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Implement Galileo E1B I/NAV navigation decoding

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This commit is contained in:
onur
2026-07-31 00:15:34 +03:00
parent 2a6ccfc23d
commit 814a788b36
104 changed files with 6351 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
verification/vectors/signalsim/manifest.yaml
+29
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@@ -56,3 +56,32 @@ vectors:
e1b_only: {status: blocked_SignalSim_E1_is_combined}
e1c_only: {status: blocked_SignalSim_E1_is_combined}
e1b_e1c_combined: {status: alias_of_high_cn0_single_prn}
navigation_single_prn:
status: generated_crc_valid_page
config: navigation_single_prn/generated_config.json
output: navigation_single_prn/navigation_single_prn_iq8.bin
representation: complex_iq
sample_format: interleaved_twos_complement_int8_iq
sample_rate_hz: 4092000
galileo_e1_if_hz: 1023000
duration_s: 4.2
prn: 1
components: [E1B, E1C]
sha256: 4169cb7573913dbf0179b731bd1103b3a94cac3364d1337541311ca5843c8f93
generated_file_committed: false
navigation_multisat:
status: navigation_ready_four_of_five
config: navigation_multisat/generated_config.json
output: navigation_multisat/navigation_multisat_iq8.bin
representation: complex_iq
sample_format: interleaved_twos_complement_int8_iq
sample_rate_hz: 4092000
galileo_e1_if_hz: 1023000
duration_s: 32.2
prns: [1, 4, 19, 21, 27]
components: [E1B, E1C]
sha256: b38393b32eec2df53f9813ea7ff8f13e5e0fc72fa5cb7fb910a2b8f907a56a6e
generated_file_committed: false
decoded_pages: 70
crc_passes: 70
complete_ephemeris_prns: [1, 4, 21, 27]
verification/vectors/signalsim/navigation_multisat/generated_config.json
+116
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@@ -0,0 +1,116 @@
{
"version": 1.0,
"description": "SignalSim validation vector: navigation_multisat",
"time": {
"type": "UTC",
"year": 2021,
"month": 6,
"day": 19,
"hour": 10,
"minute": 5,
"second": 30
},
"trajectory": {
"name": "static single-PRN integration baseline",
"initPosition": {
"type": "LLA",
"format": "d",
"longitude": -121.915773,
"latitude": 37.352721,
"altitude": 20
},
"initVelocity": {
"type": "SCU",
"speed": 0,
"course": 0
},
"trajectoryList": [
{
"type": "Const",
"time": 32.2
}
]
},
"ephemeris": {
"type": "RINEX",
"name": "/home/onur/Desktop/galileo/signalsim/SignalSim/EphData/BRDC00IGS_R_20211700000_01D_MN.rnx"
},
"output": {
"type": "IFdata",
"format": "IQ8",
"sampleFreq": 4.092,
"centerFreq": 1574.397,
"name": "navigation_multisat_iq8.bin",
"config": {
"elevationMask": 3,
"maskOut": [
{
"system": "Galileo",
"svid": [
2,
3,
5,
6,
7,
8,
9,
10,
11,
12,
13,
14,
15,
16,
17,
18,
20,
22,
23,
24,
25,
26,
28,
29,
30,
31,
32,
33,
34,
35,
36
]
}
]
},
"systemSelect": [
{
"system": "GPS",
"signal": "L1CA",
"enable": false
},
{
"system": "BDS",
"signal": "B1C",
"enable": false
},
{
"system": "Galileo",
"signal": "E1",
"enable": true
},
{
"system": "GLONASS",
"signal": "G1",
"enable": false
}
]
},
"power": {
"noiseFloor": -172,
"initPower": {
"unit": "dBHz",
"value": 55.0
},
"elevationAdjust": false
}
}
verification/vectors/signalsim/navigation_multisat/generation.log
+1344
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File diff suppressed because it is too large Load Diff
verification/vectors/signalsim/navigation_multisat/metadata.yaml
+37
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@@ -0,0 +1,37 @@
name: navigation_multisat
signalsim_path: /home/onur/Desktop/galileo/signalsim/SignalSim
signalsim_commit: 80b262113e77c4482ca9f5cbfef9bcada402ed28
command:
- /home/onur/Desktop/galileo/build/signalsim/IFdataGen
- -c
- /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/generated_config.json
- -o
- /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin
- -t
- -st
output: verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin
size_bytes: 263516616
sha256: b38393b32eec2df53f9813ea7ff8f13e5e0fc72fa5cb7fb910a2b8f907a56a6e
complex_sample_count: 131758308
sampling_frequency_hz: 4092000.0
intermediate_frequency_hz: 1023000.0
sample_format: IQ8_interleaved_signed_I_then_Q
duration_s: 32.2
prns:
- 1
- 4
- 19
- 21
- 27
