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Add Matlab parsing and plotting functions for Kalman filter tracking …

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glamountain committed Aug 14, 2018
1 parent e42467a commit 0fd98b037920ba3b20e3a9541ee80649416409c7
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[GNSS-SDR]

;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
GNSS-SDR.internal_fs_sps=2000000
GNSS-SDR.internal_fs_hz=2000000

;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/home/glamountain/gnss-sdr/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
SignalSource.item_type=ishort
SignalSource.sampling_frequency=4000000
SignalSource.freq=1575420000
SignalSource.samples=0

;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
DataTypeAdapter.implementation=Ishort_To_Complex
InputFilter.implementation=Pass_Through
InputFilter.item_type=gr_complex
Resampler.implementation=Direct_Resampler
Resampler.sample_freq_in=4000000
Resampler.sample_freq_out=2000000
Resampler.item_type=gr_complex

;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=8
Channels.in_acquisition=1
Channel.signal=1C

;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.threshold=0.008
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=../data/kalman/acq_dump

;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_KF_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=4.0;
Tracking_1C.order=3;
Tracking_1C.dump=true
Tracking_1C.dump_filename=../data/kalman/epl_tracking_ch_
Tracking_1C.bce_run = true;
Tracking_1C.p_transient = 0;
Tracking_1C.s_transient = 100;

;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder

;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables

;######### PVT CONFIG ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=true
PVT.output_rate_ms=10
PVT.display_rate_ms=500
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% Reads GNSS-SDR Tracking dump binary file using the provided
% function and plots some internal variables
% Javier Arribas, 2011. jarribas(at)cttc.es
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%

close all;
clear all;

if ~exist('dll_pll_veml_read_tracking_dump.m', 'file')
addpath('./libs')
end


samplingFreq = 6625000; %[Hz]
channels = 8;
first_channel = 0;
code_period = 0.001;

path = '/archive/'; %% CHANGE THIS PATH
figpath = [path];

for N=1:1:channels
tracking_log_path = [path 'epl_tracking_ch_' num2str(N+first_channel-1) '.dat']; %% CHANGE epl_tracking_ch_ BY YOUR dump_filename
GNSS_tracking(N) = gps_l1_ca_kf_read_tracking_dump(tracking_log_path);
end

% GNSS-SDR format conversion to MATLAB GPS receiver

for N=1:1:channels
trackResults(N).status = 'T'; %fake track
trackResults(N).codeFreq = GNSS_tracking(N).code_freq_hz.';
trackResults(N).carrFreq = GNSS_tracking(N).carrier_doppler_hz.';
trackResults(N).carrFreqRate = GNSS_tracking(N).carrier_dopplerrate_hz2.';
trackResults(N).dllDiscr = GNSS_tracking(N).code_error.';
trackResults(N).dllDiscrFilt = GNSS_tracking(N).code_nco.';
trackResults(N).pllDiscr = GNSS_tracking(N).carr_error.';
trackResults(N).pllDiscrFilt = GNSS_tracking(N).carr_nco.';

trackResults(N).I_P = GNSS_tracking(N).prompt_I.';
trackResults(N).Q_P = GNSS_tracking(N).prompt_Q.';

trackResults(N).I_E = GNSS_tracking(N).E.';
trackResults(N).I_L = GNSS_tracking(N).L.';
trackResults(N).Q_E = zeros(1,length(GNSS_tracking(N).E));
trackResults(N).Q_L = zeros(1,length(GNSS_tracking(N).E));
trackResults(N).PRN = GNSS_tracking(N).PRN.';
trackResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';


kalmanResults(N).PRN = GNSS_tracking(N).PRN.';
kalmanResults(N).innovation = GNSS_tracking(N).carr_error.';
kalmanResults(N).state1 = GNSS_tracking(N).carr_nco.';
kalmanResults(N).state2 = GNSS_tracking(N).carrier_doppler_hz.';
kalmanResults(N).state3 = GNSS_tracking(N).carrier_dopplerrate_hz2.';
kalmanResults(N).r_noise_cov = GNSS_tracking(N).carr_noise_sigma2.';
kalmanResults(N).CNo = GNSS_tracking(N).CN0_SNV_dB_Hz.';

