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GnssEphemerisPosVelTest: add BeiDou GEO/IGSO tests

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Signed-off-by: Vladslav P <vladisslav2011@gmail.com>
This commit is contained in:
Vladslav P
2026-08-08 14:11:08 +03:00
parent 5e5f190a19
commit 55fcdea42a
1 changed files with 143 additions and 1 deletions
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tests/unit-tests/system-parameters/gnss_ephemeris_posvel_test.cc
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@@ -246,7 +246,7 @@ TEST(GnssEphemerisPosVelTest, Galileo)
}
TEST(GnssEphemerisPosVelTest, DNAV)
TEST(GnssEphemerisPosVelTest, DNAV_MEO)
{
Beidou_Dnav_Ephemeris e{};
e.PRN = 41;
@@ -315,3 +315,145 @@ TEST(GnssEphemerisPosVelTest, DNAV)
EXPECT_NEAR(d_Y, satvel_Y, 1e-4);
EXPECT_NEAR(d_Z, satvel_Z, 1e-4);
}
TEST(GnssEphemerisPosVelTest, DNAV_GEO)
{
Beidou_Dnav_Ephemeris e{};
e.PRN = 2;
e.M_0 = -2.61675466105504029e+00;
e.delta_n = -7.00743474492716572e-10;
e.ecc = 2.27454933337867233e-04;
e.sqrtA = 6.49340903472900391e+03;
e.OMEGA_0 = 2.11101911340236281e+00;
e.i_0 = 1.37762755606023468e-01;
e.omega = 9.72540339237386253e-01;
e.OMEGAdot = 1.84186243524920458e-09;
e.idot = 6.45384025692323640e-10;
e.Cuc = -1.65463425219058990e-05;
e.Cus = 5.06918877363204956e-06;
e.Crc = -1.57140625000000000e+02;
e.Crs = -5.02812500000000000e+02;
e.Cic = -1.56462192535400391e-07;
e.Cis = -8.52160155773162842e-08;
e.toe = 590400;
e.toc = 590400;
e.af0 = 6.37955963611602651e-08;
e.af1 = -1.06581410364015028e-13;
e.af2 = 0.00000000000000000e+00;
e.WN = 1072;
e.tow = 591357;
e.satClkDrift = 0.00000000000000000e+00;
e.dtr = 0.00000000000000000e+00;
e.AODE = 1.00000000000000000e+00;
e.SV_accuracy = 0;
e.SV_health = 0;
e.AODC = 1.00000000000000000e+00;
e.TGD1 = 4.73000000000000000e-08;
e.TGD2 = 4.73000000000000000e-08;
e.sig_type = 1;
e.nav_type = 2;
e.AODO = 0;
e.fit_interval_flag = 0;
e.spare1 = 0.00000000000000000e+00;
e.spare2 = 0.00000000000000000e+00;
e.integrity_status_flag = 0;
e.alert_flag = 0;
e.antispoofing_flag = 0;
auto dopplerL1 = e.predicted_doppler(591000., 0., 0., 0., 0., 0., 0., 1);
auto dopplerL3 = e.predicted_doppler(591000., 0., 0., 0., 0., 0., 0., 3);
e.satellitePosition(591000.);
EXPECT_NEAR(-0.468139, dopplerL1, 1e-4);
EXPECT_NEAR(-0.380402, dopplerL3, 1e-4);
EXPECT_NEAR(7282284.6601, e.satpos_X, 1e-4);
EXPECT_NEAR(41483008.42595, e.satpos_Y, 1e-4);
EXPECT_NEAR(-2157310.914266, e.satpos_Z, 1e-4);
EXPECT_NEAR(-2.581621, e.satvel_X, 1e-4);
EXPECT_NEAR(1.305572, e.satvel_Y, 1e-4);
EXPECT_NEAR(22.291453, e.satvel_Z, 1e-4);
double satvel_X = e.satvel_X;
double satvel_Y = e.satvel_Y;
