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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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【实例简介】这本书是专门为电路设计工程师写的。它主要描述了模拟电路原理在高速数字电路设计中 的分析应用。通过列举很多的实例，作者详细分析了一直困扰高速电路路设计工程师的铃流、串 扰和辐射噪音等问题。 所有的这些原理都不是新发现的，这些东西在以前时间里大家都是口头相传，或者只是写 成应用手册，这本书的作用就是把这些智慧收集起来，稍作整理。在我们大学的课程里面，这些 内容都是没有相应课程的，因此，很多应用工程师在遇到这些问题的时候觉得很迷茫，不知该如 何下手。我们这本书就叫做“黑宝书”，它告诉了大家在高速数字电路设计中遇到这些问题应该 怎么去解决，他详细分析了这些问题产生的原因和过程。

一个基于MFC的Kalman滤波比较程序，简化版本。包含EKF，CKF，UKF，ICKF，FCKF等Kalman滤波算法，对学习和了解Kalman滤波算法有很大帮助，对研究Kalman滤波、数据融合、图像处理、雷达算法等领域的研究生、学者也有一定的借鉴意义。由于该程序是一个简化的版本，可能有错，请勿直接拿到项目中直接使用！不得用于任何商业用途，使用本程序时，说明出处即可自由使用！

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（1）按照实验要求设计简单ALU，能执行8种操作，分别为：1）加、减、增1、减1等4种8位算术运算；2）与、或、非、异或等4种8位逻辑运算。实现上，可以用一位M 作为进行算术运算或逻辑运算的控制位，M=0 时进行算术运算，M=1 时进行逻辑运算。另外用2位来表示4种操作。（2）实现一些基本的PSW标志位：1）进位/借位的输出标志位C；2) 运算结果为零的输出标志位Z；3) 运算结果为溢出的输出标志位V；4) 运算结果为负数的输出标志位N。（3）加减必须用最基本的1位全加器fa作为基础，可以采用直接由8次1位运算得到8位的操作；也可以先构造4位加法器，再进一步实现8位加减运

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