components:
- E1B
- E1C
expected_doppler_hz:
1: 1828.0
4: 2171.0
19: -367.0
21: -712.0
27: -2637.0
expected_code_delay: null
navigation_truth: INavBit generated from bundled RINEX; no sample-side truth file
secondary_truth: PilotBit.cpp SecondaryCodeE1, phase must be synchronized
verification/vectors/signalsim/navigation_multisat/navigation_multisat_iq8.bin.tag
+8
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@@ -0,0 +1,8 @@
PROG = IFDataGen
TIME = 2026/07/30 20:44:51.803
FMT = INT8X2
F_S = 4.092000
F_LO = 1574.397000
IQ = 1
BITS = 8
SCALE = 1.0
verification/vectors/signalsim/navigation_single_prn/generated_config.json
+120
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@@ -0,0 +1,120 @@
{
"version": 1.0,
"description": "SignalSim validation vector: navigation_single_prn",
"time": {
"type": "UTC",
"year": 2021,
"month": 6,
"day": 19,
"hour": 10,
"minute": 5,
"second": 30
},
"trajectory": {
"name": "static single-PRN integration baseline",
"initPosition": {
"type": "LLA",
"format": "d",
"longitude": -121.915773,
"latitude": 37.352721,
"altitude": 20
},
"initVelocity": {
"type": "SCU",
"speed": 0,
"course": 0
},
"trajectoryList": [
{
"type": "Const",
"time": 4.2
}
]
},
"ephemeris": {
"type": "RINEX",
"name": "/home/onur/Desktop/galileo/signalsim/SignalSim/EphData/BRDC00IGS_R_20211700000_01D_MN.rnx"
},
"output": {
"type": "IFdata",
"format": "IQ8",
"sampleFreq": 4.092,
"centerFreq": 1574.397,
"name": "navigation_single_prn_iq8.bin",
"config": {
"elevationMask": 3,
"maskOut": [
{
"system": "Galileo",
"svid": [
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
]
}
]
},
"systemSelect": [
{
"system": "GPS",
"signal": "L1CA",
"enable": false
},
{
"system": "BDS",
"signal": "B1C",
"enable": false
},
{
"system": "Galileo",
"signal": "E1",
"enable": true
},
{
"system": "GLONASS",
"signal": "G1",
"enable": false
}
]
},
"power": {
"noiseFloor": -172,
"initPower": {
"unit": "dBHz",
"value": 55.0
},
"elevationAdjust": false
}
}
verification/vectors/signalsim/navigation_single_prn/generation.log
+224
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@@ -0,0 +1,224 @@
================================================================================
IF SIGNAL GENERATION
================================================================================
[INFO] Loading JSON file: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/generated_config.json
[INFO] JSON file read successfully: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/generated_config.json
[INFO] Using output file from command line: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin
[INFO] Opening output file: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin
[INFO] Output file opened successfully.
[INFO] Creating tag file: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin.tag
[INFO] Tag file created: /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin.tag
[INFO] OpenMP configured for SERIAL execution (1 thread)
[INFO] Generating IF data with following satellite signals:
[INFO] Enabled Signals:
GAL : [ E1 ]
Signals Summary Table:
+---------------+-------------+--------------+------------------------------+
| Constellation | Visible SVs | Signals / SV | Total Signals / Visible SVs |
+---------------+-------------+--------------+------------------------------+
| GPS | 0 | 0 | 0 |
| BeiDou | 0 | 0 | 0 |
| Galileo | 1 | 1 | 1 |
| GLONASS | 0 | 0 | 0 |
+---------------+-------------+--------------+------------------------------+
Total Visible SVs = 1, Total channels = 1
Galileo E1 with IF +1023kHz:
+----+--------------+----+--------------+----+--------------+----+--------------+
| SV | Doppler (Hz) | SV | Doppler (Hz) | SV | Doppler (Hz) | SV | Doppler (Hz) |
+----+--------------+----+--------------+----+--------------+----+--------------+
| 01 | +1828 | | | | | | |
+----+--------------+----+--------------+----+--------------+----+--------------+
Total channels: 1
[INFO] Signal Duration: 4.20 s
[INFO] Signal Size: 32.78 MB
[INFO] Signal Data format: IQ8
[INFO] Signal Center freq: 1574.3970 MHz
[INFO] Signal Sample rate: 4.0920 MHz
[INFO] Starting signal generation loop...
