mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2026-10-04 23:01:50 +00:00
Implement Glonass handling of new leap second (KP word)
This commit is contained in:
Carles Fernandez
@@ -47,26 +47,19 @@ TEST(GlonassGnavEphemerisTest, ComputeGlonassTime)
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{
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Glonass_Gnav_Ephemeris gnav_eph;
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gnav_eph.d_yr = 2016;
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gnav_eph.d_N_T = 367;
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boost::posix_time::time_duration t(0, 0, 7560);
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boost::gregorian::date d(gnav_eph.d_yr, 1, 1);
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boost::gregorian::days d2(gnav_eph.d_N_T);
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d = d + d2;
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gnav_eph.d_N_T = 367; // 2016-01-02 in the GLONASS day scale
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boost::gregorian::date expected_gdate;
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boost::posix_time::time_duration expected_gtime;
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boost::posix_time::ptime gtime = gnav_eph.compute_GLONASS_time(7560);
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expected_gdate = gtime.date();
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expected_gtime = gtime.time_of_day();
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const boost::posix_time::ptime gtime = gnav_eph.compute_GLONASS_time(7560);
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const boost::gregorian::date gdate = gtime.date();
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const boost::posix_time::time_duration gtod = gtime.time_of_day();
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// Perform assertions of decoded fields
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ASSERT_TRUE(expected_gdate.year() - d.year() < FLT_EPSILON);
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ASSERT_TRUE(expected_gdate.month() - d.month() < FLT_EPSILON);
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ASSERT_TRUE(expected_gdate.day() - d.day() < FLT_EPSILON);
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ASSERT_TRUE(expected_gtime.hours() - t.hours() < FLT_EPSILON);
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ASSERT_TRUE(expected_gtime.minutes() - t.minutes() < FLT_EPSILON);
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ASSERT_TRUE(expected_gtime.seconds() - t.seconds() < FLT_EPSILON);
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EXPECT_EQ(gdate.year(), 2016);
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EXPECT_EQ(gdate.month(), 1);
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EXPECT_EQ(gdate.day(), 2);
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EXPECT_EQ(gtod.hours(), 2);
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EXPECT_EQ(gtod.minutes(), 6);
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EXPECT_EQ(gtod.seconds(), 0);
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}
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@@ -74,26 +67,19 @@ TEST(GlonassGnavEphemerisTest, ComputeGlonassTime2019)
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{
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Glonass_Gnav_Ephemeris gnav_eph;
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gnav_eph.d_yr = 2019;
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gnav_eph.d_N_T = 1366;
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boost::posix_time::time_duration t(0, 0, 7560);
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boost::gregorian::date d(gnav_eph.d_yr, 1, 1);
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boost::gregorian::days d2(gnav_eph.d_N_T);
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d = d + d2;
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gnav_eph.d_N_T = 1366; // 2019-09-27 in the GLONASS day scale
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boost::gregorian::date expected_gdate;
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boost::posix_time::time_duration expected_gtime;
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boost::posix_time::ptime gtime = gnav_eph.compute_GLONASS_time(7560);
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expected_gdate = gtime.date();
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expected_gtime = gtime.time_of_day();
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const boost::posix_time::ptime gtime = gnav_eph.compute_GLONASS_time(7560);
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const boost::gregorian::date gdate = gtime.date();
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const boost::posix_time::time_duration gtod = gtime.time_of_day();
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// Perform assertions of decoded fields
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ASSERT_TRUE(expected_gdate.year() - d.year() < FLT_EPSILON);
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ASSERT_TRUE(expected_gdate.month() - d.month() < FLT_EPSILON);
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ASSERT_TRUE(expected_gdate.day() - d.day() < FLT_EPSILON);
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ASSERT_TRUE(expected_gtime.hours() - t.hours() < FLT_EPSILON);
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ASSERT_TRUE(expected_gtime.minutes() - t.minutes() < FLT_EPSILON);
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ASSERT_TRUE(expected_gtime.seconds() - t.seconds() < FLT_EPSILON);
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EXPECT_EQ(gdate.year(), 2019);
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EXPECT_EQ(gdate.month(), 9);
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EXPECT_EQ(gdate.day(), 27);
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EXPECT_EQ(gtod.hours(), 2);
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EXPECT_EQ(gtod.minutes(), 6);
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EXPECT_EQ(gtod.seconds(), 0);
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}
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@@ -101,26 +87,19 @@ TEST(GlonassGnavEphemerisTest, ComputeGlonassTime2020)
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{
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Glonass_Gnav_Ephemeris gnav_eph;
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gnav_eph.d_yr = 2020;
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gnav_eph.d_N_T = 62;
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boost::posix_time::time_duration t(0, 0, 7560);
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boost::gregorian::date d(gnav_eph.d_yr, 1, 1);
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boost::gregorian::days d2(gnav_eph.d_N_T);
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d = d + d2;
