GNSS-SDR 0.0.21
An Open Source GNSS Software Defined Receiver
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dll_pll_veml_tracking.h
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1/*!
2 * \file dll_pll_veml_tracking.h
3 * \brief Implementation of a code DLL + carrier PLL tracking block.
4 * \author Javier Arribas, 2018-2025. jarribas(at)cttc.es
5 * \author Carles Fernandez-Prades, 2018-2025 carles.fernandez(at)cttc.es
6 * \author Antonio Ramos, 2018 antonio.ramosdet(at)gmail.com
7 *
8 * -----------------------------------------------------------------------------
9 *
10 * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
11 * This file is part of GNSS-SDR.
12 *
13 * Copyright (C) 2010-2025 (see AUTHORS file for a list of contributors)
14 * SPDX-License-Identifier: GPL-3.0-or-later
15 *
16 * -----------------------------------------------------------------------------
17 */
18
19#ifndef GNSS_SDR_DLL_PLL_VEML_TRACKING_H
20#define GNSS_SDR_DLL_PLL_VEML_TRACKING_H
21
22#include "bit_synchronizer.h"
23#include "cpu_multicorrelator_real_codes.h"
24#include "dll_pll_conf.h"
25#include "exponential_smoother.h"
26#include "gnss_block_interface.h"
27#include "gnss_time.h" // for timetags produced by File_Timestamp_Signal_Source
28#include "tow_to_trk.h"
29#include "tracking_FLL_PLL_filter.h" // for PLL/FLL filter
30#include "tracking_loop_filter.h" // for DLL filter
31#include <boost/circular_buffer.hpp>
32#include <gnuradio/block.h> // for block
33#include <gnuradio/gr_complex.h> // for gr_complex
34#include <gnuradio/types.h> // for gr_vector_int, gr_vector...
35#include <pmt/pmt.h> // for pmt_t
36#include <volk_gnsssdr/volk_gnsssdr_alloc.h> // for volk_gnsssdr::vector
37#include <cstddef> // for size_t
38#include <cstdint> // for int32_t
39#include <fstream> // for ofstream
40#include <string> // for string
41#include <typeinfo> // for typeid
42#include <utility> // for pair
43
44/** \addtogroup Tracking
45 * \{ */
46/** \addtogroup Tracking_gnuradio_blocks tracking_gr_blocks
47 * GNU Radio blocks for GNSS signal tracking.
48 * \{ */
49
50
51class Gnss_Synchro;
52class dll_pll_veml_tracking;
53
54using dll_pll_veml_tracking_sptr = gnss_shared_ptr<dll_pll_veml_tracking>;
55
56dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(const Dll_Pll_Conf &conf_);
57
58/*!
59 * \brief This class implements a code DLL + carrier PLL tracking block.
60 */
61class dll_pll_veml_tracking : public gr::block
62{
63public:
64 ~dll_pll_veml_tracking() override;
65
66 void set_channel(uint32_t channel);
67 void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro);
68 void start_tracking();
69 void stop_tracking();
70
71 int general_work(int noutput_items, gr_vector_int &ninput_items,
72 gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) override;
73
74 void forecast(int noutput_items, gr_vector_int &ninput_items_required) override;
75
76private:
77 friend dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(const Dll_Pll_Conf &conf_);
78 explicit dll_pll_veml_tracking(const Dll_Pll_Conf &conf_);
79
80 void msg_handler_telemetry_to_trk(const pmt::pmt_t &msg);
81 void do_correlation_step(const gr_complex *input_samples);
82 void run_dll_pll();
83 void check_carrier_phase_coherent_initialization();
84 void update_tracking_vars();
85 void clear_tracking_vars();
86 void save_correlation_results();
87 void log_data();
88 void configure_bit_synchronizer();
89 bool cn0_and_tracking_lock_status(double coh_integration_time_s);
90 bool acquire_secondary();
91 int64_t uint64diff(uint64_t first, uint64_t second);
92 int32_t save_matfile() const;
93
94 Cpu_Multicorrelator_Real_Codes d_multicorrelator_cpu;
95 Cpu_Multicorrelator_Real_Codes d_correlator_data_cpu; // for data channel
96
97 Dll_Pll_Conf d_trk_parameters;
98
99 Exponential_Smoother d_cn0_smoother;
100 Exponential_Smoother d_carrier_lock_test_smoother;
101
102 Tracking_loop_filter d_code_loop_filter;
103 Tracking_FLL_PLL_filter d_carrier_loop_filter;
104
105 HistogramBitSynchronizer d_bit_sync;
106
107 Gnss_Synchro *d_acquisition_gnss_synchro;
108
109 volk_gnsssdr::vector<float> d_tracking_code;
110 volk_gnsssdr::vector<float> d_data_code;
111 volk_gnsssdr::vector<float> d_local_code_shift_chips;
112 volk_gnsssdr::vector<gr_complex> d_correlator_outs;
113 volk_gnsssdr::vector<gr_complex> d_Prompt_Data;
114 volk_gnsssdr::vector<gr_complex> d_Prompt_buffer;
115
116 boost::circular_buffer<float> d_dll_filt_history;
117 boost::circular_buffer<std::pair<double, double>> d_code_ph_history;
118 boost::circular_buffer<std::pair<double, double>> d_carr_ph_history;
119 boost::circular_buffer<gr_complex> d_Prompt_circular_buffer;
120
121 const size_t d_int_type_hash_code = typeid(int).hash_code();
122 const size_t d_tow_to_trk_type_hash_code = typeid(std::shared_ptr<TOW_to_trk>).hash_code();
123
124 double d_signal_carrier_freq;
125 double d_code_period;
