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tracking_MMT.m
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tracking_MMT.m
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function [trackResults, channel]= tracking_MMT(fid, channel, settings)
% Performs code and carrier tracking for all channels.
%
%[trackResults, channel] = tracking(fid, channel, settings)
%
% Inputs:
% fid - file identifier of the signal record.
% channel - PRN, carrier frequencies and code phases of all
% satellites to be tracked (prepared by preRum.m from
% acquisition results).
% settings - receiver settings.
% Outputs:
% trackResults - tracking results (structure array). Contains
% in-phase prompt outputs and absolute spreading
% code's starting positions, together with other
% observation data from the tracking loops. All are
% saved every millisecond.
%--------------------------------------------------------------------------
% SoftGNSS v3.0
%
% Copyright (C) Dennis M. Akos
% Written by Darius Plausinaitis and Dennis M. Akos
% Based on code by DMAkos Oct-1999
%--------------------------------------------------------------------------
%This program 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 2
%of the License, or (at your option) any later version.
%
%This program 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 this program; if not, write to the Free Software
%Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301,
%USA.
%--------------------------------------------------------------------------
%CVS record:
%$Id: tracking.m,v 1.14.2.31 2006/08/14 11:38:22 dpl Exp $
%% Initialize result structure ============================================
% Channel status
trackResults.status = '-'; % No tracked signal, or lost lock
% The absolute sample in the record of the C/A code start:
trackResults.absoluteSample = zeros(1, settings.msToProcess);
% Freq of the PRN code:
trackResults.codeFreq = inf(1, settings.msToProcess);
% Frequency of the tracked carrier wave:
trackResults.carrFreq = inf(1, settings.msToProcess);
% Outputs from the correlators (In-phase):
trackResults.I_P = zeros(1, settings.msToProcess);
trackResults.I_E = zeros(1, settings.msToProcess);
trackResults.I_L = zeros(1, settings.msToProcess);
% Outputs from the correlators (Quadrature-phase):
trackResults.Q_E = zeros(1, settings.msToProcess);
trackResults.Q_P = zeros(1, settings.msToProcess);
trackResults.Q_L = zeros(1, settings.msToProcess);
% Loop discriminators
trackResults.dllDiscr = inf(1, settings.msToProcess);
trackResults.dllDiscrFilt = inf(1, settings.msToProcess);
trackResults.pllDiscr = inf(1, settings.msToProcess);
trackResults.pllDiscrFilt = inf(1, settings.msToProcess);
% Remain code and carrier phase
trackResults.remCodePhase = inf(1, settings.msToProcess);
trackResults.remCarrPhase = inf(1, settings.msToProcess);
% Multipath Mitigation Technology variables
% Added by Sergio Vicenzo - 5 Nov 2024
trackResults.MMT_codeDelay_LOS = nan(1, settings.msToProcess);
trackResults.MMT_codeDelay_NLOS = nan(1, settings.msToProcess);
trackResults.MMT_codeDelay_NLOS_relative = nan(1, settings.msToProcess);
trackResults.MMT_time = nan(1, settings.msToProcess);
%C/No
trackResults.CNo.VSMValue = ...
zeros(1,floor(settings.msToProcess/settings.CNo.VSMinterval));
trackResults.CNo.VSMIndex = ...
zeros(1,floor(settings.msToProcess/settings.CNo.VSMinterval));
%--- Copy initial settings for all channels -------------------------------
trackResults = repmat(trackResults, 1, settings.numberOfChannels);
%% Initialize tracking variables ==========================================
codePeriods = settings.msToProcess; % For GPS one C/A code is one ms
%--- DLL variables --------------------------------------------------------
% Define early-late offset (in chips)
earlyLateSpc = settings.dllCorrelatorSpacing;
% Summation interval
PDIcode = settings.intTime;
% Calculate filter coefficient values
[tau1code, tau2code] = calcLoopCoef(settings.dllNoiseBandwidth, ...
settings.dllDampingRatio, ...
