public static void Make_A(SINS_State SINSstate, Kalman_Vars KalmanVars, SINS_State SINSstate_OdoMod)
{
int iMx = SimpleData.iMx, iMz = SimpleData.iMz, iMq = SimpleData.iMq, iMx_kappa_3_ds = SINSstate.value_iMx_kappa_3_ds, iMx_kappa_1 = SINSstate.value_iMx_kappa_1,
iMx_r12_odo = SINSstate.value_iMx_r_odo_12, value_iMx_dr3 = SINSstate.value_iMx_dr3, value_iMx_dV3 = SINSstate.value_iMx_dV3;
int iMx_dV_12 = SINSstate.value_iMx_dV_12,
iMx_alphaBeta = SINSstate.value_iMx_alphaBeta,
iMx_Nu0 = SINSstate.value_iMx_Nu0,
f0_12 = SINSstate.value_iMx_f0_12,
f0_3 = SINSstate.value_iMx_f0_3,
iMx_r_odo_3 = SINSstate.value_iMx_r_odo_3
;
SINSprocessing.Make_A(SINSstate, KalmanVars, SINSstate_OdoMod);
/*-----------МОДИФИЦИРОВАННЫЙ СЛАБОСВЗАННЫЙ ВАРИАНТ----------------*/
if (SINSstate.flag_OdoSINSWeakConnect_MODIF)
{
KalmanVars.Matrix_A[iMx_r12_odo * iMx + (iMx_alphaBeta + 2)] = SINSstate_OdoMod.Vx_0[1];
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_r12_odo + 1] = SINSstate_OdoMod.Omega_x[2];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + (iMx_alphaBeta + 2)] = -SINSstate_OdoMod.Vx_0[0];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_r12_odo + 0] = -SINSstate_OdoMod.Omega_x[2];
if (SINSstate.flag_iMx_r3_dV3)
{
if (SINSstate.existRelationHoriz_VS_Vertical)
{
KalmanVars.Matrix_A[(iMx_r12_odo + 0) * iMx + 0] += SINSstate_OdoMod.Vx_0[2] / SINSstate_OdoMod.R_e;
KalmanVars.Matrix_A[(iMx_r12_odo + 0) * iMx + (iMx_alphaBeta + 1)] += -SINSstate_OdoMod.Vx_0[2];
KalmanVars.Matrix_A[(iMx_r12_odo + 0) * iMx + iMx_r_odo_3] = -SINSstate_OdoMod.Omega_x[1];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + 1] += SINSstate_OdoMod.Vx_0[2] / SINSstate_OdoMod.R_n;
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + (iMx_alphaBeta + 0)] += SINSstate_OdoMod.Vx_0[2];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_r_odo_3] = SINSstate_OdoMod.Omega_x[0];
}
}
if (SINSstate.flag_iMx_r3_dV3)
{
if (SINSstate.existRelationHoriz_VS_Vertical)
{
KalmanVars.Matrix_A[(iMx_r_odo_3) * iMx + 0] = -SINSstate_OdoMod.Vx_0[0] / SINSstate_OdoMod.R_e;
KalmanVars.Matrix_A[(iMx_r_odo_3) * iMx + 1] = -SINSstate_OdoMod.Vx_0[1] / SINSstate_OdoMod.R_n;
KalmanVars.Matrix_A[(iMx_r_odo_3) * iMx + iMx_r12_odo + 0] = SINSstate_OdoMod.Omega_x[1];
KalmanVars.Matrix_A[(iMx_r_odo_3) * iMx + iMx_r12_odo + 1] = -SINSstate_OdoMod.Omega_x[0];
KalmanVars.Matrix_A[(iMx_r_odo_3) * iMx + (iMx_alphaBeta + 0)] = -SINSstate_OdoMod.Vx_0[1];
KalmanVars.Matrix_A[(iMx_r_odo_3) * iMx + (iMx_alphaBeta + 1)] = SINSstate_OdoMod.Vx_0[0];
}
}
}
/*-----------СЛАБОСВЗАННЫЙ ВАРИАНТ----------------*/
else if (SINSstate.flag_OdoSINSWeakConnect)
{
KalmanVars.Matrix_A[iMx_r12_odo * iMx + (iMx_alphaBeta + 2)] = SINSstate_OdoMod.Vx_0[1];
KalmanVars.Matrix_A[iMx_r12_odo * iMx + 0] = -SINSstate_OdoMod.Omega_x[0] * Math.Tan(SINSstate_OdoMod.Latitude);
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_r12_odo + 0] = SINSstate_OdoMod.Omega_x[0] * Math.Tan(SINSstate_OdoMod.Latitude);
