public void Single_Navigation_Processing()
{
int l = 0;
this.DefineDimentionOfErrorVector(); //---формирование размерности вектора ошибок---//
this.DefineClassElementAndFlags();
//---Инициализация начальных условий при отсутствии выставки---//
StartParameters.StartSINS_Parameters(SINSstate, SINSstate_OdoMod, KalmanVars, ParamStart, ProcHelp);
//--- ВЫБОР ВХОДНОГО ФАЛА С ДАННЫМИ ---//
myFile = new StreamReader(SimpleData.PathInputString + "\\" + SINSstate.DataInFileName);
// --- Грубая начальная выставка --- //
l = Alignment_Rought.SINS_Alignment_Rought(ProcHelp, SINSstate, SINSstate_OdoMod, myFile, KalmanVars, GRTV_output);
//--- stdF и stdNu значения, определяющие классы точности датчиков. На основе них формируется стартовые ковариации инструментальных погрешностей инерц.датчиков, а также угловых ошибок ---
if (SINSstate.flag_AccuracyClass_0_02grph)
{
for (int j = 0; j < 3; j++)
{
SINSstate.stdF[j] = 1E-5 * 9.81; //далее умножается G
SINSstate.stdNu = 0.01; //град/час
}
}
if (SINSstate.flag_AccuracyClass_0_2_grph)
{
for (int j = 0; j < 3; j++)
{
SINSstate.stdF[j] = 1E-4 * 9.81; //далее умножается G
SINSstate.stdNu = 0.1; //град/час
}
}
// --- Формируются значения начальных ковариаций для ошибок углов ориентации
SINSstate.stdAlpha1 = SINSstate.stdF[1] / 9.81; //радиан
SINSstate.stdAlpha2 = SINSstate.stdF[0] / 9.81; //радиан
SINSstate.stdBeta3 = SINSstate.stdNu * SimpleData.ToRadian / 3600.0 / (SimpleData.U * Math.Cos(SINSstate.Latitude)); //радиан
// --- Инициализация матрицы начальной ковариации
SINSprocessing.InitOfCovarianceMatrixes(SINSstate, KalmanVars);
//---Переопределяем размерности векторов и матриц после выставки---
this.DefineDimentionOfErrorVector();
////------ Основная функция навигации, БИНС + ОДОМЕТР ------
SINS_Corrected.SINS_Corrected_Processing(l, false, myFile, SINSstate, KalmanVars, ProcHelp, SINSstate_OdoMod, GRTV_output);
myFile.Close();
}
public static void SINS_Autonomous_Processing(int l, StreamReader myFile, SINS_State SINSstate, SINS_State SINSstate2, Kalman_Vars KalmanVars, Proc_Help ProcHelp, SINS_State SINSstate_OdoMod, StreamWriter GRTV_output)
{
int t = 0;
double[,] distance_GK_Sarat = new double[5, 46];
StreamWriter STD_data = new StreamWriter(SimpleData.PathOutputString + "Debaging//S_STD.txt");
StreamWriter ForHelp_2 = new StreamWriter(SimpleData.PathOutputString + "Debaging//ForHelp_2.txt");
StreamWriter Nav_FeedbackSolution = new StreamWriter(SimpleData.PathOutputString + "S_SlnFeedBack.txt");
StreamWriter Nav_EstimateSolution = new StreamWriter(SimpleData.PathOutputString + "S_SlnEstimate.txt");
StreamWriter Nav_Errors = new StreamWriter(SimpleData.PathOutputString + "S_Errors.txt");
StreamWriter Nav_Autonomous = new StreamWriter(SimpleData.PathOutputString + "S_Autonomous.txt");
StreamWriter Nav_StateErrorsVector = new StreamWriter(SimpleData.PathOutputString + "S_ErrVect.txt");
StreamWriter Nav_Smoothed = new StreamWriter(SimpleData.PathOutputString + "S_smoothed_SlnFeedBack.txt");
