jmri.jmrix.rps
Class Analytic_AAlgorithm

java.lang.Object
  jmri.jmrix.rps.AbstractCalculator
      jmri.jmrix.rps.Analytic_AAlgorithm

All Implemented Interfaces:

Calculator

public class Analytic_AAlgorithm
extends AbstractCalculator

Implementation of RPS location-finding using GPS equations from Sam Storm van Leeuwen , ported to Java by Norris Weimer , and ported to JMRI/RPS by Bob Jacobsen. The original Pascal code and documentation is on these web pages There is also a link there to a C port of Sam's programs

Author:

Bob Jacobsen Copyright (C) 2008

Constructor Summary

Analytic_AAlgorithm(Point3d[] sensors, double vsound)

Analytic_AAlgorithm(Point3d[] sensors, double vsound, int offset)

Analytic_AAlgorithm(Point3d sensor1, Point3d sensor2, Point3d sensor3, double vsound)

Analytic_AAlgorithm(Point3d sensor1, Point3d sensor2, Point3d sensor3, Point3d sensor4, double vsound)

Method Summary

Measurement	convert(Reading r)
Measurement	convert(Reading r, Measurement last) Seed the conversion using a last measurement
Measurement	convert(Reading r, Point3d guess) Seed the conversion using an estimated position
double[]	solve(double[][] Xs, boolean[] SV, double[] P, double[] Xr)
double	sub(double[][] A, int r, int c) finds the determinant of a minor of a 4 x 4 matrix

Methods inherited from class jmri.jmrix.rps.AbstractCalculator

prep

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Analytic_AAlgorithm

public Analytic_AAlgorithm(Point3d[] sensors,
                           double vsound,
                           int offset)

Analytic_AAlgorithm

public Analytic_AAlgorithm(Point3d[] sensors,
                           double vsound)

Analytic_AAlgorithm

public Analytic_AAlgorithm(Point3d sensor1,
                           Point3d sensor2,
                           Point3d sensor3,
                           double vsound)

Analytic_AAlgorithm

public Analytic_AAlgorithm(Point3d sensor1,
                           Point3d sensor2,
                           Point3d sensor3,
                           Point3d sensor4,
                           double vsound)

Method Detail

convert

public Measurement convert(Reading r)

convert

public Measurement convert(Reading r,
                           Point3d guess)

Seed the conversion using an estimated position

convert

public Measurement convert(Reading r,
                           Measurement last)

Seed the conversion using a last measurement

solve

public double[] solve(double[][] Xs,
                      boolean[] SV,
                      double[] P,
                      double[] Xr)

Parameters:

Xs - array with 3 columns and 32 rows, for the coordinates of the sat's

SV - valid prn's

P - pseudoranges (note: arrays actually have 33 rows, but row 0 is unused, in order to index by actual prn number)

Xr - input of initial guess ( user position in ECEF)

Returns:

[X, X, X, Cr] output of final position and receiver clock error return null if calculation failed //do: throw exception instead

sub

public double sub(double[][] A,
                  int r,
                  int c)

finds the determinant of a minor of a 4 x 4 matrix

Parameters:

A - input 4 x 4 array

r - the row to be deleted

c - the column to be deleted

Returns:

subdet determinant of the resulting 3 x 3 matrix