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gym 2022-01-12 01:38:40 -01:00
parent 366d4c4a29
commit a12c46726b
4 changed files with 244 additions and 16 deletions
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141
.gitignore vendored
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@ -39,6 +39,147 @@ gps-sdr-sim-lut
# Temporary files
*.swp
*~
# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]
*$py.class
# C extensions
*.so
# Distribution / packaging
.Python
build/
develop-eggs/
dist/
downloads/
eggs/
.eggs/
lib/
lib64/
parts/
sdist/
var/
wheels/
share/python-wheels/
*.egg-info/
.installed.cfg
*.egg
MANIFEST
# PyInstaller
# Usually these files are written by a python script from a template
# before PyInstaller builds the exe, so as to inject date/other infos into it.
*.manifest
*.spec
# Installer logs
pip-log.txt
pip-delete-this-directory.txt
# Unit test / coverage reports
htmlcov/
.tox/
.nox/
.coverage
.coverage.*
.cache
nosetests.xml
coverage.xml
*.cover
*.py,cover
.hypothesis/
.pytest_cache/
cover/
# Translations
*.mo
*.pot
# Django stuff:
*.log
local_settings.py
db.sqlite3
db.sqlite3-journal
# Flask stuff:
instance/
.webassets-cache
# Scrapy stuff:
.scrapy
# Sphinx documentation
docs/_build/
# PyBuilder
.pybuilder/
target/
# Jupyter Notebook
.ipynb_checkpoints
# IPython
profile_default/
ipython_config.py
# pyenv
# For a library or package, you might want to ignore these files since the code is
# intended to run in multiple environments; otherwise, check them in:
# .python-version
# pipenv
# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
# However, in case of collaboration, if having platform-specific dependencies or dependencies
# having no cross-platform support, pipenv may install dependencies that don't work, or not
# install all needed dependencies.
#Pipfile.lock
# PEP 582; used by e.g. github.com/David-OConnor/pyflow
__pypackages__/
# Celery stuff
celerybeat-schedule
celerybeat.pid
# SageMath parsed files
*.sage.py
# Environments
.env
.venv
env/
venv/
ENV/
env.bak/
venv.bak/
# Spyder project settings
.spyderproject
.spyproject
# Rope project settings
.ropeproject
# mkdocs documentation
/site
# mypy
.mypy_cache/
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dmypy.json
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.pyre/
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.pytype/
# Cython debug symbols
cython_debug/
# Netbeans project folder
nbproject/*

3
Makefile
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@ -5,11 +5,12 @@ all: gps-sdr-sim
SHELL=/bin/bash
CC=gcc
LDFLAGS=-lm -lpthread
CFLAGS=-O3 -Wall -D_FILE_OFFSET_BITS=64
ifdef USER_MOTION_SIZE
CFLAGS+=-DUSER_MOTION_SIZE=$(USER_MOTION_SIZE)
endif
LDFLAGS=-lm
gps-sdr-sim: gpssim.o
${CC} $< ${LDFLAGS} -o $@

42
README.md
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@ -1,4 +1,4 @@
# GPS-SDR-SIM
# GPS-SDR-SIM realtime
GPS-SDR-SIM generates GPS baseband signal data streams, which can be converted
to RF using software-defined radio (SDR) platforms, such as
@ -15,9 +15,38 @@ to RF using software-defined radio (SDR) platforms, such as
### Building with GCC
```
$ gcc gpssim.c -lm -O3 -o gps-sdr-sim
$ gcc gpssim.c -lm -lpthread -O3 -o gps-sdr-sim
```
### Realtime by Gnuradio
Use -n option can connect to a TCP source in Gnuradio for realtime simulation.
The tcp source should be set in "Server" mode.
See tcp.grc as an example.
### Map
Run gps-sdr-sim with -w option, and
cd into /mapserver, and run
```
python mapper.py
```
Then visit http://127.0.0.1:8080/static/baidumap.html to use the Online map.
You can write an map which can POST data to http://127.0.0.1:8080/post like this
```
lon=116&lat=39&hgt=10
```
### Using bigger user motion files
In order to use user motion files with more than 30000 samples (at 10Hz), the `USER_MOTION_SIZE`
@ -34,6 +63,7 @@ This variable can also be set when compiling directly with GCC:
$ gcc gpssim.c -lm -O3 -o gps-sdr-sim -DUSER_MOTION_SIZE=4000
```
### Generating the GPS signal file
A user-defined trajectory can be specified in either a CSV file, which contains
@ -86,6 +116,8 @@ Options:
-b <iq_bits> I/Q data format [1/8/16] (default: 16)
-i Disable ionospheric delay for spacecraft scenario
-v Show details about simulated channels
-n <port> Use TCP connection to Gnuradio TCP-Source for realtime simulation.
-w Connect with map server(/mapserver/mapper.py) by udp on port 5678.