1.0);
%--- PLL variables --------------------------------------------------------
% Summation interval
PDIcarr = settings.intTime;
% Calculate filter coefficient values
[tau1carr, tau2carr] = calcLoopCoef(settings.pllNoiseBandwidth, ...
settings.pllDampingRatio, ...
0.25);
% Start waitbar
hwb = waitbar(0,'Tracking...');
%Adjust the size of the waitbar to insert text
CNoPos=get(hwb,'Position');
set(hwb,'Position',[CNoPos(1),CNoPos(2),CNoPos(3),90],'Visible','on');
if (settings.fileType==1)
dataAdaptCoeff=1;
else
dataAdaptCoeff=2;
end
%% Start processing channels ==============================================
for channelNr = 1:settings.numberOfChannels
% Only process if PRN is non zero (acquisition was successful)
if (channel(channelNr).PRN ~= 0)
% Save additional information - each channel's tracked PRN
trackResults(channelNr).PRN = channel(channelNr).PRN;
% Move the starting point of processing. Can be used to start the
% signal processing at any point in the data record (e.g. for long
% records). In addition skip through that data file to start at the
% appropriate sample (corresponding to code phase). Assumes sample
% type is schar (or 1 byte per sample)
% Edited by Sergio Vicenzo to also handle "int16" files
% 12 Feb 2024
if strcmp(settings.dataType,'int16')
fseek(fid, ...
dataAdaptCoeff*(settings.skipNumberOfBytes + ...
(channel(channelNr).codePhase-1)*2), ...
'bof');
else
fseek(fid, ...
dataAdaptCoeff*(settings.skipNumberOfBytes + ...
channel(channelNr).codePhase-1), ...
'bof');
end
% Get a vector with the C/A code sampled 1x/chip
caCode = generateCAcode(channel(channelNr).PRN);
% Then make it possible to do early and late versions
caCode = [caCode(1022) caCode(1023) caCode caCode(1) caCode(2)];
%--- Perform various initializations ------------------------------
% define initial code frequency basis of NCO
codeFreq = settings.codeFreqBasis;
% define residual code phase (in chips)
remCodePhase = 0.0;
% define carrier frequency which is used over whole tracking period
carrFreq = channel(channelNr).acquiredFreq;
carrFreqBasis = channel(channelNr).acquiredFreq;
% define residual carrier phase
remCarrPhase = 0.0;
%code tracking loop parameters
oldCodeNco = 0.0;
oldCodeError = 0.0;
%carrier/Costas loop parameters
oldCarrNco = 0.0;
oldCarrError = 0.0;
%C/No computation
vsmCnt = 0;CNo = 0;
%=== Process the number of specified code periods =================
for loopCnt = 1:codePeriods
%To record MMT computation time
% Added by Sergio Vicenzo - 5 Nov 2024
tic
%% GUI update -------------------------------------------------------------
% The GUI is updated every 50ms. This way Matlab GUI is still
% responsive enough. At the same time Matlab is not occupied
% all the time with GUI task.
if (rem(loopCnt, 50) == 0)
Ln=sprintf('\n');
trackingStatus=['Tracking: Ch ', int2str(channelNr), ...
' of ', int2str(settings.numberOfChannels),Ln ...
'PRN: ', int2str(channel(channelNr).PRN),Ln ...
'Completed ',int2str(loopCnt), ...
' of ', int2str(codePeriods), ' msec',Ln...
'C/No: ',CNo,' (dB-Hz)'];
try
waitbar(loopCnt/codePeriods, ...
hwb, ...
trackingStatus);
catch
% The progress bar was closed. It is used as a signal
% to stop, "cancel" processing. Exit.
disp('Progress bar closed, exiting...');
return
end
end
%% Read next block of data ------------------------------------------------
% Record sample number (based on 8bit samples)
% Edited by Sergio Vicenzo to also handle "int16" files
% 12 Feb 2024
if strcmp(settings.dataType,'int16')
trackResults(channelNr).absoluteSample(loopCnt) = ...