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_r12_odo + 1] = SINSstate_OdoMod.Omega_x[2];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + (iMx_alphaBeta + 2)] = -SINSstate_OdoMod.Vx_0[0];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + 0] = -SINSstate_OdoMod.Omega_x[2];
if (SINSstate.flag_iMx_r3_dV3)
{
if (SINSstate.existRelationHoriz_VS_Vertical)
{
KalmanVars.Matrix_A[iMx_r12_odo * iMx + (iMx_alphaBeta + 1)] += -SINSstate_OdoMod.Vx_0[2];
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_r12_odo + 0] += SINSstate_OdoMod.Vx_0[2] / SINSstate_OdoMod.R_e;
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_r_odo_3 + 0] = -SINSstate_OdoMod.Omega_x[1];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + (iMx_alphaBeta + 1)] += SINSstate_OdoMod.Vx_0[2];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_r12_odo + 1] += SINSstate_OdoMod.Vx_0[2] / SINSstate_OdoMod.R_n;
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_r_odo_3 + 0] = SINSstate_OdoMod.Omega_x[0];
}
}
if (SINSstate.flag_iMx_r3_dV3)
{
if (SINSstate.existRelationHoriz_VS_Vertical)
{
KalmanVars.Matrix_A[(iMx_r_odo_3) * iMx + (iMx_alphaBeta + 0)] = -SINSstate_OdoMod.Vx_0[1];
KalmanVars.Matrix_A[(iMx_r_odo_3) * iMx + (iMx_alphaBeta + 1)] = SINSstate_OdoMod.Vx_0[0];
}
}
}
if (SINSstate.flag_iMx_kappa_13_ds)
{
if (SINSstate.existRelationHoriz_VS_Vertical || !SINSstate.flag_iMx_r3_dV3)
{
if (iMx_kappa_1 > 0)
{
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_kappa_1 + 0] = SINSstate_OdoMod.OdoSpeed_s[1] * SINSstate_OdoMod.A_x0s[0, 2] - SINSstate_OdoMod.OdoSpeed_s[2] * SINSstate_OdoMod.A_x0s[0, 1];
}
}
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_kappa_3_ds + 0] = -SINSstate_OdoMod.OdoSpeed_s[1] * SINSstate_OdoMod.A_x0s[0, 0] + SINSstate_OdoMod.OdoSpeed_s[0] * SINSstate_OdoMod.A_x0s[0, 1];
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_kappa_3_ds + 1] = SINSstate_OdoMod.OdoSpeed_x0[0];
if (SINSstate.existRelationHoriz_VS_Vertical || !SINSstate.flag_iMx_r3_dV3)
{
if (iMx_kappa_1 > 0)
{
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_kappa_1 + 0] = SINSstate_OdoMod.OdoSpeed_s[1] * SINSstate_OdoMod.A_x0s[1, 2] - SINSstate_OdoMod.OdoSpeed_s[2] * SINSstate_OdoMod.A_x0s[1, 1];
}
}
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_kappa_3_ds + 0] = -SINSstate_OdoMod.OdoSpeed_s[1] * SINSstate_OdoMod.A_x0s[1, 0] + SINSstate_OdoMod.OdoSpeed_s[0] * SINSstate_OdoMod.A_x0s[1, 1];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_kappa_3_ds + 1] = SINSstate_OdoMod.OdoSpeed_x0[1];
if (SINSstate.flag_iMx_r3_dV3)
{
if (iMx_kappa_1 > 0)
{
KalmanVars.Matrix_A[(iMx_r_odo_3) * iMx + iMx_kappa_1 + 0] = SINSstate_OdoMod.OdoSpeed_s[1] * SINSstate_OdoMod.A_x0s[2, 2] - SINSstate_OdoMod.OdoSpeed_s[2] * SINSstate_OdoMod.A_x0s[2, 1];
}
if (SINSstate.existRelationHoriz_VS_Vertical || !SINSstate.flag_iMx_r3_dV3)
{
KalmanVars.Matrix_A[(iMx_r_odo_3) * iMx + iMx_kappa_3_ds + 0] = -SINSstate_OdoMod.OdoSpeed_s[1] * SINSstate_OdoMod.A_x0s[2, 0] + SINSstate_OdoMod.OdoSpeed_s[0] * SINSstate_OdoMod.A_x0s[2, 1];
KalmanVars.Matrix_A[(iMx_r_odo_3) * iMx + iMx_kappa_3_ds + 1] = SINSstate_OdoMod.OdoSpeed_x0[2];
}
}
}
// ----------------------------------------------------------//
