GNSS-SDR_manual.pdf (v0.0.9)
GNSS-SDR is an open-source GNSS software receiver freely available to the research community. This project provides a common framework for GNSS signal processing which can operate in a variety of computer platforms. This tool is intended to foster collaboration, increase awareness, and reduce develoContentsMain Page1.1 Contents1.2 Overview1.3 Building GNSS- SDR2351.3.1 Debug and release builds1.3.2 Updating GNSS-SDR1.4 Using GNSS-SDR51.5 Control plane1.5.1 Configuration61.5.2 GNSS block factory1.6 Signal Processing plane1.6.1 Signal Source1.6.2 Signal Conditioner1.6.3 Channel1.6.3.1 Acquisition1.6.3.2 Tracking101.6.3.3 Decoding of the navigation message11.6.4 Observables121.6.5 Computation of Position, velocity and Time121.7 About the software license1.8 Publications and Credits131.9 Ok. now what?14CONTENTS2 Reference Documents152.1 Interface Control Documents152.1.1GPs2.1.2 GLONASS152.1.3Gai152.1.4 beiD2.1.5 Satellite Based Augmentation Systems(SBAS)2.2 Other Standards2.2.1R|NEX172.2.2 NMEA22.3KML.2.2.4 C++ Standards182.2.5 Positioning protocols in wireless communication networks183 Signal model193. 1 GNSS signal model1.1 Global Positioning System(GPS)signal in space3.1.2 GLONASS signal in space3.1.3 Galileo signal in space223.1.4 Reference254 Todo list5 Hierarchical Index5.1 Class Hierarchy6 Class Index336.1 Class list7 File Index7.1 File list43CONTENTS8 Class docu8. 1 AcquisitionInterface Class Reference538.1.1 Detailed Description8.2 ArraySignal Conditioner Class Reference8.2.1 Detailed Dtio558.2.2 Constructor& Destructor Documentation8.2.2. 1 Array SignalConditioner(Configurrface configuration, std: shared_ptr data type_adapt, std: shared_ptr< GNSSBlockInterfaceil, std: shared ptr< GNSSBlockInterface > res, std: string role, std: stringimplementation)558. 2.2.2 Array SignalConditioner(558.2.3 Member Function Documentation8.2.3. 1 implementation(558.3 beamformer Class Reference568.3. 1 Detailed Description8. 4 Beamformer Filter Class Reference568.4.1 Detailed description578.4.2 Member Function Documentation8. 4.2.1 implementation()8.5 byte x2 to complex byte Class Reference8.5.1 Detailed Description588.6 Byte ToShort Class Reference588.6. 1 Detailed description8.6.2 Member Function Documentation8.6.2. 1 implementation(598.7 Channel Class Reference598.7.1 Detailed description608.7.2 Constructor Destructor Documentation8.7. 2.1 Channel(ConfigurationInterface *configuration, unsigned int channel, std+shared_ptr< GNSSBlockInterface> pass through, std: shared_ptr acq, std: shared_ptr nav, std string role, std stringimplementation, boost: shared ptr< gr: msg_queue queuegenerated by DoxygenCONTENTS8.7.2.2 Channelo8.7.3 Member Function Documentation8.7.3. 1 implementation(618.7.3.2 set signal(const Gnss Signal &gnss signal8.7.3. 3 start_ acquisition(68.8 channel msg receiver cc Class Reference8.8.1 Detailed Description628.8.2 Constructor Destructor Documentation628.8.2. 1 channel_msg_ receiver_ cco8.9 ChannelFsm class Reference8.9.1 Detailed Description638.10 ChannelInterface Class Reference638.10.1 Detailed Description8.11 cl_ fft_ plan Struct Reference648.11.1 Detailed Description648.12 clFFT Complex Struct Reference648. 12. 1 Detailed Description8. 13 ClFFT Dim 3 Struct Reference8. 13.1 Detailed description658.14 ClFFT_ SplitComplex Struct Reference658. 14.1 Detailed Description658. 15 complex byte to float x2 Class Reference8. 15.1 Detailed description8. 16 complex_ float_to _ complex_ byte Class Reference668.16.1 Detailed Description668. 