(ftell(fid))/dataAdaptCoeff/2;
else
trackResults(channelNr).absoluteSample(loopCnt) = ...
(ftell(fid))/dataAdaptCoeff;
end
% Find the size of a "block" or code period in whole samples
% Update the phasestep based on code freq (variable) and
% sampling frequency (fixed)
codePhaseStep = codeFreq / settings.samplingFreq;
% Find the size of a "block" or code period in whole samples
blksize = ceil((settings.codeLength-remCodePhase) / codePhaseStep);
% Read in the appropriate number of samples to process this
% interation
[rawSignal, samplesRead] = fread(fid, ...
dataAdaptCoeff*blksize, settings.dataType);
rawSignal = rawSignal';
if (dataAdaptCoeff==2)
rawSignal1=rawSignal(1:2:end);
rawSignal2=rawSignal(2:2:end);
rawSignal = rawSignal1 + 1i .* rawSignal2; % transpose vector
end
% If did not read in enough samples, then could be out of
% data - better exit
if (samplesRead ~= dataAdaptCoeff*blksize)
disp('Not able to read the specified number of samples for tracking, exiting!')
fclose(fid);
return
end
%% Generate the carrier frequency to mix the signal to baseband -----------
% Save remCarrPhase for current correlation
trackResults(channelNr).remCarrPhase(loopCnt) = remCarrPhase;
% Get the argument to sin/cos functions
time = (0:blksize) ./ settings.samplingFreq;
trigarg = ((carrFreq * 2.0 * pi) .* time) + remCarrPhase;
remCarrPhase = rem(trigarg(blksize+1), (2 * pi));
% Finally compute the signal to mix the collected data to
% bandband
carrsig = exp(1i .* trigarg(1:blksize));
%% Generate the six standard accumulated values ---------------------------
% First mix to baseband
qBasebandSignal = real(carrsig .* rawSignal);
iBasebandSignal = imag(carrsig .* rawSignal);
%% Compute multicorrelators -----------------------------------------------
% Added by Sergio Vicenzo - Added on 5 Nov 2024
chip_spacings = [-(flip(settings.chipspacing_dpe_precalc:...
settings.chipspacing_dpe_precalc:1)),0,...
settings.chipspacing_dpe_precalc:...
settings.chipspacing_dpe_precalc:1];
count = 1;
precalc_correlations = ...
zeros(length(chip_spacings),1);
for spacing=(chip_spacings)
% Define index into the code vector
delay_index = ...
remCodePhase-spacing : ...
codePhaseStep : ...
((blksize-1)*codePhaseStep + ...
remCodePhase-spacing);
caCode1 = caCode;
tcodee = ceil(delay_index)+2;
tcodee(tcodee==0)=tcodee(tcodee==0)+1;
s = caCode1(tcodee);
I = sum(s .* iBasebandSignal);
Q = sum(s .* qBasebandSignal);
% Store the correlations
precalc_correlations(count,1) = ...
sqrt(I.^2 + Q.^2);
precalc_correlations(count,2) = ...
I;
precalc_correlations(count,3) = ...
Q;
count=count+1;
end % End for getting multicorr values
% Get maximum corr value to initialize MMT
[~,codedelay_index] = ...
max(precalc_correlations(:,1),[],'all','linear');
LOS_codeDelay = (chip_spacings(codedelay_index));
%% Multipath Mitigation Technology (MMT) ----------------------------------
% Generate grid of LOS and reflected path delay
% Added by Sergio Vicenzo - 5 Nov 2024
codeDelay_NLOS = LOS_codeDelay-0.1:0.005:LOS_codeDelay+0.5;
codeDelay_LOS = LOS_codeDelay-0.1:0.005:LOS_codeDelay+0.1;
MMT_cost_func3 = zeros(length(codeDelay_LOS),length(codeDelay_NLOS));
NLOS_length=length(codeDelay_NLOS);
LOS_length=length(codeDelay_LOS);
% Use parallel computing to run MMT
% Requires parallel computing toolbox
parfor delay1_index=1:LOS_length
delay1=codeDelay_LOS(delay1_index);
for delay2_index=1:NLOS_length
delay2=codeDelay_NLOS(delay2_index);
if delay2 >= delay1
delay_index_0 = ...
remCodePhase : ...
codePhaseStep : ...