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gnav_eph.d_N_T = 62; // 2020-03-02, a Monday
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boost::gregorian::date expected_gdate;
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boost::posix_time::time_duration expected_gtime;
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boost::posix_time::ptime gtime = gnav_eph.compute_GLONASS_time(7560);
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expected_gdate = gtime.date();
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expected_gtime = gtime.time_of_day();
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const boost::posix_time::ptime gtime = gnav_eph.compute_GLONASS_time(7560);
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const boost::gregorian::date gdate = gtime.date();
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const boost::posix_time::time_duration gtod = gtime.time_of_day();
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// Perform assertions of decoded fields
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ASSERT_TRUE(expected_gdate.year() - d.year() < FLT_EPSILON);
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ASSERT_TRUE(expected_gdate.month() - d.month() < FLT_EPSILON);
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ASSERT_TRUE(expected_gdate.day() - d.day() < FLT_EPSILON);
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ASSERT_TRUE(expected_gtime.hours() - t.hours() < FLT_EPSILON);
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ASSERT_TRUE(expected_gtime.minutes() - t.minutes() < FLT_EPSILON);
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ASSERT_TRUE(expected_gtime.seconds() - t.seconds() < FLT_EPSILON);
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EXPECT_EQ(gdate.year(), 2020);
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EXPECT_EQ(gdate.month(), 3);
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EXPECT_EQ(gdate.day(), 2);
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EXPECT_EQ(gtod.hours(), 2);
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EXPECT_EQ(gtod.minutes(), 6);
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EXPECT_EQ(gtod.seconds(), 0);
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}
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@@ -132,21 +111,21 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT1)
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{
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Glonass_Gnav_Ephemeris gnav_eph;
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gnav_eph.d_yr = 2004;
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gnav_eph.d_N_T = 366 + 28;
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gnav_eph.d_N_T = 366 + 28; // 2004-01-29 in the GLONASS day scale, a Thursday
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double glo2utc = 3600 * 3;
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double tod = 48600;
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int week = 0.0;
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int week = 0;
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double tow = 0.0;
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double true_leap_sec = 13;
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double true_week = 1307;
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double true_tow = 480600 + true_leap_sec;
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int true_week = 1255;
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double true_tow = 345600 + true_leap_sec + tod;
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gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
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// Perform assertions of decoded fields
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ASSERT_TRUE(week - true_week < FLT_EPSILON);
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ASSERT_TRUE(tow - true_tow < FLT_EPSILON);
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EXPECT_EQ(week, true_week);
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EXPECT_DOUBLE_EQ(tow, true_tow);
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}
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@@ -158,21 +137,21 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT2)
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{
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Glonass_Gnav_Ephemeris gnav_eph;
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gnav_eph.d_yr = 2016;
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gnav_eph.d_N_T = 268;
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gnav_eph.d_N_T = 268; // 2016-09-24, a Saturday
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double glo2utc = 3600 * 3;
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double tod = 7560;
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int week = 0.0;
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int week = 0;
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double tow = 0.0;
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double true_leap_sec = 17;
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double true_week = 1915;
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int true_week = 1915;
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double true_tow = 518400 + true_leap_sec + tod;
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gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
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// Perform assertions of decoded fields
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ASSERT_TRUE(week - true_week < FLT_EPSILON);
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ASSERT_TRUE(tow - true_tow < FLT_EPSILON);
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EXPECT_EQ(week, true_week);
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EXPECT_DOUBLE_EQ(tow, true_tow);
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}
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@@ -184,21 +163,21 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT3)
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{
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Glonass_Gnav_Ephemeris gnav_eph;
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gnav_eph.d_yr = 2016;
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gnav_eph.d_N_T = 62;
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gnav_eph.d_N_T = 62; // 2016-03-02, a Wednesday
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double glo2utc = 3600 * 3;
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double tod = 7560;
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int week = 0.0;
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int week = 0;
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double tow = 0.0;
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double true_leap_sec = 17;
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double true_week = 1886;
