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unit-test: Adds and fixes unit test for system-parameters block

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Adding unit test for system-parameters block, testing string decoding
logic for GLONASS GNAV messages. Bug fixes the code after several errors
were detected while debugging
This commit is contained in:
Damian Miralles 2017-08-19 14:04:14 -07:00 committed by Damian Miralles
parent 3f87223f35
commit eb33715cb9
13 changed files with 311 additions and 175 deletions
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18
src/algorithms/PVT/libs/rinex_printer.cc
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@ -3293,14 +3293,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 3);
line += std::string(1, ' ');
// TODO Add this here, we need to know all satellites in system to get this done
line += satelliteSystem["GLONASS"];
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
line += std::string(1, ' ');
// TODO Add this here, we need to know all satellites in system to get this done
line += satelliteSystem["GLONASS"];
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Slot Number
line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(0), 2); // Frequency Number
line += std::string(1, ' ');
line += std::string(60-line.size(), ' ');
line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
@ -3328,7 +3327,8 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
line += observationCode["GLONASS_G2_P"];
line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(asString(0.0, 3), 8);
line += Rinex_Printer::leftJustify("GLONASS SLOT / FRQ #", 20);
line += std::string(60-line.size(), ' ');
line += Rinex_Printer::leftJustify("GLONASS COD/PHS/BIS", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;

4
src/core/system_parameters/GLONASS_L1_CA.h
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@ -127,8 +127,8 @@ const std::vector<std::pair<int,int>> KX({{78,8}});
//STRING 1
const std::vector<std::pair<int,int>> P1({{8,2}});
const std::vector<std::pair<int,int>> T_K_HR({{10,5}});
const std::vector<std::pair<int,int>> T_K_MIN({{10,6}});
const std::vector<std::pair<int,int>> T_K_SEC({{10,1}});
const std::vector<std::pair<int,int>> T_K_MIN({{15,6}});
const std::vector<std::pair<int,int>> T_K_SEC({{21,1}});
const std::vector<std::pair<int,int>> X_N_DOT ({{22,24}});
const std::vector<std::pair<int,int>> X_N_DOT_DOT ({{46,5}});
const std::vector<std::pair<int,int>> X_N({{51,27}});

4
src/core/system_parameters/glonass_gnav_almanac.h
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@ -1,7 +1,9 @@
/*!
* \file glonass_gnav_almanac.h
* \brief Interface of a GLONASS GNAV ALMANAC storage
* \author Damian Miralles, 2017. dmiralles2009@gmail.com
* \note Code added as part of GSoC 2017 program
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
*
* -------------------------------------------------------------------------
*

