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Wrong decoding of GLONASS navigation message parameter P1 in string #1

This commit is contained in:
Alexander V. Joura 2022-08-15 19:25:13 +03:00
parent da120cfa22
commit cd843787c8
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GPG Key ID: 0A54C128A9C89772
4 changed files with 14 additions and 11 deletions
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9
src/algorithms/PVT/libs/rtcm.cc
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@ -1873,8 +1873,8 @@ int32_t Rtcm::read_MT1020(const std::string& message, Glonass_Gnav_Ephemeris& gl
{
} // Avoid compiler warning
glonass_gnav_eph.d_P_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
glonass_gnav_eph.d_P_1 = (glonass_gnav_eph.d_P_1 + 1) * 15;
uint32_t P_1_tmp = Rtcm::bin_to_uint(message_bin.substr(index, 2));
glonass_gnav_eph.d_P_1 = (P_1_tmp == 0) ? 0. : (P_1_tmp + 1) * 15;
index += 2;
glonass_gnav_eph.d_t_k += static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 5))) * 3600;
@ -5102,8 +5102,9 @@ int32_t Rtcm::set_DF105(uint32_t glonass_gnav_alm_health_ind)
int32_t Rtcm::set_DF106(const Glonass_Gnav_Ephemeris& glonass_gnav_eph)
{
// Convert the value from (15, 30, 45, 60) to (00, 01, 10, 11)
const auto P_1 = static_cast<uint32_t>(std::round(glonass_gnav_eph.d_P_1 / 15.0 - 1.0));
// Convert the value from (0, 30, 45, 60) to (00, 01, 10, 11)
uint32_t P_1_tmp = std::round(glonass_gnav_eph.d_P_1 / 15.);
uint32_t P_1 = (P_1_tmp == 0) ? 0 : P_1_tmp - 1;
DF106 = std::bitset<2>(P_1);
return 0;
}

4
src/core/system_parameters/glonass_gnav_navigation_message.cc
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@ -235,6 +235,7 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
{
int32_t J = 0;
d_frame_ID = 0U;
uint64_t P_1_tmp = 0;
// Unpack bytes to bits
const std::bitset<GLONASS_GNAV_STRING_BITS> string_bits(frame_string);
@ -252,7 +253,8 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
{
case 1:
// --- It is string 1 -----------------------------------------------
gnav_ephemeris.d_P_1 = (static_cast<double>(read_navigation_unsigned(string_bits, P1)) + 1) * 15;
P_1_tmp = read_navigation_unsigned(string_bits, P1);
gnav_ephemeris.d_P_1 = (P_1_tmp == 0) ? 0. : (P_1_tmp + 1) * 15;
gnav_ephemeris.d_t_k = static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
static_cast<double>(read_navigation_unsigned(string_bits, T_K_MIN)) * 60 +
static_cast<double>(read_navigation_unsigned(string_bits, T_K_SEC)) * 30;

6
src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
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@ -274,13 +274,13 @@ TEST(RtcmTest, MT1020)
Glonass_Gnav_Utc_Model gnav_utc_model_read = Glonass_Gnav_Utc_Model();
// Perform data read and print of special values types
gnav_ephemeris.d_P_1 = 15;
gnav_ephemeris.d_P_1 = 0.;
// Bit distribution per fields
gnav_ephemeris.d_t_k = 7560;
gnav_ephemeris.d_t_k = 7560.;
// Glonass signed values
gnav_ephemeris.d_VXn = -0.490900039672852;
// Bit distribution per fields dependent on other factors
gnav_ephemeris.d_t_b = 8100;
gnav_ephemeris.d_t_b = 8100.;
// Binary flag representation
gnav_ephemeris.d_P_3 = true;

6
src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
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@ -76,10 +76,10 @@ TEST(GlonassGnavNavigationMessageTest, String1Decoder)
Glonass_Gnav_Ephemeris gnav_ephemeris;
// Fill out ephemeris values for truth
gnav_ephemeris.d_P_1 = 15;
gnav_ephemeris.d_t_k = 7560;
gnav_ephemeris.d_P_1 = 0.;
gnav_ephemeris.d_t_k = 7560.;
gnav_ephemeris.d_VXn = -0.490900039672852;
gnav_ephemeris.d_AXn = 0;
gnav_ephemeris.d_AXn = 0.;
gnav_ephemeris.d_Xn = -11025.6669921875;
// Call target test method