Package Localiser.algorithms.timeDelayLocalisers.bearingLoc

Class MLGridBearingLocaliser2

java.lang.Object
Localiser.algorithms.timeDelayLocalisers.bearingLoc.MLGridBearingLocaliser2
All Implemented Interfaces:
BearingLocaliser, LocalisationAlgorithm, LocalisationAlgorithmInfo
Direct Known Subclasses:
MLLineBearingLocaliser2
public class MLGridBearingLocaliser2 extends Object implements BearingLocaliser
Revamp of the earlier MLGridBearingLocaliser but with a more sensible coordinate frame.
Now oriented the 'globe' differently, so that the first angle can be between -Pi and +Pi or between 0 and 2Pi. The second angle is the elevation angle which is either up (+ve angles) or down (-ve angles) having a range of -Pi/2 to +Pi/2. This change will only affect data from volumetrica arrays when the animal is at significant depth.
Author:
Doug Gillespie

  • Constructor Details

    • MLGridBearingLocaliser2

      public MLGridBearingLocaliser2(int hydrophoneBitMap, long timMillis, double timingError)

    • MLGridBearingLocaliser2

      public MLGridBearingLocaliser2(int[] hydrophoneList, long timMillis, double timingError)

  • Method Details

    • prepare

      public void prepare(int[] arrayElements, long timMillis, double timingError)
      Description copied from interface: BearingLocaliser
      Do any preparation necessary (e.g. creation of look up tables)
      Specified by:
      prepare in interface BearingLocaliser
      Parameters:
      arrayElements - list of hydrophone array elements in the sub array for this localiser.
      timMillis - , current time for this localisation
      timingError - expected timing error for each measurement (typically 1/12 of an ADC bin, or less if interpolation is being used in the cross correlation function).

    • getLocalisationContents

      public int getLocalisationContents()
      Description copied from interface: LocalisationAlgorithmInfo
      Get the likely content flags for this localiser.
      Specified by:
      getLocalisationContents in interface LocalisationAlgorithmInfo
      Returns:
      localisation flags.
      See Also:

    • getArrayAxis

      public PamVector[] getArrayAxis()
      Description copied from interface: BearingLocaliser
      Get the principle axis of the array
      Specified by:
      getArrayAxis in interface BearingLocaliser
      Returns:
      for a linear array this will be a vector along the array;

      for a planar array, this will be the vector on the plane between two hydrophones which is closest to the y axis.

    • getArrayType

      public int getArrayType()
      Specified by:
      getArrayType in interface BearingLocaliser
      Returns:
      the type of array - linear, planar, volumetric, etc.

    • localise

      public double[][] localise(double[] delays, long timeMillis)
      Description copied from interface: BearingLocaliser
      Calculate angles theta and phi, based on a set of delays. The number of delays should be equal to n(n-1)/2 where n is the number of hydrophone elements in the sub array.
      Specified by:
      localise in interface BearingLocaliser
      Parameters:
      delays - array of delay times.
      timeMillis - of this detection. This is relatively unused except in situation where hydrophone elements are moving relative to each other with time.
      Returns:
      theta, phi and their estimated errors all in radians.

      Data are packed into a two row array, the first row of which contains one or two angles, the second (optional) row contains the errors on those angles.

    • localiseByCrawl

      public double[][] localiseByCrawl(double[] delays, long timeMillis)

    • localiseByBisection

      public double[][] localiseByBisection(double[] delays)

    • getHydrophoneMap

      public int getHydrophoneMap()
      Description copied from interface: BearingLocaliser
      Get a hydrophone map for this localiser
      Specified by:
      getHydrophoneMap in interface BearingLocaliser
      Returns:
      bitmap of used hydrophones.

    • setAnalysisAngles

      public void setAnalysisAngles(double[] thetaRange, double[] phiRange)
      Set the angles to analyse and call the prepare method to set everything up. Use the array elements, time, and timing error to the values that have already been specified
      Parameters:
      thetaRange - the range for theta angles, specified in radians as [min max step]
      phiRange - the range for phi angles, specified in radians as [min max step]

    • getLikelihoodLUT

      public double[][] getLikelihoodLUT()
      Returns:
      the likelihoodLUT

    • getAlgorithmName

      public String getAlgorithmName()
      Description copied from interface: LocalisationAlgorithmInfo
      Get the algorithm name
      Specified by:
      getAlgorithmName in interface LocalisationAlgorithmInfo
      Returns:
      algorithm name

    • getParameters

      public Serializable getParameters()
      Description copied from interface: LocalisationAlgorithmInfo
      Get the algorithm parameters. Something else can turn these into xml for Tethys.
      Specified by:
      getParameters in interface LocalisationAlgorithmInfo
      Returns:
      algorithm parameters object. Might be null;

    • getAlgorithmInfo

      public LocalisationAlgorithmInfo getAlgorithmInfo()
      Description copied from interface: LocalisationAlgorithm
      Get information about the localisation algorithm.
      Specified by:
      getAlgorithmInfo in interface LocalisationAlgorithm
      Returns:
      algorithm information.

    • getTethysCreator

      public LocalizationCreator getTethysCreator()
      Description copied from interface: LocalisationAlgorithm
      Get something that can make LocalisationType objects of a form a bit bespoke to the type of localiser. This may be better than having the standard functions in LocalizationBuilder guess what's best.
      Specified by:
      getTethysCreator in interface LocalisationAlgorithm
      Returns:
      can be null in which case standard functions will do the best they can.