71
src/core/system_parameters/glonass_gnav_ephemeris.cc
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@ -39,13 +39,48 @@
Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
{
i_satellite_freq_channel = 0;
d_m = 0.0; //!< String number within frame [dimensionless]
d_t_k = 0.0; //!< Time referenced to the beginning of the frame within the current day [hours, minutes, seconds]
d_t_b = 0.0; //!< Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [minutes]
d_M = 0.0; //!< Type of satellite transmitting navigation signal [dimensionless]
d_gamma_n = 0.0; //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
d_tau_n = 0.0; //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
d_m = 0.0; //!< String number within frame [dimensionless]
d_t_k = 0.0; //!< GLONASS Time (UTC(SU) + 3 h) referenced to the beginning of the frame within the current day [s]
d_t_b = 0.0; //!< Reference ephemeris relative time in GLONASS Time (UTC(SU) + 3 h). Index of a time interval within current day according to UTC(SU) + 03 hours 00 min. [s]
d_M = 0.0; //!< Type of satellite transmitting navigation signal [dimensionless]
d_gamma_n = 0.0; //!< Relative deviation of predicted carrier frequency value of n- satellite from nominal value at the instant tb [dimensionless]
d_tau_n = 0.0; //!< Correction to the nth satellite time (tn) relative to GLONASS time (te),
d_Xn = 0.0; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
d_Yn = 0.0; //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
d_Zn = 0.0; //!< Earth-fixed coordinate z of the satellite in PZ-90.02 coordinate system [km]
d_VXn = 0.0; //!< Earth-fixed velocity coordinate x of the satellite in PZ-90.02 coordinate system [km/s]
d_VYn = 0.0; //!< Earth-fixed velocity coordinate y of the satellite in PZ-90.02 coordinate system [km/s]
d_VZn = 0.0; //!< Earth-fixed velocity coordinate z of the satellite in PZ-90.02 coordinate system [km/s]
d_AXn = 0.0; //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
d_AYn = 0.0; //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
d_AZn = 0.0; //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
d_B_n = 0.0; //!< Health flag [dimensionless]
d_P = 0.0; //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
d_N_T = 0.0; //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
d_F_T = 0.0; //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
d_n = 0.0; //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
d_Delta_tau_n = 0.0; //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
d_E_n = 0.0; //!< Characterises "age" of a current information [days]
d_P_1 = 0.0; //!< Flag of the immediate data updating [minutes]
d_P_2 = 0.0; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
d_P_3 = 0.0; //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
d_P_4 = 0.0; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
d_l3rd_n = 0.0; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
d_l5th_n = 0.0; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
// Satellite Identification Information
i_satellite_freq_channel = 0; //!< SV Frequency Channel Number
i_satellite_PRN = 0; //!< SV PRN Number, equivalent to slot number for compatibility with GPS
i_satellite_slot_number = 0; //!< SV Slot Number
d_TOD = 0.0; //!< Time of Day of the ephemeris set based in start of frame [s]
d_D4Y = 0.0; //!< Day of Year after latest leap year (4 year interval)
d_yr = 1972; //!< Current year, defaults to 1972 (UTC Epoch with leap seconds)
d_satClkDrift = 0.0; //!< GLONASS clock error
d_dtr = 0.0; //!< relativistic clock correction term
d_iode = 0.0; //!< Issue of data, ephemeris (Bit 0-6 of tb)
d_tau_c = 0.0;
d_TOW = 0.0; // tow of the start of frame
d_WN = 0.0; // week number of the start of frame
// satellite positions
d_satpos_X = 0.0; //!< Earth-fixed coordinate x of the satellite in PZ-90.02 coordinate system [km].
d_satpos_Y = 0.0; //!< Earth-fixed coordinate y of the satellite in PZ-90.02 coordinate system [km]
@ -58,31 +93,15 @@ Glonass_Gnav_Ephemeris::Glonass_Gnav_Ephemeris()
d_satacc_X = 0.0; //!< Earth-fixed acceleration coordinate x of the satellite in PZ-90.02 coordinate system [km/s^2]
d_satacc_Y = 0.0; //!< Earth-fixed acceleration coordinate y of the satellite in PZ-90.02 coordinate system [km/s^2]
d_satacc_Z = 0.0; //!< Earth-fixed acceleration coordinate z of the satellite in PZ-90.02 coordinate system [km/s^2]
d_B_n = 0.0; //!< Health flag [dimensionless]
d_P = 0.0; //!< Technological parameter of control segment, indication the satellite operation mode in respect of time parameters [dimensionless]
d_N_T = 0.0; //!< Current date, calendar number of day within four-year interval starting from the 1-st of January in a leap year [days]
d_F_T = 0.0; //!< Parameter that provides the predicted satellite user range accuracy at time tb [dimensionless]
d_n = 0.0; //!< Index of the satellite transmitting given navigation signal. It corresponds to a slot number within GLONASS constellation
d_Delta_tau_n = 0.0; //!< Time difference between navigation RF signal transmitted in L2 sub- band and aviation RF signal transmitted in L1 sub-band by nth satellite. [dimensionless]
d_E_n = 0.0; //!< Characterises "age" of a current information [days]
d_P_1 = 0.0; //!< Flag of the immediate data updating.
d_P_2 = 0.0; //!< Flag of oddness ("1") or evenness ("0") of the value of (tb) [dimensionless]
d_P_3 = 0.0; //!< Flag indicating a number of satellites for which almanac is transmitted within given frame: "1" corresponds to 5 satellites and "0" corresponds to 4 satellites [dimensionless]
d_P_4 = 0.0; //!< Flag to show that ephemeris parameters are present. "1" indicates that updated ephemeris or frequency/time parameters have been uploaded by the control segment [dimensionless]
d_l3rd_n = 0.0; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
d_l5th_n = 0.0; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
// clock terms derived from ephemeris data
d_satClkDrift = 0.0; //!< GLONASS clock error
d_dtr = 0.0;
}
boost::posix_time::ptime Glonass_Gnav_Ephemeris::compute_GLONASS_time(const double offset_time) const
{
boost::posix_time::time_duration t(0, 0, offset_time);
boost::gregorian::date d(d_yr, 1, d_N_T);
boost::posix_time::ptime glonass_time(d, t);
boost::gregorian::date d1(d_yr, 1, 1);
boost::gregorian::days d2(d_N_T);
boost::posix_time::ptime glonass_time(d1+d2, t);
return glonass_time;
}