StreamWriter ForHelp = new StreamWriter(SimpleData.PathOutputString + "Debaging//ForHelp.txt");
StreamWriter KMLFileOut = new StreamWriter(SimpleData.PathOutputString + "KMLFiles//KMLFileOut_Forward.kml");
StreamWriter KMLFileOutSmthd = new StreamWriter(SimpleData.PathOutputString + "KMLFiles//KMLFileOut_Smoothed.kml");
StreamWriter Speed_Angles = new StreamWriter(SimpleData.PathOutputString + "Debaging//Speed_Angles.txt");
StreamWriter DinamicOdometer = new StreamWriter(SimpleData.PathOutputString + "DinamicOdometer.txt");
StreamWriter Cicle_Debag_Solution = new StreamWriter(SimpleData.PathOutputString + "Debaging//Solution_.txt");
Nav_Errors.WriteLine("dLat dLong dV_x1 dV_x2 dV_x3 dHeading dRoll dPitch");
Nav_Autonomous.WriteLine("Time OdoCnt OdoV Latitude Longitude Altitude LatSNS-Lat LngSNS-Lng LatSNS LongSNS LatSNSrad LongSNSrad SpeedSNS V_x1 V_x2 V_x3 Yaw Roll Pitch PosError PosError_Start Azimth");
double[] dS_x = new double[3];
SINSstate2.Latitude = SINSstate.Latitude;
SINSstate2.Longitude = SINSstate.Longitude;
//---Инициализация начальной матрицы ковариации---
SINSprocessing.InitOfCovarianceMatrixes(SINSstate, KalmanVars);
//SINSstate.LastCountForRead = 100000;
for (int i = l; i < SINSstate.LastCountForRead; i++)
{
if (SINSstate.flag_UsingClasAlignment == false)
{
if (i < ProcHelp.AlignmentCounts)
{
myFile.ReadLine(); continue;
}
}
ProcessingHelp.ReadSINSStateFromString(ProcHelp, myFile, null, SINSstate, SINSstate_OdoMod, false);
ProcessingHelp.DefSNSData(ProcHelp, SINSstate);
if (t == 0)
{
SimpleOperations.CopyArray(SINSstate.F_z_prev, SINSstate.F_z); SimpleOperations.CopyArray(SINSstate.W_z_prev, SINSstate.W_z); t = 1;
}
if (SINSstate.OdometerData.odometer_left.isReady != 1)
{
SINSstate.OdoTimeStepCount++;
SINSstate.flag_UsingCorrection = false;
//V_increment_SINS = V_increment_SINS + Math.Sqrt(Math.Pow(SINSstate.Vx_0[0] - SINSstate.Vx_0_prev[0], 2) + Math.Pow(SINSstate.Vx_0[1] - SINSstate.Vx_0_prev[1], 2) + Math.Pow(SINSstate.Vx_0[2] - SINSstate.Vx_0_prev[2], 2));
}
else if (SINSstate.OdometerData.odometer_left.isReady == 1)
{
SINSstate.OdometerVector[0] = 0.0;
SINSstate.OdometerVector[2] = 0.0;
SINSstate.OdoTimeStepCount++;
SINSstate.OdometerVector[1] = SINSstate.OdometerData.odometer_left.Value - SINSstate.OdometerLeftPrev;
SimpleOperations.CopyArray(dS_x, SINSstate.A_x0s * SINSstate.OdometerVector);
SINSstate2.Latitude = SINSstate2.Latitude + dS_x[1] / SINSstate.R_n;
SINSstate2.Longitude = SINSstate2.Longitude + dS_x[0] / SINSstate.R_e / Math.Cos(SINSstate2.Latitude);
SINSstate.OdometerVector[1] = (SINSstate.OdometerData.odometer_left.Value - SINSstate.OdometerLeftPrev) / SINSstate.OdoTimeStepCount / SINSstate.timeStep;
SimpleOperations.CopyArray(SINSstate.OdoSpeed_x0, SINSstate.A_x0s * SINSstate.OdometerVector);
SINSstate.flag_UsingCorrection = true;
}
SINSprocessing.StateIntegration_AT(SINSstate, KalmanVars, SINSstate2, SINSstate_OdoMod);
//SINSprocessing.bins(SINSstate);
SINSprocessing.Make_A(SINSstate, KalmanVars, SINSstate_OdoMod);
