mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-01-18 05:03:01 +00:00
Fixing compile warnings and adding work on unit test
This commit is contained in:
Damian Miralles
Damian Miralles
parent
50f133e960
commit
8a0689fbb1
@ -178,7 +178,10 @@ const std::vector<std::pair<int,int>> T_LAMBDA_N_A({{22,21}});
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const std::vector<std::pair<int,int>> DELTA_T_N_A({{43,22}});
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const std::vector<std::pair<int,int>> DELTA_T_DOT_N_A({{65,7}});
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const std::vector<std::pair<int,int>> H_N_A({{72,5}});
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//const std::vector<std::pair<int,int>> L_N({{77,1}});
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// STRING 14 FRAME 5
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const std::vector<std::pair<int,int>> B1({{6,11}});
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const std::vector<std::pair<int,int>> B2({{17,10}});
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#endif /* GNSS_SDR_GLONASS_L1_CA_H_ */
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@ -52,7 +52,7 @@ Glonass_Gnav_Almanac::Glonass_Gnav_Almanac()
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d_M_n_A = 0.0;
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d_KP = 0.0;
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d_tau_n_A = 0.0;
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d_C_n_A = 0.0;
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d_C_n = 0.0;
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}
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void Glonass_Gnav_Almanac::satellite_position(double N_i, double t_i)
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@ -62,7 +62,7 @@ public:
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double d_M_n_A; //!< Type of satellite n_A [dimensionless]
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double d_KP; //!< Notification on forthcoming leap second correction of UTC [dimensionless]
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double d_tau_n_A; //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant t_lambdan_A[s]
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double d_C_n_A; //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
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double d_C_n; //!< Generalized “unhealthy flag” of n_A satellite at instant of almanac upload [dimensionless]
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// satellite positions
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double d_satpos_Xo; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
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@ -108,7 +108,7 @@ public:
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archive & make_nvp("d_M_n_A", d_M_n_A);
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archive & make_nvp("d_KP", d_KP);
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archive & make_nvp("d_tau_n_A", d_tau_n_A);
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archive & make_nvp("d_C_n_A", d_C_n_A);
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archive & make_nvp("d_C_n", d_C_n);
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}
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void satellite_position(double N_i, double t_i);
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@ -32,6 +32,7 @@ m * \file glonass_gnav_navigation_message.cc
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#include "glonass_gnav_navigation_message.h"
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#include <cmath>
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#include <iostream>
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#include <sstream>
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#include <gnss_satellite.h>
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@ -103,7 +104,7 @@ Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
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}
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bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> data_bits, std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code_bits )
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bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits)
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{
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int sum_bits;
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int sum_hamming;
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@ -115,66 +116,75 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
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int C6 = 0;
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int C7 = 0;
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int C_Sigma = 0;
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std::bitset<GLONASS_GNAV_STRING_BITS> data = std::bitset<GLONASS_GNAV_STRING_BITS>(bits.to_string(), 0, 77);
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std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code = std::bitset<GLONASS_GNAV_STRING_BITS>(bits.to_string(), 77, 8);
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std::istringstream dsb = std::istringstream( data.to_string() );
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std::istringstream hcb = std::istringstream( hamming_code.to_string() );
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std::vector<int> data_bits = std::vector<int>( std::istream_iterator<int>( dsb ), std::istream_iterator<int>() );
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std::vector<int> hamming_code_bits = std::vector<int>( std::istream_iterator<int>( dsb ), std::istream_iterator<int>() );
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//!< Compute C1 term
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sum_bits = 0;
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for(int i = 0; i < GLONASS_GNAV_CRC_I_INDEX.size(); i++)
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for(int i = 0; i < static_cast<int>(GLONASS_GNAV_CRC_I_INDEX.size()); i++)
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{
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sum_bits += static_cast<int>(data_bits[GLONASS_GNAV_CRC_I_INDEX[i]]);
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sum_bits += data_bits[GLONASS_GNAV_CRC_I_INDEX[i]];
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}
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C1 = static_cast<int>(hamming_code_bits[0])^static_cast<int>(fmod(sum_bits,2));
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C1 = hamming_code_bits[0]^(sum_bits%2);
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//!< Compute C2 term
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sum_bits = 0;
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for(int j = 0; j < GLONASS_GNAV_CRC_J_INDEX.size(); j++)
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for(int j = 0; j < static_cast<int>(GLONASS_GNAV_CRC_J_INDEX.size()); j++)
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{
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sum_bits += static_cast<int>data_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
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sum_bits += data_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
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}
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C2 = static_cast<int>(hamming_code_bits[1])^static_cast<int>(fmod(sum_bits,2));
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C2 = (hamming_code_bits[1])^(sum_bits%2);
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//!< Compute C3 term
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sum_bits = 0;
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for(int k = 0; k < GLONASS_GNAV_CRC_K_INDEX.size(); k++)