7
src/core/system_parameters/glonass_gnav_ephemeris.h
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@ -1,7 +1,9 @@
/*!
* \file glonass_gnav_ephemeris.h
* \brief Interface of a GLONASS EPHEMERIS storage
* \note Code added as part of GSoC 2017 program
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
*
* -------------------------------------------------------------------------
*
@ -99,9 +101,8 @@ public:
double d_l5th_n; //!< Health flag for nth satellite; ln = 0 indicates the n-th satellite is helthy, ln = 1 indicates malfunction of this nth satellite [dimensionless]
// Inmediate deliverables of ephemeris information
//TODO check how freq channel is managed in gnav message. I think it is a number greater thn 0
// Satellite Identification Information
int i_satellite_freq_channel; //!< SV Frequency Channel Number
int i_satellite_freq_channel; //!< SV Frequency Channel Number
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
double d_TOD; //!< Time of Day of the ephemeris set based in start of frame [s]
@ -114,8 +115,6 @@ public:
double d_TOW; // tow of the start of frame
double d_WN; // week number of the start of frame
// Need to add a way to compute the GPS week number and GPS TIME OF WEEK from GLONASS ephemeris
// satellite positions after RK4 Integration
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]

119
src/core/system_parameters/glonass_gnav_navigation_message.cc
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@ -31,6 +31,8 @@
*/
#include "glonass_gnav_navigation_message.h"
#include <boost/crc.hpp>
#include <boost/dynamic_bitset.hpp>
#include <cmath>
#include <iostream>
#include <sstream>
@ -107,8 +109,8 @@ Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits)
{
int sum_bits;
int sum_hamming;
int sum_bits = 0;
int sum_hamming = 0;
int C1 = 0;
int C2 = 0;
int C3 = 0;
@ -117,85 +119,84 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
int C6 = 0;
int C7 = 0;
int C_Sigma = 0;
std::vector<int> string_bits(GLONASS_GNAV_STRING_BITS);
std::bitset<GLONASS_GNAV_STRING_BITS> data = std::bitset<GLONASS_GNAV_STRING_BITS>(bits.to_string(), 0, 77);
std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code = std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS>(bits.to_string(), 77, 8);
//!< Populate data and hamming code vectors
for(int i = 0; i < static_cast<int>(GLONASS_GNAV_STRING_BITS); i++)
{
string_bits[i] = static_cast<int>(bits[i]);
}
std::istringstream dsb = std::istringstream( data.to_string() );
std::istringstream hcb = std::istringstream( hamming_code.to_string() );
std::vector<int> data_bits = std::vector<int>( std::istream_iterator<int>( dsb ), std::istream_iterator<int>() );
std::vector<int> hamming_code_bits = std::vector<int>( std::istream_iterator<int>( dsb ), std::istream_iterator<int>() );
//!< Compute C1 term
sum_bits = 0;
for(int i = 0; i < static_cast<int>(GLONASS_GNAV_CRC_I_INDEX.size()); i++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_I_INDEX[i]];
sum_bits += string_bits[GLONASS_GNAV_CRC_I_INDEX[i]];
}
C1 = hamming_code_bits[0]^(sum_bits%2);
C1 = string_bits[0]^(sum_bits%2);
//!< Compute C2 term
sum_bits = 0;
for(int j = 0; j < static_cast<int>(GLONASS_GNAV_CRC_J_INDEX.size()); j++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
sum_bits += string_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
}
C2 = (hamming_code_bits[1])^(sum_bits%2);
C2 = (string_bits[1])^(sum_bits%2);
//!< Compute C3 term
sum_bits = 0;
for(int k = 0; k < static_cast<int>(GLONASS_GNAV_CRC_K_INDEX.size()); k++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_K_INDEX[k]];
sum_bits += string_bits[GLONASS_GNAV_CRC_K_INDEX[k]];
}
C3 = hamming_code_bits[2]^(sum_bits%2);
C3 = string_bits[2]^(sum_bits%2);
//!< Compute C4 term
sum_bits = 0;
for(int l = 0; l < static_cast<int>(GLONASS_GNAV_CRC_L_INDEX.size()); l++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_L_INDEX[l]];
sum_bits += string_bits[GLONASS_GNAV_CRC_L_INDEX[l]];
}
C4 = hamming_code_bits[3]^(sum_bits%2);
C4 = string_bits[3]^(sum_bits%2);
//!< Compute C5 term
sum_bits = 0;
for(int m = 0; m < static_cast<int>(GLONASS_GNAV_CRC_M_INDEX.size()); m++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_M_INDEX[m]];
sum_bits += string_bits[GLONASS_GNAV_CRC_M_INDEX[m]];
}
C5 = hamming_code_bits[4]^(sum_bits%2);
