Update due to changes in GNSSSignals (#40)

* Use get_codes from GNSSSignals

* Update minimum version of GNSSSignals to v0.16.0 and remove BOC specific code

* Performance improvement

* Add filtered prompt to TrackingResults

* Put post correlation filter into TrackingState

* Add possibility to change beamformer in state

* Change order of tracking state

Project.toml

@@ -17,13 +17,13 @@ TrackingLoopFilters = "0814aff9-93cb-554c-9fff-9bf1cfdb5efa"
 Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d"
 
 [compat]
-Acquisition = "0.0.2"
+Acquisition = "0.0.2, 0.0.4"
 CUDA = "3.5"
-DocStringExtensions = "0.6, 0.7, 0.8"
-GNSSSignals = "0.15.5"
+DocStringExtensions = "0.6, 0.7, 0.8, 0.9"
+GNSSSignals = "0.16"
 LoopVectorization = "0.8, 0.9, 0.10, 0.11, 0.12"
 StaticArrays = "0.9, 0.10, 0.11, 0.12, 1.0"
-StructArrays = "0.4"
+StructArrays = "0.4, 0.6.5"
 TrackingLoopFilters = "0.1"
 Unitful = "0.12, 0.13, 0.14, 0.15, 0.16, 0.17, 0.18, 1.0"
 julia = "1.6"

src/Tracking.jl

@@ -30,6 +30,8 @@ module Tracking
     export track
     export get_bits
     export get_num_bits
+    export get_filtered_prompt
+    export get_post_corr_filter
 
     export TrackingState
     export NumAnts
@@ -40,6 +42,7 @@ module Tracking
     #export VeryEarlyPromptLateCorrelator
     export SecondaryCodeOrBitDetector
     export GainControlledSignal
+    export AbstractPostCorrFilter
 
     struct NumAnts{x}
     end
@@ -51,6 +54,7 @@ module Tracking
 
     NumAccumulators(x) = NumAccumulators{x}()
 
+    include("post_corr_filter.jl")
     include("code_replica.jl")
     include("carrier_replica.jl")
     include("downconvert.jl")
@@ -65,6 +69,5 @@ module Tracking
     include("gpsl1.jl")
     include("gpsl5.jl")
     include("galileo_e1b.jl")
-    include("boc.jl")
     include("downconvert_and_correlate.jl")
 end

src/correlator.jl

@@ -154,8 +154,8 @@ $(SIGNATURES)
 
 Filter the Correlator by the function `post_corr_filter`
 """
-function filter(post_corr_filter, correlator::T) where T <: AbstractCorrelator
-    (T.name.wrapper)(map(x -> post_corr_filter(x), get_accumulators(correlator)))
+function apply(post_corr_filter, correlator::T) where T <: AbstractCorrelator
+    (T.name.wrapper)(map(post_corr_filter, get_accumulators(correlator)))
 end
 
 """
@@ -246,7 +246,7 @@ $(SIGNATURES)
 Normalize the correlator
 """
 function normalize(correlator::AbstractCorrelator, integrated_samples)
-    filter(x -> x / integrated_samples, correlator)
+    apply(x -> x / integrated_samples, correlator)
 end
 """
 $(SIGNATURES)

src/downconvert.jl

@@ -111,7 +111,7 @@ end
         signal_real = reinterpret(reshape, ST, signal)
         ds_re = downconverted_signal.re; ds_im = downconverted_signal.im
         c_re = carrier_replica.re; c_im = carrier_replica.im
-        @avx for i = start_sample:num_samples + start_sample - 1, j = 1:size(signal_real, 3)
+        @avx for i = start_sample:num_samples + start_sample - 1, j = 1:size(ds_re, 2)
             ds_re[i, j] = signal_real[1, i, j] * c_re[i] + signal_real[2, i, j] * c_im[i]
             ds_im[i, j] = signal_real[2, i, j] * c_re[i] - signal_real[1, i, j] * c_im[i]
         end

src/post_corr_filter.jl

@@ -0,0 +1,8 @@
+abstract type AbstractPostCorrFilter end
+
+struct DefaultPostCorrFilter <: AbstractPostCorrFilter end
+
+update(filter::DefaultPostCorrFilter, prompt) = filter
+
+(filter::DefaultPostCorrFilter)(x) = x
+(filter::DefaultPostCorrFilter)(x::AbstractVector) = last(x)

