Merge branch 'cpr'
This commit is contained in:
Nick Foster
commit
fdaa496b8f
190
python/cpr.py
190
python/cpr.py
@ -26,13 +26,9 @@ from air_modes.exceptions import *
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#the decoder is implemented as a class, cpr_decoder, which keeps state for local decoding.
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#the encoder is cpr_encode([lat, lon], type (even=0, odd=1), and surface (0 for surface, 1 for airborne))
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latz = 15
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#TODO: remove range/bearing calc from CPR decoder class. you can do this outside of the decoder.
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def nbits(surface):
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if surface == 1:
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return 19
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else:
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return 17
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latz = 15
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def nz(ctype):
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return 4 * latz - ctype
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@ -49,38 +45,30 @@ def dlat(ctype, surface):
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else:
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return tmp / nzcalc
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def nl_eo(declat_in, ctype):
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return nl(declat_in) - ctype
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def nl(declat_in):
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if abs(declat_in) >= 87.0:
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return 1.0
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return math.floor( (2.0*math.pi) * pow(math.acos(1.0- (1.0-math.cos(math.pi/(2.0*latz))) / pow( math.cos( (math.pi/180.0)*abs(declat_in) ) ,2.0) ),-1.0))
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return math.floor( (2.0*math.pi) * math.acos(1.0- (1.0-math.cos(math.pi/(2.0*latz))) / math.cos( (math.pi/180.0)*abs(declat_in) )**2 )**-1)
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def dlon(declat_in, ctype, surface):
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if surface == 1:
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if surface:
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tmp = 90.0
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else:
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tmp = 360.0
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nlcalc = nl_eo(declat_in, ctype)
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if nlcalc == 0:
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return tmp
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else:
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return tmp / max(nlcalc, 1.0)
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nlcalc = max(nl(declat_in)-ctype, 1)
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return tmp / nlcalc
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def decode_lat(enclat, ctype, my_lat, surface):
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tmp1 = dlat(ctype, surface)
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tmp2 = float(enclat) / (2**nbits(surface))
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tmp2 = float(enclat) / (2**17)
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j = math.floor(my_lat/tmp1) + math.floor(0.5 + ((my_lat % tmp1) / tmp1) - tmp2)
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# print "dlat gives " + "%.6f " % tmp1 + "with j = " + "%.6f " % j + " and tmp2 = " + "%.6f" % tmp2 + " given enclat " + "%x" % enclat
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return tmp1 * (j + tmp2)
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def decode_lon(declat, enclon, ctype, my_lon, surface):
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tmp1 = dlon(declat, ctype, surface)
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tmp2 = float(enclon) / (2.0**nbits(surface))
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tmp2 = float(enclon) / (2**17)
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m = math.floor(my_lon / tmp1) + math.floor(0.5 + ((my_lon % tmp1) / tmp1) - tmp2)
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# print "dlon gives " + "%.6f " % tmp1 + "with m = " + "%.6f " % m + " and tmp2 = " + "%.6f" % tmp2 + " given enclon " + "%x" % enclon
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return tmp1 * (m + tmp2)
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@ -93,7 +81,11 @@ def cpr_resolve_local(my_location, encoded_location, ctype, surface):
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return [decoded_lat, decoded_lon]
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def cpr_resolve_global(evenpos, oddpos, mostrecent, surface):
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def cpr_resolve_global(evenpos, oddpos, mypos, mostrecent, surface):
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#cannot resolve surface positions unambiguously without knowing receiver position
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if surface and mypos is None:
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raise CPRNoPositionError
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dlateven = dlat(0, surface)
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dlatodd = dlat(1, surface)
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@ -114,7 +106,6 @@ def cpr_resolve_global(evenpos, oddpos, mostrecent, surface):
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#This checks to see if the latitudes of the reports straddle a transition boundary
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#If so, you can't get a globally-resolvable location.
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if nl(rlateven) != nl(rlatodd):
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#print "Boundary straddle!"
