void xCNAV2PNBgpsNavMsg::firstTest(void)
{
// Set time to Day 153, 2011 (6/2/2011) at noon
CivilTime g( 2011, 6, 2, 12, 14, 44.0, TimeSystem::GPS );
CommonTime TransmitTime = g.convertToCommonTime();
SatID satSys(1, SatID::systemGPS);
ObsID obsID( ObsID::otNavMsg, ObsID::cbL2, ObsID::tcC2LM );
// Test Data copied from RINEX file for PRN3, week 1638, day 153 2011
// Subframe 2 Data
unsigned long TOWWeek = 1638;
int n_TOWWeek = 13;
int s_TOWWeek = 1;
unsigned long ITOW = 53;
int n_ITOW = 8;
int s_ITOW = 1;
unsigned long Top = 378000;
int n_Top = 11;
int s_Top = 300;
unsigned long L1CHealth = 0;
int n_L1CHealth = 1;
int s_L1CHealth = 1;
long URAoe = -16;
int n_URAoe = 5;
int s_URAoe = 1;
unsigned long Toe = 388800;
int n_Toe = 11;
int s_Toe = 300;
double Ahalf = 5.15365527534E+03;
int n_Ahalf = 32;
int s_Ahalf = -19;
double deltaA = Ahalf*Ahalf - A_REF_GPS;
int n_deltaA = 26;
int s_deltaA = -9;
double Adot = 0;
int n_Adot = 25;
int s_Adot = -21;
double dn = 5.39093883996E-09;
int n_dn = 17;
int s_dn = -44;
double dndot = 0;
int n_dndot = 23;
int s_dndot = -57;
double M0 = 1.05539162795E+00;
int n_M0 = 33;
int s_M0 = -32;
double ecc = 1.42575260252E-02;
int n_ecc = 33;
int s_ecc = -34;
double w = 1.09154604931E+00;
int n_w = 33;
int s_w = -32;
double OMEGA0 = -2.16947563164E+00;
int n_OMEGA0 = 33;
int s_OMEGA0 = -32;
double i0 = 9.28692497530E-01;
int n_i0 = 33;
int s_i0 = -32;
double OMEGAdot = -8.56285667735E-09;
int n_OMEGAdot = 24;
int s_OMEGAdot = -43;
double deltaOMEGAdot = OMEGAdot - OMEGADOT_REF_GPS;
int n_deltaOMEGAdot = 17;
int s_deltaOMEGAdot = -44;
double idot = 5.52880172536E-10;
int n_idot = 15;
int s_idot = -44;
double Cis = 5.02914190292E-08;
int n_Cis = 16;
int s_Cis = -30;
double Cic = -2.30967998505E-07;
int n_Cic = 16;
int s_Cic = -30;
double Crs = 1.87812500000E+01;
int n_Crs = 24;
int s_Crs = -8;
double Crc = 2.03562500000E+02;
int n_Crc = 24;
int s_Crc = -8;
double Cus = 8.35768878460E-06;
int n_Cus = 21;
int s_Cus = -30;
double Cuc = 9.57399606705E-07;
int n_Cuc = 21;
int s_Cuc = -30;
long URAoc = 15;
int n_URAoc = 5;
int s_URAoc = 1;
unsigned long URAoc1 = 1;
int n_URAoc1 = 3;
int s_URAoc1 = 1;
unsigned long URAoc2 = 2;
int n_URAoc2 = 3;
int s_URAoc2 = 1;
double af0 = 7.23189674318E-04;
int n_af0 = 26;
int s_af0 = -35;
double af1 = 5.11590769747E-12;
int n_af1 = 20;
int s_af1 = -48;
double af2 = 0.0;
int n_af2 = 10;
int s_af2 = -60;
double Tgd = -4.65661287308E-09;
int n_Tgd = 13;
int s_Tgd = -35;
double ISCL1cp = 1E-8;
int n_ISCL1cp = 13;
int s_ISCL1cp = -35;
double ISCL1cd = -1E-8;
int n_ISCL1cd = 13;
int s_ISCL1cd = -35;
unsigned long sflag = 0;
int n_sflag = 1;
int s_sflag = 1;
unsigned long reservedBits = 0;
int n_reservedBits = 10;
int s_reservedBits = 1;
unsigned long CRC = 0;
int n_CRC = 24;
int s_CRC = 1;
ofstream outf("Logs/CNAV2PNB_Output", ios::out);
// First Test Case. Create PNB object in which to store subframe 2 data
// for the CNAV2 nav message.