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for(int k = 0; k < static_cast<int>(GLONASS_GNAV_CRC_K_INDEX.size()); k++)
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{
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sum_bits += data_bits[GLONASS_GNAV_CRC_K_INDEX[k]];
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}
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C3 = hamming_code_bits[2]^fmod(sum_bits,2);
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C3 = hamming_code_bits[2]^(sum_bits%2);
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//!< Compute C4 term
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sum_bits = 0;
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for(int l = 0; l < GLONASS_GNAV_CRC_L_INDEX.size(); l++)
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for(int l = 0; l < static_cast<int>(GLONASS_GNAV_CRC_L_INDEX.size()); l++)
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{
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sum_bits += data_bits[GLONASS_GNAV_CRC_L_INDEX[l]];
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}
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C4 = hamming_code_bits[3]^fmod(sum_bits,2);
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C4 = hamming_code_bits[3]^(sum_bits%2);
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//!< Compute C5 term
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sum_bits = 0;
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for(int m = 0; m < GLONASS_GNAV_CRC_M_INDEX.size(); m++)
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for(int m = 0; m < static_cast<int>(GLONASS_GNAV_CRC_M_INDEX.size()); m++)
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{
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sum_bits += data_bits[GLONASS_GNAV_CRC_M_INDEX[m]];
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}
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C5 = hamming_code_bits[4]^fmod(sum_bits,2);
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C5 = hamming_code_bits[4]^(sum_bits%2);
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//!< Compute C6 term
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sum_bits = 0;
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for(int n = 0; n < GLONASS_GNAV_CRC_N_INDEX.size(); n++)
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for(int n = 0; n < static_cast<int>(GLONASS_GNAV_CRC_N_INDEX.size()); n++)
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{
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sum_bits += data_bits[GLONASS_GNAV_CRC_N_INDEX[n]];
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}
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C6 = hamming_code_bits[5]^fmod(sum_bits,2);
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C6 = hamming_code_bits[5]^(sum_bits%2);
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//!< Compute C7 term
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sum_bits = 0;
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for(int p = 0; p < GLONASS_GNAV_CRC_P_INDEX.size(); p++)
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for(int p = 0; p < static_cast<int>(GLONASS_GNAV_CRC_P_INDEX.size()); p++)
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{
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sum_bits += data_bits[GLONASS_GNAV_CRC_P_INDEX[p]];
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}
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C7 = hamming_code_bits[6]^fmod(sum_bits,2);
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C7 = hamming_code_bits[6]^(sum_bits%2);
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//!< Compute C_Sigma term
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sum_bits = 0;
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sum_hamming = 0;
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for(int q = 0; q < GLONASS_GNAV_CRC_Q_INDEX.size(); q++)
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for(int q = 0; q < static_cast<int>(GLONASS_GNAV_CRC_Q_INDEX.size()); q++)
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{
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sum_bits += data_bits[GLONASS_GNAV_CRC_Q_INDEX[q]];
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}
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@ -182,7 +192,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
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{
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sum_hamming += hamming_code_bits[q];
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}
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C_Sigma = fmod(sum_bits, 2)^fmod(sum_bits,2);
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C_Sigma = (sum_hamming%2)^(sum_bits%2);
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//!< Verification of the data
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@ -338,12 +348,11 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
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int frame_ID = 0;
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// UNPACK BYTES TO BITS AND REMOVE THE CRC REDUNDANCE
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std::bitset<GLONASS_GNAV_STRING_BITS> string_bits(std::string(frame_string));
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std::bitset<GLONASS_GNAV_STRING_BITS> data_bits(std::string(frame_string), 0, 77);
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std::bitset<GLONASS_GNAV_STRING_BITS> hamming_code_bits(std::string(frame_string), 77, 8);
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std::bitset<GLONASS_GNAV_STRING_BITS> string_bits = std::bitset<GLONASS_GNAV_STRING_BITS>(std::string(frame_string));
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string_ID = static_cast<int>(read_navigation_unsigned(string_bits, STRING_ID));
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_CRC_test(string_bits);
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// Decode all 15 string messages
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switch (string_ID)
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{
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@ -355,6 +364,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
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gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT));
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gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N));
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flag_ephemeris_str_1 = true;
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break;
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case 2:
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@ -366,6 +377,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
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gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT));
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gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, Y_N));
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flag_ephemeris_str_2 = true;
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break;
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case 3:
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@ -378,6 +391,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
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gnav_ephemeris.d_AZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT_DOT));
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gnav_ephemeris.d_Zn = static_cast<double>(read_navigation_signed(string_bits, Z_N));
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flag_ephemeris_str_3 = true;
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break;
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case 4:
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@ -392,25 +407,27 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