```
The user motion can be specified in either dynamic or static mode:
@ -102,6 +134,12 @@ The user motion can be specified in either dynamic or static mode:
> gps-sdr-sim -e brdc3540.14n -l 30.286502,120.032669,100
```
Use Gnuradio to realtime simulate 3000s:
```
> gps-sdr-sim -e brdc3540.14n -l 30.286502,120.032669,100 -n 1234 -d 3000
```
### Transmitting the samples
The TX port of a particular SDR platform is connected to the GPS receiver

74
gpssim.c
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@ -11,6 +11,8 @@
#include <unistd.h>
#endif
#include "gpssim.h"
#include "socket.c"
#include <pthread.h>
int sinTable512[] = {
2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47,
@ -1663,8 +1665,10 @@ void usage(void)
" -s <frequency> Sampling frequency [Hz] (default: 2600000)\n"
" -b <iq_bits> I/Q data format [1/8/16] (default: 16)\n"
" -i Disable ionospheric delay for spacecraft scenario\n"
" -v Show details about simulated channels\n",
((double)USER_MOTION_SIZE) / 10.0, STATIC_MAX_DURATION);
" -v Show details about simulated channels\n"
" -n <port> Use TCP connect to Gnuradio TCP-Source for\n realtime simulation.\n"
"-w Connect with map server(/mapserver/mapper.py) by udp on port 5678.\n",
(double)((USER_MOTION_SIZE)/10.0),(int)STATIC_MAX_DURATION);
return;
}
@ -1730,6 +1734,12 @@ int main(int argc, char *argv[])
int timeoverwrite = FALSE; // Overwrite the TOC and TOE in the RINEX file
ionoutc_t ionoutc;
int usesocket=false;
int webflag=0;
int sockc=0;
short port=1234;
////////////////////////////////////////////////////////////
// Read options
@ -1753,7 +1763,7 @@ int main(int argc, char *argv[])
exit(1);
}
while ((result=getopt(argc,argv,"e:u:g:c:l:o:s:b:T:t:d:iv"))!=-1)
while ((result=getopt(argc,argv,"e:u:g:c:l:o:s:b:T:t:d:ivn:w"))!=-1)
{
switch (result)
{
@ -1846,10 +1856,26 @@ int main(int argc, char *argv[])
case '?':
usage();
exit(1);
case 'n':
sscanf(optarg,"%hd",&port);
usesocket=true;
break;
case 'w':
staticLocationMode = TRUE;
webflag=1;
break;
default:
break;
}
}
if(webflag==1){
pthread_t th;
pthread_create(&th,NULL,(void *)threadrecv,NULL);
}
if(usesocket==1)
sockc=sockinit(port);
if (navfile[0]==0)
{
@ -1866,7 +1892,7 @@ int main(int argc, char *argv[])
llh[2] = 10.0;
}
if (duration<0.0 || (duration>((double)USER_MOTION_SIZE)/10.0 && !staticLocationMode) || (duration>STATIC_MAX_DURATION && staticLocationMode))
if (duration<0.0 || (duration>((double)USER_MOTION_SIZE)/10.0 && !staticLocationMode) || (duration>STATIC_MAX_DURATION && staticLocationMode&&usesocket==false))
{
fprintf(stderr, "ERROR: Invalid duration.\n");
exit(1);
@ -2092,7 +2118,7 @@ int main(int argc, char *argv[])
exit(1);
}
}
if(usesocket==false){
// Open output file
// "-" can be used as name for stdout
if(strcmp("-", outfile)){
@ -2104,7 +2130,7 @@ int main(int argc, char *argv[])
}else{
fp = stdout;
}
}
////////////////////////////////////////////////////////////
// Initialize channels
////////////////////////////////////////////////////////////
@ -2142,7 +2168,7 @@ int main(int argc, char *argv[])
////////////////////////////////////////////////////////////
tstart = clock();
long int timestart=timem();
// Update receiver time
grx = incGpsTime(grx, 0.1);
@ -2258,7 +2284,7 @@ int main(int argc, char *argv[])
iq_buff[isamp*2+1] = (short)q_acc;
}
if (data_format==SC01)
if (data_format==SC01&&usesocket==false)
{
for (isamp=0; isamp<2*iq_buff_size; isamp++)
{
@ -2270,17 +2296,26 @@ int main(int argc, char *argv[])
fwrite(iq8_buff, 1, iq_buff_size/4, fp);
}
else if (data_format==SC08)
else if (data_format==SC08&&usesocket==false)
{
for (isamp=0; isamp<2*iq_buff_size; isamp++)
iq8_buff[isamp] = iq_buff[isamp]>>4; // 12-bit bladeRF -> 8-bit HackRF
fwrite(iq8_buff, 1, 2*iq_buff_size, fp);
}
else // data_format==SC16
else if(data_format==SC16&&usesocket==false)
{
fwrite(iq_buff, 2, 2*iq_buff_size, fp);
}
if(usesocket==true){
float *datap=(float*)calloc(iq_buff_size*2,sizeof(float));
int l=0;
for(l=0;l<iq_buff_size*2;l++){
datap[l]=(float)iq_buff[l];
}
socksend(sockc,datap,iq_buff_size*2*sizeof(float));
free(datap);
}
//
// Update navigation message and channel allocation every 30 seconds
@ -2338,7 +2373,16 @@ int main(int argc, char *argv[])
}
}
}
if(subGpsTime(grx, g0)-(float)(timem()-timestart)/1000>0.1&&usesocket==true){
usleep(100000);
}
if(webflag==1){
memcpy(llh,llhr,3*sizeof(double));
llh[0] = llh[0] / R2D; // convert to RAD
llh[1] = llh[1] / R2D; // convert to RAD
llh2xyz(llh,xyz[0]);
}
// Update receiver time
grx = incGpsTime(grx, 0.1);
@ -2346,7 +2390,7 @@ int main(int argc, char *argv[])
fprintf(stderr, "\rTime into run = %4.1f", subGpsTime(grx, g0));
fflush(stdout);
}
tend = clock();
fprintf(stderr, "\nDone!\n");
@ -2355,10 +2399,14 @@ int main(int argc, char *argv[])
free(iq_buff);
// Close file
if(usesocket==false)
fclose(fp);
else sockclose(sockc);
// Process time
fprintf(stderr, "Process time = %.1f [sec]\n", (double)(tend-tstart)/CLOCKS_PER_SEC);
return(0);
}