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int true_week = 1886;
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double true_tow = 259200 + true_leap_sec + tod;
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gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
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// Perform assertions of decoded fields
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ASSERT_TRUE(week - true_week < FLT_EPSILON);
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ASSERT_TRUE(tow - true_tow < FLT_EPSILON);
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EXPECT_EQ(week, true_week);
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EXPECT_DOUBLE_EQ(tow, true_tow);
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}
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@@ -206,21 +185,21 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT4)
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{
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Glonass_Gnav_Ephemeris gnav_eph;
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gnav_eph.d_yr = 2019;
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gnav_eph.d_N_T = 1366;
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gnav_eph.d_N_T = 1366; // 2019-09-27 in the GLONASS day scale, a Friday
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double glo2utc = 3600 * 3;
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double tod = 7560;
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int week = 0.0;
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int week = 0;
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double tow = 0.0;
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double true_leap_sec = 18;
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double true_week = 2072;
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double true_tow = 447120 + true_leap_sec + tod;
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int true_week = 2072;
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double true_tow = 432000 + true_leap_sec + tod;
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gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
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// Perform assertions of decoded fields
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ASSERT_TRUE(week - true_week < FLT_EPSILON);
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ASSERT_TRUE(tow - true_tow < FLT_EPSILON);
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EXPECT_EQ(week, true_week);
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EXPECT_DOUBLE_EQ(tow, true_tow);
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}
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@@ -228,21 +207,21 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT5)
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{
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Glonass_Gnav_Ephemeris gnav_eph;
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gnav_eph.d_yr = 2020;
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gnav_eph.d_N_T = 62;
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gnav_eph.d_N_T = 62; // 2020-03-02, a Monday
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double glo2utc = 3600 * 3;
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double tod = 7560;
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int week = 0.0;
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int week = 0;
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double tow = 0.0;
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double true_leap_sec = 18;
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double true_week = 2095;
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double true_tow = 259200 + true_leap_sec + tod;
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int true_week = 2095;
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double true_tow = 86400 + true_leap_sec + tod;
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gnav_eph.glot_to_gpst(tod + glo2utc, 0.0, 0.0, &week, &tow);
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// Perform assertions of decoded fields
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ASSERT_TRUE(week - true_week < FLT_EPSILON);
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ASSERT_TRUE(tow - true_tow < FLT_EPSILON);
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EXPECT_EQ(week, true_week);
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EXPECT_DOUBLE_EQ(tow, true_tow);
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}
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@@ -269,6 +248,28 @@ TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsT6)
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}
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/*!
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* \brief Testing conversion from GLONASST to GPST when a leap second announced
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* by the KP word is in effect but not yet in the receiver's leap second table
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*/
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TEST(GlonassGnavEphemerisTest, ConvertGlonassT2GpsTKpLeapSecond)
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{
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Glonass_Gnav_Ephemeris gnav_eph;
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gnav_eph.d_yr = 2019;
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gnav_eph.d_N_T = 1366; // 2019-09-27, a Friday
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gnav_eph.d_kp_leap_correction_s = 1.0;
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int week = 0;
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double tow = 0.0;
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// UTC tod 02:06:00 -> GPST tow = 5 days + 7560 s + 18 s + 1 s announced leap
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gnav_eph.glot_to_gpst(7560 + 10800, 0.0, 0.0, &week, &tow);
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EXPECT_EQ(week, 2072);
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EXPECT_DOUBLE_EQ(tow, 432000.0 + 7560.0 + 18.0 + 1.0);
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}
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/*!
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* \brief Testing the GLONASST to UTC(SU) conversion of the UTC model:
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* tUTC = tGLO + tau_c - 3 hrs (GLONASS ICD Edition 5.1, Section 4.5)
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@@ -299,3 +299,88 @@ TEST(GlonassGnavNavigationMessageTest, String14RequiresKnownFrame)
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EXPECT_DOUBLE_EQ(gnav_nav_message.get_almanac(10).d_n_A, 0.0);
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}
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/*!
