public static int RougthAlignment(Proc_Help ProcHelp, SINS_State SINSstate, StreamReader myFile, Kalman_Vars KalmanVars, SINS_State SINSstate_OdoMod, StreamWriter GRTV_output)
{
int k = 0, i = 0;
double[] f_avg = new double[3]; double[] w_avg = new double[3]; double[] w_avg_x = new double[3]; double[] U_s = new double[3];
Matrix A_xs = new Matrix(3, 3);
StreamWriter Alignment_avg_rougth = new StreamWriter(SimpleData.PathOutputString + "Alignment//Alignment_avg_rougth.txt");
StreamWriter Alignment_avg_rougthMovingAVG = new StreamWriter(SimpleData.PathOutputString + "Alignment//Alignment_avg_rougth_MovingAVG.txt");
StreamWriter myFileWithSmoothedCoord = new StreamWriter(SimpleData.PathInputString + "DataWithSmoothedCoord//Align_InputDataWithSmoothedCoordinates.txt");
// --- вспомогательные массивы для определения сигмы шумов
double[] array_f_1 = new double[200000], array_sigma_f_1 = new double[200000];
double[] array_f_2 = new double[200000], array_sigma_f_2 = new double[200000];
double[] array_f_3 = new double[200000], array_sigma_f_3 = new double[200000];
double[] array_w_1 = new double[200000], array_sigma_w_1 = new double[200000];
double[] array_w_2 = new double[200000], array_sigma_w_2 = new double[200000];
double[] array_w_3 = new double[200000], array_sigma_w_3 = new double[200000];
double[] sigma_f = new double[3];
double[] sigma_w = new double[3];
Alignment_avg_rougth.WriteLine("count f_1 f_2 f_3 w_1 w_2 w_3 heading roll pitch Latitude");
Alignment_avg_rougthMovingAVG.WriteLine("count MA_f_1 MA_f_2 MA_f_3 MA_w_1 MA_w_2 MA_w_3");
while (true)
{
i++;
if (i < 1)
{
myFile.ReadLine(); continue;
}
if (SINSstate.FLG_Stop == 0 && false)
{
ProcessingHelp.ReadSINSStateFromString(ProcHelp, myFile, myFileWithSmoothedCoord, SINSstate, SINSstate_OdoMod, true);
}
else
{
i--;
break;
}
}
int t = i;
double Latitude = 0.0, Pitch = 0.0, Roll = 0.0, Heading = 0.0;
int MovingWindow = 500;
double[] MovingAverageAccGyro = new double[6];
// --- k_f, k_nu - отдельные счетчики сколько обновлений соответствующих датчиков были использованы для осреднения (в некоторых заездах
// --- почему-то ньютонометры на начальной выставке поставляют константное значение)
int k_f = 0, k_nu = 0;
for (i = t; ; i++)
{
ProcessingHelp.ReadSINSStateFromString(ProcHelp, myFile, myFileWithSmoothedCoord, SINSstate, SINSstate_OdoMod, true);
if (/*SINSstate.FLG_Stop == 0 || */ (ProcHelp.AlignmentCounts != 0 && i == ProcHelp.AlignmentCounts))
{
break;
}
//if (i == 1000)
// break;
array_f_1[k] = SINSstate.F_z[0];
array_f_2[k] = SINSstate.F_z[1];
array_f_3[k] = SINSstate.F_z[2];
array_w_1[k] = SINSstate.W_z[0];
array_w_2[k] = SINSstate.W_z[1];
array_w_3[k] = SINSstate.W_z[2];
double array_sigma_f_1_tmp_sum = 0.0, array_sigma_w_1_tmp_sum = 0.0;
int u = 0;
for (u = 1; u <= Math.Min(i, 50); u++)
{
array_sigma_f_1_tmp_sum += array_f_1[i - u];
}
array_sigma_f_1_tmp_sum /= (u - 1);