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gnav_ephemeris.d_n = static_cast<double>(read_navigation_unsigned(string_bits, N));
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gnav_ephemeris.d_M = static_cast<double>(read_navigation_unsigned(string_bits, M));
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flag_ephemeris_str_4 = true;
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break;
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case 5:
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// --- It is string 5 ----------------------------------------------
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// TODO signed vs unsigned reading from datasheet
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d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
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d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
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d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
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d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
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gnav_utc_model.d_N_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
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gnav_utc_model.d_N_4 = static_cast<double>(read_navigation_unsigned(string_bits, N_4));
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gnav_utc_model.d_tau_c = static_cast<double>(read_navigation_unsigned(string_bits, TAU_C));
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gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
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break;
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case 6:
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// --- It is string 6 ----------------------------------------------
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// TODO signed vs unsigned reading from datasheet
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i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
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gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
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gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
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@ -432,7 +449,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
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gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
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gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
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flag_almanac_str_7 = true;
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}
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@ -442,8 +459,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
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case 8:
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// --- It is string 8 ----------------------------------------------
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// TODO signed vs unsigned reading from datasheet
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i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
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i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
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gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
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@ -465,15 +482,15 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
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gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
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gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
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flag_almanac_str_9 = true;
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}
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case 10:
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// --- It is string 8 ----------------------------------------------
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// TODO signed vs unsigned reading from datasheet
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i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
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i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
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gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
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@ -495,7 +512,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
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gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
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gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
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flag_almanac_str_11 = true;
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}
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@ -503,8 +520,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
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case 12:
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// --- It is string 8 ----------------------------------------------
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// TODO signed vs unsigned reading from datasheet
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i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
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i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
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gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
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gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
|
||||
@ -526,7 +543,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
|
||||
gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
|
||||
|
||||
flag_almanac_str_13 = true;
|
||||
}
|
||||
@ -534,14 +551,14 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
|
||||
// --- It is string 8 ----------------------------------------------
|
||||
if( frame_number == 5)
|
||||
{
|
||||
gnav_utc_model.B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
|
||||
gnav_utc_model.B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
|
||||
gnav_utc_model.d_B1 = static_cast<double>(read_navigation_unsigned(string_bits, B1));
|
||||
gnav_utc_model.d_B2 = static_cast<double>(read_navigation_unsigned(string_bits, B2));
|
||||
}
|
||||
else
|
||||
{
|
||||
// TODO signed vs unsigned reading from datasheet
|
||||
i_satellite_slot_number = = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_C_N = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
|
||||
i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_C_n = static_cast<double>(read_navigation_unsigned(string_bits, C_N));
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_M_n_A = static_cast<double>(read_navigation_unsigned(string_bits, M_N_A));
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, N_A));
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A));
|
||||
@ -565,7 +582,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_N_A));
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast<double>(read_navigation_unsigned(string_bits, DELTA_T_DOT_N_A));
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_H_n_A = static_cast<double>(read_navigation_unsigned(string_bits, H_N_A));
|
||||
gnav_almanac[i_satellite_slot_number - 1].d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
|
||||
gnav_ephemeris.d_l_n = static_cast<double>(read_navigation_unsigned(string_bits, ALM_L_N));
|
||||
|
||||
flag_almanac_str_15 = true;
|
||||
}
|
||||
@ -573,7 +590,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
|
||||
break;
|
||||
} // switch subframeID ...
