa nếu được triển khai
|
||||
trackResults(channelNr).status = channel(channelNr).status;
|
||||
|
||||
end % if a PRN is assigned
|
||||
end % for channelNr
|
||||
catch exception
|
||||
disp(exception.message);
|
||||
end;
|
||||
% Close the waitbar
|
||||
close(hwb)
|
||||
49
MatrixFFT4096.py
Normal file
49
MatrixFFT4096.py
Normal file
|
|
@ -0,0 +1,49 @@
|
|||
import torch
|
||||
import numpy as np
|
||||
|
||||
|
||||
class MatrixFFT4096:
|
||||
def __init__(self, device="cpu"):
|
||||
self.N = 4096
|
||||
self.device = torch.device(device)
|
||||
|
||||
# Luôn xây ma trận bằng complex64 để nhẹ hơn
|
||||
n = np.arange(self.N)
|
||||
k = n.reshape((self.N, 1))
|
||||
W = np.exp(-2j * np.pi * k * n / self.N).astype(np.complex64)
|
||||
W_inv = np.exp(2j * np.pi * k * n / self.N).astype(np.complex64) / self.N
|
||||
|
||||
self.DFT = torch.tensor(W, dtype=torch.complex64, device=self.device)
|
||||
self.IDFT = torch.tensor(W_inv, dtype=torch.complex64, device=self.device)
|
||||
|
||||
def _to_tensor(self, x):
|
||||
"""Nhận numpy hoặc torch -> ép về torch.complex64 trên device"""
|
||||
if isinstance(x, np.ndarray):
|
||||
# numpy mặc định là complex128 -> ép về complex64
|
||||
x = torch.tensor(x, dtype=torch.complex64, device=self.device)
|
||||
elif isinstance(x, torch.Tensor):
|
||||
# nếu là torch nhưng sai dtype -> ép lại complex64
|
||||
if not torch.is_complex(x):
|
||||
x = x.to(torch.complex64)
|
||||
else:
|
||||
x = x.to(torch.complex64)
|
||||
x = x.to(self.device)
|
||||
else:
|
||||
raise TypeError("Input must be numpy.ndarray or torch.Tensor")
|
||||
return x
|
||||
|
||||
def fft(self, x):
|
||||
"""
|
||||
FFT bằng nhân ma trận.
|
||||
x: numpy.ndarray hoặc torch.Tensor, shape (B,4096) hoặc (4096,)
|
||||
"""
|
||||
x = self._to_tensor(x)
|
||||
return torch.matmul(x, self.DFT.T)
|
||||
|
||||
def ifft(self, X):
|
||||
"""
|
||||
IFFT bằng nhân ma trận.
|
||||
X: numpy.ndarray hoặc torch.Tensor
|
||||
"""
|
||||
X = self._to_tensor(X)
|
||||
return torch.matmul(X, self.IDFT.T)
|
||||
26
README.md
Normal file
26
README.md
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
# Getting Started
|
||||
|
||||
This is a GNSS Software Defined Radio (SDR) implemented in python, based on SoftGNSS 3.0 developed by Darius Plausinaitis and Dennis M. Akos in Matlab.
|
||||
|
||||
# System requirements
|
||||
|
||||
* python 2.7
|
||||
* matplotlib
|
||||
* scipy
|
||||
* numpy
|
||||
|
||||
# Installation
|
||||
|
||||
Coming soon!