C5 = string_bits[4]^(sum_bits%2);
//!< Compute C6 term
sum_bits = 0;
for(int n = 0; n < static_cast<int>(GLONASS_GNAV_CRC_N_INDEX.size()); n++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_N_INDEX[n]];
sum_bits += string_bits[GLONASS_GNAV_CRC_N_INDEX[n]];
}
C6 = hamming_code_bits[5]^(sum_bits%2);
C6 = string_bits[5]^(sum_bits%2);
//!< Compute C7 term
sum_bits = 0;
for(int p = 0; p < static_cast<int>(GLONASS_GNAV_CRC_P_INDEX.size()); p++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_P_INDEX[p]];
sum_bits += string_bits[GLONASS_GNAV_CRC_P_INDEX[p]];
}
C7 = hamming_code_bits[6]^(sum_bits%2);
C7 = string_bits[6]^(sum_bits%2);
//!< Compute C_Sigma term
sum_bits = 0;
sum_hamming = 0;
for(int q = 0; q < static_cast<int>(GLONASS_GNAV_CRC_Q_INDEX.size()); q++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_Q_INDEX[q]];
sum_bits += string_bits[GLONASS_GNAV_CRC_Q_INDEX[q]];
}
for(int q = 0; q < 8; q++)
{
sum_hamming += hamming_code_bits[q];
sum_hamming += string_bits[q];
}
C_Sigma = (sum_hamming%2)^(sum_bits%2);
//!< Verification of the data
// All of the checksums are equal to zero
if((C1 & C2 & C3 & C4 & C5 & C6 & C7 & C_Sigma) == 0 )
@ -252,60 +253,29 @@ unsigned long int Glonass_Gnav_Navigation_Message::read_navigation_unsigned(std:
signed long int Glonass_Gnav_Navigation_Message::read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter)
{
signed long int value = 0;
signed long int sign = 0;
int num_of_slices = parameter.size();
// Discriminate between 64 bits and 32 bits compiler
int long_int_size_bytes = sizeof(signed long int);
if (long_int_size_bytes == 8) // if a long int takes 8 bytes, we are in a 64 bits system
// read the MSB and perform the sign extension
if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
{
sign = -1;
}
else
{
sign = 1;
}
for (int i = 0; i < num_of_slices; i++)
{
// read the MSB and perform the sign extension
if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
for (int j = 1; j < parameter[i].second; j++)
{
value ^= 0xFFFFFFFFFFFFFFFF; //64 bits variable
}
else
{
value &= 0;
}
for (int i = 0; i < num_of_slices; i++)
{
for (int j = 0; j < parameter[i].second; j++)
value <<= 1; //shift left
if (bits[GLONASS_GNAV_STRING_BITS - parameter[i].first - j] == 1)
{
value <<= 1; //shift left
value &= 0xFFFFFFFFFFFFFFFE; //reset the corresponding bit (for the 64 bits variable)
if (bits[GLONASS_GNAV_STRING_BITS - parameter[i].first - j] == 1)
{
value += 1; // insert the bit
}
value += 1; // insert the bit
}
}
}
else // we assume we are in a 32 bits system
{
// read the MSB and perform the sign extension
if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
{
value ^= 0xFFFFFFFF;
}
else
{
value &= 0;
}
for (int i = 0; i < num_of_slices; i++)
{
for (int j = 0; j < parameter[i].second; j++)
{
value <<= 1; //shift left
value &= 0xFFFFFFFE; //reset the corresponding bit
if (bits[GLONASS_GNAV_STRING_BITS - parameter[i].first - j] == 1)
{
value += 1; // insert the bit
}
}
}
}
return value;
return (sign*value);
}
@ -393,7 +363,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
case 3:
// --- It is string 3 ----------------------------------------------
gnav_ephemeris.d_P_3 = static_cast<double>(read_navigation_unsigned(string_bits, P3));
gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N30;
gnav_ephemeris.d_gamma_n = static_cast<double>(read_navigation_signed(string_bits, GAMMA_N)) * TWO_N40;
gnav_ephemeris.d_P = static_cast<double>(read_navigation_unsigned(string_bits, P));
gnav_ephemeris.d_l3rd_n = static_cast<double>(read_navigation_unsigned(string_bits, EPH_L_N));
gnav_ephemeris.d_VZn = static_cast<double>(read_navigation_signed(string_bits, Z_N_DOT)) * TWO_N20;
@ -541,6 +511,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
flag_almanac_str_9 = true;
}
break;
case 10:
// --- It is string 10 ---------------------------------------------
i_satellite_slot_number = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
@ -618,6 +589,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
flag_almanac_str_13 = true;
}
break;
case 14:
// --- It is string 14 ---------------------------------------------
if( frame_ID == 5)
@ -665,6 +637,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
flag_almanac_str_15 = true;
}
break;
default:
break;
} // switch subframeID ...

