avcl.translate

Class Remus

java.lang.Object

avcl.translate.TelemetryFileTranslator

avcl.translate.Remus

All Implemented Interfaces:

TelemetryTranslatorInterface

public class Remus
extends TelemetryFileTranslator

Remus underwater vehicle telemetry translation into AVCL. Takes a remus telemetry file as input, as exported from MATLAB, and translates this to an AVCL file.

There are multiple Remus file formats. This is just one that I found, from an Excel spreadsheet. Presumably the data can be exported in multiple formats from MATLAB.

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	DAYS_SINCE_1970_INDEX
static double	DEFAULT_TIMESTEP_SECONDS The minimum timestep--if telemetry data comes in more quickly than this, we discard it.
static int	DEPTH_INDEX
static int	HEADING_INDEX
static int	LATITUDE_INDEX
static int	LONGITUDE_INDEX
static double	MINUTE
static int	TIME_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
Remus() Creates a new instance of Remus
Remus(String pPathname) Creates a new instance of Rascal

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) Test case entry point.
void	parse() After the constructor has been called, we've created a file writer that we can send events to.
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

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

TIME_INDEX

public static final int TIME_INDEX

See Also:

Constant Field Values

DAYS_SINCE_1970_INDEX

public static final int DAYS_SINCE_1970_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

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

DEFAULT_TIMESTEP_SECONDS

public static final double DEFAULT_TIMESTEP_SECONDS

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

See Also:

Constant Field Values

Constructor Detail

Remus

public Remus()

Creates a new instance of Remus

Remus

public Remus(String pPathname)
      throws Exception

Creates a new instance of Rascal

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()

After the constructor has been called, we've created a file writer that we can send events to. Theoretically we can also set up a listener pattern so that we can notify more than one recipient of our parse events, but there is no need for that here, at least right now.

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 - command line arguments if any

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