PackedNavBits pnb;
/* Pack Subframe 2 data */
pnb.setSatID(satSys);
pnb.setObsID(obsID);
pnb.setTime(TransmitTime);
pnb.addUnsignedLong(TOWWeek, n_TOWWeek, s_TOWWeek);
pnb.addUnsignedLong(ITOW, n_ITOW, s_ITOW);
pnb.addUnsignedLong(Top, n_Top, s_Top);
pnb.addUnsignedLong(L1CHealth, n_L1CHealth, s_L1CHealth);
pnb.addLong(URAoe, n_URAoe, s_URAoe);
pnb.addUnsignedLong(Toe, n_Toe, s_Toe);
pnb.addSignedDouble(deltaA, n_deltaA, s_deltaA);
pnb.addSignedDouble(Adot, n_Adot, s_Adot);
pnb.addDoubleSemiCircles(dn, n_dn, s_dn);
pnb.addDoubleSemiCircles(dndot, n_dndot, s_dndot);
pnb.addDoubleSemiCircles(M0, n_M0, s_M0);
pnb.addUnsignedDouble(ecc, n_ecc, s_ecc);
pnb.addDoubleSemiCircles(w, n_w, s_w);
pnb.addDoubleSemiCircles(OMEGA0, n_OMEGA0, s_OMEGA0);
pnb.addDoubleSemiCircles(i0, n_i0, s_i0);
pnb.addDoubleSemiCircles(deltaOMEGAdot, n_deltaOMEGAdot, s_deltaOMEGAdot);
pnb.addDoubleSemiCircles(idot, n_idot, s_idot);
pnb.addSignedDouble(Cis, n_Cis, s_Cis);
pnb.addSignedDouble(Cic, n_Cic, s_Cic);
pnb.addSignedDouble(Crs, n_Crs, s_Crs);
pnb.addSignedDouble(Crc, n_Crc, s_Crc);
pnb.addSignedDouble(Cus, n_Cus, s_Cus);
pnb.addSignedDouble(Cuc, n_Cuc, s_Cuc);
pnb.addLong(URAoc, n_URAoc, s_URAoc);
pnb.addUnsignedLong(URAoc1, n_URAoc1, s_URAoc1);
pnb.addUnsignedLong(URAoc2, n_URAoc2, s_URAoc2);
pnb.addSignedDouble(af0, n_af0, s_af0);
pnb.addSignedDouble(af1, n_af1, s_af1);
pnb.addSignedDouble(af2, n_af2, s_af2);
pnb.addSignedDouble(Tgd, n_Tgd, s_Tgd);
pnb.addSignedDouble(ISCL1cp, n_ISCL1cp, s_ISCL1cp);
pnb.addSignedDouble(ISCL1cd, n_ISCL1cd, s_ISCL1cd);
pnb.addUnsignedLong(sflag, n_sflag, s_sflag);
pnb.addUnsignedLong(reservedBits, n_reservedBits, s_reservedBits);
pnb.addUnsignedLong(CRC, n_CRC, s_CRC);
outf << endl;
outf << "Time of Transmission: " << pnb.getTransmitTime() << endl;
outf << "Time of Transmission pnb: " << GPSWeekSecond(pnb.getTransmitTime()).printf("%F, %g") << endl;
// Resize the vector holding the packed nav message data
pnb.trimsize();
outf << "PNB Object Dump:" << endl;
outf << pnb << endl;
// Second test case. Create a CEC object with the packed data above, available from RINEX file.
