From c4c90dcad225f3b4b28e6b52bc6b50ec0bb13603 Mon Sep 17 00:00:00 2001 From: Damian Miralles Date: Mon, 18 Sep 2017 15:52:09 -0600 Subject: [PATCH] feature: Remove satellite position computation from GNAV Almanac Removes the satellite position computation from the GNAV Almanac object since it does not seems to be a great usage at the moment. Possible addition of the fields should be added to the RTKLib API --- .../system_parameters/glonass_gnav_almanac.cc | 119 ------------------ .../system_parameters/glonass_gnav_almanac.h | 27 +--- .../glonass_gnav_navigation_message.cc | 30 ++--- src/tests/test_main.cc | 1 - .../glonass_gnav_almanac_test.cc | 76 ----------- 5 files changed, 19 insertions(+), 234 deletions(-) delete mode 100644 src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc diff --git a/src/core/system_parameters/glonass_gnav_almanac.cc b/src/core/system_parameters/glonass_gnav_almanac.cc index 049d3a4c0..3b5ca7014 100644 --- a/src/core/system_parameters/glonass_gnav_almanac.cc +++ b/src/core/system_parameters/glonass_gnav_almanac.cc @@ -54,124 +54,5 @@ Glonass_Gnav_Almanac::Glonass_Gnav_Almanac() d_tau_n_A = 0.0; d_C_n = false; d_l_n = false; -} - -void Glonass_Gnav_Almanac::satellite_position(double N_A, double N_i, double t_i) -{ - double T_nom = 43200; // [seconds] - double i_nom = D2R*63.0; // [rad] - - double Delta_t = 0.0; - double i = 0.0; - double T = 0.0; - double n = 0.0; - double a = 0.0; - double lambda_dot = 0.0; - double omega_dot = 0.0; - double lambda = 0.0; - double omega = 0.0; - double E_P = 0.0; - double Delta_T = 0.0; - double M = 0.0; - double E = 0.0; - double E_old = 0.0; - double dE = 0.0; - - double e1_x = 0.0; - double e1_y = 0.0; - double e1_z = 0.0; - - double e2_x = 0.0; - double e2_y = 0.0; - double e2_z = 0.0; - // Compute time difference to reference time - Delta_t = (N_i - N_A) * 86400 + (t_i + d_t_lambda_n_A); - - // Compute the actual inclination - i = i_nom + d_Delta_i_n_A; - - // Compute the actual orbital period: - T = T_nom + d_Delta_T_n_A; - - // Compute the mean motion - n = 2*GLONASS_PI/T; - - // Compute the semi-major axis: - a = cbrt(GLONASS_GM/(n*n)); - - // Compute correction to longitude of ascending node - lambda_dot = -10*pow(GLONASS_SEMI_MAJOR_AXIS / a, 7/2)*D2R*cos(i)/86400; - - // Compute correction to argument of perigee - omega_dot = 5*pow(GLONASS_SEMI_MAJOR_AXIS / a, 7/2)*D2R*(5*cos(i)*cos(i) - 1)/86400; - - // Compute corrected longitude of ascending node: - lambda = d_lambda_n_A + (lambda_dot - GLONASS_OMEGA_EARTH_DOT)*Delta_t; - - // Compute corrected argument of perigee: - omega = d_omega_n_A + omega_dot*Delta_t; - - // Compute eccentric anomaly at point P: Note: P is that point of the orbit the true anomaly of which is identical to the argument of perigee. - E_P = 2*atan(tan((omega/2)*(sqrt((1 - d_epsilon_n_A)*(1 + d_epsilon_n_A))))); - - // Compute time difference to perigee passing - if (omega < GLONASS_PI) - { - Delta_T = (E_P - d_epsilon_n_A*sin(E_P))/n; - } - else - { - Delta_T = (E_P - d_epsilon_n_A*sin(E_P))/n + T; - } - - // Compute mean anomaly at epoch t_i: - M = n * (Delta_t - Delta_T); - - // Compute eccentric anomaly at epoch t_i. Note: Kepler’s equation has to be solved iteratively - - // Initial guess of eccentric anomaly - E = M; - - // --- Iteratively compute eccentric anomaly ---------------------------- - for (int ii = 1; ii < 20; ii++) - { - E_old = E; - E = M + d_epsilon_n_A * sin(E); - dE = fmod(E - E_old, 2.0 * GLONASS_PI); - if (fabs(dE) < 1e-12) - { - //Necessary precision is reached, exit from the loop - break; - } - } - - // Compute position in orbital coordinate system - d_satpos_Xo = a*cos(E) - d_epsilon_n_A; - d_satpos_Yo = a*sqrt(1 - d_epsilon_n_A*d_epsilon_n_A)*sin(E); - d_satpos_Zo = a*0; - - // Compute velocity in orbital coordinate system - d_satvel_Xo = a/(1-d_epsilon_n_A*cos(E))*(-n*sin(E)); - d_satvel_Yo = a/(1-d_epsilon_n_A*cos(E))*(n*sqrt(1 - d_epsilon_n_A*d_epsilon_n_A)*cos(E)); - d_satvel_Zo = a/(1-d_epsilon_n_A*cos(E))*(0); - - // Determine orientation vectors of orbital coordinate system in ECEF system - e1_x = cos(omega)*cos(lambda) - sin(omega)*sin(lambda); - e1_y = cos(omega)*sin(lambda) + sin(omega)*cos(lambda)*cos(i); - e1_z = sin(omega)*sin(i); - - e2_x = -sin(omega)*cos(lambda) - sin(omega)*sin(lambda)*cos(i); - e2_y = -sin(omega)*sin(lambda) + cos(omega)*cos(lambda)*cos(i); - e2_z = cos(omega)*sin(i); - - // Convert position from orbital to ECEF system - d_satpos_X = d_satpos_Xo*e1_x + d_satpos_Xo*e2_x; - d_satpos_Y = d_satpos_Yo*e1_z + d_satpos_Yo*e2_y; - d_satpos_Z = d_satpos_Zo*e1_z + d_satpos_Zo*e2_z; - - // Convert position from orbital to ECEF system - d_satvel_X = d_satvel_Xo*e1_x + d_satvel_Xo*e2_x + GLONASS_OMEGA_EARTH_DOT*d_satpos_Y; - d_satvel_Y = d_satvel_Yo*e1_z + d_satvel_Yo*e2_y - GLONASS_OMEGA_EARTH_DOT*d_satpos_X; - d_satvel_Z = d_satvel_Zo*e1_z + d_satvel_Zo*e2_z; } diff --git a/src/core/system_parameters/glonass_gnav_almanac.h b/src/core/system_parameters/glonass_gnav_almanac.h index 3012708dd..3fc255118 100644 --- a/src/core/system_parameters/glonass_gnav_almanac.h +++ b/src/core/system_parameters/glonass_gnav_almanac.h @@ -49,13 +49,13 @@ class Glonass_Gnav_Almanac public: double d_n_A; //!< Conventional number of satellite within GLONASS space segment [dimensionless] double d_H_n_A; //!< Carrier frequency number of navigation RF signal transmitted by d_nA satellite as table 4.10 (0-31) [dimensionless] - double d_lambda_n_A; //!< Longitude of the first (within the d_NA day) ascending node of d_nA [semi-circles] + double d_lambda_n_A; //!< Longitude of the first (within the d_NA day) ascending node of d_nA [radians] double d_t_lambda_n_A; //!< Time of first ascending node passage [s] - double d_Delta_i_n_A; //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [semi-circles] - double d_Delta_T_n_A; //!< Correction to the mean value of Draconian period of d_n_A satellite at instant t_lambda_n_A[s / orbital period] + double d_Delta_i_n_A; //!< Correction of the mean value of inclination of d_n_A satellite at instant t_lambda_n_A [radians] + double d_Delta_T_n_A; //!< Correction to the mean value of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period] double d_Delta_T_n_A_dot; //!< Rate of change of Draconian period of d_n_A satellite at instant t_lambda_n_A [s / orbital period^2] double d_epsilon_n_A; //!< Eccentricity of d_n_A satellite at instant t_lambda_n_A [dimensionless] - double d_omega_n_A; //!< Argument of preigree of d_n_A satellite at instant t_lambdan_A [semi-circles] + double d_omega_n_A; //!< Argument of perigee of d_n_A satellite at instant t_lambdan_A [radians] double d_M_n_A; //!< Type of satellite n_A [dimensionless] double d_KP; //!< Notification on forthcoming leap second correction of UTC [dimensionless] double d_tau_n_A; //!< Coarse value of d_n_A satellite time correction to GLONASS time at instant t_lambdan_A[s] @@ -67,24 +67,6 @@ public: unsigned int i_satellite_PRN; //!< SV PRN Number, equivalent to slot number for compatibility with GPS unsigned int i_satellite_slot_number; //!< SV Slot Number - // satellite positions - double d_satpos_Xo; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km]. - double d_satpos_Yo; //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km] - double d_satpos_Zo; //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km] - // Satellite velocity - double d_satvel_Xo; //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s] - double d_satvel_Yo; //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s] - double d_satvel_Zo; //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s] - - // satellite positions - double d_satpos_X; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km]. - double d_satpos_Y; //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km] - double d_satpos_Z; //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km] - // Satellite velocity - double d_satvel_X; //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s] - double d_satvel_Y; //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s] - double d_satvel_Z; //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s] - template /*! * \brief Serialize is a boost standard method to be called by the boost XML serialization. Here is used to save the almanac data on disk file. @@ -113,7 +95,6 @@ public: archive & make_nvp("d_l_n", d_l_n); } - void