|
||||
|
||||
return subframe_ID;
|
||||
return frame_ID;
|
||||
}
|
||||
|
||||
|
||||
@ -581,7 +598,7 @@ double Glonass_Gnav_Navigation_Message::utc_time(const double glonass_time_corre
|
||||
{
|
||||
double t_utc;
|
||||
|
||||
t_utc = glonass_time_corrected + 3*3600 + d_tau_c;
|
||||
t_utc = glonass_time_corrected + 3*3600 + gnav_utc_model.d_tau_c;
|
||||
return t_utc;
|
||||
}
|
||||
|
||||
@ -598,43 +615,29 @@ Glonass_Gnav_Utc_Model Glonass_Gnav_Navigation_Message::get_utc_model()
|
||||
}
|
||||
|
||||
|
||||
Glonass_Gnav_Almanac get_almanac()
|
||||
Glonass_Gnav_Almanac Glonass_Gnav_Navigation_Message::get_almanac( int satellite_slot_number)
|
||||
{
|
||||
return gnav_almanac;
|
||||
return gnav_almanac[satellite_slot_number - 1];
|
||||
}
|
||||
|
||||
|
||||
bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
|
||||
{
|
||||
bool flag_data_valid = false;
|
||||
b_valid_ephemeris_set_flag = false;
|
||||
|
||||
// First Step:
|
||||
// check Issue Of Ephemeris Data (IODE IODC..) to find a possible interrupted reception
|
||||
// and check if the data have been filled (!=0)
|
||||
if (d_TOW_F1 != 0 and d_TOW_F2 != 0 and d_TOW_F3 != 0)
|
||||
{
|
||||
if (d_IODE_SF2 == d_IODE_SF3 and d_IODC == d_IODE_SF2 and d_IODC!= -1)
|
||||
{
|
||||
flag_data_valid = true;
|
||||
b_valid_ephemeris_set_flag = true;
|
||||
}
|
||||
}
|
||||
|
||||
bool b_valid_ephemeris_set_flag = false;
|
||||
|
||||
if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true))
|
||||
{
|
||||
//if all ephemeris pages have the same IOD, then they belong to the same block
|
||||
if ((gnav_ephemeris.d_t_b == IOD_nav_2) and (IOD_nav_3 == IOD_nav_4) and (IOD_nav_1 == IOD_nav_3))
|
||||
if ((gnav_ephemeris.d_t_b == 0) )
|
||||
{
|
||||
std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
|
||||
flag_ephemeris_str_1 = false;// clear the flag
|
||||
flag_ephemeris_str_2 = false;// clear the flag
|
||||
flag_ephemeris_str_3 = false;// clear the flag
|
||||
flag_ephemeris_str_4 = false;// clear the flag
|
||||
flag_all_ephemeris = true;
|
||||
IOD_ephemeris = IOD_nav_1;
|
||||
std::cout << "Batch number: "<< IOD_ephemeris << std::endl;
|
||||
// std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
|
||||
// std::cout << "Batch number: "<< IOD_ephemeris << std::endl;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
@ -649,6 +652,7 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
|
||||
|
||||
bool Glonass_Gnav_Navigation_Message::have_new_utc_model() // Check if we have a new utc data set stored in the galileo navigation class
|
||||
{
|
||||
bool flag_utc_model = true;
|
||||
if (flag_utc_model == true)
|
||||
{
|
||||
flag_utc_model = false; // clear the flag
|
||||
|
||||
@ -58,7 +58,7 @@ private:
|
||||
unsigned long int read_navigation_unsigned(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
|
||||
signed long int read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
|
||||
bool read_navigation_bool(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
|
||||
bool _CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits, std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code);
|
||||
bool _CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits);
|
||||
|
||||
unsigned int get_frame_number(unsigned int satellite_slot_number);
|
||||
|
||||
@ -135,7 +135,7 @@ public:
|
||||
/*
|
||||
* \brief Returns a Galileo_Almanac object filled with the latest navigation data received
|
||||
*/
|
||||
Glonass_Gnav_Almanac get_almanac();
|
||||
Glonass_Gnav_Almanac get_almanac(int satellite_slot_number);
|
||||
|
||||
/*
|
||||
* \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
|
||||
|
||||
@ -61,7 +61,6 @@
|
||||
|
||||
#include "glonass_gnav_ephemeris.h"
|
||||
#include "glonass_gnav_almanac.h"
|
||||
#include "glonass_gnav_iono.h"
|
||||
#include "glonass_gnav_utc_model.h"
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
@ -43,18 +43,18 @@
|
||||
#include "glonass_gnav_almanac.h"
|
||||
|
||||
// See A 3.2.3
|
||||
TEST(GlonassGnavEphemerisTest, SatellitePosition)
|
||||
TEST(GlonassGnavAlmanacTest, SatellitePosition)
|
||||
{
|
||||
double N_i = 615; // [days]
|
||||
double t_i = 33300.0 // [seconds]
|
||||
double t_i = 33300.0; // [seconds]
|
||||
double Xoi = 10947.021572; // [km]
|
||||
double Yoi = 13078.978287; // [km]
|
||||
double Zoi = 18922.063362; // [km]
|
||||
double Vxoi = -3.375497 // [m/s]
|
||||
double Vxoi = -3.375497; // [m/s]
|
||||
double Vyoi = -0.161453; // [Кm/s]
|
||||
double Vzoi = 2.060844; // [Кm/s]
|
||||
|
||||
Glonass_Gnav_Ephemeris gnav_almanac;
|
||||
Glonass_Gnav_Almanac gnav_almanac;
|
||||
|
||||
gnav_almanac.d_N_A = 615; // [days]
|
||||
gnav_almanac.d_lambda_n_A = -0.189986229; // [half cycles]
|
||||
|
||||
Loading…
Reference in New Issue
Block a user