//if (SINSstate.OdometerData.odometer_left.isReady == 1)
//KalmanProcs.KalmanForecast(KalmanVars);
double dT = SINSstate.timeStep;
SINSstate.InertialOdometer = SINSstate.InertialOdometer + dT * (SINSstate.InertialOdometer_V + dT * (SINSstate.F_z[1] - SINSstate.g * Math.Sin(SINSstate.Pitch)));
SINSstate.InertialOdometer_V = SINSstate.InertialOdometer_V + dT * (SINSstate.F_z[1] - SINSstate.g * Math.Sin(SINSstate.Pitch));
if (i % 10 == 0)
{
ForHelp_2.WriteLine(SINSstate.Time + " " + SINSstate.InertialOdometer + " " + SINSstate.OdometerData.odometer_left.Value + " " + SINSstate.InertialOdometer_V + " " + SINSstate.OdoSpeed_s[1]);
}
//SINSstate.OdometerData.odometer_left.Value = SINSstate.InertialOdometer;
SimpleOperations.CopyArray(SINSstate.OdoSpeed_x0, SINSstate.A_x0s * SINSstate.OdometerVector);
if (i % 10 == 0)
{
ForHelp.WriteLine(SINSstate.Time + " " + SINSstate.CourseHeading + " " + SINSstate.Heading + " " + SINSstate.CoursePitch + " " + SINSstate.beta_c + " " + SINSstate.alpha_c + " " + SINSstate.gamma_c
+ " " + SINSstate.OdoSpeed_x0[0] + " " + SINSstate.OdoSpeed_x0[1] + " " + SINSstate.Vx_0[0] + " " + SINSstate.Vx_0[1] + " " + SINSstate2.Vx_0[0] + " " + SINSstate2.Vx_0[1]
+ " " + SINSstate.A_x0s[0, 1] + " " + SINSstate.A_x0s[1, 1] + " " + SINSstate.A_x0s[2, 1]);
}
//ForHelp.WriteLine(((SINSstate2.Latitude - SINSstate.Latitude_Start) * SINSstate.R_n).ToString() + " " + ((SINSstate2.Longitude - SINSstate.Longitude_Start) * SINSstate.R_n).ToString());
//ForHelp.WriteLine(SINSstate.Count + " " + SINSstate.A_x0s[0, 0] + " " + SINSstate.A_x0s[1, 1] + " " + SINSstate.A_x0s[2, 2] + " " + SINSstate.A_x0s[0, 1] + " " + SINSstate.A_x0s[0, 2] + " " + SINSstate.A_x0s[1, 2]);
/*----------------------------------------END---------------------------------------------*/
/*------------------------------------OUTPUT-------------------------------------------------*/
if (i > 10000 && i % 4000 == 0)
{
Console.WriteLine(SINSstate.Count.ToString()
+ ", FromSNS=" + Math.Round(ProcHelp.distance, 2) + " м" + ", FromStart=" + Math.Round(ProcHelp.distance_from_start, 2) + " м"
+ ", Vx_1=" + Math.Round(SINSstate.Vx_0[0], 2) + ", Vx_2=" + Math.Round(SINSstate.Vx_0[1], 3)
);
}
ProcessingHelp.OutPutInfo(i, i, ProcHelp, SINSstate, SINSstate, SINSstate2, SINSstate2, KalmanVars, Nav_EstimateSolution, Nav_Autonomous, Nav_FeedbackSolution, Nav_StateErrorsVector, Nav_Errors, STD_data, Speed_Angles, DinamicOdometer, Speed_Angles, KMLFileOut, KMLFileOut, GRTV_output, Cicle_Debag_Solution, Cicle_Debag_Solution);
if (SINSstate.OdometerData.odometer_left.isReady == 1)
{
if (SINSstate.flag_UsingCorrection == true)
{
SINSstate.OdometerLeftPrev = SINSstate.OdometerData.odometer_left.Value;
SINSstate.OdometerRightPrev = SINSstate.OdometerData.odometer_right.Value;
SINSstate.OdoTimeStepCount = 0;
}
}
}
ForHelp.Close(); Nav_FeedbackSolution.Close(); Nav_EstimateSolution.Close(); Nav_StateErrorsVector.Close();
}