if (SINSstate.flag_SeparateHorizVSVertical == true)
{
if (SINSstate.Vertical_kappa1 > 0)
{
KalmanVars.Vertical_Matrix_A[SINSstate.Vertical_rOdo3 * SimpleData.iMx_Vertical + SINSstate.Vertical_kappa1 + 0] = SINSstate_OdoMod.OdoSpeed_s[1] * SINSstate_OdoMod.A_x0s[2, 2] - SINSstate_OdoMod.OdoSpeed_s[2] * SINSstate_OdoMod.A_x0s[2, 1];
if (SINSstate.Vertical_kappa3Scale > 0)
{
KalmanVars.Vertical_Matrix_A[SINSstate.Vertical_rOdo3 * SimpleData.iMx_Vertical + SINSstate.Vertical_kappa3Scale + 0] = -SINSstate_OdoMod.OdoSpeed_s[1] * SINSstate_OdoMod.A_x0s[2, 0] + SINSstate_OdoMod.OdoSpeed_s[0] * SINSstate_OdoMod.A_x0s[2, 1];
KalmanVars.Vertical_Matrix_A[SINSstate.Vertical_rOdo3 * SimpleData.iMx_Vertical + SINSstate.Vertical_kappa3Scale + 1] = SINSstate_OdoMod.OdoSpeed_x0[2];
}
}
}
// ----------------------------------------------------------//
}
public static void Make_A(SINS_State SINSstate, Kalman_Vars KalmanVars, SINS_State SINSstate_OdoMod)
{
int iMx = SimpleData.iMx, iMz = SimpleData.iMz, iMq = SimpleData.iMq, iMx_r3_dV3 = SINSstate.iMx_r3_dV3, iMx_odo_model = SINSstate.iMx_odo_model,
iMx_r12_odo = SINSstate.iMx_r12_odo;
SINSprocessing.Make_A(SINSstate, KalmanVars, SINSstate_OdoMod);
/*-----------МОДИФИЦИРОВАННЫЙ СЛАБОСВЗАННЫЙ ВАРИАНТ----------------*/
if (SINSstate.flag_OdoSINSWeakConnect_MODIF)
{
KalmanVars.Matrix_A[iMx_r12_odo * iMx + 6] = SINSstate_OdoMod.Vx_0[1];
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_r12_odo + 1] = SINSstate_OdoMod.Omega_x[2];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + 6] = -SINSstate_OdoMod.Vx_0[0];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_r12_odo + 0] = -SINSstate_OdoMod.Omega_x[2];
if (SINSstate.flag_iMx_r3_dV3)
{
KalmanVars.Matrix_A[iMx_r12_odo * iMx + 0] += SINSstate_OdoMod.Vx_0[2] / SINSstate_OdoMod.R_e;
KalmanVars.Matrix_A[iMx_r12_odo * iMx + 5] += -SINSstate_OdoMod.Vx_0[2];
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_r12_odo + 2] = -SINSstate_OdoMod.Omega_x[1];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + 1] += SINSstate_OdoMod.Vx_0[2] / SINSstate_OdoMod.R_n;
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + 4] += SINSstate_OdoMod.Vx_0[2];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_r12_odo + 2] = SINSstate_OdoMod.Omega_x[0];
}
if (SINSstate.flag_Using_iMx_r_odo_3)
{
KalmanVars.Matrix_A[(iMx_r12_odo + 2) * iMx + 0] = -SINSstate_OdoMod.Vx_0[0] / SINSstate_OdoMod.R_e;
KalmanVars.Matrix_A[(iMx_r12_odo + 2) * iMx + 1] = -SINSstate_OdoMod.Vx_0[1] / SINSstate_OdoMod.R_n;
KalmanVars.Matrix_A[(iMx_r12_odo + 2) * iMx + 4] = -SINSstate_OdoMod.Vx_0[1];
KalmanVars.Matrix_A[(iMx_r12_odo + 2) * iMx + 5] = SINSstate_OdoMod.Vx_0[0];
KalmanVars.Matrix_A[(iMx_r12_odo + 2) * iMx + iMx_r12_odo + 0] = SINSstate_OdoMod.Omega_x[1];
KalmanVars.Matrix_A[(iMx_r12_odo + 2) * iMx + iMx_r12_odo + 1] = -SINSstate_OdoMod.Omega_x[0];
}
}
/*-----------СЛАБОСВЗАННЫЙ ВАРИАНТ----------------*/
else if (SINSstate.flag_OdoSINSWeakConnect)
{
KalmanVars.Matrix_A[iMx_r12_odo * iMx + 6] = SINSstate_OdoMod.Vx_0[1];
KalmanVars.Matrix_A[iMx_r12_odo * iMx + 0] = -SINSstate_OdoMod.Omega_x[0] * Math.Tan(SINSstate_OdoMod.Latitude);