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[======================71.4%========> ] 3000/4200 ms | 23.41/32.78 MB @ 48.28 MB/s | ETA: 00s
[======================72.0%=========> ] 3025/4200 ms | 23.61/32.78 MB @ 48.28 MB/s | ETA: 00s
[======================72.6%=========> ] 3050/4200 ms | 23.80/32.78 MB @ 48.29 MB/s | ETA: 00s
[======================73.2%=========> ] 3075/4200 ms | 24.00/32.78 MB @ 48.19 MB/s | ETA: 00s
[======================73.8%=========> ] 3100/4200 ms | 24.20/32.78 MB @ 48.20 MB/s | ETA: 00s
[======================74.4%==========> ] 3125/4200 ms | 24.39/32.78 MB @ 48.11 MB/s | ETA: 00s
[======================75.0%==========> ] 3150/4200 ms | 24.59/32.78 MB @ 48.11 MB/s | ETA: 00s
[======================75.6%==========> ] 3175/4200 ms | 24.78/32.78 MB @ 48.12 MB/s | ETA: 00s
[======================76.2%===========> ] 3200/4200 ms | 24.98/32.78 MB @ 47.94 MB/s | ETA: 00s
[======================76.8%===========> ] 3225/4200 ms | 25.17/32.78 MB @ 47.94 MB/s | ETA: 00s
[======================77.4%===========> ] 3250/4200 ms | 25.37/32.78 MB @ 47.86 MB/s | ETA: 00s
[======================78.0%===========> ] 3275/4200 ms | 25.56/32.78 MB @ 47.87 MB/s | ETA: 00s
[======================78.6%============> ] 3300/4200 ms | 25.76/32.78 MB @ 47.87 MB/s | ETA: 00s
[======================79.2%============> ] 3325/4200 ms | 25.95/32.78 MB @ 47.79 MB/s | ETA: 00s
[======================79.8%============> ] 3350/4200 ms | 26.15/32.78 MB @ 47.80 MB/s | ETA: 00s
[======================80.4%=============> ] 3375/4200 ms | 26.34/32.78 MB @ 47.81 MB/s | ETA: 00s
[======================81.0%=============> ] 3400/4200 ms | 26.54/32.78 MB @ 47.73 MB/s | ETA: 00s
[======================81.5%=============> ] 3425/4200 ms | 26.73/32.78 MB @ 47.74 MB/s | ETA: 00s
[======================82.1%==============> ] 3450/4200 ms | 26.93/32.78 MB @ 47.66 MB/s | ETA: 00s
[======================82.7%==============> ] 3475/4200 ms | 27.12/32.78 MB @ 47.67 MB/s | ETA: 00s
[======================83.3%==============> ] 3500/4200 ms | 27.32/32.78 MB @ 47.59 MB/s | ETA: 00s
[======================83.9%==============> ] 3525/4200 ms | 27.51/32.78 MB @ 47.60 MB/s | ETA: 00s
[======================84.5%===============> ] 3550/4200 ms | 27.71/32.78 MB @ 47.61 MB/s | ETA: 00s
[======================85.1%===============> ] 3575/4200 ms | 27.90/32.78 MB @ 47.62 MB/s | ETA: 00s
[======================85.7%===============> ] 3600/4200 ms | 28.10/32.78 MB @ 47.54 MB/s | ETA: 00s
[======================86.3%================> ] 3625/4200 ms | 28.29/32.78 MB @ 47.55 MB/s | ETA: 00s
[======================86.9%================> ] 3650/4200 ms | 28.49/32.78 MB @ 47.56 MB/s | ETA: 00s
[======================87.5%================> ] 3675/4200 ms | 28.68/32.78 MB @ 47.49 MB/s | ETA: 00s
[======================88.1%=================> ] 3700/4200 ms | 28.88/32.78 MB @ 47.50 MB/s | ETA: 00s
[======================88.7%=================> ] 3725/4200 ms | 29.07/32.78 MB @ 47.43 MB/s | ETA: 00s
[======================89.3%=================> ] 3750/4200 ms | 29.27/32.78 MB @ 47.36 MB/s | ETA: 00s
[======================89.9%=================> ] 3775/4200 ms | 29.46/32.78 MB @ 47.37 MB/s | ETA: 00s
[======================90.5%==================> ] 3800/4200 ms | 29.66/32.78 MB @ 47.38 MB/s | ETA: 00s
[======================91.1%==================> ] 3825/4200 ms | 29.85/32.78 MB @ 47.31 MB/s | ETA: 00s