17 concurrent map< Data> Class Template Reference8.17.1 Detailed description8.18 concurrent_ queue< Data > Class Template Reference8.18.1 Detailed description688.19 ConfigurationInterface Class ReferenceCONTENTS8.19. 1 Detailed Description8.20 ControlMessage Class Reterence698. 20. 1 Detailed Description8.21 ControlMessage Struct Reference698.21. 1 Detailed Description8.22 ControlMessageFactory Class Reference708.22. 1 Detailed Description8. 22.2 Constructor Destructor Documentation8. 22.2. 1 ControlMessage Factory8. 22.2.2 ControlMessage(8.23 Control Thread class Reference8. 23. 1 Detailed Description718.23.2 Constructor Destructor Documentation8.23. 2.1 ControlThreado8. 23.2.2 Control Thread(std: shared_ptr< ContigurationIntertace> configuration)8.23. 2.3 Control Thread(728.23. 3 Member Function Documentation8.23.3. 1 flowgraph7282332run()728.23.3.3 set_control_ queue(boost: shared _ptr< gr: msg_queue control queue)8. 24 cpu multicorrelator Class Reference8.24. 1 Detailed Description8.25 cpu multicorrelator 1 6sc Class Reference8.25. 1 Detailed Description748.26 cshort to float x2 Class Reference748. 26. 1 Detailed Description8.27 cuda multicorrelator Class Reference8.27.1 Detailed Description758.28 direct resampler conditioner cb class Reference758.28. 1 Detailed Descriptiongenerated by DoxygenCONTENTS8.29 direct resampler conditioner cc Class Reference8.29. 1 Detailed description768.30 direct resampler conditioner cs Class Reference8.30. 1 Detailed description8.31 DirectResampler Conditioner Class Reference8.31. 1 Detailed Description788.31.2 Member Function Documentation788.31.2.1 implementation788.32 Fast Correction Struct Reference8. 32 1 Detailed Description8.33 File Configuration Class Reference8.33. 1 Detailed Description798.33.2 Constructor destructor documentation8.33.2. 1 File Configuration(8. 34 File SignalSource Class Reference808.34.1 Detailed Description808.34.2 Member Function Documentation8.34.2.1 implementation(8.35 Fir Filter Class Reference8.35. 1 Detailed Description818.35.2 Constructor Destructor Documentation8.35.2. 1 Fir Filter( ConfigurationInterface *configuration, std: string role, unsigned intreams, unsigned int out_streams)8.35. 2.2 FirFiltero8.35. 3 Member Function Documentation8.35.3. 1 implementation(828.36 FlexibandsignalSource Class Reference828.36. 1 Detailed descripti838.36.2 Member Function Documentatio8.36.2.1 implementation(8. 37 FreqXlating FirFilter Class ReferenceCONTENTSX8.37.1 Detailed Description8.37.2 Member Function Documentation848.37. 2.1 implementation(848.38 FrontEndCal Class Reference848. 38. 1 Detailed description8.38.2 Member function documentation8.38. 2.1 estimate_doppler_ from_ _eph(unsigned int PRN, double toW, double lat, doublelon, double height)8.3822 get ephemeris(),.,.,,.,,,,,,,858.38.2.3 GPS L1 front end model E4000(double f bb true Hz, double f bb_measHz, double fs nominal_ hz, double *estimated_fs_ hz, double *estimated_f if Hz, 85double *tosc_err_ppm)8.38.2.4 set_configuration(std shared_ptr< ConfigurationInterface configuration)858. 39 Galileo Almanac class Reference858.39. 1 Detailed description8. 39.2 Constructor destructor documentation8.39.2.1 Galileo_ Almanac8.40 galileo e1 dl pll veml tracking cc Class Reference8.40. 1 Detailed Descriptio88ember Function Documentation8.40.2.1 general work(int output_ items, gr_ vector_int &ninput_ items. gr vector_constvoid_star &input_items, gr_ vector_ void_ star &output_ _items)8. 41 galileo_e1_ Is_pvt Class Referenc8.41. 1 Detailed Descriptio8. 41.2 Member data documentation8. 41.2.1 d channels898.41. 2.2 galileo_ ephemeris_ map898.42 galileo e1 observables cc Class Reference8.42. 1 Detailed Description8. 43 galileo_e1_pvt_cc Class Reference8.43. 