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Merge branch 'fix-L2-L5-CNAV' of https://github.com/vladisslav2011/gnss-sdr into vladisslav2011-fix-L2-L5-CNAV

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This commit is contained in:
Carles Fernandez
2026-07-31 16:51:51 +02:00
parent fd475cc872 2f86def08b
commit f7fa1ff68e
9 changed files with 362 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/algorithms/libs/rtklib/rtklib_ephemeris.cc
+8 -2
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@@ -350,6 +350,9 @@ void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
double *var)
{
double tk;
double Ak;
double na;
double delta_na;
double M;
double E;
double Ek;
@@ -402,7 +405,10 @@ void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
omge = GNSS_OMEGA_EARTH_DOT;
break;
}
M = eph->M0 + (sqrt(mu / (eph->A * eph->A * eph->A)) + eph->deln) * tk;
Ak = eph->A + eph->Adot * tk;
delta_na = eph->deln + 0.5 * eph->ndot * tk;
na = sqrt(mu / (eph->A * eph->A * eph->A)) + delta_na;
M = eph->M0 + na * tk;
for (n = 0, E = M, Ek = 0.0; fabs(E - Ek) > RTOL_KEPLER && n < MAX_ITER_KEPLER; n++)
{
@@ -420,7 +426,7 @@ void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
trace(4, "kepler: sat=%2d e=%8.5f n=%2d del=%10.3e\n", eph->sat, eph->e, n, E - Ek);
u = atan2(sqrt(1.0 - eph->e * eph->e) * sinE, cosE - eph->e) + eph->omg;
r = eph->A * (1.0 - eph->e * cosE);
r = Ak * (1.0 - eph->e * cosE);
i = eph->i0 + eph->idot * tk;
sin2u = sin(2.0 * u);
cos2u = cos(2.0 * u);
src/algorithms/libs/rtklib/rtklib_pntpos.cc
+2 -2
View File
@@ -336,11 +336,11 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel,
P2 += P2_C2; // C2->P2
if (obs->code[j] == CODE_L2S) // L2 single freq.
{
PC = P2 + P1_P2 - ISCl2;
PC = P2 - P1_P2 + ISCl2;
}
else if (obs->code[j] == CODE_L5X) // L5 single freq.
{
PC = P2 + P1_P2 - ISCl5i;
PC = P2 - P1_P2 + ISCl5i;
}
}
if (sys == SYS_BDS)
src/core/system_parameters/gnss_ephemeris.cc
+8 -5
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@@ -190,11 +190,14 @@ void Gnss_Ephemeris::satellitePosVelComputation(double transmitTime, std::array<
// Time from ephemeris reference epoch
double tk = check_t(transmitTime - static_cast<double>(this->toe));
// Semi-major axis correction (CNAV)
const double Ak = a + this->Adot * tk;
// Corrected mean motion
const double n = n0 + this->delta_n;
// Mean anomaly
const double M = this->M_0 + n * tk;
const double M = this->M_0 + (n + 0.5 * this->delta_ndot * tk) * tk;
// Initial guess of eccentric anomaly
double E = M;
@@ -218,7 +221,7 @@ void Gnss_Ephemeris::satellitePosVelComputation(double transmitTime, std::array<
const double cek = cos(E);
const double OneMinusecosE = 1.0 - this->ecc * cek;
const double sq1e2 = sqrt(1.0 - this->ecc * this->ecc);
const double ekdot = n / OneMinusecosE;
const double ekdot = (n + this->delta_ndot * tk) / OneMinusecosE;
// Compute the true anomaly
const double tmp_Y = sq1e2 * sek;
@@ -240,8 +243,8 @@ void Gnss_Ephemeris::satellitePosVelComputation(double transmitTime, std::array<
const double ukdot = pkdot * (1.0 + 2.0 * (this->Cus * c2pk - this->Cuc * s2pk));
// Correct radius
const double r = a * OneMinusecosE + this->Crc * c2pk + this->Crs * s2pk;
const double rkdot = a * this->ecc * sek * ekdot + 2.0 * pkdot * (this->Crs * c2pk - this->Crc * s2pk);
const double r = Ak * OneMinusecosE + this->Crc * c2pk + this->Crs * s2pk;
const double rkdot = this->Adot * (1. - this->ecc * cek) + Ak * this->ecc * sek * ekdot + 2.0 * pkdot * (this->Crs * c2pk - this->Crc * s2pk);
// Correct inclination
const double i = this->i_0 + this->idot * tk + this->Cic * c2pk + this->Cis * s2pk;
@@ -345,7 +348,7 @@ double Gnss_Ephemeris::sv_clock_relativistic_term(double transmitTime) const
const double n = n0 + this->delta_n;
// Mean anomaly
const double M = this->M_0 + n * tk;
const double M = this->M_0 + (n + 0.5 * this->delta_ndot * tk) * tk;
// Initial guess of eccentric anomaly
double E = M;
src/core/system_parameters/gnss_ephemeris.h