if (Math.Abs(array_sigma_f_1_tmp_sum - array_f_1[i]) > 1E-9)
{
array_sigma_f_1[k_f] = SINSstate.F_z[0];
array_sigma_f_2[k_f] = SINSstate.F_z[1];
array_sigma_f_3[k_f] = SINSstate.F_z[2];
f_avg[0] += SINSstate.F_z[0];
f_avg[1] += SINSstate.F_z[1];
f_avg[2] += SINSstate.F_z[2];
k_f++;
}
u = 0;
for (u = 1; u <= Math.Min(i, 50); u++)
{
array_sigma_w_1_tmp_sum += array_w_1[i - u];
}
array_sigma_w_1_tmp_sum /= (u - 1);
if (Math.Abs(array_sigma_w_1_tmp_sum - array_w_1[i]) > 1E-9)
{
array_sigma_w_1[k_nu] = SINSstate.W_z[0];
array_sigma_w_2[k_nu] = SINSstate.W_z[1];
array_sigma_w_3[k_nu] = SINSstate.W_z[2];
w_avg[0] += SINSstate.W_z[0];
w_avg[1] += SINSstate.W_z[1];
w_avg[2] += SINSstate.W_z[2];
k_nu++;
}
k++;
for (int u1 = 1; u1 <= Math.Min(k, MovingWindow); u1++)
{
MovingAverageAccGyro[0] += array_f_1[k - u1];
MovingAverageAccGyro[1] += array_f_2[k - u1];
MovingAverageAccGyro[2] += array_f_3[k - u1];
MovingAverageAccGyro[3] += array_w_1[k - u1];
MovingAverageAccGyro[4] += array_w_2[k - u1];
MovingAverageAccGyro[5] += array_w_3[k - u1];
}
for (int u1 = 0; u1 < 6; u1++)
{
MovingAverageAccGyro[u1] = MovingAverageAccGyro[u1] / MovingWindow;
}
//-------
Pitch = Math.Atan2(f_avg[1], Math.Sqrt(f_avg[0] * f_avg[0] + f_avg[2] * f_avg[2]));
Roll = -Math.Atan2(f_avg[0], f_avg[2]);
A_xs = SimpleOperations.A_xs(Heading, Roll, Pitch);
w_avg_x = Matrix.Multiply(A_xs, w_avg);
Heading = -Math.Atan2(w_avg_x[0], w_avg_x[1]);
Latitude = Math.Atan2(w_avg_x[2], Math.Sqrt(w_avg_x[1] * w_avg_x[1] + w_avg_x[0] * w_avg_x[0]));
SINSstate.A_sx0 = SimpleOperations.A_sx0(Heading, Roll, Pitch);
U_s = SINSstate.A_sx0 * SimpleOperations.U_x0(SINSstate.Latitude);
//FinalAlignment.WriteLine(k + " " + SINSstate.Count + " " + Heading + " " + Roll + " " + Pitch + " " + Latitude
// + " " + SINSstate.F_z[0] + " " + SINSstate.F_z[1] + " " + SINSstate.F_z[2]
// + " " + SINSstate.W_z[0] + " " + SINSstate.W_z[1] + " " + SINSstate.W_z[2]
// + " " + U_s[0] + " " + U_s[1] + " " + U_s[2]);
if (Math.Abs(w_avg[0] / k - U_s[0]) < 0.000005)
{
}
else
{
Heading = Heading - Math.PI;
SINSstate.A_sx0 = SimpleOperations.A_sx0(SINSstate);
U_s = SINSstate.A_sx0 * SimpleOperations.U_x0(SINSstate.Latitude);
}
for (int j = 0; j < 3; j++)
{
SINSstate.AlignAlgebraDrifts[j] = w_avg[j] / k_nu - U_s[j];
}
if (k > MovingWindow && k % 10 == 0)
{
Alignment_avg_rougth.WriteLine(SINSstate.Count.ToString()
+ " " + (f_avg[0] / k_f).ToString() + " " + (f_avg[1] / k_f).ToString() + " " + (f_avg[2] / k_f).ToString()
+ " " + (w_avg[0] / k_nu).ToString() + " " + (w_avg[1] / k_nu).ToString() + " " + (w_avg[2] / k_nu).ToString()
+ " " + (Heading * SimpleData.ToDegree).ToString() + " " + (Roll * SimpleData.ToDegree).ToString() + " " + (Pitch * SimpleData.ToDegree).ToString() + " " + Latitude.ToString()
+ " " + (w_avg_x[0] / k_nu).ToString() + " " + (w_avg_x[1] / k_nu).ToString() + " " + (w_avg_x[2] / k_nu).ToString()
