Localiser
Class PairBearingLocaliser

java.lang.Object
  Localiser.PairBearingLocaliser

All Implemented Interfaces:

BearingLocaliser

public class PairBearingLocaliser
extends java.lang.Object
implements BearingLocaliser

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

Author:

Doug Gillespie

Field Summary

private PamVector[]	arrayAxis
private int	arrayType
private PamArray	currentArray
private int[]	phoneNumbers
private double	spacing
private double	spacingError
private double	speedOfSound
private double	speedOfSoundError
private double	timingError

Constructor Summary

PairBearingLocaliser(int[] hydrophoneList, double timingError)

PairBearingLocaliser(int hydrophoneBitMap, double timingError)

Method Summary

PamVector[]	getArrayAxis() Get the principle axis of the array
int	getArrayType()
double[][]	localise(double[] delays) Calculate angles theta and phi, based on a set of delays.
void	prepare(int[] arrayElements, double timingError) Do any preparation necessary (e.g.

Methods inherited from class java.lang.Object

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

Field Detail

phoneNumbers

private int[] phoneNumbers

spacing

private double spacing

spacingError

private double spacingError

speedOfSound

private double speedOfSound

speedOfSoundError

private double speedOfSoundError

currentArray

private PamArray currentArray

arrayAxis

private PamVector[] arrayAxis

arrayType

private int arrayType

timingError

private double timingError

Constructor Detail

PairBearingLocaliser

public PairBearingLocaliser(int hydrophoneBitMap,
                            double timingError)

PairBearingLocaliser

public PairBearingLocaliser(int[] hydrophoneList,
                            double timingError)

Method Detail

prepare

public void prepare(int[] arrayElements,
                    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.

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).

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)

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.

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.