public void Init()
{
TriangleLocate locate = new TriangleLocate();
var lpoint1 = new Locate2D(DateTime.UtcNow, 116.3187, 39.98544, 41.09);
locate.Buoys.Add(1, lpoint1);
var lpoint2 = new Locate2D(DateTime.UtcNow, 116.3184, 39.98542, 22.23);
locate.Buoys.Add(2, lpoint2);
var lpoint3 = new Locate2D(DateTime.UtcNow, 116.3184, 39.98556, 23.64);
locate.Buoys.Add(4, lpoint3);
var center = new PointLatLng((locate.Buoys.Values[0].Lat + locate.Buoys.Values[1].Lat + locate.Buoys.Values[2].Lat) / 3,
(locate.Buoys.Values[0].Lng + locate.Buoys.Values[1].Lng + locate.Buoys.Values[2].Lng) / 3);
var buoy1 = new PointLatLng(locate.Buoys.Values[0].Lat, locate.Buoys.Values[0].Lng);
Utility.Util.GetReltXY(buoy1, center, out x1, out y1);
z1 = 0;
var buoy2 = new PointLatLng(locate.Buoys.Values[1].Lat, locate.Buoys.Values[1].Lng);
Utility.Util.GetReltXY(buoy2, center, out x2, out y2);
z2 = 0;
var buoy3 = new PointLatLng(locate.Buoys.Values[2].Lat, locate.Buoys.Values[2].Lng);
Utility.Util.GetReltXY(buoy3, center, out x3, out y3);
z3 = 0;
range1 = locate.Buoys.Values[0].Range;
range2 = locate.Buoys.Values[1].Range;
range3 = locate.Buoys.Values[2].Range;
m = new Matrix();
i1 = new Input()
{
x = x1,
y = y1,
z = z1,
r = range1,
};
i2 = new Input()
{
x = x2,
y = y2,
z = z2,
r = range2,
};
i3 = new Input()
{
x = x3,
y = y3,
z = z3,
r = range3,
};
D = new double[3];
MatrixLocate.InitMatrix(ref m, i1, i2, i3, ref D);
}
public bool CalTargetByMatrix(out Locate3D position)
{
double x, y = 0;
Matrix m = new Matrix();
Input i1 = new Input()
{
x = x1,
y = y1,
z = z1,
r = range1,
};
Input i2 = new Input()
{
x = x2,
y = y2,
z = z2,
r = range2,
};
Input i3 = new Input()
{
x = x3,
y = y3,
z = z3,
r = range3,
};
double[] D = new double[3];
MatrixLocate.InitMatrix(ref m, i1, i2, i3, ref D);
position = new Locate3D(DateTime.UtcNow);
if (MatrixLocate.locate(m, D, out x, out y) != 1)
{
return(false);
}
var diff = range1 * range1 - (y - y1) * (y - y1) - (x - x1) * (x - x1);
if (diff < 0)
{
return(false);
}
double z = Math.Sqrt(diff);
position = new Locate3D(DateTime.UtcNow, x, y, z);
return(true);
}
public void CalTargetLocationTest()
{
double x, y = 0;
if (MatrixLocate.locate(m, D, out x, out y) == 1)
{
Assert.Warn("x:{0:F06},y:{1:F06}", x, y);
if (Math.Abs(x) > range1 || Math.Abs(y) > range1)
{
Assert.Fail("can not locate object");
}
double z = Math.Sqrt(range1 * range1 - (y - y1) * (y - y1) - (x - x1) * (x - x1));
string log = "x:" + x.ToString("F06") + ",y:" + y.ToString("F06") + ",z:" + z.ToString("F06");
Assert.Warn(log);
Assert.Pass("locate passed!");
}
Assert.Fail();
}