126 double d_code_chip_rate;
127 double d_acq_code_phase_samples;
128 double d_acq_carrier_doppler_hz;
129 double d_current_correlation_time_s;
130 double d_carr_phase_error_hz;
131 double d_carr_freq_error_hz;
132 double d_carr_error_filt_hz;
133 double d_code_error_chips;
134 double d_code_error_filt_chips;
135 double d_code_freq_chips;
136 double d_cfo_frequency_hz;
137 double d_carrier_doppler_hz;
138 double d_acc_carrier_phase_rad;
139 double d_rem_code_phase_chips;
140 double d_T_chip_seconds;
141 double d_T_prn_seconds;
142 double d_T_prn_samples;
143 double d_K_blk_samples;
144 double d_carrier_lock_test;
145 double d_CN0_SNV_dB_Hz;
146 double d_carrier_lock_threshold;
147 double d_carrier_phase_step_rad;
148 double d_carrier_phase_rate_step_rad;
149 double d_code_phase_step_chips;
150 double d_code_phase_rate_step_chips;
151 double d_rem_code_phase_samples;
152
153 gr_complex *d_Very_Early;
154 gr_complex *d_Early;
155 gr_complex *d_Prompt;
156 gr_complex *d_Late;
157 gr_complex *d_Very_Late;
158
159 gr_complex d_VE_accu;
160 gr_complex d_E_accu;
161 gr_complex d_P_accu;
162 gr_complex d_P_accu_old;
163 gr_complex d_L_accu;
164 gr_complex d_VL_accu;
165 gr_complex d_P_data_accu;
166
167 std::string d_secondary_code_string;
168 std::string d_data_secondary_code_string;
169 std::string d_systemName;
170 std::string d_signal_type;
171 std::string d_signal_pretty_name;
172 std::string d_dump_filename;
173
174 std::ofstream d_dump_file;
175
176 // uint64_t d_sample_counter;
177 uint64_t d_acq_sample_stamp;
178 GnssTime d_last_timetag{};
179 std::shared_ptr<TOW_to_trk> d_last_tow_received;
180 uint64_t d_last_timetag_samplecounter;
181 bool d_timetag_waiting;
182
183 float *d_prompt_data_shift;
184 float d_rem_carr_phase_rad;
185
186 uint64_t d_tow_from_telemetry_ms{};
187 int64_t d_bit_sync_target_epoch{};
188 int32_t d_wn_from_telemetry{};
189
190 int32_t d_symbols_per_bit;
191 int32_t d_state;
192 int32_t d_correlation_length_ms;
193 int32_t d_n_correlator_taps;
194 int32_t d_current_prn_length_samples;
195 int32_t d_extend_correlation_symbols_count;
196 int32_t d_extend_correlation_symbols;
197 int32_t d_current_symbol;
198 int32_t d_current_data_symbol;
199 int32_t d_cn0_estimation_counter;
200 int32_t d_carrier_lock_fail_counter;
201 int32_t d_code_lock_fail_counter;
202 int32_t d_code_samples_per_chip; // All signals have 1 sample per chip code except Gal. E1 which has 2 (CBOC disabled) or 12 (CBOC enabled)
203 int32_t d_code_length_chips;
204
205 uint32_t d_channel;
206 uint32_t d_secondary_code_length;
207 uint32_t d_data_secondary_code_length;
208
209 bool d_pull_in_transitory;
210 bool d_corrected_doppler;
211 bool d_interchange_iq;
212 bool d_veml;
213 bool d_cloop;
214 bool d_secondary;
215 bool d_dump;
216 bool d_dump_mat;
217 bool d_acc_carrier_phase_initialized;
218 bool d_enable_extended_integration;
219 bool d_Flag_PLL_180_deg_phase_locked;
220 bool d_use_histogram_bit_sync;
221 bool d_wait_for_bit_edge{false};
222};
223
224
225/** \} */
226/** \} */
227#endif // GNSS_SDR_DLL_PLL_VEML_TRACKING_H
bit_synchronizer.h
Histogram-based bit-edge synchronizer for GNSS prompt correlator outputs.
Cpu_Multicorrelator_Real_Codes
Class that implements carrier wipe-off and correlators.
Definition cpu_multicorrelator_real_codes.h:38
Dll_Pll_Conf
Definition dll_pll_conf.h:33
Exponential_Smoother
Class that implements a first-order exponential smoother.
Definition exponential_smoother.h:40
Gnss_Synchro
This is the class that contains the information that is shared by the processing blocks.
Definition gnss_synchro.h:39
HistogramBitSynchronizer
Histogram-based navigation data bit synchronizer.
Definition bit_synchronizer.h:35
Tracking_FLL_PLL_filter
This class implements a hybrid FLL and PLL filter for tracking carrier loop.
Definition tracking_FLL_PLL_filter.h:30
Tracking_loop_filter
This class implements a generic 1st, 2nd or 3rd order loop filter.
Definition tracking_loop_filter.h:36
dll_pll_veml_tracking
This class implements a code DLL + carrier PLL tracking block.
Definition dll_pll_veml_tracking.h:62
cpu_multicorrelator_real_codes.h
Highly optimized CPU vector multiTAP correlator class using real-valued local codes.
dll_pll_conf.h
Class that contains all the configuration parameters for generic tracking block based on a DLL and a ...
exponential_smoother.h
Class that implements an exponential smoother.
gnss_block_interface.h
This interface represents a GNSS block.
gnss_time.h
class that stores both the receiver time, relative to the receiver start and the GNSS time (absolute)
tow_to_trk.h
Class to inform about TOW from Telemetry to Tracking blocks.
tracking_FLL_PLL_filter.h
Interface of a hybrid FLL and PLL filter for tracking carrier loop.
tracking_loop_filter.h
Generic 1st to 3rd order loop filter implementation.
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