|
||||
|
||||
# Running the GNSS SDR
|
||||
|
||||
1. Examine "main.py"
|
||||
2. Tweak parameters for the "settings" class if necessary
|
||||
3. Specify the binary file to be processed and run "main.py"
|
||||
4. Wait until it is finished
|
||||
|
||||
|
||||
# Resources
|
||||
* The official homepage of the textbook
|
||||
|
||||
BIN
acq_2ms_ane.mlpackage.zip.png
Normal file
BIN
acq_2ms_ane.mlpackage.zip.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 569 KiB |
1
acq_2ms_ane.mlpackage.zip.svg
Normal file
1
acq_2ms_ane.mlpackage.zip.svg
Normal file
File diff suppressed because one or more lines are too long
|
After Width: | Height: | Size: 130 KiB |
BIN
acq_2ms_ane_v2.mlpackage.zip.png
Normal file
BIN
acq_2ms_ane_v2.mlpackage.zip.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 510 KiB |
354
acquisition.py
Normal file
354
acquisition.py
Normal file
|
|
@ -0,0 +1,354 @@
|
|||
import numpy as np
|
||||
|
||||
from initialize import Result
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
|
||||
|
||||
class AcquisitionResult(Result):
|
||||
def __init__(self, settings):
|
||||
self._settings = settings
|
||||
self._results = None
|
||||
self._channels = None
|
||||
|
||||
@property
|
||||
def peakMetric(self):
|
||||
assert isinstance(self._results, np.recarray)
|
||||
return self._results.peakMetric
|
||||
|
||||
@property
|
||||
def carrFreq(self):
|
||||
assert isinstance(self._results, np.recarray)
|
||||
return self._results.carrFreq
|
||||
|
||||
@property
|
||||
def codePhase(self):
|
||||
assert isinstance(self._results, np.recarray)
|
||||
return self._results.codePhase
|
||||
|
||||
def acquire(self, longSignal):
|
||||
# ./acquisition.m
|
||||
# Function performs cold start acquisition on the collected "data". It
|
||||
# searches for GPS signals of all satellites, which are listed in field
|
||||
# "acqSatelliteList" in the settings structure. Function saves code phase
|
||||
# and frequency of the detected signals in the "acqResults" structure.
|
||||
|
||||
# acqResults = acquisition(longSignal, settings)
|
||||
|
||||
# Inputs:
|
||||
# longSignal - 11 ms of raw signal from the front-end
|
||||
# settings - Receiver settings. Provides information about
|
||||
# sampling and intermediate frequencies and other
|
||||
# parameters including the list of the satellites to
|
||||
# be acquired.
|
||||
# Outputs:
|
||||
# acqResults - Function saves code phases and frequencies of the
|
||||
# detected signals in the "acqResults" structure. The
|
||||
# field "carrFreq" is set to 0 if the signal is not
|
||||
# detected for the given PRN number.
|
||||
|
||||
# Initialization =========================================================
|
||||
settings = self._settings
|
||||
|
||||
# Find number of samples per spreading code
|
||||
samplesPerCode = settings.samplesPerCode
|
||||
|
||||
# Create two 1m sec vectors of data to correlate with and one with zero DC
|
||||
signal1 = longSignal[0:samplesPerCode]
|
||||
|
||||
signal2 = longSignal[samplesPerCode:2 * samplesPerCode]
|
||||
|
||||
signal0DC = longSignal - longSignal.mean()
|
||||
|
||||
# Find sampling period
|
||||
ts = 1.0 / settings.samplingFreq
|
||||
|
||||
# Find phase points of the local carrier wave
|
||||
phasePoints = np.arange(samplesPerCode) * 2 * np.pi * ts
|
||||
|
||||
# Number of the frequency bins for the given acquisition band (500Hz steps)
|
||||
numberOfFrqBins = int(np.round(settings.acqSearchBand * 2) + 1)
|
||||
|
||||
# Generate all C/A codes and sample them according to the sampling freq.
|
||||
caCodesTable = settings.makeCaTable()
|
||||
|
||||
# --- Initialize arrays to speed up the code -------------------------------
|
||||
# Search results of all frequency bins and code shifts (for one satellite)
|
||||
results = np.zeros((numberOfFrqBins, samplesPerCode))
|
||||
|
||||
# Carrier frequencies of the frequency bins
|
||||
frqBins = np.zeros(numberOfFrqBins)
|
||||
|
||||
# --- Initialize acqResults ------------------------------------------------
|
||||
# Carrier frequencies of detected signals
|
||||
carrFreq = np.zeros(32)
|
||||
|
||||
# C/A code phases of detected signals
|
||||
codePhase_ = np.zeros(32)
|
||||
|
||||
# Correlation peak ratios of the detected signals
|
||||
peakMetric = np.zeros(32)
|
||||
|
||||
print ('(')