src/tracking_loop.jl

@@ -19,9 +19,8 @@ Track the signal `signal` based on the current tracking `state`, the sampling fr
 """
 function track(
         signal,
-        state::TrackingState{S, C, CALF, COLF, CN, DS, CAR, COR},
+        state::TrackingState{S, C, CALF, COLF, CN, DS, CAR, COR, PCF},
         sampling_frequency;
-        post_corr_filter = get_default_post_corr_filter(get_correlator(state)),
         intermediate_frequency = 0.0Hz,
         max_integration_time::typeof(1ms) = 1ms,
         min_integration_time::typeof(1.0ms) = 0.75ms,
@@ -40,7 +39,8 @@ function track(
     CN <: AbstractCN0Estimator,
     DS,
     CAR,
-    COR
+    COR,
+    PCF <: AbstractPostCorrFilter,
 }
     prn = get_prn(state)
     system = get_system(state)
@@ -72,8 +72,10 @@ function track(
     prompt_accumulator = get_prompt_accumulator(state)
     integrated_samples = get_integrated_samples(state)
     cn0_estimator = get_cn0_estimator(state)
+    post_corr_filter = get_post_corr_filter(state)
     signal_start_sample = 1
     bit_buffer = BitBuffer()
+    filtered_prompt = zero(ComplexF64)
     valid_correlator = zero(correlator)
     valid_correlator_carrier_phase = 0.0
     valid_correlator_carrier_frequency = 0.0Hz
@@ -135,7 +137,9 @@ function track(
             valid_correlator = correlator
             valid_correlator_carrier_phase = carrier_phase
             valid_correlator_carrier_frequency = carrier_frequency
-            filtered_correlator = filter(post_corr_filter, correlator)
+            post_corr_filter = update(post_corr_filter, get_prompt(correlator, correlator_sample_shifts))
+            filtered_correlator = apply(post_corr_filter, correlator)
+            filtered_prompt = get_prompt(filtered_correlator, correlator_sample_shifts)
             pll_discriminator = pll_disc(
                 system,
                 filtered_correlator,
@@ -194,7 +198,7 @@ function track(
         num_samples_left == signal_samples_left && break
         signal_start_sample += num_samples_left
     end
-    next_state = TrackingState{S, C, CALF, COLF, CN, DS, CAR, COR}(
+    next_state = TrackingState{S, C, CALF, COLF, CN, DS, CAR, COR, PCF}(
         prn,
         system,
         init_carrier_doppler,
@@ -212,12 +216,14 @@ function track(
         cn0_estimator,
         downconverted_signal,
         carrier_replica,
-        code_replica
+        code_replica,
+        post_corr_filter,
     )
     estimated_cn0 = estimate_cn0(cn0_estimator, max_integration_time)
     TrackingResults(
         next_state,
         valid_correlator,
+        filtered_prompt,
         correlator_sample_shifts,
         early_late_index_shift,
         valid_correlator_carrier_frequency,

src/tracking_results.jl

@@ -11,6 +11,7 @@ struct TrackingResults{
     }
     state::TS
     correlator::C
+    filtered_prompt::ComplexF64
     correlator_sample_shifts::CS
     early_late_index_shift::ELI
     correlator_carrier_frequency::typeof(1.0Hz)
@@ -157,6 +158,20 @@ Check if the secondary code or bit has been found.
 """
 $(SIGNATURES)
     
-Check if the secondary code or bit has been found.
+Get used system.
+"""
+@inline get_system(results::TrackingResults) = get_system(get_state(results))
+
+"""
+$(SIGNATURES)
+    
+Get filtered prompt.
+"""
+@inline get_filtered_prompt(results::TrackingResults) = results.filtered_prompt
+
+"""
+$(SIGNATURES)
+    
+Get Post correlation filter.
 """
-@inline get_system(results::TrackingResults) = get_system(get_state(results))
+@inline get_post_corr_filter(results::TrackingResults) = get_post_corr_filter(get_state(results))

src/tracking_state.jl

@@ -63,7 +63,8 @@ struct TrackingState{
         CN <: AbstractCN0Estimator,
         DS <: Union{DownconvertedSignalCPU, Nothing},
         CAR <: Union{CarrierReplicaCPU, Nothing},
-        COR <: Union{Vector{Int8}, Nothing}
+        COR <: Union{Vector{<:Real}, Nothing},
+        PCF <: AbstractPostCorrFilter,
     }
     prn::Int
     system::S
@@ -83,6 +84,34 @@ struct TrackingState{
     downconverted_signal::DS
     carrier::CAR
     code::COR
+    post_corr_filter::PCF
+end
+
+function TrackingState(
+    track_state::TrackingState;
+    post_corr_filter,
+)
+    TrackingState(
+        track_state.prn,
+        track_state.system,
+        track_state.init_carrier_doppler,
+        track_state.init_code_doppler,
+        track_state.carrier_doppler,
+        track_state.code_doppler,
+        track_state.carrier_phase,
+        track_state.code_phase,
+        track_state.correlator,
+        track_state.carrier_loop_filter,
+        track_state.code_loop_filter,
+        track_state.sc_bit_detector,
+        track_state.integrated_samples,
+        track_state.prompt_accumulator,
+        track_state.cn0_estimator,
+        track_state.downconverted_signal,
+        track_state.carrier,
+        track_state.code,
+        post_corr_filter
+    )
 end
 