+19 -17
View File
@@ -67,23 +67,25 @@ public:
void satellitePosition(double transmitTime); //!< Computes the ECEF SV coordinates and ECEF velocity
uint32_t PRN{}; //!< SV ID
double M_0{}; //!< Mean anomaly at reference time [rad]
double delta_n{}; //!< Mean motion difference from computed value [rad/sec]
double ecc{}; //!< Eccentricity
double sqrtA{}; //!< Square root of the semi-major axis [meters^1/2]
double OMEGA_0{}; //!< Longitude of ascending node of orbital plane at weekly epoch [rad]
double i_0{}; //!< Inclination angle at reference time [rad]
double omega{}; //!< Argument of perigee [rad]
double OMEGAdot{}; //!< Rate of right ascension [rad/sec]
double idot{}; //!< Rate of inclination angle [rad/sec]
double Cuc{}; //!< Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
double Cus{}; //!< Amplitude of the sine harmonic correction term to the argument of latitude [rad]
double Crc{}; //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
double Crs{}; //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
double Cic{}; //!< Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
double Cis{}; //!< Amplitude of the sine harmonic correction term to the angle of inclination [rad]
int32_t toe{}; //!< Ephemeris reference time [s]
uint32_t PRN{}; //!< SV ID
double M_0{}; //!< Mean anomaly at reference time [rad]
double Adot{}; //!< Change rate in semi-major axis (CNAV)
double delta_ndot{}; //!< Rate of mean motion difference from computed value (CNAV)
double delta_n{}; //!< Mean motion difference from computed value [rad/sec]
double ecc{}; //!< Eccentricity
double sqrtA{}; //!< Square root of the semi-major axis [meters^1/2]
double OMEGA_0{}; //!< Longitude of ascending node of orbital plane at weekly epoch [rad]
double i_0{}; //!< Inclination angle at reference time [rad]
double omega{}; //!< Argument of perigee [rad]
double OMEGAdot{}; //!< Rate of right ascension [rad/sec]
double idot{}; //!< Rate of inclination angle [rad/sec]
double Cuc{}; //!< Amplitude of the cosine harmonic correction term to the argument of latitude [rad]
double Cus{}; //!< Amplitude of the sine harmonic correction term to the argument of latitude [rad]
double Crc{}; //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
double Crs{}; //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
double Cic{}; //!< Amplitude of the cosine harmonic correction term to the angle of inclination [rad]
double Cis{}; //!< Amplitude of the sine harmonic correction term to the angle of inclination [rad]
int32_t toe{}; //!< Ephemeris reference time [s]
// Clock correction parameters
int32_t toc{}; //!< Clock correction data reference Time of Week [sec]
src/core/system_parameters/gps_cnav_ephemeris.h
+5 -3
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@@ -47,8 +47,6 @@ public:
}
double delta_A{}; //!< Semi-major axis difference at reference time
double Adot{}; //!< Change rate in semi-major axis
double delta_ndot{}; //!< Rate of mean motion difference from computed value
double delta_OMEGAdot{}; //!< Rate of Right Ascension difference [semi-circles/s]
int32_t toe1{}; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200M) [s]
int32_t toe2{}; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200M) [s]
@@ -140,6 +138,10 @@ public:
archive& BOOST_SERIALIZATION_NVP(URA1);
archive& BOOST_SERIALIZATION_NVP(URA2);
}
if (version > 1)
{
archive& BOOST_SERIALIZATION_NVP(delta_ndot);
}
archive& BOOST_SERIALIZATION_NVP(TGD);
archive& BOOST_SERIALIZATION_NVP(ISCL1);
archive& BOOST_SERIALIZATION_NVP(ISCL2);
@@ -155,7 +157,7 @@ public:
}
};
BOOST_CLASS_VERSION(Gps_CNAV_Ephemeris, 1)
BOOST_CLASS_VERSION(Gps_CNAV_Ephemeris, 2)
/** \} */
src/core/system_parameters/gps_cnav_navigation_message.cc
+1
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@@ -303,6 +303,7 @@ bool Gps_CNAV_Navigation_Message::have_new_ephemeris() // Check if we have a ne
d_ephemeris_top == d_clock_top)
{
// MT10, MT11, and a clock page belong to the same CNAV CEI set.