|
||||
# Perform search for all listed PRN numbers ...
|
||||
for PRN in range(len(settings.acqSatelliteList)):
|
||||
# Correlate signals ======================================================
|
||||
# --- Perform DFT of C/A code ------------------------------------------
|
||||
caCodeFreqDom = np.fft.fft(caCodesTable[PRN, :]).conj()
|
||||
|
||||
for frqBinIndex in range(numberOfFrqBins):
|
||||
# --- Generate carrier wave frequency grid (0.5kHz step) -----------
|
||||
frqBins[frqBinIndex] = settings.IF - \
|
||||
settings.acqSearchBand / 2 * 1000 + \
|
||||
500.0 * frqBinIndex
|
||||
|
||||
sinCarr = np.sin(frqBins[frqBinIndex] * phasePoints)
|
||||
|
||||
cosCarr = np.cos(frqBins[frqBinIndex] * phasePoints)
|
||||
|
||||
I1 = sinCarr * signal1
|
||||
|
||||
Q1 = cosCarr * signal1
|
||||
|
||||
I2 = sinCarr * signal2
|
||||
|
||||
Q2 = cosCarr * signal2
|
||||
|
||||
IQfreqDom1 = np.fft.fft(I1 + 1j * Q1)
|
||||
|
||||
IQfreqDom2 = np.fft.fft(I2 + 1j * Q2)
|
||||
|
||||
# domain)
|
||||
convCodeIQ1 = IQfreqDom1 * caCodeFreqDom
|
||||
|
||||
convCodeIQ2 = IQfreqDom2 * caCodeFreqDom
|
||||
|
||||
acqRes1 = abs(np.fft.ifft(convCodeIQ1)) ** 2
|
||||
|
||||
acqRes2 = abs(np.fft.ifft(convCodeIQ2)) ** 2
|
||||
|
||||
# "blend" 1st and 2nd msec but will correct data bit issues
|
||||
if acqRes1.max() > acqRes2.max():
|
||||
results[frqBinIndex, :] = acqRes1
|
||||
|
||||
else:
|
||||
results[frqBinIndex, :] = acqRes2
|
||||
|
||||
# Look for correlation peaks in the results ==============================
|
||||
# Find the highest peak and compare it to the second highest peak
|
||||
# The second peak is chosen not closer than 1 chip to the highest peak
|
||||
# --- Find the correlation peak and the carrier frequency --------------
|
||||
peakSize = results.max(1).max()
|
||||
frequencyBinIndex = results.max(1).argmax()
|
||||
|
||||
peakSize = results.max(0).max()
|
||||
codePhase = results.max(0).argmax()
|
||||
|
||||
samplesPerCodeChip = np.long(round(settings.samplingFreq / settings.codeFreqBasis))
|
||||
|
||||
excludeRangeIndex1 = codePhase - samplesPerCodeChip
|
||||
|
||||
excludeRangeIndex2 = codePhase + samplesPerCodeChip
|
||||
|
||||
# boundaries
|
||||
if excludeRangeIndex1 <= 0:
|
||||
codePhaseRange = np.r_[excludeRangeIndex2:samplesPerCode + excludeRangeIndex1 + 1]
|
||||
|
||||
elif excludeRangeIndex2 >= samplesPerCode - 1:
|
||||
codePhaseRange = np.r_[excludeRangeIndex2 - samplesPerCode:excludeRangeIndex1]
|
||||
|
||||
else:
|
||||
codePhaseRange = np.r_[0:excludeRangeIndex1 + 1, excludeRangeIndex2:samplesPerCode]
|
||||
|
||||
# --- Find the second highest correlation peak in the same freq. bin ---
|
||||
secondPeakSize = results[frequencyBinIndex, codePhaseRange].max()
|
||||
|
||||
peakMetric[PRN] = peakSize / secondPeakSize
|
||||
|
||||
if (peakSize / secondPeakSize) > settings.acqThreshold:
|
||||
# Fine resolution frequency search =======================================
|
||||