);
Alignment_avg_rougthMovingAVG.WriteLine(SINSstate.Time.ToString() + " " + MovingAverageAccGyro[0] + " " + MovingAverageAccGyro[1] + " " + MovingAverageAccGyro[2] + " " + MovingAverageAccGyro[3] + " " + MovingAverageAccGyro[4]
+ " " + MovingAverageAccGyro[5]);
}
// --- Вывод данных для формирования GRTV файла --- //
if (SINSstate.flag_GRTV_output)
{
GRTV_output.WriteLine(
SINSstate.Count
+ " " + "4" + " "
+ " " + SINSstate.F_z_orig[1] + " " + SINSstate.F_z_orig[2] + " " + SINSstate.F_z_orig[0]
+ " " + SINSstate.W_z_orig[1] + " " + SINSstate.W_z_orig[2] + " " + SINSstate.W_z_orig[0]
+ " " + SINSstate.Latitude + " " + SINSstate.Longitude + " " + SINSstate.Height
+ " " + SINSstate.Vx_0[1] + " " + SINSstate.Vx_0[0] + " " + SINSstate.Vx_0[2]
+ " " + SINSstate.Heading + " " + SINSstate.Pitch + " " + SINSstate.Roll
+ " " + SINSstate.Latitude + " 1 " + SINSstate.Longitude + " 1 " + SINSstate.Height + " 1"
+ " " + SINSstate.Vx_0[1] + " 1 " + SINSstate.Vx_0[0] + " 1 " + SINSstate.Vx_0[2] + " 1"
+ " " + SINSstate.OdometerData.odometer_left.Value_orig + " " + SINSstate.OdometerData.odometer_left.isReady_orig
//метка времени - отмечает момент времени формирования пакета СНС-данных
+ " " + SINSstate.GPS_Data.gps_Latitude.isReady_orig
+ " " + SINSstate.GPS_Data.gps_Latitude.Value_orig + " " + SINSstate.GPS_Data.gps_Latitude.isReady_orig
+ " " + SINSstate.GPS_Data.gps_Longitude.Value_orig + " " + SINSstate.GPS_Data.gps_Longitude.isReady_orig
+ " " + SINSstate.GPS_Data.gps_Altitude.Value_orig + " " + SINSstate.GPS_Data.gps_Altitude.isReady_orig
+ " " + SINSstate.GPS_Data.gps_Vn.Value_orig + " " + SINSstate.GPS_Data.gps_Vn.isReady_orig
+ " " + SINSstate.GPS_Data.gps_Ve.Value_orig + " " + SINSstate.GPS_Data.gps_Vn.isReady_orig
+ " " + " 0 0" //Скорость GPS вертикальная
);
}
}
f_avg[0] = f_avg[0] / k_f; w_avg[0] = w_avg[0] / k_nu;
f_avg[1] = f_avg[1] / k_f; w_avg[1] = w_avg[1] / k_nu;
f_avg[2] = f_avg[2] / k_f; w_avg[2] = w_avg[2] / k_nu;
for (int j = 1; j < k_f; j++)
{
sigma_f[0] += Math.Pow((array_sigma_f_1[j] - f_avg[0]), 2);
sigma_f[1] += Math.Pow((array_sigma_f_2[j] - f_avg[1]), 2);
sigma_f[2] += Math.Pow((array_sigma_f_3[j] - f_avg[2]), 2);
}
for (int j = 1; j < k_nu; j++)
{
sigma_w[0] += Math.Pow((array_sigma_w_1[j] - w_avg[0]), 2);
sigma_w[1] += Math.Pow((array_sigma_w_2[j] - w_avg[1]), 2);
sigma_w[2] += Math.Pow((array_sigma_w_3[j] - w_avg[2]), 2);
}
sigma_f[0] = Math.Sqrt(sigma_f[0] / k_f);
sigma_f[1] = Math.Sqrt(sigma_f[1] / k_f);
sigma_f[2] = Math.Sqrt(sigma_f[2] / k_f);
sigma_w[0] = Math.Sqrt(sigma_w[0] / k_nu);
sigma_w[1] = Math.Sqrt(sigma_w[1] / k_nu);
sigma_w[2] = Math.Sqrt(sigma_w[2] / k_nu);
//шумы ньютонометров и дусов
for (int j = 0; j < 3; j++)
{
if (SimpleOperations.AbsoluteVectorValue(sigma_f) > 1E-5)
{
KalmanVars.Noise_Vel[j] = sigma_f[j] / 1.0;
}
if (SimpleOperations.AbsoluteVectorValue(sigma_w) > 1E-9)
{