[======================91.7%==================> ] 3850/4200 ms | 30.05/32.78 MB @ 47.32 MB/s | ETA: 00s
[======================92.3%===================> ] 3875/4200 ms | 30.24/32.78 MB @ 47.33 MB/s | ETA: 00s
[======================92.9%===================> ] 3900/4200 ms | 30.44/32.78 MB @ 47.34 MB/s | ETA: 00s
[======================93.5%===================> ] 3925/4200 ms | 30.63/32.78 MB @ 47.35 MB/s | ETA: 00s
[======================94.0%====================> ] 3950/4200 ms | 30.83/32.78 MB @ 47.28 MB/s | ETA: 00s
[======================94.6%====================> ] 3975/4200 ms | 31.02/32.78 MB @ 47.29 MB/s | ETA: 00s
[======================95.2%====================> ] 4000/4200 ms | 31.22/32.78 MB @ 47.30 MB/s | ETA: 00s
[======================95.8%====================> ] 4025/4200 ms | 31.41/32.78 MB @ 47.24 MB/s | ETA: 00s
[======================96.4%=====================> ] 4050/4200 ms | 31.61/32.78 MB @ 47.25 MB/s | ETA: 00s
[======================97.0%=====================> ] 4075/4200 ms | 31.80/32.78 MB @ 47.19 MB/s | ETA: 00s
[======================97.6%=====================> ] 4100/4200 ms | 32.00/32.78 MB @ 47.20 MB/s | ETA: 00s
[======================98.2%======================>] 4125/4200 ms | 32.20/32.78 MB @ 47.14 MB/s | ETA: 00s
[======================98.8%======================>] 4150/4200 ms | 32.39/32.78 MB @ 47.15 MB/s | ETA: 00s
[======================99.4%======================>] 4175/4200 ms | 32.59/32.78 MB @ 47.09 MB/s | ETA: 00s
[======================100.0%======================] 4200/4200 ms | 32.78/32.78 MB @ 47.10 MB/s | ETA: --
[======================100.0%======================] 4200/4200 ms | 32.78/32.78 MB | COMPLETED
[INFO] IF Signal generation completed!
------------------------------------------------------------------
[INFO] Total samples: 34372800
[INFO] Clipped samples: 12 (0.0000%)
[INFO] Final AGC gain: 1.000
[INFO] Total time taken: 0.70 s
[INFO] Data generated: 32.78 MB
[INFO] Average rate: 47.10 MB/s
------------------------------------------------------------------
verification/vectors/signalsim/navigation_single_prn/metadata.yaml
+29
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@@ -0,0 +1,29 @@
name: navigation_single_prn
signalsim_path: /home/onur/Desktop/galileo/signalsim/SignalSim
signalsim_commit: 80b262113e77c4482ca9f5cbfef9bcada402ed28
command:
- /home/onur/Desktop/galileo/build/signalsim/IFdataGen
- -c
- /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/generated_config.json
- -o
- /home/onur/Desktop/galileo/verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin
- -t
- -st
output: verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin
size_bytes: 34372800
sha256: 4169cb7573913dbf0179b731bd1103b3a94cac3364d1337541311ca5843c8f93
complex_sample_count: 17186400
sampling_frequency_hz: 4092000.0
intermediate_frequency_hz: 1023000.0
sample_format: IQ8_interleaved_signed_I_then_Q
duration_s: 4.2
prns:
- 1
components:
- E1B
- E1C
expected_doppler_hz:
1: 1828.0
expected_code_delay: null
navigation_truth: INavBit generated from bundled RINEX; no sample-side truth file
secondary_truth: PilotBit.cpp SecondaryCodeE1, phase must be synchronized
verification/vectors/signalsim/navigation_single_prn/navigation_single_prn_iq8.bin.tag
+8
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@@ -0,0 +1,8 @@
PROG = IFDataGen
TIME = 2026/07/30 20:44:23.429
FMT = INT8X2
F_S = 4.092000
F_LO = 1574.397000
IQ = 1
BITS = 8
SCALE = 1.0