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main.m
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%% Main script of testbench for GSARx and CADLL algorithm.
close all; fclose all; clear; clc;
% Include subfolders, without signal generator
addpath(genpath('.\config\'));
addpath(genpath('.\receiver\'));
addpath(genpath('.\recorder\'));
addpath(genpath('.\tools\'));
%% Configuration for receiver parameters
global GSAR_CONSTANTS;
GSAR_CONSTANTS = GlobalConstants(); % Define some global constants
configOpt = 'DEFAULT'; % Default configuration ('DEFAULT') / External file configuration ('EXTERN') / Advanced config ('ADVANCED')
configFile = '.\GSARx_v0.2_SJTU.conf'; % Ignore when using default settings
% IF Data File Name
GSAR_CONSTANTS.STR_RECV.fileNum = 1; %正确配置文件数量，算法会依次读取前N个文件
% GSAR_CONSTANTS.STR_RECV.datafilename = { ...
% 'E:\ZWX\2. MATLAB_workspace\louding\louding_2014-11-2_13-29-10.dat ', ...
% '' };
% GSAR_CONSTANTS.STR_RECV.datafilename = { ...
% 'E:\ZWX\2. MATLAB_workspace\The_There_Towers\The_Three_Towers.dat ', ...
% '' }; relock_real_2016-7-12_19-27-15 Lujiazui_Dynamic
GSAR_CONSTANTS.STR_RECV.datafilename = { ...
'D:\20180324\people_square_2018-3-26_4-53-15.dat ', ...
'' };
%% Setup the device parameters
signal.fid = zeros(1,GSAR_CONSTANTS.STR_RECV.fileNum); % signal file id
signal.sis = cell(1,GSAR_CONSTANTS.STR_RECV.dataNum); % the read signal, 每个cell对应一个文件的数据
signal.sis_presv = [];
signal.Tunit = 0.250; % the data length read at each loop
signal.headData = 0;
signal.equipType = 1;
% 宇致单频设备： 1
% 科大三院设备： 2,21(无校验位)
% 盛铂设备： 3
% 宇志全频点设备： 4
% 仿真类型： 100
signal.devSubtype = 104; % 宇志全频点设备采集模式
%百位：0-4bits, 1-8bits, 2-12bits 采集数据位宽
%十位：0-宽带， 1-窄带；
%个位：0~5，对应不同的采集模式
sisSource_Init(signal);
%% Construct(Initialize) receiver structure
receiver = ReceiverConstruct(); % Construct the receiver structure
% Initial config settings
% ----------- navigation system type --------------
receiver.syst = 'GPS_L1CA'; % Navigation signal system: GPS_L1CA / BDS_B1I / B1I_L1CA / L1CA_L2C / B1I_B2I / B1I_B2I_L1CA_L2C
% receiver time type
receiver.config.recvConfig.timeType = 'GPST'; % NULLT / GPST / BDST
% ------------ receiver config ---------------
receiver.config.recvConfig.startMode = 'COLD_START'; % COLD_START / WARM_START
receiver.config.recvConfig.reacquireMode = 'LIGHT'; % LIGHT / MEDIUM / HEAVY
% LIGHT: When a satellite has been acquired before and lost of lock, reacquire twice;
% MEDIUM: Use ephemeris info to assist, normal process, TODO;
% HEAVY: Reacquire until succeed.
receiver.config.recvConfig.satTableUpdatPeriod = 1; % [s]. This interval is applied for the following situations:
% Case 1: Check downloaded almanac;
% Case 2: Fill up idle channels;
receiver.config.recvConfig.configPage = ConfigLoad(configOpt, GSAR_CONSTANTS, configFile);
% Define Positioning Mode: 00 signle-point least-square; 01 signle-point Kalman filter; 02 single-point mm-estimator(only available for 'B1I_L1CA' mode);
% 10 RTD least-square;
receiver.config.recvConfig.positionType = 00;
% True position of the antenna if known, otherwise make it empty
receiver.config.recvConfig.truePosition = [];
% True time of signal if known, otherwise make it -1
receiver.config.recvConfig.trueTime = -1;
receiver.config.recvConfig.targetSatellites(1).syst = 'BDS_B1I';
receiver.config.recvConfig.targetSatellites(1).prnNum = [1,2,3,4,6]; %Three_Tower: 1,2,3,4,8,10 louding:1,2,3,4,5,6,8,9,11,12,14 relock：1,3,4,6,8,15
receiver.config.recvConfig.targetSatellites(2).syst = 'GPS_L1CA';
receiver.config.recvConfig.targetSatellites(2).prnNum = [11,22,1,19,17,18,6]; %louding:2,5,6,9,10,12,13,17,23,25 Three_Tower:4,7,11,16,30 relock：2,6,9,17,19
receiver.config.recvConfig.numberOfChannels(1).syst = 'BDS_B1I';
receiver.config.recvConfig.numberOfChannels(1).channelNum =5; % Number of channels in BDS
receiver.config.recvConfig.numberOfChannels(2).syst = 'GPS_L1CA';
receiver.config.recvConfig.numberOfChannels(2).channelNum = 5; % Number of channels in GPS