outf << endl << "Test Case 2: Creating CEC object with data from RINEX file." << endl;
outf << "Time = " << g << endl;
CommonTime dt = TransmitTime;
short PRNIDArg = 3;
int TOI = 50; // 9 bit word from subframe 1
CNAV2EphClk cec;
cec.loadData( obsID, PRNIDArg, TOI, pnb);
Xvt xvt = cec.svXvt( dt );
double ClkCorr = cec.svClockBias( dt );
double ClkDrift = cec.svClockDrift( dt );
outf << "Position cec: " << xvt.x<< endl;
outf << "Velocity cec: " << xvt.v << endl;
outf.setf(ios::scientific, ios::floatfield);
outf.precision(11);
outf << "RelCorr cec: " << cec.svRelativity(dt) << endl;
outf << "Clock Bias cec: " << ClkCorr << endl;
outf << "Clock Drift cec: " << ClkDrift << endl;
outf << "Time of Prediction cec:" << GPSWeekSecond(cec.getTimeOfPrediction()).printf("%F, %g") << endl;
outf << endl << "CEC Object Dump:" << endl;
outf << cec << endl;
CPPUNIT_ASSERT(fileEqualTest((char*)"Logs/CNAV2PNB_Truth",(char*)"Logs/CNAV2PNB_Output"));
}
void xCNAV2gpsNavMsg::firstTest(void)
{
// Set time to Day 153, 2011 (6/2/2011) at noon
CivilTime g( 2011, 6, 2, 12, 14, 44.0, TimeSystem::GPS );
CommonTime dt = g.convertToCommonTime();
// Test data (copied from navdmp output for .....)
// Generally, we'd load these data from the file
std::string SysID = "G";
ObsID obsID( ObsID::otUndefined, ObsID::cbL1, ObsID::tcCA );
short PRNID = 3;
double Toe = 388800.0;
short TOWWeek = 1638; // By rules of Kepler Orbit, this must be week of Toe
double accuracy = 10.61;
double Cuc = 9.57399607E-07;
double Cus = 8.35768878E-06;
double Crc = 2.03562500E+02;
double Crs = 1.87812500E+01;
double Cic = -2.30967999E-07;
double Cis = 5.02914190E-08;
double M0 = 1.05539163E+00;
double dn = 5.39093884E-09;
double dnDot = 0.0; // Doesn't exist in legacy navigation message
double ecc = 1.42575260E-02;
double Ahalf = 5.15365528E+03;
double A = Ahalf * Ahalf; // Changed from legacy navigation message
double Adot = 0.0; // Doesn't exist in legacy navigation message
double OMEGA0 = -2.16947563E+00;
double i0 = 9.28692498E-01;
double w = 1.09154605E+00;
double OMEGAdot = -8.56285668E-09;
double idot = 5.52880173E-10;
// Test Data copied from RINEX file
double rToe = 388800.0;
short rTOWWeek = 1638; // By rules of Kepler Orbit, this must be week of Toe
double raccuracy = 10.61;
short raccflag = 0;
short rhealth = 0;
short riodc = 22;
short rfitInt = 0;
short rl2pdata = 0;
short rcflags = 1;
short riode = 22;
long raodo = 10;
double rToc = 388800.0;
short rTracker = 1;
double rCuc = 9.57399606705E-07;
double rCus = 8.35768878460E-06;
double rCrc = 2.03562500000E+02;
double rCrs = 1.87812500000E+01;
double rCic = -2.30967998505E-07;
double rCis = 5.02914190292E-08;
double rM0 = 1.05539162795E+00;
double rdn = 5.39093883996E-09;
double rdnDot = 0.0; // Doesn't exist in legacy navigation message
double recc = 1.42575260252E-02;
double rAhalf = 5.15365527534E+03;
double rA = rAhalf * rAhalf; // Changed from legacy navigation message
double rAdot = 0.0; // Doesn't exist in legacy navigation message
