public bool CalcPosition(SettleSoundFile settleSoundFile, SonarConfig sc, RawPositionInfo raw, float longitude, float latitude)
{
if (settleSoundFile != null && sc != null && raw!=null)
{
try
{
scConfig = sc;
this.raw = raw;
USBL_GuiWei Position_Guiwei = new USBL_GuiWei(raw.XDistance, raw.YDistance, raw.ZDistance, raw.Heave, raw.Heading, raw.Pitch, raw.Roll, longitude, latitude, sc.SonarGPSx, sc.SonarGPSy, sc.SonarGPSz, raw.TravelTime, sc.SonarDepth, settleSoundFile.SVPd, settleSoundFile.SVPc);
//USBL_GuiWei Position_Guiwei = new USBL_GuiWei((float)0.4785, (float)-0.5465, (float)-6.7128, raw.Heave, (float)48.7943, (float)0.1944, 0, longitude, latitude, sc.SonarGPSx, sc.SonarGPSy, sc.SonarGPSz, (float)0.0045, sc.SonarDepth, settleSoundFile.SVPd, settleSoundFile.SVPc);
//USBL_GuiWei Position_Guiwei = new USBL_GuiWei((float)0.6391, (float)-0.0549, (float)-6.9063, raw.Heave, (float)48.73, (float)0.19, 0, longitude, latitude, sc.SonarGPSx, sc.SonarGPSy, sc.SonarGPSz, (float)0.0046, sc.SonarDepth, settleSoundFile.SVPd, settleSoundFile.SVPc);
AjustLat = (float)Position_Guiwei.LatTarget;
AjustLong = (float)Position_Guiwei.LonTarget;
Noise = raw.Noise;
Status = raw.Status;
XAjust = (float)Position_Guiwei.x_local;
YAjust = (float)Position_Guiwei.y_local;
ZAjust = (float)Position_Guiwei.z_local;
}
catch (Exception)
{
return false;
}
return true;
}
return false;
}
private void Button_Click(object sender, RoutedEventArgs e)
{
//载体坐标系下潜器坐标
float x_carrier = (float)-903.0254, y_carrier = (float)651.7115, z_carrier = (float)-868.9429;
// float x_carrier = (float)-3.1919, y_carrier = (float)2.6654, z_carrier = (float)-12.3494;
// float x_carrier = (float)-364.9461, y_carrier = (float)323.9491, z_carrier = (float)-3967.8869;
//传感器姿态
float Heading = 100, Pitch = 5, Roll = -5,Heave=0;
//船的经纬度
float Lon_local = 0, Lat_local = 0;
//阵在船体坐标系下的坐标
float us_x = 0, us_y = 0, us_z = -2;
//传播时间
float Travel_time = (float)0.94176875;
// float Travel_time = (float)0.0087;
// float Travel_time = (float)2.6652;
//阵的深度
float ArrayDepth=2;
//归位处理
USBL_GuiWei Position_Guiwei = new USBL_GuiWei(x_carrier, y_carrier, z_carrier,Heave, Heading, Pitch, Roll, Lon_local, Lat_local, us_x, us_y, us_z, Travel_time, ArrayDepth, SVPd, SVPc);
}