((blksize-1)*codePhaseStep + ...
remCodePhase);
delay_index_1 = ...
remCodePhase-delay1 : ...
codePhaseStep : ...
((blksize-1)*codePhaseStep + ...
remCodePhase-delay1);
delay_index_2 = ...
remCodePhase-delay2 : ...
codePhaseStep : ...
((blksize-1)*codePhaseStep + ...
remCodePhase-delay2);
delay_index_12 = ...
remCodePhase-(delay2-delay1) : ...
codePhaseStep : ...
((blksize-1)*codePhaseStep + ...
remCodePhase-(delay2-delay1) );
caCode1 = caCode;
tcodee_0 = ceil(delay_index_0)+2;
tcodee_0(tcodee_0==0)=tcodee_0(tcodee_0==0)+1;
tcodee_0(tcodee_0 > length(caCode1)) = length(caCode1);
tcodee_1 = ceil(delay_index_1)+2;
tcodee_1(tcodee_1==0)=tcodee_1(tcodee_1==0)+1;
tcodee_1(tcodee_1 > length(caCode1)) = length(caCode1);
tcodee_2 = ceil(delay_index_2)+2;
tcodee_2(tcodee_2==0)=tcodee_2(tcodee_2==0)+1;
tcodee_2(tcodee_2 > length(caCode1)) = length(caCode1);
tcodee_12 = ceil(delay_index_12)+2;
tcodee_12(tcodee_12==0)=tcodee_12(tcodee_12==0)+1;
tcodee_12(tcodee_12 > length(caCode1)) = length(caCode1);
s_0 = caCode1(tcodee_0);
s_1 = caCode1(tcodee_1);
s_2 = caCode1(tcodee_2);
s_12 = caCode1(tcodee_12);
R_xm_1 = sum(iBasebandSignal.*s_1);
R_ym_1 = sum(qBasebandSignal.*s_1);
R_xm_2 = sum(iBasebandSignal.*s_2);
R_ym_2 = sum(qBasebandSignal.*s_2);
R_mm_12 = sum(s_0.*s_12);
R_mm_0 = sum(s_0.*s_0);
R_1 = (sum(iBasebandSignal.*s_1) ...
+ (sum(qBasebandSignal.*s_1)).*1i);
R_2 = (sum(iBasebandSignal.*s_2) ...
+ (sum(qBasebandSignal.*s_2)).*1i);
% Apply amplitude constraint through Lagrange
% multiplier
X = (settings.MMT_const^4)*(norm(R_2,1)^2) ...
- (settings.MMT_const^2)*(norm(R_1,1)^2);
Y = 2*(settings.MMT_const^2)*...
(R_mm_0*((norm(R_1,1)^2)+(norm(R_2,1)^2)) ...
- 2*R_mm_12*real(R_1*R_2));
Z = norm(R_mm_0*R_2 - R_mm_12*R_1,1)^2 - ...
(settings.MMT_const^2)*norm(R_mm_0*R_1 - ...
R_mm_12 - R_mm_12*R_2,1)^2;
gamma_1 = (-Y + sqrt(Y^2 - 4*X*Z))/(2*X);
a3 = (((R_mm_0 - gamma_1)* R_xm_1) - (R_xm_2*R_mm_12))/...
(R_mm_0^2 - gamma_1*R_mm_0*(1-settings.MMT_const^2)...
- (settings.MMT_const^2)*(gamma_1^2) - R_mm_12^2);
b3 = (((R_mm_0 + ((settings.MMT_const^2) * gamma_1))...
* R_xm_2) - (R_xm_1*R_mm_12))/...
