public static bool GetDOPs(IEnumerable <GeoPoint3D> bPoints, GeoPoint3D tLoc, Ellipsoid el,
out double GDOP, out double PDOP, out double HDOP, out double VDOP, out double TDOP)
{
var d_m = BuildDMatrix(bPoints, tLoc, el);
GDOP = double.NaN;
PDOP = double.NaN;
HDOP = double.NaN;
VDOP = double.NaN;
TDOP = double.NaN;
bool result = false;
if (d_m != null)
{
GDOP = Math.Sqrt(d_m[0, 0] + d_m[1, 1] + d_m[2, 2] + d_m[3, 3]);
PDOP = Math.Sqrt(d_m[0, 0] + d_m[1, 1] + d_m[2, 2]);
HDOP = Math.Sqrt(d_m[0, 0] + d_m[1, 1]);
VDOP = Math.Sqrt(d_m[2, 2]);
TDOP = Math.Sqrt(d_m[3, 3]);
result = true;
}
return(result);
}
public static Matrix BuildDMatrix(IEnumerable <GeoPoint3D> bPoints, GeoPoint3D tLoc, Ellipsoid el)
{
List <MPoint3D> m_bPoints = new List <MPoint3D>();
double cLat = Algorithms.Deg2Rad(tLoc.Latitude);
double cLon = Algorithms.Deg2Rad(tLoc.Longitude);
double d_lat_m, d_lon_m;
foreach (var point in bPoints)
{
Algorithms.GetDeltasByGeopoints(cLat, cLon,
Algorithms.Deg2Rad(point.Latitude), Algorithms.Deg2Rad(point.Longitude),
el,
out d_lat_m, out d_lon_m);
m_bPoints.Add(new MPoint3D(d_lon_m, d_lat_m, point.Depth));
}
Matrix p_m = new Matrix(m_bPoints.Count, 4);
for (int i = 0; i < m_bPoints.Count; i++)
{
double r = Algorithms.Dist3D(m_bPoints[i].X, m_bPoints[i].Y, m_bPoints[i].Z, 0, 0, tLoc.Depth);
p_m[i, 0] = -m_bPoints[i].X / r;
p_m[i, 1] = -m_bPoints[i].Y / r;
p_m[i, 2] = (tLoc.Depth - m_bPoints[i].Z) / r;
p_m[i, 3] = 1;
}
return(Matrix.Inverse_JG(Matrix.Transpose(p_m) * p_m));
}
public PositioningCore2D(double rErrThreshold, double simplexSize, Ellipsoid refEllipsoid)
{
PreviousLocation = new GeoPoint3D(double.NaN, double.NaN, 0);
RadialErrorThreshold = rErrThreshold;
SimplexSize = simplexSize;
TargetDepth = 0;
referenceEllipsoid = refEllipsoid;
}
public PCore2D(double rErrThreshold, double simplexSize, Ellipsoid refEllipsoid, int maxIntToSpeedEstimationSec)
{
targetLocation = new GeoPoint3D(double.NaN, double.NaN, double.NaN);
targetLocationTS = DateTime.MinValue;
RadialErrorThreshold = rErrThreshold;
SimplexSize = simplexSize;
referenceEllipsoid = refEllipsoid;
MaxIntervalToSpeedEstimationSec = maxIntToSpeedEstimationSec;
}
public PCore2D(double rErrThreshold, double simplexSize, Ellipsoid refEllipsoid, int courseEstimatorFifoSize)
{
targetLocation = new GeoPoint3D(double.NaN, double.NaN, double.NaN);
targetLocationTS = DateTime.MinValue;
crsEstimator = new CourseEstimatorLA2D(courseEstimatorFifoSize);
RadialErrorThreshold = rErrThreshold;
SimplexSize = simplexSize;
referenceEllipsoid = refEllipsoid;
}
public void ProcessBasePoints(IEnumerable <T> basePoints, DateTime timeStamp)
{
double lat_deg, lon_deg, rErr;
int it_Cnt;
if (typeof(GeoPoint3DD).IsAssignableFrom(typeof(T)))
{
UCNLNav.Navigation.TOA_Locate2D(basePoints.Cast <GeoPoint3DD>().ToArray <GeoPoint3DD>(),
targetLocation.Latitude, targetLocation.Longitude, targetLocation.Depth,
Algorithms.NLM_DEF_IT_LIMIT, Algorithms.NLM_DEF_PREC_THRLD, simplexSize,
referenceEllipsoid,
out lat_deg, out lon_deg, out rErr, out it_Cnt);
}
else if (typeof(GeoPoint3DT).IsAssignableFrom(typeof(T)))
{
UCNLNav.Navigation.TDOA_Locate2D(basePoints.Cast <GeoPoint3DT>().ToArray <GeoPoint3DT>(),
targetLocation.Latitude, targetLocation.Longitude, targetLocation.Depth,
Algorithms.NLM_DEF_IT_LIMIT, Algorithms.NLM_DEF_PREC_THRLD, simplexSize,
referenceEllipsoid, soundSpeed,
out lat_deg, out lon_deg, out rErr, out it_Cnt);
}
else
{
if (ExternalSolver != null)
{
ExternalSolver(basePoints, targetLocation, out lat_deg, out lon_deg, out rErr, out it_Cnt);
}
else
{
throw new NullReferenceException("ExternalSolver not defined");
}
}
if (rErr < radialErrorThreshold)
{
if (IsTargetLocation)
{
var duration = timeStamp.Subtract(targetLocationTS);
if (duration.TotalSeconds <= maxIntervalToSpeedEstimationSec)
{
var prevLocRad = GeoPoint3D.ToRad(targetLocation);