 """
@@ -116,14 +145,16 @@ function TrackingState(
     integrated_samples = 0,
     prompt_accumulator = zero(ComplexF64),
     cn0_estimator::CN = MomentsCN0Estimator(20),
+    post_corr_filter::PCF = DefaultPostCorrFilter(),
     num_samples = 0
 ) where {
     T <: AbstractMatrix,
     S <: AbstractGNSS{T},
     C <: AbstractCorrelator,
     CALF <: AbstractLoopFilter,
     COLF <: AbstractLoopFilter,
-    CN <: AbstractCN0Estimator
+    CN <: AbstractCN0Estimator,
+    PCF <: AbstractPostCorrFilter
 }
     if found(sc_bit_detector)
         code_phase = mod(code_phase, get_code_length(system) *
@@ -133,9 +164,9 @@ function TrackingState(
     end
     downconverted_signal = DownconvertedSignalCPU(num_ants)
     carrier = CarrierReplicaCPU()
-    code = Vector{Int8}(undef, 0)
+    code = Vector{get_code_type(system)}(undef, 0)
 
-    TrackingState{S, C, CALF, COLF, CN, typeof(downconverted_signal), typeof(carrier), typeof(code)}(
+    TrackingState{S, C, CALF, COLF, CN, typeof(downconverted_signal), typeof(carrier), typeof(code), PCF}(
         prn,
         system,
         carrier_doppler,
@@ -153,7 +184,8 @@ function TrackingState(
         cn0_estimator,
         downconverted_signal,
         carrier,
-        code
+        code,
+        post_corr_filter,
     )
 end
 
@@ -173,14 +205,16 @@ function TrackingState(
     correlator::C = get_default_correlator(system, num_ants),
     integrated_samples = 0,
     prompt_accumulator = zero(ComplexF64),
-    cn0_estimator::CN = MomentsCN0Estimator(20)
+    cn0_estimator::CN = MomentsCN0Estimator(20),
+    post_corr_filter::PCF = DefaultPostCorrFilter(),
 ) where {
     T <: CuMatrix,
     S <: AbstractGNSS{T},
     C <: AbstractCorrelator,
     CALF <: AbstractLoopFilter,
     COLF <: AbstractLoopFilter,
-    CN <: AbstractCN0Estimator
+    CN <: AbstractCN0Estimator,
+    PCF <: AbstractPostCorrFilter
 }
     if found(sc_bit_detector)
         code_phase = mod(code_phase, get_code_length(system) *
@@ -192,7 +226,7 @@ function TrackingState(
     carrier = nothing
     code = nothing
 
-    TrackingState{S, C, CALF, COLF, CN, Nothing, Nothing, Nothing}(
+    TrackingState{S, C, CALF, COLF, CN, Nothing, Nothing, Nothing, PCF}(
         prn,
         system,
         carrier_doppler,
@@ -210,7 +244,8 @@ function TrackingState(
         cn0_estimator,
         downconverted_signal,
         carrier,
-        code
+        code,
+        post_corr_filter,
     )
 end
 
@@ -242,3 +277,4 @@ end
 @inline get_carrier(state::TrackingState) = state.carrier
 @inline get_code(state::TrackingState) = state.code
 @inline get_prn(state::TrackingState) = state.prn
+@inline get_post_corr_filter(state::TrackingState) = state.post_corr_filter

test/correlator.jl

@@ -73,17 +73,18 @@
     @testset "Filter correlator" begin
         correlator = @inferred EarlyPromptLateCorrelator(
             SVector(
-                SVector(1.0 + 0.0im, 1.0 + 0.0im),
-                SVector(1.0 + 0.0im, 1.0 + 0.0im),
-                SVector(1.0 + 0.0im, 1.0 + 0.0im)
+                SVector(1.0 + 0.0im, 1.0 + 1.0im),
+                SVector(1.0 + 0.0im, 2.0 + 0.0im),
+                SVector(1.0 + 1.0im, 1.0 + 3.0im)
             )
         )
-        filtered_correlator = @inferred Tracking.filter(x -> x[1], correlator)
+        default_post_corr_filter = Tracking.DefaultPostCorrFilter()
+        filtered_correlator = @inferred Tracking.apply(default_post_corr_filter, correlator)
         @test filtered_correlator == EarlyPromptLateCorrelator(
             SVector(
-                1.0 + 0.0im,
-                1.0 + 0.0im,
-                1.0 + 0.0im
+                1.0 + 1.0im,
+                2.0 + 0.0im,
+                1.0 + 3.0im
             )
         )
 
@@ -94,7 +95,7 @@
                 1.0 + 0.0im
             )
         )
-        filtered_correlator = @inferred Tracking.filter(x -> 2 * x, correlator)
+        filtered_correlator = @inferred Tracking.apply(x -> 2 * x, correlator)
         @test filtered_correlator == EarlyPromptLateCorrelator(
             SVector(
                 2.0 + 0.0im,