# --- Indicate PRN number of the detected signal -------------------
|
||||
print( '%02d ' % (PRN + 1))
|
||||
caCode = settings.generateCAcode(PRN)
|
||||
|
||||
codeValueIndex = np.floor(ts * np.arange(1, 10 * samplesPerCode + 1) / (1.0 / settings.codeFreqBasis))
|
||||
|
||||
longCaCode = caCode[np.longlong(codeValueIndex % 1023)]
|
||||
|
||||
# (Using detected C/A code phase)
|
||||
xCarrier = signal0DC[codePhase:codePhase + 10 * samplesPerCode] * longCaCode
|
||||
|
||||
fftNumPts = 8 * 2 ** (np.ceil(np.log2(len(xCarrier))))
|
||||
|
||||
# associated carrier frequency
|
||||
fftxc = np.abs(np.fft.fft(xCarrier, np.long(fftNumPts)))
|
||||
|
||||
uniqFftPts = np.long(np.ceil((fftNumPts + 1) / 2.0))
|
||||
|
||||
fftMax = fftxc[4:uniqFftPts - 5].max()
|
||||
fftMaxIndex = fftxc[4:uniqFftPts - 5].argmax()
|
||||
|
||||
fftFreqBins = np.arange(uniqFftPts) * settings.samplingFreq / fftNumPts
|
||||
|
||||
carrFreq[PRN] = fftFreqBins[fftMaxIndex]
|
||||
|
||||
codePhase_[PRN] = codePhase
|
||||
|
||||
plot_acquisition_3d(results, frqBins, PRN, settings)
|
||||
|
||||
else:
|
||||
# --- No signal with this PRN --------------------------------------
|
||||
print ('. ')
|
||||
|
||||
# === Acquisition is over ==================================================
|
||||
print (')\n')
|
||||
acqResults = np.core.records.fromarrays([carrFreq, codePhase_, peakMetric],
|
||||
names='carrFreq,codePhase,peakMetric')
|
||||
self._results = acqResults
|
||||
return
|
||||
|
||||
def plot(self):
|
||||
assert isinstance(self._results, np.recarray)
|
||||
import matplotlib as mpl
|
||||
mpl.rcParams['text.usetex'] = False
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
# %% configure matplotlib
|
||||
mpl.rcdefaults()
|
||||
mpl.rc('savefig', bbox='tight', transparent=False, format='png')
|
||||
mpl.rc('axes', grid=True, linewidth=1.5, axisbelow=True)
|
||||
mpl.rc('lines', linewidth=1.5, solid_joinstyle='bevel')
|
||||
mpl.rc('figure', figsize=[8, 6], autolayout=False, dpi=120)
|
||||
# 🔴 xoá hoặc comment dòng dưới
|
||||
# mpl.rc('text', usetex=True)
|
||||
mpl.rc('font', family='serif', size=16)
|
||||
mpl.rc('mathtext', fontset='cm')
|
||||
|
||||
# ==== Plot acquisition results ====
|
||||
f, hAxes = plt.subplots()
|
||||
|
||||
plt.bar(range(1, 33), self.peakMetric)
|
||||
plt.title('Acquisition results')
|
||||
plt.xlabel('PRN number (no bar - SV is not in the acquisition list)')
|
||||
plt.ylabel('Acquisition Metric ($1^{st}$ to $2^{nd}$ Correlation Peaks Ratio)')
|
||||
oldAxis = plt.axis()
|
||||
|
||||
plt.axis([0, 33, 0, oldAxis[-1]])
|
||||
plt.xticks(range(1, 33), size=12)
|
||||
hAxes.xaxis.grid()
|
||||
|
||||
acquiredSignals = self.peakMetric * (self.carrFreq > 0)
|
||||
plt.bar(range(1, 33), acquiredSignals, color=(0, 0.8, 0))
|
||||
plt.legend(['Not acquired signals', 'Acquired signals'])
|
||||
plt.show()
|
||||
|
||||
# preRun.m
|
||||
def preRun(self):
|
||||
assert isinstance(self._results, np.recarray)
