onur
30179df8e6
Remove the fixed pseudorange start offset, preserve per-PRN navigation assistance across RF loss and power cycles, and seed coherent navigation measurement phase on reacquisition. Add full LNAV almanac visibility scheduling, power-safe QSPI journaling, RF-domain reset isolation, and PPS Gray CDC hardening with Linux, sanitizer, RTL, and end-to-end coverage.
237 lines
7.6 KiB
C
237 lines
7.6 KiB
C
#include "gps/NavEquations.h"
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#include <assert.h>
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#include <math.h>
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#include <stdio.h>
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#include <string.h>
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static void test_broadcast_ephemeris_velocity(void)
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{
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gps_ephemeris_t ephemeris;
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memset(&ephemeris, 0, sizeof(ephemeris));
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ephemeris.tow.week = 2400;
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ephemeris.tow.sec = 345700.0;
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ephemeris.toe.week = 2400;
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ephemeris.toe.sec = 345600.0;
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ephemeris.toc.week = 2400;
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ephemeris.toc.sec = 345600.0;
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ephemeris.sqrta = 5153.7954775;
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ephemeris.A = ephemeris.sqrta * ephemeris.sqrta;
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ephemeris.ecc = 0.0093;
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ephemeris.m0 = 0.75;
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ephemeris.deltan = 4.5e-9;
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ephemeris.cuc = 1.0e-6;
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ephemeris.cus = -3.0e-6;
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ephemeris.crc = 180.0;
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ephemeris.crs = -75.0;
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ephemeris.cic = 1.2e-7;
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ephemeris.cis = -8.0e-8;
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ephemeris.inc0 = 0.96;
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ephemeris.idot = -2.0e-10;
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/* Legacy names: omgdot=Omega0, omg0=omega, omgkdot=Omega-dot. */
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ephemeris.omgdot = 1.1;
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ephemeris.omg0 = -0.4;
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ephemeris.omgkdot = -8.0e-9;
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ephemeris.af0 = 2.3e-5;
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ephemeris.af1 = -4.0e-12;
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ephemeris.af2 = 1.0e-19;
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ephemeris.tgd = -2.0e-9;
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double position[3];
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double velocity[3];
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double clock[2];
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double correction;
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satpos(&ephemeris, position, velocity, clock, &correction);
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const double dt = 0.05;
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gps_ephemeris_t before = ephemeris;
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gps_ephemeris_t after = ephemeris;
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before.tow.sec -= dt;
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after.tow.sec += dt;
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double position_before[3], position_after[3];
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double velocity_unused[3], clock_before[2], clock_after[2];
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double correction_before, correction_after;
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satpos(&before, position_before, velocity_unused,
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clock_before, &correction_before);
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satpos(&after, position_after, velocity_unused,
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clock_after, &correction_after);
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double radius_squared = 0.0;
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double speed_squared = 0.0;
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for(unsigned int component = 0u; component < 3u; component++)
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{
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double finite_difference =
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(position_after[component] - position_before[component]) /
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(2.0 * dt);
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assert(fabs(velocity[component] - finite_difference) < 0.05);
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radius_squared += position[component] * position[component];
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speed_squared += velocity[component] * velocity[component];
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}
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double finite_clock_drift =
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(correction_after - correction_before) / (2.0 * dt);
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assert(fabs(clock[1] - finite_clock_drift) < 1.0e-13);
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assert(fabs(clock[0] - correction) < 1.0e-18);
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assert(sqrt(radius_squared) > 25000000.0);
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assert(sqrt(radius_squared) < 28000000.0);
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assert(sqrt(speed_squared) > 1000.0);
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assert(sqrt(speed_squared) < 5000.0);
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}
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static void test_cold_wls_accepts_differential_timer_datum(void)
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{
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const unsigned int satellite_count = 6u;
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/* Keep this convergence test above the atmospheric-model ceiling; the
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* timer datum and cold WLS state are the variables under test here. */
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const double receiver[3] = {6398137.0, 0.0, 0.0};
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const double range_m = 21000000.0;
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const double directions[6][3] = {
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{ 1.0, 0.0, 0.0},
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{ 0.2, 0.9, 0.3872983346207417},
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{ 0.3, -0.4, 0.8660254037844386},
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{-0.2, 0.5, 0.8426149773176358},
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{ 0.4, -0.8, -0.4472135954999579},
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{-0.5, -0.5, 0.7071067811865475}
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};
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mat_type* satellite_positions =
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create_matrix((int)satellite_count, 3, "coldDifferentialSatPos");
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mat_type* observations =
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create_matrix(1, (int)satellite_count, "coldDifferentialObs");
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mat_type* az = create_matrix(1, (int)satellite_count, "coldDifferentialAz");
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mat_type* el = create_matrix(1, (int)satellite_count, "coldDifferentialEl");
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assert(satellite_positions != NULL);
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assert(observations != NULL);
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assert(az != NULL);
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assert(el != NULL);
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initialize_all(0.0, satellite_positions);
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initialize_all(0.0, observations);
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initialize_all(0.0, az);
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initialize_all(0.0, el);
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double modeled_range_m[6];
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for(unsigned int satellite = 0u;
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satellite < satellite_count;
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satellite++)
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{
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for(unsigned int component = 0u; component < 3u; component++)
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{