ephemeris_record.toe = ephemeris_record.toe1;
b_flag_ephemeris_1 = false; // clear the flags
b_flag_ephemeris_2 = false;
b_flag_clock_valid = false;
tests/test_main.cc
+1
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@@ -188,6 +188,7 @@ private:
#include "unit-tests/system-parameters/galileo_ism_test.cc"
#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
#include "unit-tests/system-parameters/gnss_ephemeris_posvel_test.cc"
#include "unit-tests/system-parameters/gps_cnav_navigation_message_test.cc"
#include "unit-tests/system-parameters/has_decoding_test.cc"
#include "unit-tests/system-parameters/qzss_code_generation_test.cc"
tests/unit-tests/system-parameters/gnss_ephemeris_posvel_test.cc
+317
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@@ -0,0 +1,317 @@
/*!
* \file gnss_ephemeris_posvel_test.cc.cc
* \author Vladislav P, 2026. vladisslav2011(at)gmail.com
*
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "beidou_dnav_ephemeris.h"
#include "galileo_ephemeris.h"
#include "gnss_ephemeris.h"
#include "gps_cnav_ephemeris.h"
#include "gps_ephemeris.h"
TEST(GnssEphemerisPosVelTest, NAV)
{
Gps_Ephemeris e{};
e.PRN = 15;
e.M_0 = 1.35464234665685956e+00;
e.delta_n = 5.10199823299105835e-09;
e.ecc = 1.70680778101086582e-02;
e.sqrtA = 5.15376512145996094e+03;
e.OMEGA_0 = 2.35100387398234556e+00;
e.i_0 = 9.44768674001770559e-01;
e.omega = 1.54160131395114042e+00;
e.OMEGAdot = -8.57285709390860145e-09;
e.idot = -2.30366738556474118e-10;
e.Cuc = -6.73159956932067871e-06;
e.Cus = 3.66382300853729248e-06;
e.Crc = 3.05843750000000000e+02;
e.Crs = -1.23937500000000000e+02;
e.Cic = -1.17346644401550293e-07;
e.Cis = -3.91155481338500977e-07;
e.toe = 331200;
e.toc = 331200;
e.af0 = 4.32340428233146667e-04;
e.af1 = 3.06954461848363200e-12;
e.af2 = 0.00000000000000000e+00;
e.WN = 381;
e.tow = 326166;
e.satClkDrift = 0.00000000000000000e+00;
e.dtr = 0.00000000000000000e+00;
e.IODE_SF2 = 30;
e.IODE_SF3 = 30;
e.code_on_L2 = 1;
e.L2_P_data_flag = 0;
e.SV_accuracy = 0;
e.SV_health = 0;
e.TGD = -1.07102096080780029e-08;
e.IODC = 30;
e.AODO = 16200;
e.fit_interval_flag = 0;
e.spare1 = 0.00000000000000000e+00;
e.spare2 = 0.00000000000000000e+00;
e.integrity_status_flag = 0;
e.alert_flag = 0;
e.antispoofing_flag = 1;
auto dopplerL1 = e.predicted_doppler(590328., 0., 0., 0., 0., 0., 0., 1);
e.satellitePosition(590328.);
EXPECT_NEAR(98.676019, dopplerL1, 1e-4);
EXPECT_NEAR(26325247.164428, e.satpos_X, 1e-4);
EXPECT_NEAR(1943900.228289, e.satpos_Y, 1e-4);
EXPECT_NEAR(2494201.363945, e.satpos_Z, 1e-4);
EXPECT_NEAR(333.268032, e.satvel_X, 1e-4);
EXPECT_NEAR(384.414587, e.satvel_Y, 1e-4);
EXPECT_NEAR(-3116.921783, e.satvel_Z, 1e-4);
double satvel_X = e.satvel_X;
