def derive(
self,
alt_aal=P('Altitude AAL'),
alt_agl=P('Altitude AGL'),
ac_type=A('Aircraft Type'),
app=S('Approach And Landing'),
hdg=P('Heading Continuous'),
lat=P('Latitude Prepared'),
lon=P('Longitude Prepared'),
ils_loc=P('ILS Localizer'),
ils_gs=S('ILS Glideslope'),
ils_freq=P('ILS Frequency'),
land_afr_apt=A('AFR Landing Airport'),
land_afr_rwy=A('AFR Landing Runway'),
lat_land=KPV('Latitude At Touchdown'),
lon_land=KPV('Longitude At Touchdown'),
precision=A('Precise Positioning'),
fast=S('Fast'),
#lat_smoothed=P('Latitude Smoothed'),
#lon_smoothed=P('Longitude Smoothed'),
u=P('Airspeed'),
gspd=P('Groundspeed'),
height_from_rig=P('Altitude ADH'),
hdot=P('Vertical Speed'),
roll=P('Roll'),
heading=P('Heading'),
distance_land=P('Distance To Landing'),
tdwns=KTI('Touchdown'),
offshore=M('Offshore'),
takeoff=S('Takeoff')):
precise = bool(getattr(precision, 'value', False))
alt = alt_agl if ac_type == helicopter else alt_aal
app_slices = sorted(app.get_slices())
for index, _slice in enumerate(app_slices):
# a) The last approach is assumed to be landing:
if index == len(app_slices) - 1:
approach_type = 'LANDING'
landing = True
# b) We have a touch and go if Altitude AAL reached zero:
#elif np.ma.any(alt.array[_slice] <= 0):
elif np.ma.any(alt.array[_slice.start:_slice.stop +
(5 * alt.frequency)] <= 0):
if ac_type == aeroplane:
approach_type = 'TOUCH_AND_GO'
landing = False
elif ac_type == helicopter:
approach_type = 'LANDING'
landing = True
else:
raise ValueError('Not doing hovercraft!')
# c) In any other case we have a go-around:
else:
approach_type = 'GO_AROUND'
landing = False
# Rough reference index to allow for go-arounds
ref_idx = index_at_value(alt.array,
0.0,
_slice=_slice,
endpoint='nearest')
turnoff = None
if landing:
search_end = fast.get_surrounding(_slice.start)
if search_end and search_end[0].slice.stop >= ref_idx:
search_end = min(search_end[0].slice.stop, _slice.stop)
else:
search_end = _slice.stop
tdn_hdg = np.ma.median(hdg.array[ref_idx:search_end + 1])
# Complex trap for the all landing heading data is masked case...
if (tdn_hdg % 360.0) is np.ma.masked:
lowest_hdg = bearing_and_distance(lat.array[ref_idx],
lon.array[ref_idx],
lat.array[search_end],
lon.array[search_end])[0]
else:
lowest_hdg = (tdn_hdg % 360.0).item()
# While we're here, let's compute the turnoff index for this landing.
head_landing = hdg.array[(ref_idx + _slice.stop) /
2:_slice.stop]
if len(head_landing) > 2:
peak_bend = peak_curvature(head_landing,
curve_sense='Bipolar')
fifteen_deg = index_at_value(
np.ma.abs(head_landing - head_landing[0]), 15.0)
if peak_bend:
turnoff = (ref_idx + _slice.stop) / 2 + peak_bend
else:
if fifteen_deg and fifteen_deg < peak_bend:
turnoff = start_search + landing_turn
else:
# No turn, so just use end of landing run.
turnoff = _slice.stop
else:
# No turn, so just use end of landing run.
turnoff = _slice.stop
else:
# We didn't land, but this is indicative of the runway heading
lowest_hdg = (hdg.array[ref_idx] % 360.0).item()
# Pass latitude, longitude and heading
lowest_lat = None
lowest_lon = None
if lat and lon and ref_idx:
lowest_lat = lat.array[ref_idx] or None
lowest_lon = lon.array[ref_idx] or None
if lowest_lat and lowest_lon and approach_type == 'GO_AROUND':
# Doing a go-around, we extrapolate to the threshold
# in case we abort the approach abeam a different airport,
# using the rule of three miles per thousand feet.
distance = np.ma.array([
ut.convert(alt_aal.array[ref_idx] * (3 / 1000.0),
ut.NM, ut.METER)
])
bearing = np.ma.array([lowest_hdg])
reference = {
'latitude': lowest_lat,
'longitude': lowest_lon
}
lat_ga, lon_ga = latitudes_and_longitudes(
bearing, distance, reference)
lowest_lat = lat_ga[0]
lowest_lon = lon_ga[0]
if lat_land and lon_land and not (lowest_lat and lowest_lon):
