GPS

Class GpsData

java.lang.Object

PamUtils.LatLong

GPS.GpsData

All Implemented Interfaces:

java.awt.datatransfer.Transferable, java.io.Serializable, java.lang.Cloneable

public class GpsData
extends LatLong
implements java.lang.Cloneable

Position data extends LatLong and provides much of the functionality required for a position in the marine environment.

Position data stores a latitude, longitude, height, heading, pitch and roll. These are the 6 essentially bits of information which allow for the position of an object to be described with reference to the planet. All, some or none of these fields can be stored in this class.

PositionData also stores useful functions for predicting position and decoding position data e.g. NMEA.

For reference the Euler angle convention in PAMGUARD is as follows.

Heading- 0==north, 90==east 180=south, 270==west

Pitch- 90=-g, 0=0g, -90=g i.e. pointing downwards is -90, level is 0 and pointing upwards is 90

Tilt 0->180 -camera turning towards left to upside down 0->-180 camera turning right to upside down

All angles are in DEGREES. //TODO- this should be radians:

Author:

Doug Gillespie, Paul Redmond, David McLaren

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
static double	METERSPERMILE

Fields inherited from class PamUtils.LatLong

deg, FORMAT_DECIMALMINUTES, FORMAT_MINUTESSECONDS, MetersPerMile

Constructor Summary

Constructors

Constructor and Description
GpsData()
GpsData(double latitude, double longitude, double height, double heading, double pitch, double roll, long timeInMillis)
GpsData(double latitude, double longitude, double speed, double courseOverGround, long timeInMillis, java.lang.Double trueHeading, java.lang.Double magneticHeading) Constructor used in viewer and Mixed Mode
GpsData(double latitude, double longitude, double height, long timeInMillis) Used for buoy data received over the network.
GpsData(LatLong latLong) Sonctructor to create a GPSData object from a lat long.
GpsData(java.lang.StringBuffer nmeaString, int stringType, boolean isGlobal)

Method Summary

Methods

Modifier and Type	Method and Description
GpsData	clone()
static GpsData	getAverage(GpsData gpsData1, GpsData gpsData2)
double	getCourseOverGround() Return the course over ground from the GPS.
int	getDate()
double	getDistanceFromLast()
double[]	getEulerAngles() Get the Euler angles which describe the rotation of this position.
java.util.Calendar	getGpsCalendar()
double	getHeading() Gets the best available data on the vessels true heading.
java.lang.Double	getHeading(boolean noGPSCourse) Gets the best available data on the vessels true heading.
int	getHours() Get hours from NMEA date, not system time
java.lang.Double	getMagneticHeading()
java.lang.Double	getMagneticVariation()
int	getMillis() Get seconds from NMEA date, not system time
int	getMins() Get minutes from NMEA date, not system time
double	getPitch() Get the pitch value, returning 0 if it's null.
java.lang.Double	getPitchD() Hydrophone pitch in degrees, +ve means that the front of the hydrophone is up, -ve is down.
GpsData	getPredictedGPSData(long predictionTime)
GpsData	getPredictedGPSData(long predictionTime, long maxInterpMillis) Predict where the gps position will be at a given time based on the current speed and heading, but interpolating to some maximum amount.
PamQuaternion	getQuaternion() Get the quaternion which describe the rotation of this position.
double	getRoll()
java.lang.Double	getRollD() Hydrophone roll in degrees, +ve is roll to the left, -ve to the right.
int	getSecs() Get seconds from NMEA date, not system time
double	getSpeed() Returns the speed in knots
double	getSpeedMetric() Gets the speed in metres per second
int	getTime()
long	getTimeInMillis()
java.lang.Double	getTrueHeading()
java.lang.String	gpsDataToGGA(int nDecPlaces)
java.lang.String	gpsDataToRMC(int nDecPlaces)
boolean	isDataOk()
void	printGpsValues()
void	setCourseOverGround(double courseOverGround)
void	setDataOk(boolean dataOk)
void	setDate(int date)
void	setEulerAngles(double[] angles) Set the Euler angles which describe the rotation of this position.
void	setGpsCalendar(java.util.Calendar gpsCalendar)
void	setMagneticHeading(java.lang.Double magneticHeading)
void	setMagneticVariation(java.lang.Double magneticVariation)
void	setPitch(java.lang.Double pitch) Hydrophone pitch in degrees, +ve means that the front of the hydrophone is up, -ve is down.
void	setRoll(java.lang.Double roll) Hydrophone roll in degrees, +ve is roll to the left, -ve to the right.
void	setSpeed(double speed)
void	setTime(int time)
void	setTimeInMillis(long timeInMillis)
void	setTrueHeading(java.lang.Double trueHeading)
java.lang.String	toFullString()