double satvel_Y = e.satvel_Y;
double satvel_Z = e.satvel_Z;
e.satellitePosition(590327.995);
double satpos_X = e.satpos_X;
double satpos_Y = e.satpos_Y;
double satpos_Z = e.satpos_Z;
e.satellitePosition(590328.005);
double d_X = (e.satpos_X - satpos_X) * 100.;
double d_Y = (e.satpos_Y - satpos_Y) * 100.;
double d_Z = (e.satpos_Z - satpos_Z) * 100.;
EXPECT_NEAR(d_X, satvel_X, 1e-4);
EXPECT_NEAR(d_Y, satvel_Y, 1e-4);
EXPECT_NEAR(d_Z, satvel_Z, 1e-4);
}
TEST(GnssEphemerisPosVelTest, CNAV)
{
Gps_CNAV_Ephemeris e{};
e.PRN = 1;
e.M_0 = 8.45797918146817151e-01;
e.delta_n = 4.55893989814592299e-09;
e.ecc = 1.83155917329713681e-03;
e.sqrtA = 5.15360200490880015e+03;
e.OMEGA_0 = 6.26039239835774475e-01;
e.i_0 = 9.57107201573828559e-01;
e.omega = 1.91825002944197659e-01;
e.OMEGAdot = -8.21850013985512873e-09;
e.idot = 1.84293390845179697e-10;
e.Cuc = 3.64799052476882935e-06;
e.Cus = 3.35834920406341553e-06;
e.Crc = 3.11757812500000000e+02;
e.Crs = 6.96562500000000000e+01;
e.Cic = 4.00468707084655762e-08;
e.Cis = 4.00468707084655762e-08;
e.toe = 588600;
e.toc = 588600;
e.af0 = 2.13293504202738377e-04;
e.af1 = -9.59232693276135251e-12;
e.af2 = 0.00000000000000000e+00;
e.WN = 2428;
e.tow = 590328;
e.satClkDrift = 0.00000000000000000e+00;
e.dtr = 0.00000000000000000e+00;
e.toe1 = 588600;
e.toe2 = 588600;
e.WNop = 124;
e.top = 519300;
e.URAED = -1;
e.URANED0 = -2;
e.URANED1 = 3;
e.URANED2 = 7;
e.URA = -1;
e.URA0 = -2.00000000000000000e+00;
e.URA1 = 3.00000000000000000e+00;
e.URA2 = 7.00000000000000000e+00;
e.delta_ndot = -8.06351598383372435e-14;
e.TGD = -8.84756445884704424e-09;
e.ISCL1 = -2.91038304567336984e-10;
e.ISCL2 = 5.64614310860633767e-09;
e.ISCL5I = -5.52972778677940265e-10;
e.ISCL5Q = -6.69388100504875080e-10;
e.delta_A = -9.63750000000000000e+01;
e.Adot = 7.12776184082031250e-03;
e.delta_OMEGAdot = -5.03592405216479423e-11;
e.integrity_status_flag = 0;
e.l2c_phasing_flag = 0;
e.alert_flag = 0;
e.antispoofing_flag = 0;
auto dopplerL2 = e.predicted_doppler(590328., 0., 0., 0., 0., 0., 0., 2);
auto dopplerL5 = e.predicted_doppler(590328., 0., 0., 0., 0., 0., 0., 5);
e.satellitePosition(590328.);
EXPECT_NEAR(-117.548462, dopplerL2, 1e-4);
EXPECT_NEAR(-112.650609, dopplerL5, 1e-4);
EXPECT_NEAR(-14623772.544799, e.satpos_X, 1e-4);
EXPECT_NEAR(7423769.471881, e.satpos_Y, 1e-4);
EXPECT_NEAR(20862927.586354, e.satpos_Z, 1e-4);
EXPECT_NEAR(-111.278839, e.satvel_X, 1e-4);
EXPECT_NEAR(-2654.059316, e.satvel_Y, 1e-4);
EXPECT_NEAR(874.382189, e.satvel_Z, 1e-4);
double satvel_X = e.satvel_X;
double satvel_Y = e.satvel_Y;
double satvel_Z = e.satvel_Z;
e.satellitePosition(590327.995);
double satpos_X = e.satpos_X;
double satpos_Y = e.satpos_Y;
double satpos_Z = e.satpos_Z;
e.satellitePosition(590328.005);