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_r12_odo + 0] = SINSstate_OdoMod.Omega_x[0] * Math.Tan(SINSstate_OdoMod.Latitude);
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_r12_odo + 1] = SINSstate_OdoMod.Omega_x[2];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + 6] = -SINSstate_OdoMod.Vx_0[0];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + 0] = -SINSstate_OdoMod.Omega_x[2];
if (SINSstate.flag_iMx_r3_dV3)
{
KalmanVars.Matrix_A[iMx_r12_odo * iMx + 5] += -SINSstate_OdoMod.Vx_0[2];
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_r12_odo + 0] += SINSstate_OdoMod.Vx_0[2] / SINSstate_OdoMod.R_e;
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_r12_odo + 2] = -SINSstate_OdoMod.Omega_x[1];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + 4] += SINSstate_OdoMod.Vx_0[2];
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_r12_odo + 1] += SINSstate_OdoMod.Vx_0[2] / SINSstate_OdoMod.R_n;
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_r12_odo + 2] = SINSstate_OdoMod.Omega_x[0];
}
if (SINSstate.flag_Using_iMx_r_odo_3)
{
KalmanVars.Matrix_A[(iMx_r12_odo + 2) * iMx + 4] = -SINSstate_OdoMod.Vx_0[1];
KalmanVars.Matrix_A[(iMx_r12_odo + 2) * iMx + 5] = SINSstate_OdoMod.Vx_0[0];
}
}
if (SINSstate.flag_iMx_kappa_13_ds)
{
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_odo_model + 0] = -SINSstate_OdoMod.A_x0s[0, 2] * SimpleOperations.AbsoluteVectorValue(SINSstate_OdoMod.OdoSpeed_x0);
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_odo_model + 1] = SINSstate_OdoMod.A_x0s[0, 0] * SimpleOperations.AbsoluteVectorValue(SINSstate_OdoMod.OdoSpeed_x0);
KalmanVars.Matrix_A[iMx_r12_odo * iMx + iMx_odo_model + 2] = SINSstate_OdoMod.A_x0s[0, 1] * SimpleOperations.AbsoluteVectorValue(SINSstate_OdoMod.OdoSpeed_x0);
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_odo_model + 0] = -SINSstate_OdoMod.A_x0s[1, 2] * SimpleOperations.AbsoluteVectorValue(SINSstate_OdoMod.OdoSpeed_x0);
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_odo_model + 1] = SINSstate_OdoMod.A_x0s[1, 0] * SimpleOperations.AbsoluteVectorValue(SINSstate_OdoMod.OdoSpeed_x0);
KalmanVars.Matrix_A[(iMx_r12_odo + 1) * iMx + iMx_odo_model + 2] = SINSstate_OdoMod.A_x0s[1, 1] * SimpleOperations.AbsoluteVectorValue(SINSstate_OdoMod.OdoSpeed_x0);
if (SINSstate.flag_Using_iMx_r_odo_3)
{
KalmanVars.Matrix_A[(iMx_r12_odo + 2) * iMx + iMx_odo_model + 0] = -SINSstate_OdoMod.A_x0s[2, 2] * SimpleOperations.AbsoluteVectorValue(SINSstate_OdoMod.OdoSpeed_x0);
KalmanVars.Matrix_A[(iMx_r12_odo + 2) * iMx + iMx_odo_model + 1] = SINSstate_OdoMod.A_x0s[2, 0] * SimpleOperations.AbsoluteVectorValue(SINSstate_OdoMod.OdoSpeed_x0);
KalmanVars.Matrix_A[(iMx_r12_odo + 2) * iMx + iMx_odo_model + 2] = SINSstate_OdoMod.A_x0s[2, 1] * SimpleOperations.AbsoluteVectorValue(SINSstate_OdoMod.OdoSpeed_x0);
}
}
//if (SINSstate.Count % 1000 == 0)
//{
// SimpleOperations.PrintMatrixToFile(KalmanVars.Matrix_A, SimpleData.iMx, SimpleData.iMx);
// SimpleOperations.PrintMatrixToFile(KalmanVars.CovarianceMatrixS_m, SimpleData.iMx, SimpleData.iMx);
//}
}