Methods inherited from class PamUtils.LatLong

addDistanceMeters, bearingTo, distanceToMetres, distanceToMetresX, distanceToMetresY, distanceToMiles, doubleDegrees2StringDegs, doubleDegrees2StringMins, equals, formatLatitude, formatLatitude, formatLongitude, formatLongitude, getCrossTrackError, getDataFlavor, getDecimalMinutes, getFormatStyle, getHeight, getIntegerMinutes, getLatitude, getLongitude, getMean, getPastedValue, getSeconds, getSignedDegrees, getTransferData, getTransferDataFlavors, isDataFlavorSupported, setFormatStyle, setHeight, setLatitude, setLongitude, toString, travelDistanceMeters, TravelDistanceMiles, valueOfString, valueOfSubstring

Methods inherited from class java.lang.Object

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

Field Detail

METERSPERMILE

public static final double METERSPERMILE

See Also:

Constant Field Values

Constructor Detail

GpsData

public GpsData()

GpsData

public GpsData(LatLong latLong)

Sonctructor to create a GPSData object from a lat long.

Parameters:

latLong - latlong object.

GpsData

public GpsData(double latitude,
       double longitude,
       double speed,
       double courseOverGround,
       long timeInMillis,
       java.lang.Double trueHeading,
       java.lang.Double magneticHeading)

Constructor used in viewer and Mixed Mode

Parameters:

latitude - latitude

longitude - longitude

speed - speed (knots)

courseOverGround - course over ground

timeInMillis - java millisecond time

trueHeading - true heading

magneticHeading - magnetic heading

GpsData

public GpsData(double latitude,
       double longitude,
       double height,
       long timeInMillis)

Used for buoy data received over the network.

Parameters:

latitude -

longitude -

timeInMillis -

GpsData

public GpsData(double latitude,
       double longitude,
       double height,
       double heading,
       double pitch,
       double roll,
       long timeInMillis)

Parameters:

latitude- - latitude

longitude-longitude -

height - - height

heading - - true heading in DEGREES

pitch - - pitch in DEGREES

roll - - roll in DEGRESS

timeInMillis - time in millis.

GpsData

public GpsData(java.lang.StringBuffer nmeaString,
       int stringType,
       boolean isGlobal)

Method Detail

gpsDataToRMC

public java.lang.String gpsDataToRMC(int nDecPlaces)

gpsDataToGGA

public java.lang.String gpsDataToGGA(int nDecPlaces)

printGpsValues

public void printGpsValues()

getTimeInMillis

public long getTimeInMillis()

getGpsCalendar

public java.util.Calendar getGpsCalendar()

getDate

public int getDate()

getHeading

public double getHeading()

Gets the best available data on the vessels true heading. If true heading data is available (e.g. from a Gyro compass), then that is returned. If true heading is not available, then attempt to use magnetic heading (e.g. from a fluxgate compass, which should be automatically corrected for magnetic variation. Finally, if neither true or magnetic heading data are available, just return course over ground from the GPS. Note that in this last case, the data may be inaccurate at low speeds or in a cross current.

Returns:

Best Heading in degrees relative to true North.

getHeading

public java.lang.Double getHeading(boolean noGPSCourse)

Gets the best available data on the vessels true heading. If true heading data is available (e.g. from a Gyro compass), then that is returned. If true heading is not available, then attempt to use magnetic heading (e.g. from a fluxgate compass, which should be automatically corrected for magnetic variation. Finally, if neither true or magnetic heading data are available, this function will either return course over ground from the GPS of null depending on the value of the noGPSCourse parameter. Note that in this last case, the data may be inaccurate at low speeds or in a cross current.

Parameters:

noGPSCourse - set true if you only want courses from proper heading sensors. If noGPSSource is true and gyro or fluxgate data are unavailable null will be returned.

