Package targetMotionModule

Class AbstractTargetMotionInformation

java.lang.Object
targetMotionModule.AbstractTargetMotionInformation
All Implemented Interfaces:
TargetMotionInformation
Direct Known Subclasses:
EventRotator
@Deprecated public class AbstractTargetMotionInformation extends Object implements TargetMotionInformation
Deprecated.

  • Constructor Details

  • Method Details

    • getNDetections

      public int getNDetections()
      Deprecated.
      Description copied from interface: TargetMotionInformation
      The number of detections to be used in this target motion.
      Specified by:
      getNDetections in interface TargetMotionInformation
      Returns:
      the number of detections we have in total getCurrentDetection().size();

    • calculateTimeDelays

      protected void calculateTimeDelays()
      Deprecated.
      Calculate the time delays for each pmaDetection. This should cope with different groups which have a different number of hydrophones

    • calculateTimeDelayErrors

      protected void calculateTimeDelayErrors()
      Deprecated.
      Calculate the time delay errors for each pmaDetection.

    • calcDetectionOrigins

      protected void calcDetectionOrigins()
      Deprecated.
      Gets the origins of each detection. This is the centroid of the group that the pamDetection belongs to. The detection origins may also contain infromation on heading, pitch and roll.

    • getEulerAngles

      public PamQuaternion[] getEulerAngles()
      Deprecated.
      Description copied from interface: TargetMotionInformation
      Get the Euler angles for each detection. We are assumming that any pamDetection used for the target motion localiser will be from a group which is within a rigid array. Hence the hydrophones within that array will all have the same euler angles.

      Note on Euler Angles:

      We need to know the position and depth of the array but we also must know the rotation of the array. It would be nice to store the rotation as vector, however a unit vector cannot describe fully the rotation of the array. e.g say we have the unit vector (-0.71 0.0 0.71), this would describe a heading of 270 and pitch of 45 degrees. However this unit vector tells us nothing about the roll (tilt) of the array. This is because we had to start off with a unit vector (0,1,0) to rotate to begin with. We can transform co-ordinate systems all we want but a unit vector will only ever tell us two Euler angles. Hence we have to store euler angles as a PamQuaternion not a PamVector.

      Specified by:
      getEulerAngles in interface TargetMotionInformation
      Returns:
      PamQuaternion angles for each PamDetection.
      See Also:

    • getTimeDelays

      public ArrayList<ArrayList<Double>> getTimeDelays()
      Deprecated.
      Description copied from interface: TargetMotionInformation
      Returns the time delays for each detection. The number of time delays per detection is going to be based on the number of hydrophones in the array.
      Specified by:
      getTimeDelays in interface TargetMotionInformation
      Returns:
      a list of time delays. Each ArrayList corresponds to the time delays calculated from a PamDtection,. Time delays are related to channel numbers by the indexM1 and indexM2 functions in AbstractLocalisation.

    • getTimeDelayErrors

      public ArrayList<ArrayList<Double>> getTimeDelayErrors()
      Deprecated.
      Description copied from interface: TargetMotionInformation
      Returns the time delay errors for each detection. This should be based on the uncertainty in spacing between hydrophones for target motion analysis.
      Specified by:
      getTimeDelayErrors in interface TargetMotionInformation
      Returns:
      a list of time delay errors. Each ArrayList corresponds to the time delays calculated from a PamDtection,. Time delays are related to channel numbers by the indexM1 and indexM2 functions in AbstractLocalisation.

    • calcHydrophonePositions

      protected void calcHydrophonePositions()
      Deprecated.
      We need to calculate the position of all hydrophones in a cartesian (x,y,z) co-ordinate system. To do this we need GPS Co-Ordinates, the heading of the array and dimensions of the array.

    • calculateWorldVectors

      protected void calculateWorldVectors()
      Deprecated.

    • getHydrophonePos

      public ArrayList<ArrayList<javax.vecmath.Point3f>> getHydrophonePos()
      Deprecated.
      Description copied from interface: TargetMotionInformation
      Returns the positions of the hydrophones, relative to (0,0,0) for every pamDetection
      Specified by:
      getHydrophonePos in interface TargetMotionInformation
      Returns:
      a list of hydrophone positions. Each invalid input: '<'ArrayList corresponds to the hydrophone positions for one PamDetection.