double currLocLatRad = Algorithms.Deg2Rad(lat_deg);
double currLocLonRad = Algorithms.Deg2Rad(lon_deg);
double d_passed_m = 0, course_fwd_rad = 0, course_rev_rad = 0;
int its = 0;
Algorithms.VincentyInverse(prevLocRad.Latitude, prevLocRad.Longitude,
currLocLatRad, currLocLonRad, referenceEllipsoid,
Algorithms.VNC_DEF_EPSILON, Algorithms.VNC_DEF_IT_LIMIT,
out d_passed_m, out course_fwd_rad, out course_rev_rad, out its);
double estTargetCourse = Algorithms.Rad2Deg(course_fwd_rad);
double estTargetSpeed = d_passed_m / duration.TotalSeconds;
TargetCourseSpeedAndCourseUpdatedHandler.Rise(this,
new TargetCourseAndSpeedUpdatedEventArgs(estTargetCourse, estTargetSpeed, timeStamp));
}
}
targetLocation.Latitude = lat_deg;
targetLocation.Longitude = lon_deg;
targetLocationTS = timeStamp;
TargetLocationUpdatedHandler.Rise(this,
new TargetLocationUpdatedEventArgs(targetLocation, rErr, timeStamp));
}
else
{
RadialErrorExeedsThrehsoldEventHandler.Rise(this, new EventArgs());
}
}
public TargetLocationUpdatedEventArgs(GeoPoint3D loc, double rerr, DateTime ts)
: this(loc.Latitude, loc.Longitude, loc.Depth, rerr, ts)
{
}
public void ProcessBasePoints(IEnumerable <T> basePoints, double depth, DateTime timeStamp)
{
double lat_deg, lon_deg, rErr;
int it_Cnt;
if (typeof(GeoPoint3DD).IsAssignableFrom(typeof(T)))
{
UCNLNav.Navigation.TOA_Locate2D(basePoints.Cast <GeoPoint3DD>().ToArray <GeoPoint3DD>(),
targetLocation.Latitude, targetLocation.Longitude, depth,
Algorithms.NLM_DEF_IT_LIMIT, Algorithms.NLM_DEF_PREC_THRLD, simplexSize,
referenceEllipsoid,
out lat_deg, out lon_deg, out rErr, out it_Cnt);
}
else if (typeof(GeoPoint3DT).IsAssignableFrom(typeof(T)))
{
UCNLNav.Navigation.TDOA_Locate2D(basePoints.Cast <GeoPoint3DT>().ToArray <GeoPoint3DT>(),
targetLocation.Latitude, targetLocation.Longitude, depth,
Algorithms.NLM_DEF_IT_LIMIT, Algorithms.NLM_DEF_PREC_THRLD, simplexSize,
referenceEllipsoid, soundSpeed,
out lat_deg, out lon_deg, out rErr, out it_Cnt);
}
else
{
if (ExternalSolver != null)
{
ExternalSolver(basePoints, targetLocation, out lat_deg, out lon_deg, out rErr, out it_Cnt);
}
else
{
throw new NullReferenceException("ExternalSolver not defined");
}
}
if (rErr < radialErrorThreshold)
{
crsEstimator.AddPoint(new GeoPoint(lat_deg, lon_deg));
if (crsEstimator.IsCourse)
{
TargetCourseUpdatedHandler.Rise(this,
new TargetCourseUpdatedEventArgs(crsEstimator.Course_deg, timeStamp));
}
targetLocation.Latitude = lat_deg;
targetLocation.Longitude = lon_deg;
targetLocationTS = timeStamp;
TargetLocationUpdatedHandler.Rise(this,
new TargetLocationUpdatedEventArgs(targetLocation, rErr, timeStamp));
TargetLocationUpdatedExHandler.Rise(this,
new TargetLocationUpdatedExEventArgs(targetLocation, rErr, crsEstimator.Course_deg, timeStamp));
TBAQuality tbaState = Navigation.GetTBAState(Navigation.GetBasesMaxAngularGapDeg(basePoints, lat_deg, lon_deg));
DOPState dopState = DOPState.Invalid;
double gdop = double.NaN, pdop = double.NaN, hdop = double.NaN, vdop = double.NaN, tdop = double.NaN;
GeoPoint3D tL = new GeoPoint3D(targetLocation.Latitude, targetLocation.Longitude, depth);
if (Navigation.GetDOPs(basePoints, tL, Algorithms.WGS84Ellipsoid, out gdop, out pdop, out hdop, out vdop, out tdop))
{
dopState = Navigation.GetDOPState(hdop);
}
BaseQualityUpdatedHandler.Rise(this,
new BaseQualityUpdatedEventArgs(tbaState, gdop, pdop, hdop, vdop, tdop, dopState));
}
else
{
RadialErrorExeedsThrehsoldEventHandler.Rise(this, new EventArgs());
}
}
public static GeoPoint3D ToDeg(GeoPoint3D geoPointRad)
{
return(new GeoPoint3D(Algorithms.Rad2Deg(geoPointRad.Latitude),
Algorithms.Deg2Rad(geoPointRad.Longitude), geoPointRad.Depth));
}
public static GeoPoint3D ToRad(GeoPoint3D geoPointDeg)
{
return(new GeoPoint3D(Algorithms.Deg2Rad(geoPointDeg.Latitude),
Algorithms.Deg2Rad(geoPointDeg.Longitude), geoPointDeg.Depth));
}