double rOMEGA0 = -2.16947563164E+00;
double ri0 = 9.28692497530E-01;
double rw = 1.09154604931E+00;
double rOMEGAdot = -8.56285667735E-09;
double ridot = 5.52880172536E-10;
double raf0 = 7.23189674318E-04;
double raf1 = 5.11590769747E-12;
double raf2 = 0.0;
double rTgd = -4.65661287308E-09;
double deltaA = rA - A_REF_GPS;
long TOW = 382500;
long Top = 378000;
short URAoe = 1;
short URAoc = 1;
short URAoc1 = 2;
short URAoc2 = 3;
double ISCL1cp = 1E-8; // Synthetic, reasonable values
double ISCL1cd = -1E-8; // Synthetic, reasonable values
// Set time to Day 156, 2011 (6/5/2011) at 1 am
CivilTime ct2( 2011, 6, 5, 1, 0, 0.0, TimeSystem::GPS );
CommonTime dt2 = ct2.convertToCommonTime();
// Test data (copied from navdmp output for PRN 7 Day 156, 2011 at 00:00:00 Transmit Time)
// Generally, we'd load these data from the file
short PRNID2 = 7;
double Toe2 = 7200.0;
short TOWWeek2 = 1639; // By rules of Kepler Orbit, this must be week of Toe
double accuracy2 = 10.61;
double Cuc2 = 6.33299351E-08;
double Cus2 = 9.79751348E-07;
double Crc2 = 3.67843750E+02;
double Crs2 = 3.75000000E+01;
double Cic2 = 1.13621354E-07;
double Cis2 = 2.79396772E-08;
double M02 = 5.40667729E-01;
double dn2 = 4.46804325E-09;
double dnDot2 = 0.0; // Doesn't exist in legacy navigation message
double ecc2 = 4.48677479E-03;
double Ahalf2 = 5.15365555E+03;
double A2 = Ahalf2 * Ahalf2; // Changed from legacy navigation message
double Adot2 = 0.0; // Doesn't exist in legacy navigation message
double OMEGA02 = 2.03414883+00;
double i02 = 9.74404003E-01;
double w2 = -3.13294415E+00;
double OMEGAdot2 = -8.35713382E-09;
double idot2 = 1.21433630E-10;
double af0_2 = 1.32815912E-05;
double af1_2 = 1.25055521E-12;
double af2_2 = 0.0;
double Tgd2 = -1.07102096E-08;
short health = 0;
double deltaA2 = A2 - A_REF_GPS;
long TOW2 = 0;
long Top2 = 601200;
short URAoe2 = 1;
short URAoc_2 = 1;
short URAoc1_2 = 2;
short URAoc2_2 = 3;
double ISCL1cp2 = 1E-8; //Synthetic, reasonable values
double ISCL1cd2 = -1E-8; //Synthetic, reasonable values
// Set time to Day 156, 2011 (6/5/2011) at midnight
CivilTime ct3( 2011, 6, 5, 0, 0, 0.0, TimeSystem::GPS );
CommonTime dt3 = ct2.convertToCommonTime();
// Test data (copied from navdmp output for PRN 9 Day 155, 2011 at 22:00:00 Transmit Time)
// Generally, we'd load these data from the file
short PRNID3 = 9;
double Toe3 = 0.0;
short TOWWeek3 = 1638; // By rules of Kepler Orbit, this must be week of Toe
double accuracy3 = 10.61;
double Cuc3 = 1.31130219E-06;
double Cus3 = 1.83656812E-06;
double Crc3 = 3.60718750E+02;
double Crs3 = 1.67812500E+01;
double Cic3 = -2.42143869E-07;
double Cis3 = 3.55765224E-07;
double M03 = -1.22303559E+00;
double dn3 = 4.41946980E-09;
double dnDot3 = 0.0; // Doesn't exist in legacy navigation message
double ecc3 = 1.73985478E-02;
double Ahalf3 = 5.15366363E+03;
double A3 = Ahalf3 * Ahalf3; // Changed from legacy navigation message
double Adot3 = 0.0; // Doesn't exist in legacy navigation message
