Package 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 <samsvl@nlr.nl>, ported to Java by Norris Weimer <norris.weimer@ualberta.ca>, and ported to JMRI/RPS by Bob Jacobsen. The original Pascal code and documentation is on these web pages http://callisto.worldonline.nl/~samsvl/stdalone.pas http://callisto.worldonline.nl/~samsvl/satpos.htm http://callisto.worldonline.nl/~samsvl/stdalone.htm There is also a link there to a C port of Sam's programs.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
(package private) static class	Analytic_AAlgorithm.RetVal	Internal class to handle return value.

Field Summary

Fields

Modifier and Type	Field	Description
(package private) int	offset
(package private) double	Vs
(package private) double	Xt
(package private) double	Yt
(package private) double	Zt

Fields inherited from class jmri.jmrix.rps.AbstractCalculator

nr, sensors, Tr, Xr, Yr, Zr

Constructor Summary

Constructors

Constructor	Description
Analytic_AAlgorithm(javax.vecmath.Point3d[] sensors, double vsound)
Analytic_AAlgorithm(javax.vecmath.Point3d[] sensors, double vsound, int offset)
Analytic_AAlgorithm(javax.vecmath.Point3d sensor1, javax.vecmath.Point3d sensor2, javax.vecmath.Point3d sensor3, double vsound)
Analytic_AAlgorithm(javax.vecmath.Point3d sensor1, javax.vecmath.Point3d sensor2, javax.vecmath.Point3d sensor3, javax.vecmath.Point3d sensor4, double vsound)

Method Summary

Modifier and Type	Method	Description
Measurement	convert(Reading r)
Measurement	convert(Reading r, javax.vecmath.Point3d guess)	Seed the conversion using an estimated position
Measurement	convert(Reading r, Measurement last)	Seed the conversion using a last measurement
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, summarize

Methods inherited from class java.lang.Object

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

Field Details

Vs

double Vs

Xt

double Xt

Yt

double Yt

Zt

double Zt

offset

int offset

Constructor Details

Analytic_AAlgorithm

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

Analytic_AAlgorithm

public Analytic_AAlgorithm(javax.vecmath.Point3d[] sensors,
 double vsound)

Analytic_AAlgorithm

public Analytic_AAlgorithm(javax.vecmath.Point3d sensor1,
 javax.vecmath.Point3d sensor2,
 javax.vecmath.Point3d sensor3,
 double vsound)

Analytic_AAlgorithm

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

Method Details

convert

public Measurement convert(Reading r)

convert

public Measurement convert(Reading r,
 javax.vecmath.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