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feature: Remove satellite position computation from GNAV Almanac

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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
This commit is contained in:
Damian Miralles 2017-09-18 15:52:09 -06:00
parent c1df56b7e3
commit fa235e29a4
5 changed files with 19 additions and 234 deletions
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119
src/core/system_parameters/glonass_gnav_almanac.cc
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@ -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;
}

27
src/core/system_parameters/glonass_gnav_almanac.h
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@ -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<class Archive>
/*!
* \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
*/

30
src/core/system_parameters/glonass_gnav_navigation_message.cc
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@ -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<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(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<double>(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<double>(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<double>(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<double>(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<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(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<double>(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<double>(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<double>(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<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(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<double>(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<double>(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<double>(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<double>(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<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(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<double>(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<double>(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<double>(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<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(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<double>(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<double>(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<double>(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<double>(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<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(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<double>(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<double>(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<double>(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<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(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<double>(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<double>(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<double>(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<double>(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<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(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<double>(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<double>(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<double>(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<double>(read_navigation_unsigned(string_bits, M_N_A));
gnav_almanac[i_alm_satellite_slot_number - 1].d_n_A = static_cast<double>(read_navigation_unsigned(string_bits, n_A));
gnav_almanac[i_alm_satellite_slot_number - 1].d_tau_n_A = static_cast<double>(read_navigation_unsigned(string_bits, TAU_N_A)) * TWO_N18;
gnav_almanac[i_alm_satellite_slot_number - 1].d_lambda_n_A = static_cast<double>(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<double>(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<double>(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<double>(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<double>(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<double>(read_navigation_signed(string_bits, OMEGA_N_A)) * TWO_N15;
gnav_almanac[i_alm_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(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<double>(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<double>(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<double>(read_navigation_signed(string_bits, DELTA_T_DOT_N_A)) * TWO_N14;

1
src/tests/test_main.cc
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@ -144,7 +144,6 @@ 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)

76
src/tests/unit-tests/system-parameters/glonass_gnav_almanac_test.cc
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@ -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 <a href="http://russianspacesystems.ru/wp-content/uploads/2016/08/ICD_GLONASS_eng_v5.1.pdf">GLONASS ICD</a>
*
*
* -------------------------------------------------------------------------
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include <complex>
#include <ctime>
#include "gps_sdr_signal_processing.h"
#include "gnss_signal_processing.h"
#include <complex>
#include <ctime>
#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 );
}