/// <summary>
/// Moving Window Algorithm to give us a more steady GPS signal
/// </summary>
private void Update()
{
// key inputs to move the camera
if (Input.GetKey(KeyCode.RightArrow))
{
longitude += 0.000003f;
//transform.position += new Vector3(0.4f, 0, 0);
}
if (Input.GetKey(KeyCode.UpArrow))
{
latitude += 0.000005f;
//transform.position += new Vector3(0, 0, 0.4f);
}
if (Input.GetKey(KeyCode.LeftArrow))
{
longitude -= 0.000003f;
//transform.position += new Vector3(-0.4f, 0, 0);
}
if (Input.GetKey(KeyCode.DownArrow))
{
latitude -= 0.000005f;
//transform.position += new Vector3(0, 0, -0.4f);
}
// if GPS is enabled
if (gpsEnabled)
{
//Moving Window algorithm
//if it is the first GPS Readings
if (firstWindowReadings)
{
// get the first readings
lastWindowLatitude = Input.location.lastData.latitude;
lastWindowLongitude = Input.location.lastData.longitude;
lastWindowTimestamp = Input.location.lastData.timestamp;
//print
utilsScript.WriteToFile("\n\n[GPS Script]: First GPS Readings (lat and long): " + lastWindowLatitude + " - " + lastWindowLongitude);
//add values to list
latitudeWindowList.Add(lastWindowLatitude);
longitudeWindowList.Add(lastWindowLongitude);
timestampsWindowList.Add(lastWindowTimestamp);
//update counts and booleans
windowGPScount++;
firstValues++;
firstWindowReadings = false;
// update the Unity general latitude and longitude values
latitude = lastWindowLatitude;
longitude = lastWindowLongitude;
}
//if it is not the first GPS Readings
else
{
// get lat and long updated values
float newlatitude = Input.location.lastData.latitude;
float newlongitude = Input.location.lastData.longitude;
double newTimestamp = Input.location.lastData.timestamp;
// calculate the difference between the coordinate to comparison
float latdif = Math.Abs(lastWindowLatitude - newlatitude);
float longdif = Math.Abs(lastWindowLongitude - newlongitude);
// if GPS reading changes verifies if the readings are good enough
if (latdif > 0.00001f || longdif > 0.000001f)
{
//calculates the distance between the last and the new GPS values
float dist = locationScript.DistanceWindow(lastWindowLatitude, lastWindowLongitude, newlatitude, newlongitude);
// if the distance if less than GPSmaxDifDistance meters it is a possible good value
if (dist < GPSmaxDifDistance)
{
//print
utilsScript.WriteToFile("\n\n\n[GPS Script]: new lat, long, and timestamp readings: " + newlatitude + " - " + newlongitude + " - " + newTimestamp);
//print
utilsScript.WriteToFile("\n[GPS Script]: Moving Window distance: " + dist + " meters");
// time diference between the two readings (seconds)
double deltaTime = newTimestamp - lastWindowTimestamp;
//print
utilsScript.WriteToFile("\n[GPS Script]: Moving Window delta time: " + deltaTime + " seconds");
//speed calculation (m/s)
float speed = dist / (float)deltaTime;
//print
utilsScript.WriteToFile("\n[GPS Script]: Moving Window speed: " + speed + " m/s");
if (speedWindowList.Count() > 1)
{
// calculates the acceleration (deltaVelocity / deltaTime)
accelerationValue = (speedWindowList.ElementAt(speedWindowList.Count() - 1) + speed) / (float)deltaTime;
utilsScript.WriteToFile("\n[GPS Script]: Acceleration Value: " + accelerationValue + " m/s^2");
}
//////////////////////////// Moving Window Algorithm verifications ////////////////////////////////
//if user is fixed at a position and there are more than initialisingIterations GPS readings
if (speed < minWindowSpeed && windowGPScount > initialisingIterations || //speed is too low, so user is fixed
accelerationValue < minWindowAcceleration && windowGPScount > initialisingIterations) // acceleration is too low, so user is fixed
{
// same position, so no need to change the lastWindow's latitude and longitude values
//time average
double tmpTimestamp = (newTimestamp + lastWindowTimestamp) / 2f;
lastWindowTimestamp = tmpTimestamp;
//print
utilsScript.WriteToFile("\n[GPS Script]: I Think the User Stoped Here!");
// maintain the old position on Unity, so no need to change the latitude and longitude values
}
// if the speed value is greater than the max value and there are more than initialisingIterations GPS readings
else if (speed > maxWindowSpeed && windowGPScount > initialisingIterations)
{
utilsScript.WriteToFile("\n[GPS Script]: Speed is to High for a Normal Ambulation (3m/s)!");
// replace the last GPS reading for the average of the last and new GPS readings