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satellite_positions->matrix[satellite][component] =
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receiver[component] +
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directions[satellite][component] * range_m;
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}
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double earth_angle = OMEGA_EARTH * range_m / SPEED_OF_LIGHT;
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double rotated[3] = {
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cos(earth_angle) * satellite_positions->matrix[satellite][0] +
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sin(earth_angle) * satellite_positions->matrix[satellite][1],
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-sin(earth_angle) * satellite_positions->matrix[satellite][0] +
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cos(earth_angle) * satellite_positions->matrix[satellite][1],
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satellite_positions->matrix[satellite][2]
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};
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modeled_range_m[satellite] = sqrt(
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(rotated[0] - receiver[0]) * (rotated[0] - receiver[0]) +
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(rotated[1] - receiver[1]) * (rotated[1] - receiver[1]) +
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(rotated[2] - receiver[2]) * (rotated[2] - receiver[2]));
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}
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for(unsigned int satellite = 0u;
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satellite < satellite_count;
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satellite++)
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{
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observations->matrix[0][satellite] =
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modeled_range_m[satellite] - modeled_range_m[0];
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}
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unsigned char ura[6] = {0u, 0u, 0u, 0u, 0u, 0u};
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double cn0_dbhz[6] = {45.0, 45.0, 45.0, 45.0, 45.0, 45.0};
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gps_nav_solution_t solution;
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assert(leastSquaresSTD(
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satellite_positions, observations, (int)satellite_count,
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az, el, ura, cn0_dbhz, NULL, 345700.0, &solution));
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double error_m = sqrt(
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(solution.ecef_m[0] - receiver[0]) *
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(solution.ecef_m[0] - receiver[0]) +
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(solution.ecef_m[1] - receiver[1]) *
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(solution.ecef_m[1] - receiver[1]) +
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(solution.ecef_m[2] - receiver[2]) *
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(solution.ecef_m[2] - receiver[2]));
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assert(solution.solution_valid);
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assert(error_m < 10.0);
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assert(solution.clock_bias_m < -20000000.0);
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assert(solution.clock_bias_m > -22000000.0);
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free_matrix(satellite_positions);
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free_matrix(observations);
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free_matrix(az);
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free_matrix(el);
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}
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static void test_cn0_changes_position_weight(void)
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{
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const unsigned int satellite_count = 6u;
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const double receiver[3] = {6378137.0, 0.0, 0.0};
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const double directions[6][3] = {
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{ 1.0, 0.0, 0.0},
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{ 0.2, 0.9, 0.3872983346207417},
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{ 0.3, -0.4, 0.8660254037844386},
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{-0.2, 0.5, 0.8426149773176358},
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{ 0.4, -0.8, -0.4472135954999579},
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{-0.5, -0.5, 0.7071067811865475}
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};
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mat_type* satellite_positions =
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create_matrix((int)satellite_count, 3, "testSatPos");
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mat_type* observations =
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create_matrix(1, (int)satellite_count, "testObs");
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mat_type* az = create_matrix(1, (int)satellite_count, "testAz");
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mat_type* el = create_matrix(1, (int)satellite_count, "testEl");
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assert(satellite_positions != NULL);
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assert(observations != NULL);
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assert(az != NULL);
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assert(el != NULL);
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initialize_all(0.0, satellite_positions);
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initialize_all(0.0, observations);
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initialize_all(0.0, az);
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initialize_all(0.0, el);
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unsigned char ura[6] = {0u, 0u, 0u, 0u, 0u, 0u};
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double cn0_dbhz[6] = {52.0, 22.0, 45.0, 45.0, 45.0, 45.0};
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for(unsigned int satellite = 0u;
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satellite < satellite_count;
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satellite++)
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{
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double range_squared = 0.0;
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for(unsigned int component = 0u; component < 3u; component++)
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{
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satellite_positions->matrix[satellite][component] =
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receiver[component] +
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directions[satellite][component] * 21000000.0;
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double difference =
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satellite_positions->matrix[satellite][component] -
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receiver[component];
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range_squared += difference * difference;
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}
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observations->matrix[0][satellite] =
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sqrt(range_squared) + 125.0;
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}
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gps_nav_solution_t solution;
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assert(leastSquaresSTD(
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satellite_positions, observations, (int)satellite_count,
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az, el, ura, cn0_dbhz, NULL, 345700.0, &solution));
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assert(isfinite(solution.measurement_sigma_m[0]));
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assert(isfinite(solution.measurement_sigma_m[1]));
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assert(solution.measurement_sigma_m[1] >
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solution.measurement_sigma_m[0] + 20.0);
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free_matrix(satellite_positions);
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free_matrix(observations);
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free_matrix(az);
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free_matrix(el);
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}
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int main(void)
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{
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test_broadcast_ephemeris_velocity();
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test_cold_wls_accepts_differential_timer_datum();
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test_cn0_changes_position_weight();
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puts("test_gps_satellite_velocity PASS");
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return 0;
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}
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