Package Localiser.algorithms.timeDelayLocalisers.bearingLoc

Class PairBearingLocaliser

java.lang.Object

Localiser.algorithms.timeDelayLocalisers.bearingLoc.PairBearingLocaliser

All Implemented Interfaces:

BearingLocaliser, LocalisationAlgorithm, LocalisationAlgorithmInfo

public class PairBearingLocaliser
extends Object
implements BearingLocaliser

Really simple BearingLocaliser which works with two element closely spaced arrays.

Author:

Doug Gillespie

Constructor Summary

Constructors

Constructor	Description
PairBearingLocaliser(int[] hydrophoneList, long timeMillis, double timingError)
PairBearingLocaliser(int hydrophoneBitMap, long timeMillis, double timingError)

Method Summary

Modifier and Type	Method	Description
LocalisationAlgorithmInfo	getAlgorithmInfo()	Get information about the localisation algorithm.
String	getAlgorithmName()	Get the algorithm name
PamVector[]	getArrayAxis()	Get the principle axis of the array
int	getArrayType()
int	getHydrophoneMap()	Get a hydrophone map for this localiser
int	getLocalisationContents()	Get the likely content flags for this localiser.
Serializable	getParameters()	Get the algorithm parameters.
double	getSpacing()
double	getSpeedOfSound()
LocalizationCreator	getTethysCreator()	Get something that can make LocalisationType objects of a form a bit bespoke to the type of localiser.
double[][]	localise(double[] delays, long timeMillis)	Calculate angles theta and phi, based on a set of delays.
void	prepare(int[] arrayElements, long timeMillis, double timingError)	Do any preparation necessary (e.g.

Methods inherited from class java.lang.Object

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

Constructor Details

PairBearingLocaliser

public PairBearingLocaliser(int hydrophoneBitMap,
 long timeMillis,
 double timingError)

PairBearingLocaliser

public PairBearingLocaliser(int[] hydrophoneList,
 long timeMillis,
 double timingError)

Method Details

prepare

public void prepare(int[] arrayElements,
 long timeMillis,
 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.

timeMillis - , 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:

• LocalisationInfo
• LocContents

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.

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.

getSpacing

public double getSpacing()

Returns:

the spacing

getSpeedOfSound

public double getSpeedOfSound()

Returns:

the speedOfSound

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.