RemoveLastGPSReadings(newlatitude, newlongitude, newTimestamp);
}
// if the acceleration value is greater than the max value and there are more than initialisingIterations GPS readings
else if (accelerationValue > maxWindowAcceleration && windowGPScount > initialisingIterations)
{
utilsScript.WriteToFile("\n[GPS Script]: Acceleration is to High for even a runner (Usain Bolt - 3.09m/s^2)!");
// the acceleration value is to high, discard the values
RemoveLastGPSReadings(newlatitude, newlongitude, newTimestamp);
}
// if everything ok with the GPS readings
else
{
//add distance value to the list
distanceWindowList.Add(dist);
//add speed value to list
speedWindowList.Add(speed);
// calculate the necessary averages of the moving window algorithm
CalculateAverageValues();
//update to the last GPS reading values
lastWindowLatitude = newlatitude;
lastWindowLongitude = newlongitude;
lastWindowTimestamp = newTimestamp;
// add new values to arrays
latitudeWindowList.Add(newlatitude);
longitudeWindowList.Add(newlongitude);
timestampsWindowList.Add(newTimestamp);
//print
utilsScript.WriteToFile("\n[GPS Script]: Added the GPS reading as a good one!");
//update count
windowGPScount++;
firstValues++;
// update the Unity general latitude and longitude values
latitude = lastWindowLatitude;
longitude = lastWindowLongitude;
} // end everything ok else
} // end < distance if
// if the distance if more than the GPSmaxDifDistance meters discard the GPS reading
else
{
if (firstValues < 5)
{
// if it is the first 5 readings discard the last GPS readings and use the new ones
RemoveLastGPSReadingsFirstValues(newlatitude, newlongitude, newTimestamp);
}
// if not the first readings and the distance is greater than the GPSmaxDifDistance value
else
{
// discard the last GPS readings and use the average between the last and the new ones
RemoveLastGPSReadings(newlatitude, newlongitude, newTimestamp);
}// end else first values
}
//end else GPSmaxDistance
} //end if difference lat and long
} //end firstreadings else
/////////////////////////////////////////////////////////////// move camera ////////////////////////////
XCamera = locationScript.LongitudeToX(longitude);
ZCamera = locationScript.LatitudeToZ(latitude);
if (firstCamera)
{
lastX = XCamera;
lastZ = ZCamera;
cameraContainer.transform.position = Vector3.Lerp(transform.position, new Vector3(XCamera, 0, ZCamera), Time.deltaTime * smooth);
Debug.LogError("[GPS Script]: Camera started at (x - z): " + XCamera + " - " + ZCamera);
firstCamera = false;
}
else
{
// calculate the difference between the new and last readings
float difX = Mathf.Abs(XCamera - lastX);
float difZ = Mathf.Abs(ZCamera - lastZ);
// if it changes update the camera position in the virtual world
if (difX > 0.1 || difZ > 0.1)
{
cameraContainer.transform.position = Vector3.Lerp(transform.position, new Vector3(XCamera, 0, ZCamera), Time.deltaTime * smooth);
Debug.LogError("[GPS Script]: Camera moved to (x - z): " + XCamera + " - " + ZCamera);
//update last values
lastX = XCamera;
lastZ = ZCamera;
}
}
/////////////////////////////////////////////////////////////////////////////////////////////////////
//update text in camera
coordinates.text = "Lat: " + Input.location.lastData.latitude.ToString() + " Long: " + Input.location.lastData.longitude.ToString() +
" Altitude: " + Input.location.lastData.altitude.ToString() + " Ver.Accuracy: " + Input.location.lastData.verticalAccuracy.ToString() +
"\nHor.Accuracy: " + Input.location.lastData.horizontalAccuracy.ToString() + " Timestamp: " + Input.location.lastData.timestamp.ToString();
debugGPS.text = "Debug: GPS updated";
//compass values updating
//calculates the average of the 10 compass values
if (!compassV)
{
if (compassCount > 9)
{
compassV = true;
float sum = 0f;
for (int i = 0; i < compassValuesArray.Length; i++)
{
sum += compassValuesArray[i];
}
//North = 0 or 360 -- East = 90 -- South = 180 -- West = 270
float compassAverage = sum / compassValuesArray.Length;
Debug.LogWarning("[GPS Script]: compass average: " + compassAverage);
//rotate camera
cameraContainer.transform.Rotate(0, compassAverage, 0);
}
else
{
//add compass values to array
compassValuesArray[compassCount] = Input.compass.trueHeading;
//Debug.LogWarning("[Server Connection]: last compass value: " + compassValuesArray[compassCount]);
compassCount++;
}
}
else
{
//debugGPS.text = "Debug: User has not enabled GPS";
}
}
}