% Elevation mask to exclude signals from satellites at low elevation, [degree]
receiver.config.recvConfig.elevationMask = 5;
% GPU batch in tracking
receiver.config.recvConfig.Batch1msN = 5;
% Acquire Engine Parallel CH max number
%receiver.config.recvConfig.acqEngineParallelNum = 20;
receiver.config.recvConfig.coldAcqEngineParallelNum = 5;
receiver.config.recvConfig.hotAcqEngineParallelNum = 5;
% period time of cold acquiring signal again
receiver.config.recvConfig.reAcqPeriod = 10;
% period time of hot acquiring signal again
receiver.config.recvConfig.hotAcqPeriod = 2; % second ( 0 : acquire every loop )
receiver.config.recvConfig.hotTime = 20; % /s maximum length of hot acq time
receiver.config.recvConfig.raimFailure = 12; % 容忍raim失败的次数
% ------- PVT Freq config ----------
receiver.pvtCalculator.pvtT = 1; % PVT frequency 1/receiver.pvtCalculator.pvtT [Hz]
% ------------ signal stream config --------------
receiver.config.sisConfig.skipTime = 0; % Skip a section of signal file [s]
receiver.config.sisConfig.runTime = 9999; % Maximum running time [s]
% ------------ log files config -----------------
receiver.config.logConfig.debugLevel = 0; % Level 1: Only carrier doppler frequency and carrier phase;
% Level 2: Plus amplitudes and CADLL parameters;
% Level 3: Plus code doppler and code phase.
receiver.config.logConfig.debugFilePath = '..\data\';
receiver.config.logConfig.logFilePath = '.\logfile\';
receiver.config.logConfig.isOutputLog = 0;
receiver.config.logConfig.isStoreResult = 0;
receiver.config.logConfig.isAcqPlotMesh = 0;
receiver.config.logConfig.isSyncPlotMesh = 0;
receiver.config.logConfig.isTrackPlot = 0; % Draw track figures every loop
receiver.config.logConfig.isCorrShapeStore = 0; % Control flag to compute the correlation shapes
% receiver.config.logConfig.isStoreCorrMovie = 0;
%% Reconfig receiver struct according to config parameters
receiver = ConfigReceiver(receiver);
% GPU detect
if gpuDeviceCount
receiver.device.gpuExist = 1; % This computer has a GPU device
receiver.device.gpuParas = [];%gpuDevice;
else
receiver.device.gpuExist = 0; % This computer has no GPU device
receiver.device.gpuParas = [];
end
receiver.device.gpuExist = 0; %gpuExist; % yes(1) / no(0)
%% 捕获函数是否使用 gpu 加速标志（临时添加，用于调试）
receiver.device.acq_gpuExist = 0;
% 捕获一次能够批处理数据量(以1ms为单位)
receiver.config.recvConfig.acq_Batch1msN = 2;
receiver.device.usingMatlabAcq = 0; %acquire method -- 0:C 1:MATLAB
%% Start up the receiver according to the start mode
% Final step of configuration before receiver process, can't be affect by external config file.
receiver = StartReceiver(receiver);
% Initialization for recorder
receiver = RecorderInitializing(receiver); % Cause recorder is related with channel assignment, need to be placed at the last
% Load RINEX file
receiver.pvtCalculator = loadRinex(receiver.config.recvConfig.positionType, receiver.pvtCalculator);
% Delete previous log file
delPrelog(receiver);
%% Going into the receiver processing loops
while 1
% If receiver gets specific SOW, make sure do next PVT in the integral number of seconds
tic;
[N, receiver, signal] = sigRead_N_Calc(receiver, signal);
% Get signal data
[signal, siscount, receiver.config] = GetSignal(signal, receiver.config, N);
if ( round(siscount)<round(N) ) %不round可能会有量化误差导致判断错误
fclose('all');
fprintf('All data has been processed!\n');
break;
end
if round(receiver.config.sisConfig.runTime - signal.Tunit) == ceil(receiver.Trun)
fclose('all');
break; % Time's up!
end
receiver.Loop = receiver.Loop + 1;
% Use the receiver to process the SV signal
receiver = cumultiCH_recv_proc(receiver, signal.sis, N);
% Print out the elapsed running time
receiver.Trun = receiver.Trun + N/GSAR_CONSTANTS.STR_RECV.fs;
toc;
receiver.elapseTime = receiver.elapseTime + toc;
signal.sis = cell(1,GSAR_CONSTANTS.STR_RECV.dataNum); %删除数据以减小存档大小
if rem(receiver.Loop, 189) == 0
stop = 1;
end
if rem(receiver.Loop, 115) == 0
stop = 1;
end
if rem(receiver.Loop, 10) == 0
stop = 1;
end
end