1 Detailed description8. 43.2 Constructor Destructor documentatiCONTENTS8. 43.2.1 galileo_e1_pvt_cc918. 43.3 Member Function documentation8. 3.1 general_work(int output_items, gr vector_int &ninput_items. gr_ vector_constevoid star &input items, gr vector void star &output items)918. 44 Galileo_E1_ Tcp Connector_ Tracking_cc Class Reference8.44.1 Detailed Description8. 45 galileo e1b telemetry decoder cc Class Reference928.45. 1 Detailed description938. 45.2 Member Function Documentation8.45.2. 1 forecast(int noutput_items, gr_ vector_ int &input_items_required8.45. 2.2 general_ work(int output_items, gr- vector_ int &ninput_items. gr_ vector_const+void star &input_items, gr_ vector_ void_ star &output_ items938. 45.2.3 set_channel(int channel8.45.2. 4 set_ decimation(int decimation)8. 45. 2.5 set_ satellite(Gnss_ Satellite satellite)8.46 Galileo E5a Dl Pll Tracking cc Class Reterence8.46. 1 Detailed description48. 47 galileo e5a noncoherentlQ acquisition caf cc class Reference8.47.1 Detailed Description958. 47.2 Constructor Destructor Documentation8.47. 2.1 galileo e5a noncoherentlQ acquisition caf cco8. 47.3 Member Function Documentation968.47. 3.1 general_ work(int output_items, gr_ vector_int &ninput_ items. gr vector_const+void_star &input_items, gr_vector_ void_star &output_items)8.47.32init()968.47.3.3mag(0..968.47.3.4 set active(bool active968.47.3.5 set channel(unsigned int channel)968.47.3.6 set_ doppler_ max(unsigned int doppler_ max)8.47.3.7 set_ doppler_ step(unsigned int doppler step8.47.3.8 set_gnss synchro(Gnss Synchro *p_gnss_ synchro8.47.3.9 set_local_code(std: complex< float >*code, std: complex< float > *code Q)97
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支持向量机
关于支持向量机里面讲核函数的，介绍了线性核函数、高斯核函数、及多项式核函数等。还介绍了核函数的判定以及Mercer定理1x1121T3212T42.3p(a)L313x2.3.32cT1V2C.223+d更一般地,核数K(x2z)=(xz+)“对应的映射后特征维度为a(求解方法参见http://zhidao.baiducom/question/16706714.html)由于计算的是内积,我们可以想到IR中的余弦相似度,如果ⅹ和z向量夹角越小,那么核函数值越大,反之,越小。因此,核函数值是(x)和(z)的相似度。再看另外一个核函数K(r, z)=expz-z|222这时,如果x和z很相近(x-2‖≈0),那么核函数值为1,如果x和z相差很大(x-2》0),那么核函数值约等于0。由于这个函数类似于高斯分布,因此称为高斯核函数,也叫做径向基函数( Radial basis function简称RBF)。它能够把原始特征映射到无穷维。既然高斯核函数能够比较ⅹ和z的相似度,并映射到0到1,回想 logistic回归, sigmoid函数可以,因此还有sigmoid核函数等等下面有张图说明在低维线性不可分时,映射到高维后就可分了,使用高斯核函数。Linear回回看目即Gaussian来自 Eric Xing的sdes注意,使用核函数后,怎么分类新来的样本呢?线性的时候我们使用SVM学与出W和b,新来样木ⅹ的话,我们使用wTx+ b来判断,如果值大于等于1,那么是正类,小于等于是负类。在两者之间,认为无法确定。如果使用了核函数后,W2x+b就变成了wφ(x)+b,是否先要找到p(x),然后再预测?答案背定不是了,找φ(x很麻烦,回想我们之前说过的wa+6=boy(0)x+bi=1(x(,x)+b只需将替换成(x,x),然后值的判断同上8核函数有效性判定问题:给定一个函数K,我们能否使用K来替代计算φ(x)2中(z),也就说,是否能够找出一个,使得对丁所有的x和z,都有k(x,2)=(x)r中(2)9比如给出了K(x,2)=(x2)2,是否能够认为K是一个有效的核函数下面来解决这个问题,给定m个训练样本全(r(3xm,每一个对应一个特征向量。那么,我们可以将(e) yJ仟意两个和带入K中,计算得到=0。I可以从1到m,j以从1到m,这样可以计算出m*m的核函数矩阵( Kernel Matrix)。为了方便,我们将核函数矩阵和(x,z)都使用K来表示如果假设K是有效地核函数,那么根据核函数定义k1=K(x0x0)=p(x()p(x0)=p(x(0)p(x()=K(x(,x)=K可见,矩阵K应该是个对称阵。让我们得出一个更强的结论,首先使用符号中x(x)来表示映射函数中(x)的第k维属性值。那么对于任意向量z,得2K2=∑∑2K3∑∑(m0y(0)2∑∑∑(z0)(x0)z∑∑∑29(x)k(z0)k i j=S|∑zipk(c(ak0.最后一步和前面计算K(x)=(x2)时类似。从这个公式我们可以看出,如果K是个有效的核函数(即K(xz)和(x)p(2)等价),那么,在训练集上得到的核函数矩阵K应该是半正定的(K≥0这样我们得到一个核函数的必要条件:K是有效的核函数==>核函数矩阵K是对称半正定的可幸的是,这个条件也是充分的,由 Mercer定理来表达。Mercer定理:如果函数K是×四→巫上的映射(也就是从两个n维向量映射到实数域)。那么如果K是一个有效核函数(也称为 Mercer核函数),那么当且仅当对于训练样例(r()x(m,其相应的核函数矩阵是对称半正定的。Mercer定理表明为了证明K是有效的核函数,那么我们不用去寻找φ,而只需要在训练集上求出各,然后判断矩阵K是否是半正定(使用左上角主子式大于等于零等方法)即可。许多其他的教科书在 Mercer定理证明过程中使用了范数和再生希尔伯特空间等概念,但在特征是n维的情况下,这里给出的证明是等价的。核函数不仅仅用在SWM上,但凡在一个模型后算法中出现了,我们都可以常使用区(xz)去替换,这可能能够很好地改善我们的算法。posted on2011-03-1820:22 Jerry Lead阅读(…)评论(…)编辑收藏刷新评论刷新页面返回顶部博客园首页博问新闻闪存程序员招聘知识库Powered by:博客园 Copyright@ Jerry Lead
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