double d_X = (e.satpos_X - satpos_X) * 100.;
double d_Y = (e.satpos_Y - satpos_Y) * 100.;
double d_Z = (e.satpos_Z - satpos_Z) * 100.;
EXPECT_NEAR(d_X, satvel_X, 1e-4);
EXPECT_NEAR(d_Y, satvel_Y, 1e-4);
EXPECT_NEAR(d_Z, satvel_Z, 1e-4);
}
TEST(GnssEphemerisPosVelTest, Galileo)
{
Galileo_Ephemeris e{};
e.PRN = 13;
e.M_0 = 2.41163546760016079e+00;
e.delta_n = 2.66832543217894277e-09;
e.ecc = 4.77104913443326882e-05;
e.sqrtA = 5.44060108375549316e+03;
e.OMEGA_0 = 6.47008588356165260e-01;
e.i_0 = 9.97650131401018214e-01;
e.omega = -7.14945752017439456e-02;
e.OMEGAdot = -5.50165773755647669e-09;
e.idot = 3.22870591713259829e-10;
e.Cuc = 6.63474202156066895e-06;
e.Cus = 2.07684934139251709e-06;
e.Crc = 3.11656250000000000e+02;
e.Crs = 1.40062500000000000e+02;
e.Cic = -2.79396772384643555e-08;
e.Cis = 4.47034835815429688e-08;
e.toe = 57000;
e.toc = 57000;
e.af0 = -6.03639055043458871e-05;
e.af1 = -9.37916411203332043e-13;
e.af2 = 0.00000000000000000e+00;
e.WN = 2429;
e.tow = 59670;
e.satClkDrift = 0.00000000000000000e+00;
e.dtr = 0.00000000000000000e+00;
e.IOD_ephemeris = 95;
e.IOD_nav = 0;
e.SISA = 107;
e.E5a_HS = 0;
e.E5b_HS = 0;
e.E1B_HS = 0;
e.E5a_DVS = 0;
e.E5b_DVS = 0;
e.E1B_DVS = 0;
e.BGD_E1E5a = 4.42378222942352212e-09;
e.BGD_E1E5b = 0.00000000000000000e+00;
e.flag_all_ephemeris = 1;
e.nav_message_type = static_cast<Galileo_Nav_Message_Type>(2);
auto dopplerL1 = e.predicted_doppler(59328., 0., 0., 0., 0., 0., 0., 1);
auto dopplerL5 = e.predicted_doppler(59328., 0., 0., 0., 0., 0., 0., 5);
auto dopplerL6 = e.predicted_doppler(59328., 0., 0., 0., 0., 0., 0., 6);
auto dopplerL7 = e.predicted_doppler(59328., 0., 0., 0., 0., 0., 0., 7);
auto dopplerL8 = e.predicted_doppler(59328., 0., 0., 0., 0., 0., 0., 8);
e.satellitePosition(59328.);
EXPECT_NEAR(1250.566176, dopplerL1, 1e-4);
EXPECT_NEAR(933.864352, dopplerL5, 1e-4);
EXPECT_NEAR(1015.069948, dopplerL6, 1e-4);
EXPECT_NEAR(958.226030, dopplerL7, 1e-4);
EXPECT_NEAR(946.045191, dopplerL8, 1e-4);
EXPECT_NEAR(18121174.847871, e.satpos_X, 1e-4);
EXPECT_NEAR(-19974436.330324, e.satpos_Y, 1e-4);
EXPECT_NEAR(12202101.756204, e.satpos_Z, 1e-4);
EXPECT_NEAR(977.807753, e.satvel_X, 1e-4);
EXPECT_NEAR(-754.332969, e.satvel_Y, 1e-4);
EXPECT_NEAR(-2686.561660, e.satvel_Z, 1e-4);
double satvel_X = e.satvel_X;
double satvel_Y = e.satvel_Y;
double satvel_Z = e.satvel_Z;
e.satellitePosition(59327.995);
double satpos_X = e.satpos_X;
double satpos_Y = e.satpos_Y;
double satpos_Z = e.satpos_Z;
e.satellitePosition(59328.005);
double d_X = (e.satpos_X - satpos_X) * 100.;
double d_Y = (e.satpos_Y - satpos_Y) * 100.;
double d_Z = (e.satpos_Z - satpos_Z) * 100.;
EXPECT_NEAR(d_X, satvel_X, 1e-4);
EXPECT_NEAR(d_Y, satvel_Y, 1e-4);