(R_mm_0^2 - gamma_1*R_mm_0*(1-settings.MMT_const^2)...
- (settings.MMT_const^2)*(gamma_1^2) - R_mm_12^2);
c3 = (((R_mm_0 - gamma_1)* R_ym_1) - (R_ym_2*R_mm_12))/...
(R_mm_0^2 - gamma_1*R_mm_0*(1-settings.MMT_const^2)...
- (settings.MMT_const^2)*(gamma_1^2) - R_mm_12^2);
d3 = (((R_mm_0 + ((settings.MMT_const^2) * gamma_1))...
* R_ym_2) - (R_ym_1*R_mm_12))/...
(R_mm_0^2 - gamma_1*R_mm_0*(1-settings.MMT_const^2)...
- (settings.MMT_const^2)*(gamma_1^2) - R_mm_12^2);
MMT_cost_func3(delay1_index,delay2_index) = ...
abs(2*real((a3-1i*c3)*...
(sum(iBasebandSignal.*s_1) + 1i*sum(qBasebandSignal.*s_1)))...
+2*real((b3-1i*d3)*...
(sum(iBasebandSignal.*s_2) + 1i*sum(qBasebandSignal.*s_2))) - ...
2*(a3*b3 + c3*d3)*R_mm_12 - (a3^2 + b3^2 + c3^2 +d3^2)*R_mm_0);
end
end % End for delay2
end % End for delay1
% Maximise MMT cost function
% Added by Sergio Vicenzo - 5 Nov 2024
[MaxCorrValue,~] = max(MMT_cost_func3,[],'all','linear');
[codeDelay_LOS_indx,codeDelay_NLOS_indx,~] = ...
find(MMT_cost_func3==MaxCorrValue);
% Obtain LOS code delay
% Added by Sergio Vicenzo - 5 Nov 2024
trackResults(channelNr).MMT_codeDelay_LOS(loopCnt)...
= mean(codeDelay_LOS(codeDelay_LOS_indx));
LOS_delay = mean(codeDelay_LOS(codeDelay_LOS_indx));
% Obtain reflected path code delay
% Added by Sergio Vicenzo - 5 Nov 2024
trackResults(channelNr).MMT_codeDelay_NLOS(loopCnt)...
= mean(codeDelay_NLOS(codeDelay_NLOS_indx));
% Obtain relative delay of reflected path
% Added by Sergio Vicenzo - 5 Nov 2024
trackResults(channelNr).MMT_codeDelay_NLOS_relative(loopCnt)...
= abs(mean(codeDelay_NLOS(codeDelay_NLOS_indx)) - ...
mean(codeDelay_LOS(codeDelay_LOS_indx)));
trackResults(channelNr).remCodePhase(loopCnt) = remCodePhase;
% Define index into early code vector
tcode = (remCodePhase-earlyLateSpc) : ...
codePhaseStep : ...
((blksize-1)*codePhaseStep+remCodePhase-earlyLateSpc);
tcode2 = ceil(tcode) + 2;
earlyCode = caCode(tcode2);
% Define index into late code vector
tcode = (remCodePhase+earlyLateSpc) : ...
codePhaseStep : ...
((blksize-1)*codePhaseStep+remCodePhase+earlyLateSpc);
tcode2 = ceil(tcode) + 2;
lateCode = caCode(tcode2);
% Define index into prompt code vector
tcode = remCodePhase : ...
codePhaseStep : ...
((blksize-1)*codePhaseStep+remCodePhase);
tcode2 = ceil(tcode) + 2;
promptCode = caCode(tcode2);
remCodePhase = (tcode(blksize) + codePhaseStep) ...