KalmanVars.Noise_Angl[j] = sigma_w[j] / 1.0;
}
}
// === По вертикальному шум всегда будет меньше на выставке, поэтому мы немного сглаживаем === //
if (SINSstate.flag_equalizeVertNoise == true)
{
KalmanVars.Noise_Vel[2] = (KalmanVars.Noise_Vel[0] + KalmanVars.Noise_Vel[1]) / 2.0;
KalmanVars.Noise_Angl[2] = (KalmanVars.Noise_Angl[0] + KalmanVars.Noise_Angl[1]) / 2.0;
}
SINSstate.Pitch = Math.Atan2(f_avg[1], Math.Sqrt(f_avg[0] * f_avg[0] + f_avg[2] * f_avg[2]));
SINSstate.Roll = -Math.Atan2(f_avg[0], f_avg[2]);
//if (SINSstate.Global_file == "GRTV_Ekat_151029_1_zaezd")
//{
// KalmanVars.Noise_Vel[0] = 0.007814; KalmanVars.Noise_Angl[0] = 0.0000888;
// KalmanVars.Noise_Vel[1] = 0.003528; KalmanVars.Noise_Angl[1] = 0.0002505;
// KalmanVars.Noise_Vel[2] = 0.005671; KalmanVars.Noise_Angl[2] = 0.0001697;
//}
//if (SINSstate.Global_file == "GRTVout_GCEF_format (070715выезд завод)" || SINSstate.Global_file == "GRTVout_GCEF_format (070715выезд куликовка)")
//{
// KalmanVars.Noise_Vel[0] = 0.0018; KalmanVars.Noise_Angl[0] = 0.000020;
// KalmanVars.Noise_Vel[1] = 0.0018; KalmanVars.Noise_Angl[1] = 0.000020;
// KalmanVars.Noise_Vel[2] = 0.0018; KalmanVars.Noise_Angl[2] = 0.000020;
//}
A_xs = SimpleOperations.A_xs(SINSstate);
w_avg_x = Matrix.Multiply(A_xs, w_avg);
if (true)
{
SINSstate.Heading = -Math.Atan2(w_avg_x[0], w_avg_x[1]);
Latitude = Math.Atan2(w_avg_x[2], Math.Sqrt(w_avg_x[1] * w_avg_x[1] + w_avg_x[0] * w_avg_x[0]));
}
// -- следующий способ дает то же самое с разницей в несколько секунд -- //
else
{
double[] l1 = new double[3], l2 = new double[3], l3 = new double[3];
l3[0] = A_xs[2, 0]; l3[1] = A_xs[2, 1]; l3[2] = A_xs[2, 2];
for (int ij = 0; ij < 3; ij++)
{
l2[ij] = (w_avg[ij] - SimpleData.U * l3[ij] * Math.Sin(SINSstate.Latitude)) / (SimpleData.U * Math.Cos(SINSstate.Latitude));
}
double l2_mod = Math.Sqrt(l2[0] * l2[0] + l2[1] * l2[1] + l2[2] * l2[2]);
l2[0] = l2[0] / l2_mod;
l2[1] = l2[1] / l2_mod;
l2[2] = l2[2] / l2_mod;
l1[0] = -l2[2] * l3[1] + l2[1] * l3[2];
l1[1] = l2[2] * l3[0] - l2[0] * l3[2];
l1[2] = -l2[1] * l3[0] + l2[0] * l3[1];
SINSstate.Heading = -Math.Atan2(w_avg_x[0], w_avg_x[1]);
SINSstate.Heading = Math.Atan2(l1[1], l2[1]);
}
SINSstate.A_sx0 = SimpleOperations.A_sx0(SINSstate);
U_s = SINSstate.A_sx0 * SimpleOperations.U_x0(SINSstate.Latitude);
//if (Math.Abs(w_avg[0] - U_s[0]) < 0.000005) { }
//else
//{
// SINSstate.Heading = SINSstate.Heading - Math.PI;
// SINSstate.A_sx0 = SimpleOperations.A_sx0(SINSstate);
// U_s = SINSstate.A_sx0 * SimpleOperations.U_x0(SINSstate.Latitude);
//}
double[] gilmertF = new double[3];
gilmertF[2] = SimpleOperations.GilmertGravityForce(SINSstate.Latitude, SINSstate.Height);
SimpleOperations.CopyArray(gilmertF, SINSstate.A_sx0 * gilmertF);
for (int j = 0; j < 3; j++)
{
SINSstate.AlignAlgebraDrifts[j] = w_avg[j] - U_s[j];
}
if (SINSstate.AlgebraicCalibration_F_Zero == true)
{
for (int j = 0; j < 3; j++)
