private void LoadTracks(string[] fileNames)
{
GpsLogParser p;
foreach (string file in fileNames)
{
p = new GpsLogParser(file);
GpsTrack track = p.ReadGpsLog();
TrackGridData data = new TrackGridData(track, file);
AddTrackToGrid(data);
}
}
public void TestKalmanImport()
{
GpsLogParser p = new GpsLogParser("c:\\users\\greg\\documents\\visual studio 2013\\Projects\\GPS-Application\\GPS-Application\\Reference Docs\\ShortGPS.txt");
GpsTrack t = p.ReadGpsLog();
KalmanImport.Kalman1D kLat = new KalmanImport.Kalman1D();
kLat.Reset(0.1, 0.1, 0.1, 400, 0);
KalmanImport.Kalman1D kLon = new KalmanImport.Kalman1D();
kLon.Reset(0.1, 0.1, 0.1, 400, 0);
int points = t.PointCount;
// Assume we get to see every other measurement we calculated, and use
// the others as the points to compare for estimates.
// Run the filter, note our time unit is 1.
double[] kalmanLat = new double[points];
double[] velLat = new double[points];
double[] kGainLat = new double[points];
double[] kalmanLon = new double[points];
double[] velLon = new double[points];
double[] kGainLon = new double[points];
double lastTime = 0;
for (int i = 0; i < points; i++)
{
if (i == 0)
{
lastTime = t[i].Time;
kalmanLat[0] = t[i].Latitude.Value;
velLat[0] = kLat.Velocity;
kGainLat[0] = kLat.LastGain;
kalmanLat[1] = kLat.Predicition(1);
velLat[1] = kLat.Velocity;
kGainLat[1] = kLat.LastGain;
kalmanLon[0] = t[i].Longitude.Value;
velLon[0] = kLon.Velocity;
kGainLon[0] = kLon.LastGain;
kalmanLon[1] = kLon.Predicition(1);
velLon[1] = kLon.Velocity;
kGainLon[1] = kLon.LastGain;
}
else
{
kalmanLat[i] = kLat.Update(t[i].Latitude.Value, t[i].Time - lastTime);
velLat[i] = kLat.Velocity;
kGainLat[i] = kLat.LastGain;
kalmanLon[i] = kLon.Update(t[i].Longitude.Value, t[i].Time - lastTime);
velLon[i] = kLon.Velocity;
kGainLon[i] = kLon.LastGain;
lastTime = t[i].Time;
}
}
double[] deltaLat = new double[points];
double[] deltaLon = new double[points];
for (int j = 0; j < points; j++)
{
deltaLat[j] = kalmanLat[j] - t.Points[j].Latitude.Value;
deltaLon[j] = kalmanLon[j] - t.Points[j].Longitude.Value;
}
System.IO.StreamWriter w = new System.IO.StreamWriter("c:\\users\\greg\\documents\\visual studio 2013\\Projects\\GPS-Application\\GPS-Application\\Reference Docs\\ShortGpsMinKalman.log");
for (int i = 0; i < t.PointCount; i++)
{
foreach (GpsData d in t.Points[i].Data)
{
if (typeof(GprmcData).IsAssignableFrom(d.GetType()))
{
string[] s = d.ToString().Split(',');
string[] tmp = kalmanLat[i].ToString("###0.0###").Split('.');
string latDeg = double.Parse(tmp[0]).ToString("00");
double latFraction = double.Parse("." + tmp[1]) * 60;
s[3] = latDeg + latFraction.ToString("00.0000");
tmp = kalmanLon[i].ToString("####0.0###").Split('.');
string lonDeg = double.Parse(tmp[0]).ToString("000");
double lonFraction = double.Parse("." + tmp[1]) * 60;
s[5] = lonDeg + lonFraction.ToString("00.0000");
GprmcData data = new GprmcData(s);
w.WriteLine(data.ToString());
}
}
}
w.Close();
}