- settings.codeLength;
% Now get early, late, and prompt values for each
I_E = sum(earlyCode .* iBasebandSignal);
Q_E = sum(earlyCode .* qBasebandSignal);
I_P = sum(promptCode .* iBasebandSignal);
Q_P = sum(promptCode .* qBasebandSignal);
I_L = sum(lateCode .* iBasebandSignal);
Q_L = sum(lateCode .* qBasebandSignal);
%% Find PLL error and update carrier NCO ----------------------------------
% Implement carrier loop discriminator (phase detector)
carrError = atan(Q_P / I_P) / (2.0 * pi);
% Implement carrier loop filter and generate NCO command
carrNco = oldCarrNco + (tau2carr/tau1carr) * ...
(carrError - oldCarrError) + carrError * (PDIcarr/tau1carr);
oldCarrNco = carrNco;
oldCarrError = carrError;
% Save carrier frequency for current correlation
trackResults(channelNr).carrFreq(loopCnt) = carrFreq;
% Modify carrier freq based on NCO command
carrFreq = carrFreqBasis + carrNco;
%% Find DLL error and update code NCO -------------------------------------
% Disabled by Sergio Vicenzo - 5 Nov 2024
% codeError = (sqrt(I_E * I_E + Q_E * Q_E) - sqrt(I_L * I_L + Q_L * Q_L)) / ...
% (sqrt(I_E * I_E + Q_E * Q_E) + sqrt(I_L * I_L + Q_L * Q_L));
% DLL error now defined by LOS delay from MMT
% Added by Sergio Vicenzo - 5 Nov 2024
codeError = LOS_delay;
% Implement code loop filter and generate NCO command
codeNco = oldCodeNco + (tau2code/tau1code) * ...
(codeError - oldCodeError) + codeError * (PDIcode/tau1code);
oldCodeNco = codeNco;
oldCodeError = codeError;
% Save code frequency for current correlation
trackResults(channelNr).codeFreq(loopCnt) = codeFreq;
% Modify code freq based on NCO command
codeFreq = settings.codeFreqBasis - codeNco;
%% Record various measures to show in postprocessing ----------------------
trackResults(channelNr).dllDiscr(loopCnt) = codeError;
trackResults(channelNr).dllDiscrFilt(loopCnt) = codeNco;
trackResults(channelNr).pllDiscr(loopCnt) = carrError;
trackResults(channelNr).pllDiscrFilt(loopCnt) = carrNco;
trackResults(channelNr).I_E(loopCnt) = I_E;
trackResults(channelNr).I_P(loopCnt) = I_P;
trackResults(channelNr).I_L(loopCnt) = I_L;
trackResults(channelNr).Q_E(loopCnt) = Q_E;
trackResults(channelNr).Q_P(loopCnt) = Q_P;
trackResults(channelNr).Q_L(loopCnt) = Q_L;
if (rem(loopCnt,settings.CNo.VSMinterval)==0)
vsmCnt=vsmCnt+1;
CNoValue=CNoVSM(trackResults(channelNr).I_P(loopCnt-settings.CNo.VSMinterval+1:loopCnt),...
trackResults(channelNr).Q_P(loopCnt-settings.CNo.VSMinterval+1:loopCnt),settings.CNo.accTime);
trackResults(channelNr).CNo.VSMValue(vsmCnt)=CNoValue;
trackResults(channelNr).CNo.VSMIndex(vsmCnt)=loopCnt;
CNo=int2str(CNoValue);
end
% Clear MMT variables after every loop
% Added by Sergio Vicenzo - 5 Nov 2024
clear corrs corrs2 index_forMaxValue index_LOS anIndex ...
Early_corr_index minVal LOS_delay codeDelay_NLOS_indx ...
codeDelay_LOS_indx delay_indexxx x A b precalc_correlations...
Late_corr_index
% Record MMT computation time for analysis
% Added by Sergio Vicenzo - 5 Nov 2024
trackResults(channelNr).MMT_time(loopCnt) = toc;
end % for loopCnt
% If we got so far, this means that the tracking was successful
% Now we only copy status, but it can be update by a lock detector
% if implemented
trackResults(channelNr).status = channel(channelNr).status;
end % if a PRN is assigned
end % for channelNr
% Close the waitbar
close(hwb)