% Use original MATLAB tracking plot function
settings.numberOfChannels = channels;
settings.msToProcess = length(GNSS_tracking(N).E);
settings.codePeriod = code_period;
settings.timeStartInSeconds = 20;

%plotTracking(N, trackResults, settings)
plotKalman(N, kalmanResults, settings)

saveas(gcf, [figpath 'epl_tracking_ch_' num2str(N) '_PRN_' num2str(trackResults(N).PRN(end)) '.png'], 'png')
end


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% Usage: gps_l1_ca_kf_read_tracking_dump (filename, [count])
%
% Opens GNSS-SDR tracking binary log file .dat and returns the contents

% Read GNSS-SDR Tracking dump binary file into MATLAB.
% Javier Arribas, 2011. jarribas(at)cttc.es
% -------------------------------------------------------------------------
%
% Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
%
% GNSS-SDR is a software defined Global Navigation
% Satellite Systems receiver
%
% This file is part of GNSS-SDR.
%
% GNSS-SDR is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% at your option) any later version.
%
% GNSS-SDR is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
%
% -------------------------------------------------------------------------
%

function [GNSS_tracking] = gps_l1_ca_kf_read_tracking_dump (filename, count)

m = nargchk (1,2,nargin);

num_float_vars = 19;
num_unsigned_long_int_vars = 1;
num_double_vars = 1;
num_unsigned_int_vars = 1;

if(~isempty(strfind(computer('arch'), '64')))
% 64-bit computer
double_size_bytes = 8;
unsigned_long_int_size_bytes = 8;
float_size_bytes = 4;
unsigned_int_size_bytes = 4;
else
double_size_bytes = 8;
unsigned_long_int_size_bytes = 4;
float_size_bytes = 4;
unsigned_int_size_bytes = 4;
end

skip_bytes_each_read = float_size_bytes * num_float_vars + unsigned_long_int_size_bytes * num_unsigned_long_int_vars + ...
double_size_bytes * num_double_vars + num_unsigned_int_vars*unsigned_int_size_bytes;

bytes_shift = 0;

if (m)
usage (m);
end

if (nargin < 2)
count = Inf;
end
%loops_counter = fread (f, count, 'uint32',4*12);
f = fopen (filename, 'rb');
if (f < 0)
else
v1 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v2 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v3 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v4 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v5 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v6 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v7 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v8 = fread (f, count, 'long', skip_bytes_each_read - unsigned_long_int_size_bytes);
bytes_shift = bytes_shift + unsigned_long_int_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v9 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v10 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v11 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v12 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v13 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v14 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v15 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v16 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v17 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v18 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next interleaved float
v19 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next float
v20 = fread (f, count, 'float', skip_bytes_each_read-float_size_bytes);
bytes_shift = bytes_shift + float_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next double
v21 = fread (f, count, 'double', skip_bytes_each_read - double_size_bytes);
bytes_shift = bytes_shift + double_size_bytes;
fseek(f,bytes_shift,'bof'); % move to next unsigned int
v22 = fread (f, count, 'uint', skip_bytes_each_read - unsigned_int_size_bytes);
fclose (f);

GNSS_tracking.VE = v1;
GNSS_tracking.E = v2;
GNSS_tracking.P = v3;
GNSS_tracking.L = v4;
GNSS_tracking.VL = v5;
GNSS_tracking.prompt_I = v6;
GNSS_tracking.prompt_Q = v7;
GNSS_tracking.PRN_start_sample = v8;
GNSS_tracking.acc_carrier_phase_rad = v9;
GNSS_tracking.carrier_doppler_hz = v10;
GNSS_tracking.carrier_dopplerrate_hz2 = v11;
GNSS_tracking.code_freq_hz = v12;
GNSS_tracking.carr_error = v13;
GNSS_tracking.carr_noise_sigma2 = v14;
GNSS_tracking.carr_nco = v15;
GNSS_tracking.code_error = v16;
GNSS_tracking.code_nco = v17;
GNSS_tracking.CN0_SNV_dB_Hz = v18;
GNSS_tracking.carrier_lock_test = v19;
GNSS_tracking.var1 = v20;
GNSS_tracking.var2 = v21;
GNSS_tracking.PRN = v22;
end

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