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* \brief KP announces a UTC leap second correction at the end of the current
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* quarter: 01 = +1 s, 11 = -1 s (GLONASS ICD Edition 5.1, Table 4.12)
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*/
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TEST(GlonassGnavNavigationMessageTest, KpAnnouncedLeapSecondMapping)
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{
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Glonass_Gnav_Utc_Model gnav_utc_model;
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gnav_utc_model.d_KP = 0.0;
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EXPECT_EQ(gnav_utc_model.announced_leap_second(), 0);
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gnav_utc_model.d_KP = 1.0;
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EXPECT_EQ(gnav_utc_model.announced_leap_second(), 1);
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gnav_utc_model.d_KP = 2.0;
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EXPECT_EQ(gnav_utc_model.announced_leap_second(), 0);
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gnav_utc_model.d_KP = 3.0;
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EXPECT_EQ(gnav_utc_model.announced_leap_second(), -1);
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}
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// Synthetic strings (with valid Hamming code bits) for a scenario where KP
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// announces a +1 s UTC leap second at the end of a quarter. GLONASS day 913
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// of four-year interval 8 is 2026-07-01, which starts at 2026-06-30 21:00
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// UTC; the announced leap second event is at 2026-07-01 00:00:00 UTC
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std::string str1_kp_a("0000100000001001111000000000000000000000000000000000000000000000000000000000000011000"); // tk = 02:30:00 (UTC 2026-06-30 23:30)
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std::string str1_kp_b("0000100000001100101100000000000000000000000000000000000000000000000000000000000011000"); // tk = 03:11:00 (UTC 2026-07-01 00:11)
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std::string str1_kp_c("0000100000001101111000000000000000000000000000000000000000000000000000000000011011111"); // tk = 03:30:00 (UTC 2026-07-01 00:30)
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std::string str4_kp("0010000000000000000000000000000000000000000000000000000000001110010001101100001011101"); // N_T = 913, n = 22
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std::string str5_kp("0010101110010001000000000000000000000000000000000010000000000000000000000000001100000"); // N_A = 913, N_4 = 8 -> year 2026
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std::string str6_kp_f5("0011000010110000000000000000000000000000000000000000000000000000000000000000001001100"); // almanac slot 22 identifies frame 5
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std::string str14_kp1("0111000000000000000000000001000000000000000000000000000000000000000000000000011101000"); // KP = 01 (+1 s)
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/*!
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* \brief A leap second announced by KP before the end of the quarter is
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* applied to the GLONASS to GPS time conversion once the event epoch is
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* reached, so the TOW remains correct even if the event is not yet in the
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* receiver's leap second table
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*/
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TEST(GlonassGnavNavigationMessageTest, KpLeapSecondAppliedAfterQuarterEnd)
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{
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Glonass_Gnav_Navigation_Message gnav_nav_message;
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gnav_nav_message.string_decoder(str1_kp_a); // tk = 02:30:00 GLONASS
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gnav_nav_message.set_flag_ephemeris_str_2(true);
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gnav_nav_message.set_flag_ephemeris_str_3(true);
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gnav_nav_message.string_decoder(str4_kp);
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gnav_nav_message.string_decoder(str5_kp); // computes the TOW
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const double tow_before = gnav_nav_message.get_ephemeris().d_TOW;
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gnav_nav_message.string_decoder(str6_kp_f5);
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gnav_nav_message.string_decoder(str14_kp1);
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// The correction is announced but the event has not occurred yet
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EXPECT_DOUBLE_EQ(gnav_nav_message.get_utc_model().d_KP, 1.0);
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EXPECT_DOUBLE_EQ(gnav_nav_message.get_ephemeris().d_kp_leap_correction_s, 0.0);
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gnav_nav_message.string_decoder(str1_kp_b); // tk = 03:11:00, past the event
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gnav_nav_message.string_decoder(str5_kp); // recomputes the TOW
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EXPECT_DOUBLE_EQ(gnav_nav_message.get_ephemeris().d_kp_leap_correction_s, 1.0);
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// 2460 s elapsed between the two TOW computations, plus the leap second
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EXPECT_DOUBLE_EQ(gnav_nav_message.get_ephemeris().d_TOW - tow_before, 2461.0);
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}
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/*!
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* \brief If KP still announces a correction right after a quarter boundary
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* (broadcast not updated yet), the leap second has just been applied to UTC,
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* and the receiver must account for it immediately
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*/
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TEST(GlonassGnavNavigationMessageTest, KpLeapSecondAppliedRightAfterBoundary)
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{
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Glonass_Gnav_Navigation_Message gnav_nav_message;
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gnav_nav_message.string_decoder(str1_kp_c); // tk = 03:30:00 (UTC 00:30, 30 min after the boundary)
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gnav_nav_message.set_flag_ephemeris_str_2(true);
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gnav_nav_message.set_flag_ephemeris_str_3(true);
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gnav_nav_message.string_decoder(str4_kp);
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gnav_nav_message.string_decoder(str5_kp);
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gnav_nav_message.string_decoder(str6_kp_f5);
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gnav_nav_message.string_decoder(str14_kp1);
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EXPECT_DOUBLE_EQ(gnav_nav_message.get_ephemeris().d_kp_leap_correction_s, 1.0);
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}
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