    • getCurrentDetections

      public ArrayList<PamDataUnit> getCurrentDetections()
      Deprecated.
      Description copied from interface: TargetMotionInformation
      Returns the pamDetections which will be used for this target motion localisation.
      Specified by:
      getCurrentDetections in interface TargetMotionInformation
      Returns:
      a list fo the current detections to be localised with target motion algorithms

    • getOrigins

      public PamVector[] getOrigins()
      Deprecated.
      Description copied from interface: TargetMotionInformation
      Returns the origin of the hydrophone array for each detection point- this is in meters relative to 0,0,0;
      Specified by:
      getOrigins in interface TargetMotionInformation
      Returns:
      the vector of a PamDetections origin were (0,0,0) is the origin.

    • getGPSReference

      public LatLong getGPSReference()
      Deprecated.
      Description copied from interface: TargetMotionInformation
      The GPS point which corresponds to (0,0,0).
      Specified by:
      getGPSReference in interface TargetMotionInformation
      Returns:
      the lat long which has been used for the (0,0,0) reference.

    • getWorldVectors

      public PamVector[][] getWorldVectors()
      Deprecated.
      Description copied from interface: TargetMotionInformation
      The real world vectors for each detection. There may be an ambiguity in the vectors in which case we would have two world vectors per detections e.g. for a stereo array there are two bearings whilst for a 3D towed array there would usually be only one three dimensional bearing.
      Specified by:
      getWorldVectors in interface TargetMotionInformation
      Returns:
      a 2D array of world vectors corresponding to each pamDetection in the currentDetectionsGroup.

    • metresToLatLong

      public LatLong metresToLatLong(PamVector pt)
      Deprecated.
      Description copied from interface: TargetMotionInformation
      Convert a point in your cartesian co-ordinate frame
      Specified by:
      metresToLatLong in interface TargetMotionInformation
      Parameters:
      pt -
      Returns:

    • latLongToMetres

      public PamVector latLongToMetres(LatLong ll)
      Deprecated.
      Specified by:
      latLongToMetres in interface TargetMotionInformation
      Parameters:
      ll - - the GPS Co-Ordinate
      Returns:

    • getReferenceHydrophones

      public int getReferenceHydrophones()
      Deprecated.
      Specified by:
      getReferenceHydrophones in interface TargetMotionInformation
      Returns:

    • getTimeMillis

      public Long getTimeMillis()
      Deprecated.
      Return average time for the target motion event.
      Specified by:
      getTimeMillis in interface TargetMotionInformation
      Returns:

    • getHeadingVectors

      public static PamVector[] getHeadingVectors(PamQuaternion[] eulerAngles)
      Deprecated.
      This is a piece of code designed to bridge the gap between using Euler angles and heading angles. Heading has been used a lot without cnsideration.
      Parameters:
      eulerAngles -
      Returns:

    • checkStreamers

      public static ArrayList<Integer> checkStreamers(ArrayList<PamDataUnit> currentDetections)
      Deprecated.
      Check which streamer we have in the group of detections
      Returns:
      array for streamer indexes

    • getObserverThread

      public TMManager.TMInfoWorker getObserverThread()
      Deprecated.

    • setObserverThread

      public void setObserverThread(TMManager.TMInfoWorker observerThread)
      Deprecated.

    • getBeamLatLong

      public GpsData getBeamLatLong(LatLong localised)
      Deprecated.
      Description copied from interface: TargetMotionInformation
      Calculate the beam latitude and longitude. The beam lat long is basically the point on the GPS path which is closest to the localised position of the animal
      Specified by:
      getBeamLatLong in interface TargetMotionInformation
      Parameters:
      localised - - localisation result to find beam lat long for.
      Returns:
      lat long

    • getBeamTime

      public long getBeamTime(GpsData beamLatLong)
      Deprecated.
      Calculate the beam time. This is not the time that the vessel was at the beam lat long but the time the streamer passed that point. Note that if there are multiple streamers passing the point the streamer lengths are averaged and used as our beam lat long. We use the model for each streamer to to work out when it passed the beam lat long point.
      Specified by:
      getBeamTime in interface TargetMotionInformation
      Parameters:
      beamLatLong - - the beam lat long.
      Returns:
      the time at which the hydrophone array passed the beam lat long point.