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mlat: fixed horrible bug in the solver. also noticed that [0,0,0] cannot contribute meaningful angular data, and so you still really want four stations on receive. there's still a bug in the solver somewhere that results in positions east of here not solving correctly.

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Nick Foster
2011-07-14 18:49:47 -07:00
parent d7e153d281
commit a7e26c5960
2 changed files with 20 additions and 9 deletions
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src/python/mlat-test.py
+8 -3
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@@ -3,21 +3,26 @@ import mlat
import numpy
#here's some test data to validate the algorithm
teststations = [[37.76225, -122.44254, 100], [37.409044, -122.077748, 100], [37.585085, -121.986395, 100]]
teststations = [[37.76225, -122.44254, 100], [37.409044, -122.077748, 100], [37.63816,-122.378082, 100], [37.701207,-122.309418, 100]]
testalt = 8000
testplane = numpy.array(mlat.llh2ecef([37.617175,-122.380843, testalt]))
testplane = numpy.array(mlat.llh2ecef([37.617175,-122.400843, testalt]))
testme = mlat.llh2geoid(teststations[0])
teststamps = [10,
10 + numpy.linalg.norm(testplane-numpy.array(mlat.llh2geoid(teststations[1]))) / mlat.c,
10 + numpy.linalg.norm(testplane-numpy.array(mlat.llh2geoid(teststations[2]))) / mlat.c,
10 + numpy.linalg.norm(testplane-numpy.array(mlat.llh2geoid(teststations[3]))) / mlat.c,
]
print teststamps
replies = []
for i in range(0, len(teststations)):
replies.append((teststations[i], teststamps[i]))
ans = mlat.mlat(replies, testalt)
error = numpy.linalg.norm(numpy.array(mlat.llh2ecef(ans))-numpy.array(testplane))
range = numpy.linalg.norm(mlat.llh2geoid(ans)-numpy.array(mlat.llh2geoid(teststations[0])))
range = numpy.linalg.norm(mlat.llh2geoid(ans)-numpy.array(testme))
print testplane-testme
print ans
print "Error: %.2fm" % (error)
print "Range: %.2fkm (from first station in list)" % (range/1000)