# use lat/lon at landing if values at ref_idx are masked
# only interested in landing within approach slice.
lat_land = lat_land.get(within_slice=_slice)
lon_land = lon_land.get(within_slice=_slice)
if lat_land and lon_land:
lowest_lat = lat_land[0].value or None
lowest_lon = lon_land[0].value or None
kwargs = dict(
precise=precise,
_slice=_slice,
lowest_lat=lowest_lat,
lowest_lon=lowest_lon,
lowest_hdg=lowest_hdg,
appr_ils_freq=None,
ac_type=ac_type,
)
# If the approach is a landing, pass through information from the
# achieved flight record in case we cannot determine airport and
# runway:
if landing:
kwargs.update(
land_afr_apt=land_afr_apt,
land_afr_rwy=land_afr_rwy,
hint='landing',
)
if landing or approach_type == 'GO_AROUND':
# if we have a frequency and valid localiser signal at lowest point in approach
appr_ils_freq = None
if ils_freq:
appr_ils_freq = np.ma.round(ils_freq.array[ref_idx] or 0,
2)
if not precise and appr_ils_freq and ils_loc and np.ma.abs(
ils_loc.array[ref_idx]) < 2.5:
kwargs['appr_ils_freq'] = appr_ils_freq
airport, landing_runway = self._lookup_airport_and_runway(**kwargs)
if not airport and ac_type == aeroplane:
continue
if ac_type == aeroplane and not airport.get('runways'):
self.error("Airport %s: contains no runways", airport['code'])
# Simple determination of heliport.
heliport = is_heliport(ac_type, airport, landing_runway)
sorted_tdwns = sorted(tdwns, key=lambda touchdown: touchdown.index)
sorted_takeoffs = sorted(takeoff.get_slices(),
key=lambda tkoff: tkoff.start)
for touchdown, tkoff in zip(sorted_tdwns, sorted_takeoffs):
# If both the takeoff and touchdown point are offshore then we consider
# the approach to be a 'SHUTTLING APPROACH'. Else we continue to look for
# an 'AIRBORNE RADAR DIRECT/OVERHEAD APPROACH' or a 'STANDARD APPROACH'
#
# A couple of seconds are added to the end of the slice as some flights used
# to test this had the touchdown a couple of seconds outside the approach slice
if is_index_within_slice(
touchdown.index,
slice(_slice.start, _slice.stop + 5 * alt.frequency)):
if offshore and offshore.array[
touchdown.
index] == 'Offshore' and tkoff.start < touchdown.index:
if not distance_land:
if offshore.array[tkoff.start] == 'Offshore':
approach_type = 'SHUTTLING'
elif offshore.array[
tkoff.
start] == 'Offshore' and tkoff.start < len(
distance_land.array
) and distance_land.array[tkoff.start] <= 40:
approach_type = 'SHUTTLING'
elif height_from_rig:
Vy = 80.0 # Type dependent?
# conditions_defs is a dict of condition name : expression to evaluate pairs, listed this way for clarity
condition_defs = {
'Below 120 kts':
lambda p: p['Airspeed'] < 120,
'Below Vy+5':
lambda p: p['Airspeed'] < Vy + 5.0,
'Over Vy':
lambda p: p['Airspeed'] > Vy,
'Over Vy-5':
lambda p: p['Airspeed'] > Vy - 5.0,
'Below 70 gspd':
lambda p: p['Groundspeed'] < 72,
'Below 60 gspd':
lambda p: p['Groundspeed'] < 60,
#'Below Vy-10' : lambda p : p['Airspeed'] < Vy-10.0,
#'Over Vy-10' : lambda p : p['Airspeed'] > Vy-10.0,
#'Above 30 gspd' : lambda p : p['Groundspeed'] > 30,
'Over 900 ft':
lambda p: p['Altitude ADH'] > 900,
'Over 200 ft':
lambda p: p['Altitude ADH'] > 200,
'Below 1750 ft':
lambda p: p['Altitude ADH'] < 1750,
'Below 1100 ft':
lambda p: p['Altitude ADH'] < 1100,
'Over 350 ft':
lambda p: p['Altitude ADH'] > 350,
'Below 700 ft':
lambda p: p['Altitude ADH'] < 700,
'ROD < 700 fpm':
lambda p: p['Vertical Speed'] > -700,
'ROD > 200 fpm':
lambda p: p['Vertical Speed'] < -200,
'Not climbing':
lambda p: p['Vertical Speed'] < 200,
#'Over 400 ft' : lambda p : p['Altitude ADH'] > 400,
#'Below 1500 ft': lambda p : p['Altitude ADH'] < 1500,
#'Below 1300 ft': lambda p : p['Altitude ADH'] < 1300,
'Roll below 25 deg':
lambda p: valid_between(
p['Roll'], -25.0, 25.0),
'Wings Level':
lambda p: valid_between(
p['Roll'], -10.0, 10.0),
'Within 20 deg of final heading':
lambda p: np.ma.abs(p['head_off_final']) <
20.0,
#'Within 45 deg of downwind leg' : 'valid_between(np.ma.abs(head_off_final), 135.0, 225.0)',
#'15 deg off final heading' : lambda p : np.ma.abs(np.ma.abs(p['head_off_two_miles'])-15.0) < 5.0,
#'Heading towards oil rig' : lambda p : np.ma.abs(p['head_off_two_miles']) < 6.0,
'Beyond 0.7 NM':
lambda p: p['Distance To Landing'] > 0.7,
'Within 0.8 NM':
lambda p: p['Distance To Landing'] < 0.8,
'Beyond 1.5 NM':
lambda p: p['Distance To Landing'] > 1.5,
'Within 2.0 NM':
lambda p: p['Distance To Landing'] < 2.0,
'Within 3.0 NM':
lambda p: p['Distance To Landing'] < 3.0,
'Beyond 3.0 NM':
lambda p: p['Distance To Landing'] > 3.0,
'Within 10.0 NM':
