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")); }