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raise CPRBoundaryStraddleError
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if mostrecent == 0:
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@ -122,21 +113,41 @@ def cpr_resolve_global(evenpos, oddpos, mostrecent, surface):
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else:
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rlat = rlatodd
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dl = dlon(rlat, mostrecent, surface)
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nlthing = nl(rlat)
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ni = max(nlthing - mostrecent, 1)
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#disambiguate latitude
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if surface:
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if mypos[0] < 0:
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rlat -= 90
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m = math.floor(((evenpos[1]*(nlthing-1)-oddpos[1]*(nlthing))/2**17)+0.5) #longitude index
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dl = dlon(rlat, mostrecent, surface)
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nl_rlat = nl(rlat)
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m = math.floor(((evenpos[1]*(nl_rlat-1)-oddpos[1]*nl_rlat)/2**17)+0.5) #longitude index
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#when surface positions straddle a disambiguation boundary (90 degrees),
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#surface decoding will fail. this might never be a problem in real life, but it'll fail in the
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#test case. the documentation doesn't mention it.
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if mostrecent == 0:
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enclon = evenpos[1]
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else:
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enclon = oddpos[1]
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rlon = dl * (((ni+m) % ni)+enclon/2**17)
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rlon = dl * ((m % max(nl_rlat-mostrecent,1)) + enclon/2.**17)
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#print "DL: %f nl: %f m: %f rlon: %f" % (dl, nl_rlat, m, rlon)
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#print "evenpos: %x, oddpos: %x, mostrecent: %i" % (evenpos[1], oddpos[1], mostrecent)
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if surface:
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#longitudes need to be resolved to the nearest 90 degree segment to the receiver.
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wat = mypos[1]
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if wat < 0:
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wat += 360
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zone = lambda lon: 90 * (int(lon) / 90)
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rlon += (zone(wat) - zone(rlon))
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#limit to (-180, 180)
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if rlon > 180:
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rlon = rlon - 360.0
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rlon -= 360.0
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return [rlat, rlon]
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@ -172,52 +183,47 @@ def range_bearing(loc_a, loc_b):
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class cpr_decoder:
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def __init__(self, my_location):
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self.my_location = my_location
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self.lkplist = {}
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self.evenlist = {}
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self.oddlist = {}
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self.evenlist_sfc = {}
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self.oddlist_sfc = {}
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def set_location(new_location):
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self.my_location = new_location
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def weed_poslists(self):
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for poslist in [self.lkplist, self.evenlist, self.oddlist]:
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for poslist in [self.evenlist, self.oddlist]:
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for key, item in poslist.items():
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if time.time() - item[2] > 900:
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if time.time() - item[2] > 10:
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del poslist[key]
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for poslist in [self.evenlist_sfc, self.oddlist_sfc]:
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for key, item in poslist.items():
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if time.time() - item[2] > 25:
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del poslist[key]
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def decode(self, icao24, encoded_lat, encoded_lon, cpr_format, surface):
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if surface:
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oddlist = self.oddlist_sfc
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evenlist = self.evenlist_sfc
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else:
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oddlist = self.oddlist
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evenlist = self.evenlist
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#add the info to the position reports list for global decoding
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if cpr_format==1:
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self.oddlist[icao24] = [encoded_lat, encoded_lon, time.time()]
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oddlist[icao24] = [encoded_lat, encoded_lon, time.time()]
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else:
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self.evenlist[icao24] = [encoded_lat, encoded_lon, time.time()]
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evenlist[icao24] = [encoded_lat, encoded_lon, time.time()]
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[decoded_lat, decoded_lon] = [None, None]
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#okay, let's traverse the lists and weed out those entries that are older than 15 minutes, as they're unlikely to be useful.
