1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
|
"""
gps_l1_ca_kf_plot_sample.py
Reads GNSS-SDR Tracking dump binary file using the provided
function and plots some internal variables
Irene Pérez Riega, 2023. iperrie@inta.es
Modifiable in the file:
sampling_freq - Sampling frequency [Hz]
channels - Number of channels to check if they exist
first_channel - Number of the first channel
path - Path to folder which contains raw file
'trk_dump_ch' - Fixed part in tracking dump files names
-----------------------------------------------------------------------------
GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
This file is part of GNSS-SDR.
Copyright (C) 2022 (see AUTHORS file for a list of contributors)
SPDX-License-Identifier: GPL-3.0-or-later
-----------------------------------------------------------------------------
"""
import os
import numpy as np
from lib.gps_l1_ca_kf_read_tracking_dump import gps_l1_ca_kf_read_tracking_dump
from lib.plotTracking import plotTracking
from lib.plotKalman import plotKalman
GNSS_tracking = []
trackResults = []
kalmanResults = []
# ---------- CHANGE HERE:
# Signal parameters:
samplingFreq = 6625000
channels = 5
first_channel = 0
code_period = 0.001
path = '/home/labnav/Desktop/TEST_IRENE/tracking'
for N in range(1, channels + 1):
tracking_log_path = os.path.join(path,
f'trk_dump_ch{N-1+first_channel}.dat')
GNSS_tracking.append(gps_l1_ca_kf_read_tracking_dump(tracking_log_path))
# todo lee lo mismo que dll_pll_velm_plot_sample y guarda diferente v13 y v14
# GNSS-SDR format conversion to Python GPS receiver
for N in range(1, channels + 1):
trackResult= {
'status': 'T', # fake track
'codeFreq': np.copy(GNSS_tracking[N - 1]["code_freq_hz"]),
'carrFreq': np.copy(GNSS_tracking[N - 1]["carrier_doppler_hz"]),
'carrFreqRate':
np.copy(GNSS_tracking[N - 1]["carrier_doppler_rate_hz2"]),#todo no se usa en dll, carrier_doppler_rate_hz_s segun dll
'dllDiscr': np.copy(GNSS_tracking[N - 1]["code_error"]),
'dllDiscrFilt': np.copy(GNSS_tracking[N - 1]["code_nco"]),
'pllDiscr': np.copy(GNSS_tracking[N - 1]["carr_error"]),#todo code_freq_rate_hz_s segun dll
'pllDiscrFilt': np.copy(GNSS_tracking[N - 1]["carr_nco"]),
'I_P': np.copy(GNSS_tracking[N - 1]["prompt_I"]),#todo distinto de dll
'Q_P': np.copy(GNSS_tracking[N - 1]["prompt_Q"]),#todo distinto de dll
'I_E': np.copy(GNSS_tracking[N - 1]["E"]),
'I_L': np.copy(GNSS_tracking[N - 1]["L"]),
'Q_E': np.zeros(len(GNSS_tracking[N - 1]["E"])),
'Q_L': np.zeros(len(GNSS_tracking[N - 1]["L"])),
'PRN': np.copy(GNSS_tracking[N - 1]["PRN"]),
'CNo': np.copy(GNSS_tracking[N - 1]["CN0_SNV_dB_Hz"])
}
kalmanResult= {
'PRN': np.copy(GNSS_tracking[N - 1]["PRN"]),
'innovation': np.copy(GNSS_tracking[N - 1]["carr_error"]),#todo code_freq_rate_hz_s segun dll
'state1': np.copy(GNSS_tracking[N - 1]["carr_nco"]),
'state2': np.copy(GNSS_tracking[N - 1]["carrier_doppler_hz"]),
'state3': GNSS_tracking[N - 1]["carrier_doppler_rate_hz2"],#todo segun el dll es carrier_doppler_rate_hz_s
'r_noise_cov': np.copy(GNSS_tracking[N - 1]["carr_noise_sigma2"]),#todo carr_error segun dll
'CNo': np.copy(GNSS_tracking[N - 1]["CN0_SNV_dB_Hz"])
}
trackResults.append(trackResult)
kalmanResults.append(kalmanResult)
settings = {
'numberOfChannels': channels,
'msToProcess': len(GNSS_tracking[N-1]['E']),
'codePeriod': code_period,
'timeStartInSeconds': 20
}
# Create and save graphics as PNG
plotTracking(N, trackResults, settings)
plotKalman(N, kalmanResults, settings)
|