satellite_position(double N_A, double N_i, double t_i); /*! * Default constructor */ diff --git a/src/core/system_parameters/glonass_gnav_navigation_message.cc b/src/core/system_parameters/glonass_gnav_navigation_message.cc index f7d3bae4a..d37f5e796 100644 --- a/src/core/system_parameters/glonass_gnav_navigation_message.cc +++ b/src/core/system_parameters/glonass_gnav_navigation_message.cc @@ -470,8 +470,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string) gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast(read_navigation_unsigned(string_bits, n_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18; - gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20; - gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20; + gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI; + gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI; gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20; flag_almanac_str_6 = true; @@ -482,7 +482,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string) // --- It is string 7 ---------------------------------------------- if (flag_almanac_str_6 == true) { - gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15; + gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI; gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14; @@ -515,8 +515,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string) gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast(read_navigation_unsigned(string_bits, n_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18; - gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20; - gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20; + gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI; + gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI; gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20; flag_almanac_str_8 = true; @@ -526,7 +526,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string) // --- It is string 9 ---------------------------------------------- if (flag_almanac_str_8 == true) { - gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15; + gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI; gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14; @@ -553,8 +553,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string) gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast(read_navigation_unsigned(string_bits, n_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18; - gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20; - gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20; + gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI; + gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI; gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20; flag_almanac_str_10 = true; @@ -565,7 +565,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string) // --- It is string 11 --------------------------------------------- if (flag_almanac_str_10 == true) { - gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15; + gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI; gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14; @@ -592,8 +592,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string) gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast(read_navigation_unsigned(string_bits, n_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18; - gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20; - gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20; + gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI; + gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI; gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20; flag_almanac_str_12 = true; @@ -604,7 +604,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string) // --- It is string 13 --------------------------------------------- if (flag_almanac_str_12 == true) { - gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15; + gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI; gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14; @@ -638,8 +638,8 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string) gnav_almanac[i_alm_satellite_slot_number - 1].d_M_n_A = static_cast(read_navigation_unsigned(string_bits, M_N_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast(read_navigation_unsigned(string_bits, n_A)); gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18; - gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20; - gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20; + gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast(read_navigation_signed(string_bits, LAMBDA_N_A)) * TWO_N20 * GLONASS_PI; + gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_i_n_A = static_cast(read_navigation_signed(string_bits, DELTA_I_N_A)) * TWO_N20 * GLONASS_PI; gnav_almanac[i_alm_satellite_slot_number - 1].d_epsilon_n_A = static_cast(read_navigation_unsigned(string_bits, EPSILON_N_A)) * TWO_N20; flag_almanac_str_14 = true; @@ -651,7 +651,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(std::string frame_string) case 15: // --- It is string 9 ---------------------------------------------- if (d_frame_ID != 5 and flag_almanac_str_14 == true) { - gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15; + gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15 * GLONASS_PI; gnav_almanac[i_alm_satellite_slot_number - 1].d_t_lambda_n_A = static_cast(read_navigation_unsigned(string_bits, T_LAMBDA_N_A)) * TWO_N5; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A = static_cast(read_navigation_signed(string_bits, DELTA_T_N_A)) * TWO_N9; gnav_almanac[i_alm_satellite_slot_number - 1].d_Delta_T_n_A_dot = static_cast(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14; diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc index 548b2d4e9..d0a8e0c1c 100644 --- a/src/tests/test_main.cc +++ b/src/tests/test_main.cc @@ -145,7 +145,6 @@ DECLARE_string(log_dir); #endif #include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc" -#include "unit-tests/system-parameters/glonass_gnav_almanac_test.cc" #include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc" // For GPS NAVIGATION (L1) diff --git a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc b/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc deleted file mode 100644 index b53a4da38..000000000 --- a/src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc +++ /dev/null @@ -1,76 +0,0 @@ -/*! - * \file code_generation_test.cc - * \note Code added as part of GSoC 2017 program - * \author Damian Miralles, 2017. dmiralles2009(at)gmail.com - * \see GLONASS ICD - * - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) - * - * GNSS-SDR is a software defined Global Navigation - * Satellite Systems receiver - * - * This file is part of GNSS-SDR. - * - * GNSS-SDR is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * GNSS-SDR is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with GNSS-SDR. If not, see . - * - * ------------------------------------------------------------------------- - */ - - -#include -#include -#include "gps_sdr_signal_processing.h" -#include "gnss_signal_processing.h" - -#include -#include -#include "gnss_signal_processing.h" -#include "glonass_gnav_almanac.h" - -// See A 3.2.3 -TEST(GlonassGnavAlmanacTest, SatellitePosition) -{ - double N_i = 615; // [days] - 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 Vyoi = -0.161453; // [Кm/s] - double Vzoi = 2.060844; // [Кm/s] - double N_A = 615; // [days] - - Glonass_Gnav_Almanac gnav_almanac; - - - gnav_almanac.d_lambda_n_A = -0.189986229; // [half cycles] - gnav_almanac.d_t_lambda_n_A = 27122.09375; // [second] - gnav_almanac.d_Delta_i_n_A = 0.011929512; // [half cycle] - gnav_almanac.d_Delta_T_n_A = -2655.76171875; // [seconds] - gnav_almanac.d_Delta_T_n_A_dot = 0.000549316; // [Secjnds/cycle2] - gnav_almanac.d_epsilon_n_A = 0.001482010; // [unitless] - gnav_almanac.d_omega_n_A = 0.440277100; // [Half cycle] - - gnav_almanac.satellite_position(N_A, N_i, t_i); - - //ASSERT_TRUE(gnav_almanac.d_satpos_Xo - Xoi < DBL_EPSILON ); - //ASSERT_TRUE(gnav_almanac.d_satpos_Yo - Yoi < DBL_EPSILON ); - //ASSERT_TRUE(gnav_almanac.d_satpos_Zo - Zoi < DBL_EPSILON ); - //ASSERT_TRUE(gnav_almanac.d_satvel_Xo - Vxoi < DBL_EPSILON ); - //ASSERT_TRUE(gnav_almanac.d_satvel_Yo - Vyoi < DBL_EPSILON ); - //ASSERT_TRUE(gnav_almanac.d_satvel_Zo - Vzoi < DBL_EPSILON ); -}