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#okay, let's traverse the lists and weed out those entries that are older than 10 seconds
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self.weed_poslists()
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if icao24 in self.lkplist:
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#do emitter-centered local decoding
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[decoded_lat, decoded_lon] = cpr_resolve_local(self.lkplist[icao24][0:2], [encoded_lat, encoded_lon], cpr_format, surface)
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self.lkplist[icao24] = [decoded_lat, decoded_lon, time.time()] #update the local position for next time
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elif (icao24 in self.evenlist) \
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and (icao24 in self.oddlist) \
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and (abs(self.evenlist[icao24][2] - self.oddlist[icao24][2]) < 10) \
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and (surface == 0):
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newer = (self.oddlist[icao24][2] - self.evenlist[icao24][2]) > 0 #figure out which report is newer
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[decoded_lat, decoded_lon] = cpr_resolve_global(self.evenlist[icao24][0:2], self.oddlist[icao24][0:2], newer, surface) #do a global decode
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self.lkplist[icao24] = [decoded_lat, decoded_lon, time.time()]
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#so we really can't guarantee that local decoding will work unless you are POSITIVE that you can't hear more than 180nm out.
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#this will USUALLY work, but you can't guarantee it!
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#elif surface == 1 and self.my_location is not None:
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# [local_lat, local_lon] = cpr_resolve_local(self.my_location, [encoded_lat, encoded_lon], cpr_format, surface) #try local decoding
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# [rnge, bearing] = range_bearing(self.my_location, [local_lat, local_lon])
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# if rnge < validrange: #if the local decoding can be guaranteed valid
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# self.lkplist[icao24] = [local_lat, local_lon, time.time()] #update the local position for next time
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# [decoded_lat, decoded_lon] = [local_lat, local_lon]
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if (icao24 in evenlist) \
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and (icao24 in oddlist):
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newer = (oddlist[icao24][2] - evenlist[icao24][2]) > 0 #figure out which report is newer
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[decoded_lat, decoded_lon] = cpr_resolve_global(evenlist[icao24][0:2], oddlist[icao24][0:2], self.my_location, newer, surface) #do a global decode
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else:
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raise CPRNoPositionError
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@ -232,83 +238,95 @@ class cpr_decoder:
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#encode CPR position
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def cpr_encode(lat, lon, ctype, surface):
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if surface is True:
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scalar = float(2**19)
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scalar = 2.**19
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else:
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scalar = float(2**17)
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scalar = 2.**17
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dlati = float(dlat(ctype, False))
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#encode using 360 constant for segment size.
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dlati = dlat(ctype, False)
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yz = math.floor(scalar * ((lat % dlati)/dlati) + 0.5)
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rlat = dlati * ((yz / scalar) + math.floor(lat / dlati))
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nleo = nl_eo(rlat, ctype)
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if nleo == 0:
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dloni = 360.0
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else:
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dloni = 360.0 / nl_eo(rlat, ctype)
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#encode using 360 constant for segment size.
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dloni = dlon(lat, ctype, False)
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xz = math.floor(scalar * ((lon % dloni)/dloni) + 0.5)
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yz = int(yz % scalar)
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xz = int(xz % scalar)
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yz = int(yz) & (2**17-1)
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xz = int(xz) & (2**17-1)
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return (yz, xz) #lat, lon
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if __name__ == '__main__':
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import sys, random
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rounds = 10000
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rounds = 10001
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threshold = 1e-3 #0.001 deg lat/lon
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#this accuracy is highly dependent on latitude, since at high
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#latitudes the corresponding error in longitude is greater
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bs = 0
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surface = False
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lats = [i/(rounds/170.)-85 for i in range(0,rounds)]
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lons = [i/(rounds/360.)-180 for i in range(0,rounds)]
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for i in range(0, rounds):
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decoder = cpr_decoder(None)
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even_lat = random.uniform(-85, 85)
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even_lon = random.uniform(-180,180)
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odd_lat = even_lat + 1e-2
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odd_lon = min(even_lon + 1e-2, 180)
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even_lat = lats[i]
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#even_lat = random.uniform(-85, 85)
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even_lon = lons[i]
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#even_lon = random.uniform(-180, 180)
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odd_lat = even_lat + 1e-3
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odd_lon = min(even_lon + 1e-3, 180)
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decoder = cpr_decoder([odd_lat, odd_lon])
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#encode that position
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(evenenclat, evenenclon) = cpr_encode(even_lat, even_lon, False, False)
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(oddenclat, oddenclon) = cpr_encode(odd_lat, odd_lon, True, False)
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(evenenclat, evenenclon) = cpr_encode(even_lat, even_lon, False, surface)
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(oddenclat, oddenclon) = cpr_encode(odd_lat, odd_lon, True, surface)
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#perform a global decode
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#try to perform a global decode -- this should fail since the decoder
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#only has heard one position. need two for global decoding.
