Temp commit before I rip out the relative stuff
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@ -105,7 +105,7 @@ def mlat_iter(rel_stations, prange_obs, guess = [0,0,0], limit = 20, maxrounds =
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prange_est = [[numpy.linalg.norm(station - guess)] for station in rel_stations]
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#get the difference d_p^ between the observed and calculated pseudoranges
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dphat = prange_obs - prange_est
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#create a matrix of partial differentials to find the slope of the error in X,Y,Z directions
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#create a matrix of partial differentials to find the slope of the error in X,Y,Z,t directions
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H = numpy.array([(numpy.array(-rel_stations[row,:])+guess) / prange_est[row] for row in range(len(rel_stations))])
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H = numpy.append(H, numpy.ones(len(prange_obs)).reshape(len(prange_obs),1), axis=1)
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print "H: ", H
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@ -120,19 +120,20 @@ def mlat_iter(rel_stations, prange_obs, guess = [0,0,0], limit = 20, maxrounds =
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return guess
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#gets the emulated Arne Saknussemm Memorial Radio Station report
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#here we calc the estimated pseudorange to the center of the earth, using station[0] as a reference point for the geoid
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#here we calc the estimated pseudorange to the center of the earth, using station[0] as a reference point
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#in other words, we say "if the aircraft were directly overhead of me, this is the pseudorange to the center of the earth"
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#if the dang earth were actually round this wouldn't be an issue
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#this lets us use the altitude of the mode S reply as info to construct an additional reporting station
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#i haven't really thought about it but I think the geometry (re: *DOP) of this "station" is pretty lousy
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#but it lets us solve with 3 stations
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def get_fake_station(surface_position, altitude):
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return [numpy.linalg.norm(llh2ecef((surface_position[0], surface_position[1], altitude)))] #use ECEF not geoid since alt is MSL not GPS
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def get_fake_prange(surface_position, altitude):
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fake_xyz = numpy.array(llh2ecef((surface_position[0], surface_position[1], altitude)))
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return [numpy.linalg.norm(fake_xyz)] #use ECEF not geoid since alt is MSL not GPS
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#func mlat:
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#uses a modified GPS pseudorange solver to locate aircraft by multilateration.
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#replies is a list of reports, in ([lat, lon, alt], timestamp) format
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#altitude is the barometric altitude of the aircraft as returned by the aircraft
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#altitude is the barometric altitude of the aircraft as returned by the aircraft, if any
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#returns the estimated position of the aircraft in (lat, lon, alt) geoid-corrected WGS84.
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#let's make it take a list of tuples so we can sort by them
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def mlat(replies, altitude):
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@ -142,31 +143,26 @@ def mlat(replies, altitude):
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timestamps = [sorted_reply[1] for sorted_reply in sorted_replies]
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nearest_llh = stations[0]
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nearest_xyz = llh2geoid(stations[0])
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nearest_xyz = numpy.array(llh2geoid(stations[0]))
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#list of stations in XYZ relative to the closest station
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rel_stations = [numpy.array(llh2geoid(station)) - numpy.array(nearest_xyz) for station in stations[1:]]
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rel_stations = [numpy.array(llh2geoid(station)) - nearest_xyz for station in stations[1:]]
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#add in a center-of-the-earth station if we have altitude
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if altitude is not None:
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rel_stations.append([0,0,0] - numpy.array(nearest_xyz))
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rel_stations.append([0,0,0] - nearest_xyz)
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rel_stations = numpy.array(rel_stations) #convert list of arrays to 2d array
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#get TDOA relative to station 0, multiply by c to get pseudorange
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prange_obs = [[c*(stamp-timestamps[0])] for stamp in timestamps[1:]]
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print "Initial pranges: ", prange_obs
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if altitude is not None:
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prange_obs.append(get_fake_station(stations[0], altitude))
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altguess = altitude
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else:
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altguess = nearest_llh[2]
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prange_obs.append(get_fake_prange(nearest_llh, altitude))
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print "Initial pranges: ", prange_obs
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prange_obs = numpy.array(prange_obs)
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#initial guess is atop nearest station
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#xguess = numpy.array(llh2ecef([nearest_llh[0], nearest_llh[1], altguess])) - numpy.array(nearest_xyz)
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xyzpos = mlat_iter(rel_stations, prange_obs)
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llhpos = ecef2llh(xyzpos+nearest_xyz)
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@ -191,11 +187,7 @@ if __name__ == '__main__':
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testalt = 8000
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testplane = numpy.array(llh2ecef([37.617175,-122.400843, testalt]))
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testme = llh2geoid(teststations[0])
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teststamps = [10 + numpy.linalg.norm(testplane-numpy.array(llh2geoid(teststations[0]))) / c,
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10 + numpy.linalg.norm(testplane-numpy.array(llh2geoid(teststations[1]))) / c,
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10 + numpy.linalg.norm(testplane-numpy.array(llh2geoid(teststations[2]))) / c,
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10 + numpy.linalg.norm(testplane-numpy.array(llh2geoid(teststations[3]))) / c,
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]
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teststamps = [10+numpy.linalg.norm(testplane-numpy.array(llh2geoid(station))) / c for station in teststations]
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print "Actual pranges: ", sorted([numpy.linalg.norm(testplane - numpy.array(llh2geoid(station))) for station in teststations])
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