|
||||
# Function initializes tracking channels from acquisition data. The acquired
|
||||
# signals are sorted according to the signal strength. This function can be
|
||||
# modified to use other satellite selection algorithms or to introduce
|
||||
# acquired signal properties offsets for testing purposes.
|
||||
|
||||
# [channel] = preRun(acqResults, settings)
|
||||
|
||||
# Inputs:
|
||||
# acqResults - results from acquisition.
|
||||
# settings - receiver settings
|
||||
|
||||
# Outputs:
|
||||
# channel - structure contains information for each channel (like
|
||||
# properties of the tracked signal, channel status etc.).
|
||||
|
||||
settings = self._settings
|
||||
# Initialize all channels ================================================
|
||||
PRN = np.zeros(settings.numberOfChannels, dtype='int64')
|
||||
acquiredFreq = np.zeros(settings.numberOfChannels)
|
||||
codePhase = np.zeros(settings.numberOfChannels)
|
||||
status = ['-' for _ in range(settings.numberOfChannels)]
|
||||
|
||||
# --- Copy initial data to all channels ------------------------------------
|
||||
|
||||
# Copy acquisition results ===============================================
|
||||
|
||||
# --- Sort peaks to find strongest signals, keep the peak index information
|
||||
PRNindexes = sorted(enumerate(self.peakMetric),
|
||||
key=lambda x: x[-1], reverse=True)
|
||||
|
||||
# --- Load information about each satellite --------------------------------
|
||||
# Maximum number of initialized channels is number of detected signals, but
|
||||
# not more as the number of channels specified in the settings.
|
||||
for ii in range(min(settings.numberOfChannels, sum(self.carrFreq > 0))):
|
||||
PRN[ii] = PRNindexes[ii][0] + 1
|
||||
|
||||
acquiredFreq[ii] = self.carrFreq[PRNindexes[ii][0]]
|
||||
|
||||
codePhase[ii] = self.codePhase[PRNindexes[ii][0]]
|
||||
|
||||
status[ii] = 'T'
|
||||
|
||||
channel = np.core.records.fromarrays([PRN, acquiredFreq, codePhase, status],
|
||||
names='PRN,acquiredFreq,codePhase,status')
|
||||
self._channels = channel
|
||||
return
|
||||
|
||||
def showChannelStatus(self):
|
||||
# Prints the status of all channels in a table.
|
||||
|
||||
# showChannelStatus(channel, settings)
|
||||
|
||||
# Inputs:
|
||||
# channel - data for each channel. It is used to initialize and
|
||||
# at the processing of the signal (tracking part).
|
||||
# settings - receiver settings
|
||||
|
||||
channel = self._channels
|
||||
settings = self._settings
|
||||
assert isinstance(channel, np.recarray)
|
||||
print ('\n*=========*=====*===============*===========*=============*========*')
|
||||
print ('| Channel | PRN | Frequency | Doppler | Code Offset | Status |')
|
||||
print ('*=========*=====*===============*===========*=============*========*')
|
||||
for channelNr in range(settings.numberOfChannels):
|
||||
if channel[channelNr].status != '-':
|
||||
print ('| %2d | %3d | %2.5e | %5.0f | %6d | %1s |' % (
|
||||
channelNr,
|
||||
channel[channelNr].PRN,
|
||||
channel[channelNr].acquiredFreq,
|
||||
channel[channelNr].acquiredFreq - settings.IF,
|
||||
channel[channelNr].codePhase,
|
||||
channel[channelNr].status))
|
||||
else:
|
||||
print ('| %2d | --- | ------------ | ----- | ------ | Off |' % channelNr)
|
||||
|
||||
print ('*=========*=====*===============*===========*=============*========*\n')
|
||||
|
||||
|
||||
|
||||
def plot_acquisition_3d(results, frqBins, PRN, settings):
|
||||
"""
|
||||
Plot 3D surface acquisition result cho 1 PRN.
|
||||
results: matrix [numberOfFrqBins x samplesPerCode]
|
||||
frqBins: list tần số Doppler
|
||||
"""
|
||||
# Tạo grid cho code phase và Doppler
|
||||
codePhases = np.arange(results.shape[1]) # 0 .. samplesPerCode-1
|
||||
dopplers = np.array(frqBins) # frequency bins
|
||||
|
||||
X, Y = np.meshgrid(codePhases, dopplers)
|
||||
Z = results
|
||||
|
||||
# Vẽ 3D
|
||||
fig = plt.figure(figsize=(10, 6))
|
||||
ax = fig.add_subplot(111, projection='3d')
|
||||
|
||||
surf = ax.plot_surface(X, Y/1000.0, Z, cmap='viridis') # chia 1000 để hiện Doppler kHz
|
||||
fig.colorbar(surf, shrink=0.5, aspect=5)
|
||||
|
||||
ax.set_title(f'Acquisition Result PRN {PRN+1}')
|
||||
ax.set_xlabel('Code Phase (samples)')
|
||||
ax.set_ylabel('Doppler (kHz)')
|
||||
ax.set_zlabel('Correlation Power')
|
||||
|
||||
plt.show()
|
||||
if __name__ == '__main__':
|
||||
pass
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user