3
src/core/system_parameters/glonass_gnav_navigation_message.h
View File

@ -1,8 +1,9 @@
/*!
* \file glonass_gnav_navigation_message.h
* \brief Interface of a GLONASS GNAV Data message decoder as described in GLONASS ICD (Edition 5.1)
* See http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf
* \note Code added as part of GSoC 2017 program
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
*
* -------------------------------------------------------------------------
*

1
src/tests/test_main.cc
View File

@ -145,6 +145,7 @@ DECLARE_string(log_dir);
#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)
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;

51
src/tests/unit-tests/signal-processing-blocks/pvt/rtcm_test.cc
View File

@ -281,20 +281,49 @@ TEST(RtcmTest, MT1020)
auto rtcm = std::make_shared<Rtcm>();
bool expected_true = true;
Glonass_Gnav_Ephemeris glonass_gnav_eph = Glonass_Gnav_Ephemeris();
Glonass_Gnav_Utc_Model glonass_gnav_utc_model = Glonass_Gnav_Utc_Model();
Glonass_Gnav_Ephemeris glonass_gnav_eph_read = Glonass_Gnav_Ephemeris();
Glonass_Gnav_Utc_Model glonass_gnav_utc_model_read = Glonass_Gnav_Utc_Model();
// Objects to populate the ephemeris and utc fields
Glonass_Gnav_Ephemeris gnav_eph = Glonass_Gnav_Ephemeris();
Glonass_Gnav_Utc_Model gnav_utc_model = Glonass_Gnav_Utc_Model();
// Objects read, used for comparison
Glonass_Gnav_Ephemeris gnav_eph_read = Glonass_Gnav_Ephemeris();
Glonass_Gnav_Utc_Model gnav_utc_model_read = Glonass_Gnav_Utc_Model();
glonass_gnav_eph.i_satellite_PRN = 3;
glonass_gnav_eph.d_t_b = 4;
glonass_gnav_eph.d_E_n = 2.0 * E_LSB;
glonass_gnav_eph.d_l3rd_n = true;
glonass_gnav_utc_model.d_tau_gps = 5;
std::string tx_msg = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model);
glonass_gnav_eph.i_satellite_slot_number = 3;
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_Xn = -11025.6669921875;
gnav_ephemeris.d_B_n = 0;
gnav_ephemeris.d_P_2 = 1;
gnav_ephemeris.d_t_b = 8100;
gnav_ephemeris.d_VYn = -2.69022750854492;
gnav_ephemeris.d_AYn = 0;
gnav_ephemeris.d_Yn = -11456.7348632812;
gnav_ephemeris.d_P_3 = 1;
gnav_ephemeris.d_gamma_n = 1.81898940354586e-12;
gnav_ephemeris.d_P = 3;
gnav_ephemeris.d_l3rd_n = 0;
gnav_ephemeris.d_VZn = -1.82016849517822;
gnav_ephemeris.d_AZn = -2.79396772384644e-09;
gnav_ephemeris.d_Zn = 19929.2377929688;
gnav_ephemeris.d_tau_n = -8.30907374620438e-05;
gnav_ephemeris.d_Delta_tau_n = 9.31322574615479e-10;
gnav_ephemeris.d_E_n = 0;
gnav_ephemeris.d_P_4 = 0;
gnav_ephemeris.d_F_T = 6;
gnav_ephemeris.d_N_T = 268;
gnav_ephemeris.d_n = 21;
gnav_ephemeris.d_M = 1;
gnav_utc_model.d_N_A = 268;
gnav_utc_model.d_tau_c = 9.6391886472702e-08;
gnav_utc_model.d_N_4 = 6;
gnav_utc_model.d_tau_gps = 9.313225746154785e-08;
std::string tx_msg = rtcm->print_MT1020(glonass_gnav_eph, glonass_gnav_utc_model);
EXPECT_EQ(0, rtcm->read_MT1020(tx_msg, glonass_gnav_eph_read, glonass_gnav_utc_model_read));
EXPECT_EQ(3, glonass_gnav_eph_read.i_satellite_PRN);
EXPECT_EQ(3, glonass_gnav_eph_read.i_satellite_slot_number);
EXPECT_DOUBLE_EQ(4, glonass_gnav_eph_read.d_t_b);
EXPECT_DOUBLE_EQ( 2.0 * E_LSB, glonass_gnav_eph_read.d_E_n);
EXPECT_DOUBLE_EQ( 5, glonass_gnav_utc_model_read.d_tau_gps);

3
src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc
View File

@ -1,6 +1,6 @@
/*!
* \file gps_l1_ca_dll_pll_tracking_test.cc
* \brief This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking
* \brief This class implements a telemetry decoder test for GPS_L1_CA_Telemetry_Decoder
* implementation based on some input parameters.
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
@ -477,4 +477,3 @@ TEST_F(GpsL1CATelemetryDecoderTest, ValidationOfResults)
std::cout << "Test completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
}

