avcl.translate

Class Rascal

java.lang.Object

avcl.translate.TelemetryFileTranslator

avcl.translate.Rascal

All Implemented Interfaces:

TelemetryTranslatorInterface

public class Rascal
extends TelemetryFileTranslator

Translates Rascal Uav data into AVCL. The rascal data seems fairly "noisy" in various respects--the lat/lon seems to be off in several instances, the telemetry sampling period seems to be greater than the GPS update rate, the telemetry sampling period is faster than the workbench can handle, etc. I've filtered and corrected the data in various ways.

The data consists of text fields, separated by white space, each field in a particular order in the line. That's defined by their "index" in the constants below.

Author:

mcgredo

Field Summary

Fields

Modifier and Type	Field and Description
static int	ALTITUDE_INDEX
static int	BOGUS_DISTANCE_IN_METERS Used to filter out semi-obviously bogus position data.
static int	CLOCK_INDEX
static int	DAY_INDEX
static int	DIRECTION_INDEX
static int	GROUNDSPEED_INDEX
static int	HEIGHT_INDEX
static int	HOUR_INDEX
static int	LATITUDE_INDEX
static int	LONGITUDE_INDEX
static double	MINUTE
static int	MINUTE_INDEX
static int	MONTH_INDEX
static int	P_INDEX
static int	PITCH_INDEX
static int	Q_INDEX
static int	R_INDEX
static int	ROLL_INDEX
static int	SECONDS_INDEX
static int	YAW_INDEX
static int	YEAR_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
Rascal() Used by GUI through TelemetryTranslatorInterface i/f
Rascal(String pPathname) Creates a new instance of Rascal AVCL translator

Method Summary

Methods

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)
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

CLOCK_INDEX

public static final int CLOCK_INDEX

See Also:

Constant Field Values

YEAR_INDEX

public static final int YEAR_INDEX

See Also:

Constant Field Values

MONTH_INDEX

public static final int MONTH_INDEX

See Also:

Constant Field Values

DAY_INDEX

public static final int DAY_INDEX

See Also:

Constant Field Values

HOUR_INDEX

public static final int HOUR_INDEX

See Also:

Constant Field Values

MINUTE_INDEX

public static final int MINUTE_INDEX

See Also:

Constant Field Values

SECONDS_INDEX

public static final int SECONDS_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

HEIGHT_INDEX

public static final int HEIGHT_INDEX

See Also:

Constant Field Values

GROUNDSPEED_INDEX

public static final int GROUNDSPEED_INDEX

See Also:

Constant Field Values

DIRECTION_INDEX

public static final int DIRECTION_INDEX

See Also:

Constant Field Values

ALTITUDE_INDEX

public static final int ALTITUDE_INDEX

See Also:

Constant Field Values

P_INDEX

public static final int P_INDEX

See Also:

Constant Field Values

Q_INDEX

public static final int Q_INDEX

See Also:

Constant Field Values

R_INDEX

public static final int R_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

Constructor Detail

Rascal

public Rascal()

Used by GUI through TelemetryTranslatorInterface i/f

Rascal

public Rascal(String pPathname)
       throws Exception

Creates a new instance of Rascal AVCL translator

Parameters:

pPathname -

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)

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