double OMEGA03 = 2.00581875E+00;
double i03 = 9.83297588E-01;
double w3 = 1.57216573E+00;
double OMEGAdot3 = -8.40356433E-09;
double idot3 = 1.36791412E-10;
double af0_3 = 8.43554735E-05;
double af1_3 = 2.38742359E-12;
double af2_3 = 0.0;
double Tgd3 = -5.58793545E-09;
short health3 = 0;
double deltaA3 = A3 - A_REF_GPS;
long TOW3 = 597600;
long Top3 = 594000;
short URAoe3 = 1;
short URAoc_3 = 1;
short URAoc1_3 = 2;
short URAoc2_3 = 3;
double ISCL1cp3 = 1E-8; // Synthetic, reasonable values
double ISCL1cd3 = -1E-8; // Synthetic, reasonable values
long subframe1[10] = { 0x22C2663D, 0x1F0E29B8, 0x2664002B, 0x09FCC1B6, 0x0F60EB8A,
0x1299CE93, 0x29CD3DB6, 0x0597BB0F, 0x00000B68, 0x17B28E5C };
long subframe2[10] = { 0x22C2663D, 0x1F0E4A28, 0x05809675, 0x0EBD8AF1, 0x00089344,
0x008081F8, 0x1330CC2C, 0x0461E855, 0x034F8045, 0x17BB1E68 };
long subframe3[10] = { 0x22C2663D, 0x1F0E6BA0, 0x3FE129CD, 0x26E31837, 0x0006C96A,
0x35A74DFC, 0x065C8B0F, 0x1E4F400A, 0x3FE8966D, 0x05860C44 };
ofstream outf("Logs/Output", ios::out);
outf.precision(11);
// First test case. Create an CEC object with data available from RINEX file.
outf << endl << "Test Case 1: Creating CEC object with data from RINEX file." << endl;
outf << "Time = " << g << endl;
CNAV2EphClk cec;
cec.loadData( SysID, obsID, PRNID, rTOWWeek, TOW, Top,
rhealth, URAoe, rToe, deltaA, rAdot, rdn,
rdnDot, rM0, recc, rw, rOMEGA0, ri0,
rOMEGAdot, ridot, rCic, rCis, rCrc, rCrs,
rCuc, rCus, URAoc, URAoc1, URAoc2, raf0,
raf1, raf2, rTgd, ISCL1cp, ISCL1cd);
Xvt xvt1 = cec.svXvt( dt );
outf << "Position cec: " << xvt1.x << endl;
outf << "Velocity cec: " << xvt1.v << endl;
outf << "Clock Bias cec: " << xvt1.clkbias << endl;
outf << "Clock Drift cec: " << xvt1.clkdrift << endl;
outf << "RelCorr cec: " << xvt1.relcorr << endl;
outf << "Time of Prediction cec: " << GPSWeekSecond(cec.getTimeOfPrediction()).printf("%F, %g") << endl;
outf<< "CNAV Accuracy Test: " << SV_CNAV_ACCURACY_GPS_MAX_INDEX[URAoe+15] << endl;
outf<< "legacy Accuracy Test: " << SV_ACCURACY_GPS_MAX_INDEX[URAoe] << endl;
// Second test case. Create an CEC object with data available from navdump.
outf << endl << "Test Case 2: Creating CEC object with data from navdump." << endl;
outf << "Time = " << ct2 << endl;
CNAV2EphClk cec2;
cec2.loadData( SysID, obsID, PRNID2, TOWWeek2, TOW2, Top2,
health, URAoe2, Toe2, deltaA2, Adot2, dn2,
dnDot2, M02, ecc2, w2, OMEGA02, i02,
OMEGAdot2, idot2, Cic2, Cis2, Crc2, Crs2,
Cuc2, Cus2, URAoc_2, URAoc1_2, URAoc2_2, af0_2,
af1_2, af2_2, Tgd2, ISCL1cp2, ISCL1cd2);
Xvt xvt2 = cec2.svXvt( dt2 );
outf << "Position cec2: " << xvt2.x << endl;
outf << "Velocity cec2: " << xvt2.v << endl;
outf << "Clock Bias cec2: " << xvt2.clkbias << endl;
outf << "Clock Drift cec2: " << xvt2.clkdrift << endl;
outf << "RelCorr cec2: " << xvt2.relcorr << endl;
outf << "Time of Prediction cec2: " << GPSWeekSecond(cec2.getTimeOfPrediction()).printf("%F, %g") << endl;
// Third test case. Create an CEC object with data available from navdump.