7
src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
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@ -1,7 +1,8 @@
/*!
* \file code_generation_test.cc
* \brief This file implements tests for the generation of complex exponentials.
* \author Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
* \note Code added as part of GSoC 2017 program
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
*
*
* -------------------------------------------------------------------------
@ -35,8 +36,6 @@
#include "gps_sdr_signal_processing.h"
#include "gnss_signal_processing.h"
#include <complex>
#include <ctime>
#include "gnss_signal_processing.h"

37
src/tests/unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc
View File

@ -1,7 +1,8 @@
/*!
* \file code_generation_test.cc
* \brief This file implements tests for the generation of complex exponentials.
* \author Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
* \note Code added as part of GSoC 2017 program
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
*
*
* -------------------------------------------------------------------------
@ -32,23 +33,33 @@
#include <complex>
#include <ctime>
#include <iostream>
#include "gnss_signal_processing.h"
#include "glonass_gnav_ephemeris.h"
TEST(GlonassGnavEphemerisTest, SatellitePosition)
TEST(GlonassGnavEphemerisTest, ComputeGlonassTime)
{
Glonass_Gnav_Ephemeris gnav_eph;
gnav_eph.d_yr = 2016;
gnav_eph.d_N_T = 367;
boost::posix_time::time_duration t(0, 0, 7560);
boost::gregorian::date d(gnav_eph.d_yr, 1, 1);
boost::gregorian::days d2(gnav_eph.d_N_T);
d = d + d2;
gnav_eph.d_Xn = 12317.934082000;
gnav_eph.d_Yn = -2245.13232422;
gnav_eph.d_Zn = 22212.8173828;
gnav_eph.d_VXn = -1.25356674194;
gnav_eph.d_VYn = 2.774200439450;
gnav_eph.d_VZn = 0.9808206558230000;
gnav_eph.d_AXn = -0.931322574616e-9;
gnav_eph.d_AYn = 0.0000000000000000;
gnav_eph.d_AZn = -0.186264514923e-8;
boost::gregorian::date expected_gdate;
boost::posix_time::time_duration expected_gtime;
gnav_eph.simplified_satellite_position(60);
boost::posix_time::ptime gtime = gnav_eph.compute_GLONASS_time(7560);
expected_gdate = gtime.date();
expected_gtime = gtime.time_of_day();
// Perform assertions of decoded fields
ASSERT_TRUE(expected_gdate.year() - d.year() < FLT_EPSILON );
ASSERT_TRUE(expected_gdate.month() - d.month() < FLT_EPSILON );
ASSERT_TRUE(expected_gdate.day() - d.day() < FLT_EPSILON );
ASSERT_TRUE(expected_gtime.hours() - t.hours() < FLT_EPSILON );
ASSERT_TRUE(expected_gtime.minutes() - t.minutes() < FLT_EPSILON );
ASSERT_TRUE(expected_gtime.seconds() - t.seconds() < FLT_EPSILON );
}