lambda p: p['Distance To Landing'] < 10.0,
#'Within 1.5 NM' : lambda p : p['Distance To Landing'] < 1.5,
}
# Phase map is a dict of the flight phases with the list of conditions which must be
# satisfied for the phase to be active.
phase_map = {
'Circuit': [
'Below 120 kts',
'Over Vy',
'Below 1100 ft',
'Over 900 ft',
'Roll below 25 deg', # includes downwind turn
],
'Level within 2NM': [
'Below Vy+5',
'Over Vy-5',
'Below 1100 ft',
'Over 900 ft',
'Wings Level',
'Within 20 deg of final heading',
'Within 2.0 NM',
'Beyond 1.5 NM',
],
'Initial Descent': [
'Wings Level',
'Within 20 deg of final heading',
'ROD < 700 fpm',
'ROD > 200 fpm',
'Beyond 0.7 NM',
'Over 350 ft',
],
'Final Approach': [
'Wings Level',
'Within 20 deg of final heading',
'ROD < 700 fpm',
'Within 0.8 NM',
'Below 60 gspd',
'Below 700 ft',
],
# Phases for ARDA/AROA
#
# All heading conditions are commented out as the pilots usually
# go outside the boundaries; the other conditions seem to be
# enough to detect them
'ARDA/AROA 10 to 3': [
'Within 10.0 NM',
'Beyond 3.0 NM',
'Below 1750 ft',
'Not climbing',
#'Heading towards oil rig',
],
'ARDA/AROA Level within 3NM': [
'Below 70 gspd',
'Over 200 ft',
'Wings Level',
'Within 3.0 NM',
'Beyond 1.5 NM',
#'Within 20 deg of final heading',
],
'ARDA/AROA Final': [
'Not climbing',
'Within 2.0 NM',
#'15 deg off final heading'
],
}
"""
#Phases that can be used to tighten the conditions for ARDA/AROA
'Radar Heading Change':['15 deg off final heading', 'Within 1.5 NM', 'Beyond 0.7 NM'],
'Low Approach':['Below Vy+5', 'Below 700 ft', 'Over 350 ft', 'Within 20 deg of final heading', 'Wings Level'],
'Low Circuit':['Below 120 kts', 'Over Vy-5', 'Below 700 ft', 'Over 350 ft', 'Roll below 25 deg']
"""
approach_map = {
'RIG': [
'Circuit', 'Level within 2NM',
'Initial Descent', 'Final Approach'
],
'AIRBORNE_RADAR': [
'ARDA/AROA 10 to 3',
'ARDA/AROA Level within 3NM',
'ARDA/AROA Final'
]
}
# Making sure the approach slice contains enough information to be able
# to properly identify ARDA/AROA approaches (the procedure starts from 10NM
# before touchdown)
app_slice = slice(
index_at_value(distance_land.array,
11,
_slice=slice(
0, touchdown.index)),
touchdown.index)
heading_repaired = repair_mask(
heading.array[app_slice],
frequency=heading.frequency,
repair_duration=np.ma.count_masked(
heading.array[app_slice]),
copy=True,
extrapolate=True)
param_arrays = {
'Airspeed':
u.array[app_slice],
'Groundspeed':
gspd.array[app_slice],
'Altitude ADH':
height_from_rig.array[app_slice],
'Vertical Speed':
hdot.array[app_slice],
'Roll':
roll.array[app_slice],
'Distance To Landing':
distance_land.array[app_slice],
'Heading':
heading_repaired,
'Latitude':
lat.array[app_slice],
'Longitude':
lon.array[app_slice],
}
longest_approach_type, longest_approach_durn, longest_approach_slice = find_rig_approach(
condition_defs,
phase_map,
approach_map,
Vy,
None,
param_arrays,
debug=False)
if longest_approach_type is not None:
approach_type = longest_approach_type.upper()
_slice = slice(
app_slice.start +
longest_approach_slice.start,
app_slice.stop)
if heliport:
self.create_approach(
approach_type,
_slice,
runway_change=False,
offset_ils=False,
airport=airport,
landing_runway=None,
approach_runway=None,
gs_est=None,
loc_est=None,
ils_freq=None,
turnoff=None,
lowest_lat=lowest_lat,
lowest_lon=lowest_lon,
lowest_hdg=lowest_hdg,
)