Returns:

getTrueHeading

public java.lang.Double getTrueHeading()

Returns:

true heading read from a gyro or similar device.

setTrueHeading

public void setTrueHeading(java.lang.Double trueHeading)

Parameters:

trueHeading - the trueHeading to set

setMagneticHeading

public void setMagneticHeading(java.lang.Double magneticHeading)

Parameters:

magneticHeading - the magneticHeading to set

getMagneticHeading

public java.lang.Double getMagneticHeading()

Returns:

the magnetic heading (read from a fluxgate compass)

getCourseOverGround

public double getCourseOverGround()

Return the course over ground from the GPS. Note that this is the direction the vessel is moving in relative to the earth and may not be the direction the vessel is pointing in.

Returns:

the course over ground.

setCourseOverGround

public void setCourseOverGround(double courseOverGround)

Parameters:

courseOverGround - the courseOverGround to set

getSpeed

public double getSpeed()

Returns the speed in knots

getSpeedMetric

public double getSpeedMetric()

Gets the speed in metres per second

Returns:

speed in metres per second

getTime

public int getTime()

setSpeed

public void setSpeed(double speed)

getHours

public int getHours()

Get hours from NMEA date, not system time

Returns:

hours from NMEA data.

getMagneticVariation

public java.lang.Double getMagneticVariation()

Returns:

the magneticVariation

setMagneticVariation

public void setMagneticVariation(java.lang.Double magneticVariation)

Parameters:

magneticVariation - the magneticVariation to set

getMins

public int getMins()

Get minutes from NMEA date, not system time

Returns:

mins from NMEA data.

getSecs

public int getSecs()

Get seconds from NMEA date, not system time

Returns:

seconds from NMEA data.

getMillis

public int getMillis()

Get seconds from NMEA date, not system time

Returns:

seconds from NMEA data.

setDate

public void setDate(int date)

setGpsCalendar

public void setGpsCalendar(java.util.Calendar gpsCalendar)

setTime

public void setTime(int time)

setTimeInMillis

public void setTimeInMillis(long timeInMillis)

getDistanceFromLast

public double getDistanceFromLast()

isDataOk

public boolean isDataOk()

setDataOk

public void setDataOk(boolean dataOk)

getPredictedGPSData

public GpsData getPredictedGPSData(long predictionTime)

getPredictedGPSData

public GpsData getPredictedGPSData(long predictionTime,
                          long maxInterpMillis)

Predict where the gps position will be at a given time based on the current speed and heading, but interpolating to some maximum amount.

Parameters:

predictionTime - time of prediction

maxInterpMillis - max milliseconds to interpolate.

Returns:

Interpolated GPS position.

clone

public GpsData clone()

Overrides:

clone in class LatLong

getPitchD

public java.lang.Double getPitchD()

Hydrophone pitch in degrees, +ve means that the front of the hydrophone is up, -ve is down. Values will be between -90 and + 90.

Returns:

the pitch in degrees.

getPitch

public double getPitch()

Get the pitch value, returning 0 if it's null.

Returns:

pitch in degrees

setPitch

public void setPitch(java.lang.Double pitch)

Hydrophone pitch in degrees, +ve means that the front of the hydrophone is up, -ve is down. Values will be between -90 and + 90.

Parameters:

pitch - the pitch to set

getRollD

public java.lang.Double getRollD()

Hydrophone roll in degrees, +ve is roll to the left, -ve to the right.

Returns:

the roll

getRoll

public double getRoll()

Returns:

the roll and 0 if it's null.

setRoll

public void setRoll(java.lang.Double roll)

Hydrophone roll in degrees, +ve is roll to the left, -ve to the right.

Parameters:

roll - the roll to set

getEulerAngles

public double[] getEulerAngles()

Get the Euler angles which describe the rotation of this position. m

Returns:

Euler angles [heading, pitch, roll] in RADIANS. See class description for angle conventions

getQuaternion

public PamQuaternion getQuaternion()

Get the quaternion which describe the rotation of this position. m

Returns:

quaternion.

setEulerAngles

public void setEulerAngles(double[] angles)

Set the Euler angles which describe the rotation of this position. m

Parameters:

angles-Euler - angles [heading, pitch, roll] in Degrees. See class description for angle conventions

getAverage

public static GpsData getAverage(GpsData gpsData1,
                 GpsData gpsData2)

toFullString

public java.lang.String toFullString()