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icao = random.randint(0, 0xffffff)
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try:
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evenpos = decoder.decode(icao, evenenclat, evenenclon, False, False)
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#print "CPR global decode with only one report: %f %f" % (evenpos[0], evenpos[1])
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evenpos = decoder.decode(icao, evenenclat, evenenclon, False, surface)
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raise Exception("CPR test failure: global decode with only one report")
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except CPRNoPositionError:
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pass
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#now try to do a real decode with the last packet's odd complement
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#watch for a boundary straddle -- this isn't fatal, it just indicates
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#that the even and odd reports lie on either side of a longitudinal boundary
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#and so you can't get a position
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try:
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(odddeclat, odddeclon, rng, brg) = decoder.decode(icao, oddenclat, oddenclon, True, False)
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(odddeclat, odddeclon, rng, brg) = decoder.decode(icao, oddenclat, oddenclon, True, surface)
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except CPRBoundaryStraddleError:
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bs += 1
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continue
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except CPRNoPositionError:
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raise Exception("CPR test failure: no decode after even/odd inputs")
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#print "Lat: %f Lon: %f" % (ac_lat, ac_lon)
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if abs(odddeclat - odd_lat) > threshold or abs(odddeclon - odd_lon) > threshold:
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print "odddeclat: %f odd_lat: %f" % (odddeclat, odd_lat)
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print "odddeclon: %f odd_lon: %f" % (odddeclon, odd_lon)
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print "F odddeclat: %f odd_lat: %f" % (odddeclat, odd_lat)
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print "F odddeclon: %f odd_lon: %f" % (odddeclon, odd_lon)
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raise Exception("CPR test failure: global decode error greater than threshold")
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# else:
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# print "S odddeclat: %f odd_lat: %f" % (odddeclat, odd_lat)
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# print "S odddeclon: %f odd_lon: %f" % (odddeclon, odd_lon)
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nexteven_lat = odd_lat + 1e-2
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nexteven_lon = min(odd_lon + 1e-2, 180)
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nexteven_lat = odd_lat + 1e-3
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nexteven_lon = min(odd_lon + 1e-3, 180)
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(nexteven_enclat, nexteven_enclon) = cpr_encode(nexteven_lat, nexteven_lon, False, False)
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(nexteven_enclat, nexteven_enclon) = cpr_encode(nexteven_lat, nexteven_lon, False, surface)
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#try a locally-referenced decode
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try:
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(evendeclat, evendeclon) = cpr_resolve_local([even_lat, even_lon], [nexteven_enclat, nexteven_enclon], False, False)
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(evendeclat, evendeclon) = cpr_resolve_local([even_lat, even_lon], [nexteven_enclat, nexteven_enclon], False, surface)
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except CPRNoPositionError:
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raise Exception("CPR test failure: local decode failure to resolve")
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#check to see if the positions were valid
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if abs(evendeclat - nexteven_lat) > threshold or abs(evendeclon - nexteven_lon) > threshold:
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print "F evendeclat: %f nexteven_lat: %f evenlat: %f" % (evendeclat, nexteven_lat, even_lat)
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print "F evendeclon: %f nexteven_lon: %f evenlon: %f" % (evendeclon, nexteven_lon, even_lon)
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raise Exception("CPR test failure: local decode error greater than threshold")
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print "CPR test successful. There were %i boundary straddles over %i rounds." % (bs, rounds)
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@ -69,6 +69,8 @@ class output_print(air_modes.parse):
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pass
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def output(self, msg):
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parsed = self.parse(msg)
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if parsed is not None:
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print self.parse(msg)
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def print0(self, shortdata, ecc):
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