public static int SINS_Alignment_Navigation(Proc_Help ProcHelp, SINS_State SINSstate, SINS_State SINSstate2, SINS_State SINSstate_OdoMod, StreamReader myFile, Kalman_Vars KalmanVars, StreamWriter GRTV_output)
{
int i = 0, t = 0;
SimpleData.iMx = 13;
SimpleData.iMq = 5;
SimpleData.iMz = 7;
StreamWriter Alignment_Errors = new StreamWriter(SimpleData.PathOutputString + "Alignment_Errors.txt");
StreamWriter Alignment_SINSstate = new StreamWriter(SimpleData.PathOutputString + "Alignment_SINSstate.txt");
StreamWriter Alignment_Corrected_State = new StreamWriter(SimpleData.PathOutputString + "Alignment_Corrected_State.txt");
StreamWriter Alignment_StateErrorsVector = new StreamWriter(SimpleData.PathOutputString + "Alignment_StateErrorsVector.txt");
Alignment_Errors.WriteLine("dR1 dR2 dV1 dV2 Alpha1 Alpha2 Beta3 Nu1 Nu2 Nu3 dF1 dF2 dF3");
Alignment_Corrected_State.WriteLine("Time Count LatCrtd Lat LongCrtd Long AltitudeCrtd V1 V2 V3 Heading HeadingCor Roll RollCor Pitch PitchCor");
//---Этап грубой выставки---
//int temp_AlgnCnt = ProcHelp.AlgnCnt;
//ProcHelp.AlgnCnt = Convert.ToInt32(200.0 / SINSstate.Freq);
i = Alignment.RougthAlignment(ProcHelp, SINSstate, myFile, KalmanVars, SINSstate_OdoMod, GRTV_output);
//ProcHelp.AlgnCnt = temp_AlgnCnt;
SINSstate.flag_Alignment = true;
if (false)
{
Alignment_Navigation.InitOfCovarianceMatrixes(KalmanVars); //---Инициализация ковариационных матриц матриц вектора ошибок---//
/*----------------------------------------------------------------------------------------*/
while (true)
{
if (SINSstate.FLG_Stop == 0 || (ProcHelp.AlignmentCounts != 0 && i == ProcHelp.AlignmentCounts))
{
break;
}
ProcessingHelp.ReadSINSStateFromString(ProcHelp, myFile, null, SINSstate, SINSstate_OdoMod, true);
if (t == 0)
{
SimpleOperations.CopyArray(SINSstate.F_z_prev, SINSstate.F_z); SimpleOperations.CopyArray(SINSstate.W_z_prev, SINSstate.W_z); t = 1;
}
SINSprocessing.StateIntegration_AT(SINSstate, KalmanVars, SINSstate2, SINSstate2);
Alignment_Navigation.MatrixNoise_ReDef(SINSstate, KalmanVars); //изменить все эти функции
Alignment_Navigation.Make_A_easy(SINSstate2, KalmanVars);
KalmanProcs.Make_F(SINSstate.timeStep, KalmanVars, SINSstate);
KalmanProcs.KalmanForecast(KalmanVars, SINSstate);
Alignment_Navigation.Make_H(KalmanVars, SINSstate);
KalmanProcs.KalmanCorrection(KalmanVars, SINSstate, SINSstate);
Alignment_Navigation.CalcStateErrors(KalmanVars.ErrorConditionVector_p, SINSstate);
Alignment_Navigation.StateCorrection(KalmanVars.ErrorConditionVector_p, SINSstate, SINSstate2);
Alignment.OutPutInfo_Nav_Alignment(ProcHelp, SINSstate, SINSstate2, myFile, KalmanVars, Alignment_Errors, Alignment_SINSstate, Alignment_Corrected_State, Alignment_StateErrorsVector);
SimpleOperations.CopyArray(SINSstate.F_z_prev, SINSstate.F_z);
SimpleOperations.CopyArray(SINSstate.W_z_prev, SINSstate.W_z);
if (i > 100 && i % 500 == 0)
{
Console.WriteLine(SINSstate.Count.ToString() + ", " + (SINSstate.Longitude * SimpleData.ToDegree).ToString() + ", " + (SINSstate.Heading * SimpleData.ToDegree).ToString() + ", " +