161
src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc
View File

@ -1,7 +1,9 @@
/*!
* \file glonass_gnav_navigation_message_test.cc
* \brief This file implements tests for the decoding of the GLONASS GNAV navigation message
* \note Code added as part of GSoC 2017 program
* \author Damian Miralles, 2017. dmiralles2009(at)gmail.com
* \see <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
*
*
* -------------------------------------------------------------------------
@ -46,12 +48,12 @@ TEST(GlonassGnavNavigationMessageTest, CRCTest)
{
// Variables declarations in code
bool test_result;
std::string str5("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000");
std::bitset<GLONASS_GNAV_STRING_BITS> string_bits (std::string ("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000"));
Glonass_Gnav_Navigation_Message gnav_nav_message;
gnav_nav_message.reset();
// Call function to test
test_result = gnav_nav_message.CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> (str5));
test_result = gnav_nav_message.CRC_test(string_bits);
// Check results in unit test assetions
ASSERT_TRUE(test_result);
@ -72,20 +74,21 @@ TEST(GlonassGnavNavigationMessageTest, String1Decoder)
Glonass_Gnav_Ephemeris gnav_ephemeris;
// Fill out ephemeris values for truth
gnav_ephemeris.d_P_1 = static_cast<double>(read_navigation_unsigned(string_bits, P1));
gnav_ephemeris.d_t_k = static_cast<double>(read_navigation_unsigned(string_bits, T_K_HR)) * 3600 +
gnav_ephemeris.d_VXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT)) * 2e-20;
gnav_ephemeris.d_AXn = static_cast<double>(read_navigation_signed(string_bits, X_N_DOT_DOT)) * 2e-30;
gnav_ephemeris.d_Xn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * 2e-11;
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_Xn = -11025.6669921875;
// Call target test method
gnav_nav_message.string_decoder(str1.c_str());
gnav_nav_message.string_decoder(const_cast<char*> (str1.c_str()));
// Perform assertions of decoded fields
ASSERT_TRUE(gnav_ephemeris.d_t_k - gnav_nav_message.gnav_ephemeris.d_t_k < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_VXn - gnav_nav_message.gnav_ephemeris.d_VXn < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_AXn - gnav_nav_message.gnav_ephemeris.d_AXn < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_Xn - gnav_nav_message.gnav_ephemeris.d_Xn < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_P_1 - gnav_nav_message.gnav_ephemeris.d_P_1 < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_t_k - gnav_nav_message.gnav_ephemeris.d_t_k < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_VXn - gnav_nav_message.gnav_ephemeris.d_VXn < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_AXn - gnav_nav_message.gnav_ephemeris.d_AXn < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_Xn - gnav_nav_message.gnav_ephemeris.d_Xn < FLT_EPSILON );
}
/*!
@ -103,29 +106,129 @@ TEST(GlonassGnavNavigationMessageTest, String2Decoder)
Glonass_Gnav_Ephemeris gnav_ephemeris;
// Fill out ephemeris values for truth
gnav_ephemeris.d_B_n = static_cast<double>(read_navigation_unsigned(string_bits, B_N));
gnav_ephemeris.d_P_2 = static_cast<double>(read_navigation_unsigned(string_bits, P2));
gnav_ephemeris.d_t_b = static_cast<double>(read_navigation_unsigned(string_bits, T_B))*15*60;
gnav_ephemeris.d_VYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT))* 2e-20;
gnav_ephemeris.d_AYn = static_cast<double>(read_navigation_signed(string_bits, Y_N_DOT_DOT)) * 2e-30;
gnav_ephemeris.d_Yn = static_cast<double>(read_navigation_signed(string_bits, X_N)) * 2e-11;
gnav_ephemeris.d_B_n = 0;
gnav_ephemeris.d_P_2 = 1;
gnav_ephemeris.d_t_b = 8100;
gnav_ephemeris.d_VYn = -2.69022750854492;
gnav_ephemeris.d_AYn = 0;
gnav_ephemeris.d_Yn = -11456.7348632812;
// Call target test method
gnav_nav_message.string_decoder(str2.c_str())
gnav_nav_message.string_decoder(const_cast<char*> (str2.c_str()));
// Perform assertions of decoded fields
ASSERT_TRUE(gnav_ephemeris.d_B_n - gnav_nav_message.gnav_ephemeris.d_B_n < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_P_2 - gnav_nav_message.gnav_ephemeris.d_P_2 < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_t_b - gnav_nav_message.gnav_ephemeris.d_t_b < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_VYn - gnav_nav_message.gnav_ephemeris.d_VYn < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_AYn - gnav_nav_message.gnav_ephemeris.d_AYn < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_Yn - gnav_nav_message.gnav_ephemeris.d_Yn < DBL_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_B_n - gnav_nav_message.gnav_ephemeris.d_B_n < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_P_2 - gnav_nav_message.gnav_ephemeris.d_P_2 < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_t_b - gnav_nav_message.gnav_ephemeris.d_t_b < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_VYn - gnav_nav_message.gnav_ephemeris.d_VYn < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_AYn - gnav_nav_message.gnav_ephemeris.d_AYn < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_Yn - gnav_nav_message.gnav_ephemeris.d_Yn < FLT_EPSILON );
}
/*!
* \brief Testing string decoding for GLONASS GNAV messages
* \test The provided string (str1.....str15) was generated with a version of
* MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS
* GNAV signals. The same assumption is to be applied for ephemeris and almanac
* data provided.
*/
TEST(GlonassGnavNavigationMessageTest, String3Decoder)
{
// Variable declarations
std::string str3("0001110000000001001101001110100011111011010011001101001101110110010011110011100100011");
Glonass_Gnav_Navigation_Message gnav_nav_message;
Glonass_Gnav_Ephemeris gnav_ephemeris;
// Fill out ephemeris values for truth
gnav_ephemeris.d_P_3 = 1;
gnav_ephemeris.d_gamma_n = 1.81898940354586e-12;
gnav_ephemeris.d_P = 3;
gnav_ephemeris.d_l3rd_n = 0;
gnav_ephemeris.d_VZn = -1.82016849517822;
gnav_ephemeris.d_AZn = -2.79396772384644e-09;
gnav_ephemeris.d_Zn = 19929.2377929688;
// Call target test method
gnav_nav_message.string_decoder(const_cast<char*> (str3.c_str()));
// Perform assertions of decoded fields
ASSERT_TRUE(gnav_ephemeris.d_P_3 - gnav_nav_message.gnav_ephemeris.d_P_3 < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_gamma_n - gnav_nav_message.gnav_ephemeris.d_gamma_n < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_P - gnav_nav_message.gnav_ephemeris.d_P < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_l3rd_n - gnav_nav_message.gnav_ephemeris.d_l3rd_n < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_VZn - gnav_nav_message.gnav_ephemeris.d_VZn < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_AZn - gnav_nav_message.gnav_ephemeris.d_AZn < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_Zn - gnav_nav_message.gnav_ephemeris.d_Zn < FLT_EPSILON );
}
/*!
* \brief Testing string decoding for GLONASS GNAV messages
* \test The provided string (str1.....str15) was generated with a version of
* MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS
* GNAV signals. The same assumption is to be applied for ephemeris and almanac
* data provided.
*/
TEST(GlonassGnavNavigationMessageTest, String4Decoder)
{
// Variable declarations
std::string str4("0010010000101011100100000100000100000000000000000000011000100100001100101010100011101");
Glonass_Gnav_Navigation_Message gnav_nav_message;
Glonass_Gnav_Ephemeris gnav_ephemeris;
// Fill out ephemeris values for truth
gnav_ephemeris.d_tau_n = -8.30907374620438e-05;
gnav_ephemeris.d_Delta_tau_n = 9.31322574615479e-10;
gnav_ephemeris.d_E_n = 0;
gnav_ephemeris.d_P_4 = 0;
gnav_ephemeris.d_F_T = 6;
gnav_ephemeris.d_N_T = 268;
gnav_ephemeris.d_n = 21;
gnav_ephemeris.d_M = 1;
// Call target test method
gnav_nav_message.string_decoder(const_cast<char*> (str4.c_str()));
// Perform assertions of decoded fields
ASSERT_TRUE(gnav_ephemeris.d_tau_n - gnav_nav_message.gnav_ephemeris.d_tau_n < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_Delta_tau_n - gnav_nav_message.gnav_ephemeris.d_Delta_tau_n < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_E_n - gnav_nav_message.gnav_ephemeris.d_E_n < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_P_4 - gnav_nav_message.gnav_ephemeris.d_P_4 < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_F_T - gnav_nav_message.gnav_ephemeris.d_F_T < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_N_T - gnav_nav_message.gnav_ephemeris.d_N_T < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_n - gnav_nav_message.gnav_ephemeris.d_n < FLT_EPSILON );
ASSERT_TRUE(gnav_ephemeris.d_M - gnav_nav_message.gnav_ephemeris.d_M < FLT_EPSILON );
}
/*!
* \brief Testing string decoding for GLONASS GNAV messages
* \test The provided string (str1.....str15) was generated with a version of
* MATLAB GNSS-SDR that the author coded to perform proper decoding of GLONASS
* GNAV signals. The same assumption is to be applied for ephemeris and almanac
* data provided.
*/
TEST(GlonassGnavNavigationMessageTest, String5Decoder)
{
// Variable declarations
std::string str5("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000");
Glonass_Gnav_Navigation_Message gnav_nav_message;
Glonass_Gnav_Utc_Model gnav_utc_model;
// Fill out ephemeris values for truth
gnav_utc_model.d_N_A = 268;
gnav_utc_model.d_tau_c = 9.6391886472702e-08;
gnav_utc_model.d_N_4 = 6;
gnav_utc_model.d_tau_gps = 9.313225746154785e-08;
// Call target test method
gnav_nav_message.string_decoder(const_cast<char*> (str5.c_str()));
// Perform assertions of decoded fields
ASSERT_TRUE(gnav_utc_model.d_N_A - gnav_nav_message.gnav_utc_model.d_N_A < FLT_EPSILON );
ASSERT_TRUE(gnav_utc_model.d_tau_c - gnav_nav_message.gnav_utc_model.d_tau_c < FLT_EPSILON );
ASSERT_TRUE(gnav_utc_model.d_N_4 - gnav_nav_message.gnav_utc_model.d_N_4 < FLT_EPSILON );
ASSERT_TRUE(gnav_utc_model.d_tau_gps - gnav_nav_message.gnav_utc_model.d_tau_gps < FLT_EPSILON );
}
std::string str2("0001000010001001000001010101100001011001011000000010101100110000001011110000110011110");
std::string str3("0001110000000001001101001110100011111011010011001101001101110110010011110011100100011");
std::string str4("0010010000101011100100000100000100000000000000000000011000100100001100101010100011101");
std::string str5("0010100100001100000000000000000000000000110011110001100000000000000001100100011000000");
std::string str6("0011010100110100001100111100011100001101011000000110101111001000000101100011111011001");
std::string str7("0011101101010001000010000110101111110000101101001011111110101110100010111100010001101");
std::string str8("0100010100111000000001111110001101000000110000001000100111011100001010101111010011010");