staticLocaliser.mapping

Class SLMapping

java.lang.Object

staticLocaliser.mapping.SLMapping

public class SLMapping
extends java.lang.Object

This class deals with converting static localisation results into lat-longs. There are many factors to take account of here which are perhaps ignored in other modules. The position of the GPS is critical for accurate geo-referenced localisations. The GPS antennae might be slightly offset so it also important that this is taken into account.

Author:

Jamie Macaulay

Field Summary

Fields

Modifier and Type	Field and Description
static double	maxTimeNoGPS
static double	searchHeadingTime

Constructor Summary

Constructors

Constructor and Description
SLMapping(StaticLocaliserControl slControl) GPS Antennae info

Method Summary

Methods

Modifier and Type	Method and Description
LatLong	metresToLatLong(PamVector localisation, GpsData gpsData) Convert a localisation into a point lat/long.
void	setLatLong(PamDetection detection, SLResult locResult) Geo-references a localisation result.

Methods inherited from class java.lang.Object

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

Field Detail

searchHeadingTime

public static double searchHeadingTime

maxTimeNoGPS

public static double maxTimeNoGPS

Constructor Detail

SLMapping

public SLMapping(StaticLocaliserControl slControl)

GPS Antennae info

Method Detail

setLatLong

public void setLatLong(PamDetection detection,
              SLResult locResult)

Geo-references a localisation result. In order to geo reference any result we need a latitude, longitude and array heading. This function accesses the GPS data block, attempts to find a lat/long/heading, performs relevant transforms, taking into account GPS antennae position, array heading etc. and adds lat/long info to locResult;

Parameters:

detection - - detection initially used to create localisation

locResult - - localisation result in which to set lat/long;

metresToLatLong

public LatLong metresToLatLong(PamVector localisation,
                      GpsData gpsData)

Convert a localisation into a point lat/long.

Parameters:

localisation - - LOCAISATION IN X Y Z

gpsData - - position of array with relevent heading info

Returns:

position of localisation point in lat, long , z.