avcl.translate

Class SolarAuv

java.lang.Object

avcl.translate.TelemetryFileTranslator

avcl.translate.SolarAuv

All Implemented Interfaces:

TelemetryTranslatorInterface

public class SolarAuv
extends TelemetryFileTranslator

SolarAuv UAV telemetry translation. Takes as input a SolarAuv AUV file, and translates this to an AVCL file.

A single mission may be spread out across multiple files. The naming standard is YYYYMMDD-HHMMSS-VehicleID-MissionName-nnn-csv, where nnn is a fragment number for the mission. For the current purposes we don't try to concatenate missions-- we simply open each one separately.

The missions are saved in comma-separated-value format.

Author:

mcgredo

Field Summary

Fields

Modifier and Type	Field and Description
static int	BOGUS_DISTANCE_IN_METERS Used to filter out semi-obviously bogus position data.
static int	DEPTH_INDEX
static int	GPS_VALID_INDEX
static int	HEADING_INDEX
static int	LATITUDE_INDEX
static int	LONGITUDE_INDEX
static double	MINIMUM_TIMESTEP_SECONDS The minimum timestep--if telemetry data comes in more quickly than this, we discard it.
static double	MINUTE
static int	PITCH_INDEX
static int	RECNUM_INDEX
static int	ROLL_INDEX
static int	TIMESTAMP_INDEX
static int	YAW_INDEX

Fields inherited from class avcl.translate.TelemetryFileTranslator

avclDocument, centerCoordUTM, factory, fileWriter, filterOnTime, fis, geoOriginLatLon, latLonOffset, metadata, offsetCoordUTM, pathname, projectGeoOriginLatLon, sysoutPW, timeFilterMinimum

Fields inherited from interface avcl.translate.TelemetryTranslatorInterface

GEO_ORIGIN

Constructor Summary

Constructors

Constructor and Description
SolarAuv() Used by GUI through TelemetryTranslatorInterface i/f
SolarAuv(String pMissionFile) Creates a new instance of SolarAuv

Method Summary

Modifier and Type	Method and Description
com.bbn.openmap.LatLonPoint	findCorrectedGeoCenter(com.bbn.openmap.LatLonPoint rawGeoCenter, int bogusDistanceThreshold) The second step in the filter process.
AVCL	getDefaultAvclDocument() Creates a mostly-filled-out AVCL document that lacks only the telemetry data.
double	getTelemetrySampleRate() Accept data no more frequently than this
static void	main(String[] args) Test case entry point.
void	parse() implements TelemetryTranslatorInterface
String	toString() Returns a string description of the translator, suitable for user viewing in GUIs.

Methods inherited from class avcl.translate.TelemetryFileTranslator

addMetadataEntry, endDocument, getAvclDocument, getImportStartTime, getImportStopTime, getMonthName, getSignificantDigits, getSysOut, getTimeFilterMinimum, latLongToXY, latLongToXY, setFilterOnTime, setImportStartTime, setImportStopTime, setInputFileName, setMetadata, setSysOut, setTimeFilterMinimum, startDocument, startDocument, sysOutPrintln, sysOutPrintln, writeOutputFile

Methods inherited from class java.lang.Object

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

Field Detail

RECNUM_INDEX

public static final int RECNUM_INDEX

See Also:

Constant Field Values

TIMESTAMP_INDEX

public static final int TIMESTAMP_INDEX

See Also:

Constant Field Values

DEPTH_INDEX

public static final int DEPTH_INDEX

See Also:

Constant Field Values

HEADING_INDEX

public static final int HEADING_INDEX

See Also:

Constant Field Values

LATITUDE_INDEX

public static final int LATITUDE_INDEX

See Also:

Constant Field Values

LONGITUDE_INDEX

public static final int LONGITUDE_INDEX

See Also:

Constant Field Values

GPS_VALID_INDEX

public static final int GPS_VALID_INDEX

See Also:

Constant Field Values

ROLL_INDEX

public static final int ROLL_INDEX

See Also:

Constant Field Values

PITCH_INDEX

public static final int PITCH_INDEX

See Also:

Constant Field Values

YAW_INDEX

public static final int YAW_INDEX

See Also:

Constant Field Values

MINUTE

public static final double MINUTE

See Also:

Constant Field Values

BOGUS_DISTANCE_IN_METERS

public static final int BOGUS_DISTANCE_IN_METERS

Used to filter out semi-obviously bogus position data. If a telemetry entry is more than this distance from the GeoCenter of the data, it is assumed to be bogus data.

See Also:

Constant Field Values

MINIMUM_TIMESTEP_SECONDS

public static final double MINIMUM_TIMESTEP_SECONDS

The minimum timestep--if telemetry data comes in more quickly than this, we discard it.

See Also:

Constant Field Values

Constructor Detail

SolarAuv

public SolarAuv()

Used by GUI through TelemetryTranslatorInterface i/f

SolarAuv

public SolarAuv(String pMissionFile)
         throws Exception

Creates a new instance of SolarAuv

Parameters:

pMissionFile -

Throws:

Exception

Method Detail

toString

public String toString()

Description copied from interface: TelemetryTranslatorInterface

Returns a string description of the translator, suitable for user viewing in GUIs.

Specified by:

toString in interface TelemetryTranslatorInterface

Specified by:

toString in class TelemetryFileTranslator

Returns:

String description of the translator

getDefaultAvclDocument

public AVCL getDefaultAvclDocument()

Creates a mostly-filled-out AVCL document that lacks only the telemetry data.

Overrides:

getDefaultAvclDocument in class TelemetryFileTranslator

Returns:

a default AVCL telemetry mission specific to this type of vehicle

parse

public void parse()

implements TelemetryTranslatorInterface

Specified by:

parse in interface TelemetryTranslatorInterface

Specified by:

parse in class TelemetryFileTranslator

findCorrectedGeoCenter

public com.bbn.openmap.LatLonPoint findCorrectedGeoCenter(com.bbn.openmap.LatLonPoint rawGeoCenter,
                                                          int bogusDistanceThreshold)

The second step in the filter process. After we find the "raw" geocenter, we do a second pass and toss out all the data that is not within some distance of the raw geocenter. This gets rid of less obviously bogus data--we can easily throw out lat/lon at (0.0, 0.0) but something 10 degrees of latitude away from the base is less obvious. This is intended to catch the less obvious data.

Parameters:

rawGeoCenter -

bogusDistanceThreshold -

Returns:

LatLonPoint

main

public static void main(String[] args)

Test case entry point.

Parameters:

args -

getTelemetrySampleRate

public double getTelemetrySampleRate()

Description copied from class: TelemetryFileTranslator

Accept data no more frequently than this

Specified by:

getTelemetrySampleRate in interface TelemetryTranslatorInterface

Overrides:

getTelemetrySampleRate in class TelemetryFileTranslator

Returns:

the minimum time (in seconds) between telemetry data points