{
SINSstate.AlignAlgebraZeroF[j] = f_avg[j] - gilmertF[j];
}
}
SINSstate.Time_Alignment = SINSstate.Time;
// --- Если задан курс в настройках ---//
if (SINSstate.Alignment_HeadingDetermined == true)
{
SINSstate.Heading = SINSstate.Alignment_HeadingValue + SINSstate.alpha_kappa_3;
}
if (SINSstate.Alignment_RollDetermined == true)
{
SINSstate.Roll = SINSstate.Alignment_RollValue;
}
if (SINSstate.Alignment_PitchDetermined == true)
{
SINSstate.Pitch = SINSstate.Alignment_PitchValue - SINSstate.alpha_kappa_1;
}
if (Math.Abs(SINSstate.WRONG_alpha_kappa_1) > 0.0)
{
SINSstate.Pitch = SINSstate.Pitch - SINSstate.WRONG_alpha_kappa_1;
}
if (Math.Abs(SINSstate.WRONG_alpha_kappa_3) > 0.0)
{
SINSstate.Heading = SINSstate.Heading + SINSstate.WRONG_alpha_kappa_3;
}
if (SINSstate.Global_file == "Saratov_run_2014_07_23")
{
double lat_dif_true = (49.99452656 * SimpleData.ToRadian - SINSstate.Latitude_Start) * SimpleOperations.RadiusN(49.99452656 * SimpleData.ToRadian, SINSstate.Height_Start);
double long_dif_true = (46.87201806 * SimpleData.ToRadian - SINSstate.Longitude_Start) * SimpleOperations.RadiusE(49.99452656 * SimpleData.ToRadian, SINSstate.Height_Start) * Math.Cos(49.99452656 * SimpleData.ToRadian);
double SettedHeading = Math.Atan2(long_dif_true, lat_dif_true);
if (SINSstate.Time > 10000.0)
{
SettedHeading = SimpleOperations.CalculateHeadingByTwoDots(49.80892188 * SimpleData.ToRadian, 45.3817334 * SimpleData.ToRadian, SINSstate.GPS_Data.gps_Altitude_prev.Value,
49.80906066 * SimpleData.ToRadian, 45.38113053 * SimpleData.ToRadian, SINSstate.GPS_Data.gps_Altitude.Value);
SINSstate.Heading = SettedHeading;
SINSstate.A_sx0 = SimpleOperations.A_sx0(SINSstate);
SimpleOperations.CopyArray(U_s, SINSstate.A_sx0 * SimpleOperations.U_x0(SINSstate.Latitude));
}
else
{
double difHeadings = SettedHeading - SINSstate.Heading;
SINSstate.Heading = SettedHeading;
SINSstate.A_sx0 = SimpleOperations.A_sx0(SINSstate);
SimpleOperations.CopyArray(U_s, SINSstate.A_sx0 * SimpleOperations.U_x0(SINSstate.Latitude));
}
for (int j = 0; j < 3; j++)
{
SINSstate.AlignAlgebraDrifts[j] = w_avg[j] - U_s[j];
}
for (int j = 0; j < 3; j++)
{
KalmanVars.Noise_Vel[j] = KalmanVars.Noise_Vel[j] * 5.0;
KalmanVars.Noise_Angl[j] = KalmanVars.Noise_Angl[j] * 5.0;
//KalmanVars.Noise_Vel[j] = KalmanVars.Noise_Vel.Max();
//KalmanVars.Noise_Angl[j] = KalmanVars.Noise_Angl.Max();
}
}
// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! //
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.AT = Matrix.Multiply(SINSstate.A_sx0, SINSstate.A_x0n);
SINSstate.A_nxi = SimpleOperations.A_ne(SINSstate.Time - SINSstate.Time_Alignment, SINSstate.Longitude_Start);
//Далее произойдет обнуление SINSstate.Time
SINSstate.AT = Matrix.Multiply(SINSstate.AT, SINSstate.A_nxi);
Alignment_avg_rougth.Close();
Alignment_avg_rougthMovingAVG.Close();
myFileWithSmoothedCoord.Close();
return(i);
}