outf << endl << "Test Case 3: Creating CEC object with data from navdump." << endl;
outf << "Time = " << ct3 << endl;
CNAV2EphClk cec3;
cec3.loadData( SysID, obsID, PRNID3, TOWWeek3, TOW3, Top3,
health, URAoe3, Toe3, deltaA3, Adot3, dn3,
dnDot3, M03, ecc3, w3, OMEGA03, i03,
OMEGAdot3, idot3, Cic3, Cis3, Crc3, Crs3,
Cuc3, Cus3, URAoc_3, URAoc1_3, URAoc2_3, af0_3,
af1_3, af2_3, Tgd3, ISCL1cp3, ISCL1cd3);
Xvt xvt3 = cec3.svXvt( dt3 );
outf << "Position cec3: " << xvt3.x << endl;
outf << "Velocity cec3: " << xvt3.v << endl;
outf << "Clock Bias cec3: " << xvt3.clkbias << endl;
outf << "Clock Drift cec3: " << xvt3.clkdrift << endl;
outf << "RelCorr cec3: " << xvt3.relcorr << endl;
outf << "Time of Prediction cec3: " << GPSWeekSecond(cec3.getTimeOfPrediction()).printf("%F, %g") << endl;
// Fourth test case. Compare against "classic" EngEphemeris
outf << endl << "Test Case 4: Calculated position using 'classic' EngEphemeris." << endl;
outf<< "Time= "<< g << endl;
EngEphemeris EE;
EE.addSubframe(subframe1, TOWWeek, 3, 1);
EE.addSubframe(subframe2, TOWWeek, 3, 1);
EE.addSubframe(subframe3, TOWWeek, 3, 1);
Xvt xvt = EE.svXvt(dt);
outf<< "Position EE: " << xvt.x << endl;
outf<< "Velocity EE: " << xvt.v << endl;
outf<< "Clock Bias EE: " << xvt.clkbias << endl;
outf<< "Clock Drift EE: " << xvt.clkdrift << endl;
outf<< "RelCorr EE: " << EE.svRelativity(dt) << endl;
outf << endl;
outf << "CEC Object Dump:" << endl;
outf << cec << endl;
outf << endl;
outf << "CEC2 Object Dump:" << endl;
outf << cec2 << endl;
outf << endl;
outf << "CEC3 Object Dump:" << endl;
outf << cec3 << endl;
outf << endl;
outf << "Fit Interval Tests" << endl;
outf << "BeginFit cec: " << GPSWeekSecond(cec.getOrbit().getBeginningOfFitInterval()).printf("%F, %g") << endl;
outf << "BeginFit EE: " << GPSWeekSecond(EE.getOrbit().getBeginningOfFitInterval()).printf("%F, %g") << endl;
outf << endl;
outf << "EndFit cec: " << GPSWeekSecond(cec.getOrbit().getEndOfFitInterval()).printf("%F, %g") << endl;
outf << "EndFit EE : " << GPSWeekSecond(EE.getOrbit().getEndOfFitInterval()).printf("%F, %g") << endl;
outf << endl;
outf << "Within Fit Interval: " << cec.getOrbit().withinFitInterval(dt) << endl;
outf << "Within Fit Interval: " << EE.getOrbit().withinFitInterval(dt) << endl;
CPPUNIT_ASSERT(fileEqualTest((char*)"Logs/Truth",(char*)"Logs/Output"));
}