(SINSstate2.Heading * SimpleData.ToDegree).ToString() + ", " + KalmanVars.ErrorConditionVector_p[0].ToString() + ", " + KalmanVars.ErrorConditionVector_p[1].ToString());
}
i++;
}
SINSstate.Heading = SINSstate.Heading - SINSstate.DeltaHeading;
SINSstate.Roll = SINSstate.Roll - SINSstate.DeltaRoll;
SINSstate.Pitch = SINSstate.Pitch - SINSstate.DeltaPitch;
KalmanVars.CovarianceMatrixS_m[0 * SimpleData.iMx + 0] = KalmanVars.CovarianceMatrixS_p[0 * SimpleData.iMx + 0] = KalmanProcs.Sigmf_Disp(0, KalmanVars);
KalmanVars.CovarianceMatrixS_m[1 * SimpleData.iMx + 1] = KalmanVars.CovarianceMatrixS_p[1 * SimpleData.iMx + 1] = KalmanProcs.Sigmf_Disp(1, KalmanVars);
KalmanVars.CovarianceMatrixS_m[2 * SimpleData.iMx + 2] = KalmanVars.CovarianceMatrixS_p[2 * SimpleData.iMx + 2] = KalmanProcs.Sigmf_Disp(2, KalmanVars);
KalmanVars.CovarianceMatrixS_m[3 * SimpleData.iMx + 3] = KalmanVars.CovarianceMatrixS_p[3 * SimpleData.iMx + 3] = KalmanProcs.Sigmf_Disp(3, KalmanVars);
KalmanVars.CovarianceMatrixS_m[10 * SimpleData.iMx + 10] = KalmanVars.CovarianceMatrixS_p[10 * SimpleData.iMx + 10] = KalmanProcs.Sigmf_Disp(10, KalmanVars);
KalmanVars.CovarianceMatrixS_m[11 * SimpleData.iMx + 11] = KalmanVars.CovarianceMatrixS_p[11 * SimpleData.iMx + 11] = KalmanProcs.Sigmf_Disp(11, KalmanVars);
KalmanVars.CovarianceMatrixS_m[12 * SimpleData.iMx + 12] = KalmanVars.CovarianceMatrixS_p[12 * SimpleData.iMx + 12] = KalmanProcs.Sigmf_Disp(12, KalmanVars);
KalmanVars.CovarianceMatrixS_m[7 * SimpleData.iMx + 7] = KalmanVars.CovarianceMatrixS_p[7 * SimpleData.iMx + 7] = KalmanProcs.Sigmf_Disp(7, KalmanVars);
KalmanVars.CovarianceMatrixS_m[8 * SimpleData.iMx + 8] = KalmanVars.CovarianceMatrixS_p[8 * SimpleData.iMx + 8] = KalmanProcs.Sigmf_Disp(8, KalmanVars);
KalmanVars.CovarianceMatrixS_m[9 * SimpleData.iMx + 9] = KalmanVars.CovarianceMatrixS_p[9 * SimpleData.iMx + 9] = KalmanProcs.Sigmf_Disp(9, KalmanVars);
SINSstate.Time_Alignment = SINSstate.Time;
// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! //
if (SINSstate.Global_file == "Azimuth_minsk_race_4_3to6to2")
{
//SINSstate.Heading = -3.0504734;
}
// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! //
SINSstate.A_sx0 = SimpleOperations.A_sx0(SINSstate);
SINSstate.A_x0s = SINSstate.A_sx0.Transpose();
SINSstate.A_x0n = SimpleOperations.A_x0n(SINSstate.Latitude, SINSstate.Longitude);
SINSstate.A_nx0 = SINSstate.A_x0n.Transpose();
SINSstate.A_nxi = SimpleOperations.A_ne(SINSstate.Time - SINSstate.Time_Alignment, SINSstate.Longitude_Start);
SINSstate.AT = Matrix.Multiply(SINSstate.A_sx0, SINSstate.A_x0n);
SINSstate.AT = Matrix.Multiply(SINSstate.AT, SINSstate.A_nxi);
Alignment_Errors.Close(); Alignment_Corrected_State.Close(); Alignment_SINSstate.Close(); Alignment_StateErrorsVector.Close();
/*----------------------------------------------------------------------------------------*/
}
ProcHelp.initCount = false;
SINSstate.flag_Alignment = false;
return(i);
}