double satvel_Z = e.satvel_Z;
e.satellitePosition(590999.995);
double satpos_X = e.satpos_X;
double satpos_Y = e.satpos_Y;
double satpos_Z = e.satpos_Z;
e.satellitePosition(591000.005);
double d_X = (e.satpos_X - satpos_X) * 100.;
double d_Y = (e.satpos_Y - satpos_Y) * 100.;
double d_Z = (e.satpos_Z - satpos_Z) * 100.;
EXPECT_NEAR(d_X, satvel_X, 1e-4);
EXPECT_NEAR(d_Y, satvel_Y, 1e-4);
EXPECT_NEAR(d_Z, satvel_Z, 1e-4);
}
TEST(GnssEphemerisPosVelTest, DNAV_IGSO)
{
Beidou_Dnav_Ephemeris e{};
e.PRN = 8;
e.M_0 = -1.96010426198161447e+00;
e.delta_n = 6.03239413057185651e-10;
e.ecc = 4.62797412183135661e-03;
e.sqrtA = 6.49328671455383301e+03;
e.OMEGA_0 = -2.84366631754490673e-01;
e.i_0 = 9.55790891292791489e-01;
e.omega = -2.88036029820220163e+00;
e.OMEGAdot = -1.47756154636919916e-09;
e.idot = -3.91802034413104032e-10;
e.Cuc = 1.69612467288970947e-05;
e.Cus = 1.32843852043151855e-05;
e.Crc = -1.54000000000000000e+02;
e.Crs = 5.17625000000000000e+02;
e.Cic = -1.99768692255020142e-07;
e.Cis = -7.77654349803924561e-08;
e.toe = 590400;
e.toc = 590400;
e.af0 = -2.52385274507105296e-04;
e.af1 = -3.34754446384977200e-12;
e.af2 = 0.00000000000000000e+00;
e.WN = 1072;
e.tow = 591342;
e.satClkDrift = 0.00000000000000000e+00;
e.dtr = 0.00000000000000000e+00;
e.AODE = 1.00000000000000000e+00;
e.SV_accuracy = 0;
e.SV_health = 0;
e.AODC = 1.00000000000000000e+00;
e.TGD1 = 8.99999999999999994e-10;
e.TGD2 = 8.99999999999999994e-10;
e.sig_type = 1;
e.nav_type = 1;
e.AODO = 0;
e.fit_interval_flag = 0;
e.spare1 = 0.00000000000000000e+00;
e.spare2 = 0.00000000000000000e+00;
e.integrity_status_flag = 0;
e.alert_flag = 0;
e.antispoofing_flag = 0;
auto dopplerL1 = e.predicted_doppler(591000., 0., 100., 0., 0., 0., 0., 1);
auto dopplerL3 = e.predicted_doppler(591000., 0., 100., 0., 0., 0., 0., 3);
e.satellitePosition(591000.);
EXPECT_NEAR(-478.907311, dopplerL1, 1e-4);
EXPECT_NEAR(-389.151419, dopplerL3, 1e-4);
EXPECT_NEAR(-10494445.564195, e.satpos_X, 1e-4);
EXPECT_NEAR(22221395.784030, e.satpos_Y, 1e-4);
EXPECT_NEAR(34342997.780007, e.satpos_Z, 1e-4);
EXPECT_NEAR(-989.313135, e.satvel_X, 1e-4);
EXPECT_NEAR(-835.796243, e.satvel_Y, 1e-4);
EXPECT_NEAR(221.987047, e.satvel_Z, 1e-4);
double satvel_X = e.satvel_X;
double satvel_Y = e.satvel_Y;
double satvel_Z = e.satvel_Z;
e.satellitePosition(590999.995);
double satpos_X = e.satpos_X;
double satpos_Y = e.satpos_Y;
double satpos_Z = e.satpos_Z;
e.satellitePosition(591000.005);
double d_X = (e.satpos_X - satpos_X) * 100.;
double d_Y = (e.satpos_Y - satpos_Y) * 100.;
double d_Z = (e.satpos_Z - satpos_Z) * 100.;
EXPECT_NEAR(d_X, satvel_X, 1e-4);
EXPECT_NEAR(d_Y, satvel_Y, 1e-4);
EXPECT_NEAR(d_Z, satvel_Z, 1e-4);
}