EXPECT_NEAR(d_Z, satvel_Z, 1e-4);
}
TEST(GnssEphemerisPosVelTest, DNAV)
{
Beidou_Dnav_Ephemeris e{};
e.PRN = 41;
e.M_0 = -2.86495395534618202e+00;
e.delta_n = 3.27227916070452066e-09;
e.ecc = 1.44056859426200368e-03;
e.sqrtA = 5.28263833618164062e+03;
e.OMEGA_0 = 2.17724435277226158e+00;
e.i_0 = 9.87684843163906256e-01;
e.omega = -1.04237488131494449e+00;
e.OMEGAdot = -6.49884213143194274e-09;
e.idot = -1.00004165574903490e-11;
e.Cuc = -7.40075483918190002e-06;
e.Cus = 5.91995194554328918e-06;
e.Crc = 2.55390625000000000e+02;
e.Crs = -1.52921875000000000e+02;
e.Cic = -1.07102096080780029e-08;
e.Cis = 3.44589352607727051e-08;
e.toe = 586800;
e.toc = 586800;
e.af0 = -9.49730747379362475e-04;
e.af1 = -2.21955787083061296e-12;
e.af2 = 0.00000000000000000e+00;
e.WN = 1072;
e.tow = 590232;
e.satClkDrift = 0.00000000000000000e+00;
e.dtr = 0.00000000000000000e+00;
e.AODE = 1.00000000000000000e+00;
e.SV_accuracy = 0;
e.SV_health = 0;
e.AODC = 1.00000000000000000e+00;
e.TGD1 = -2.39999999999999998e-08;
e.TGD2 = -2.39999999999999998e-08;
e.sig_type = 5;
e.nav_type = 1;
e.AODO = 0;
e.fit_interval_flag = 0;
e.spare1 = 0.00000000000000000e+00;
e.spare2 = 0.00000000000000000e+00;
e.integrity_status_flag = 0;
e.alert_flag = 0;
e.antispoofing_flag = 0;
auto dopplerL1 = e.predicted_doppler(590328., 0., 0., 0., 0., 0., 0., 1);
auto dopplerL3 = e.predicted_doppler(590328., 0., 0., 0., 0., 0., 0., 3);
e.satellitePosition(590328.);
EXPECT_NEAR(1168.881533, dopplerL1, 1e-4);
EXPECT_NEAR(949.811992, dopplerL3, 1e-4);
EXPECT_NEAR(26628945.935993, e.satpos_X, 1e-4);
EXPECT_NEAR(-5184093.916996, e.satpos_Y, 1e-4);
EXPECT_NEAR(6666187.976574, e.satpos_Z, 1e-4);
EXPECT_NEAR(755.905578, e.satvel_X, 1e-4);
EXPECT_NEAR(18.179881, e.satvel_Y, 1e-4);
EXPECT_NEAR(-3021.004498, e.satvel_Z, 1e-4);
double satvel_X = e.satvel_X;
double satvel_Y = e.satvel_Y;
double satvel_Z = e.satvel_Z;
e.satellitePosition(590327.995);
double satpos_X = e.satpos_X;
double satpos_Y = e.satpos_Y;
double satpos_Z = e.satpos_Z;
e.satellitePosition(590328.005);
double d_X = (e.satpos_X - satpos_X) * 100.;
double d_Y = (e.satpos_Y - satpos_Y) * 100.;
double d_Z = (e.satpos_Z - satpos_Z) * 100.;
EXPECT_NEAR(d_X, satvel_X, 1e-4);
EXPECT_NEAR(d_Y, satvel_Y, 1e-4);
EXPECT_NEAR(d_Z, satvel_Z, 1e-4);
}
tests/unit-tests/system-parameters/gps_cnav_navigation_message_test.cc
+1
View File
@@ -81,6 +81,7 @@ TEST(GpsCnavNavigationMessageTest, EphemerisRequiresMatchingClockPage)
set_gps_cnav_unsigned_field(mt30_matching, CNAV_TOC, 200);
nav_message.decode_page(mt30_matching);
EXPECT_TRUE(nav_message.have_new_ephemeris());
EXPECT_EQ(200 * CNAV_TOE1_LSB, nav_message.get_ephemeris().toe);
EXPECT_FALSE(nav_message.have_new_ephemeris());
}