continue
#########################################################################
## Analysis of fixed wing approach to a runway
##
## First step is to check the ILS frequency for the runway in use
## and cater for a change from the approach runway to the landing runway.
#########################################################################
appr_ils_freq = None
runway_change = False
offset_ils = False
# Do we have a recorded ILS frequency? If so, what was it tuned to at the start of the approach??
if ils_freq:
appr_ils_freq = ils_freq.array[_slice.start]
# Was this valid, and if so did the start of the approach match the landing runway?
if appr_ils_freq and not (np.isnan(appr_ils_freq)
or np.ma.is_masked(appr_ils_freq)):
appr_ils_freq = round(appr_ils_freq, 2)
runway_kwargs = {
'ilsfreq': appr_ils_freq,
'latitude': lowest_lat,
'longitude': lowest_lon,
}
if not precise:
runway_kwargs['hint'] = kwargs.get('hint', 'approach')
approach_runway = nearest_runway(airport, lowest_hdg,
**runway_kwargs)
# Have we have identified runways for both conditions that are both different and parallel?
if all((approach_runway, landing_runway)) \
and approach_runway['id'] != landing_runway['id'] \
and approach_runway['identifier'][:2] == landing_runway['identifier'][:2]:
runway_change = True
else:
# Without a frequency source, we just have to hope any localizer signal is for this runway!
approach_runway = landing_runway
if approach_runway and 'frequency' in approach_runway['localizer']:
if np.ma.count(ils_loc.array[_slice]) > 10:
if runway_change:
# We only use the first frequency tuned. This stops scanning across both runways if the pilot retunes.
loc_slice = shift_slices(
runs_of_ones(
np.ma.abs(ils_freq.array[_slice] -
appr_ils_freq) < 0.001),
_slice.start)[0]
else:
loc_slice = _slice
else:
# No localizer or inadequate data for this approach.
loc_slice = None
else:
# The approach was to a runway without an ILS, so even if it was tuned, we ignore this.
appr_ils_freq = None
loc_slice = None
if np.ma.is_masked(appr_ils_freq):
loc_slice = None
appr_ils_freq = None
else:
if appr_ils_freq and loc_slice:
if appr_ils_freq != round(
ut.convert(
approach_runway['localizer']['frequency'],
ut.KHZ, ut.MHZ), 2):
loc_slice = None
#######################################################################
## Identification of the period established on the localizer
#######################################################################
loc_est = None
if loc_slice:
valid_range = np.ma.flatnotmasked_edges(ils_loc.array[_slice])
# I have some data to scan. Shorthand names;
loc_start = valid_range[0] + _slice.start
loc_end = valid_range[1] + _slice.start
scan_back = slice(ref_idx, loc_start, -1)
# If we are turning in, we are not interested in signals that are not related to this approach.
# The value of 45 deg was selected to encompass Washington National airport with a 40 deg offset.
hdg_diff = np.ma.abs(
np.ma.mod((hdg.array - lowest_hdg) + 180.0, 360.0) - 180.0)
ils_hdg_45 = index_at_value(hdg_diff, 45.0, _slice=scan_back)
# We are not interested above 1,500 ft, so may trim back the start point to that point:
ils_alt_1500 = index_at_value(alt_aal.array,
1500.0,
_slice=scan_back)
# The criteria for start of established phase is the latter of the approach phase start, the turn-in or 1500ft.
# The "or 0" allow for flights that do not turn through 45 deg or keep below 1500ft.
loc_start = max(loc_start, ils_hdg_45 or 0, ils_alt_1500 or 0)
if loc_start < ref_idx:
# Did I get established on the localizer, and if so,
# when? We only look AFTER the aircraft is already within
# 45deg of the runway heading, below 1500ft and the data
# is valid for this runway. Testing that the aircraft is
# not just passing across the localizer is built into the
# ils_established function.
loc_estab = ils_established(ils_loc.array,
slice(loc_start, ref_idx),
ils_loc.hz)
else:
# If localiser start is after we touchdown bail.
loc_estab = None
if loc_estab:
# Refine the end of the localizer established phase...
if (approach_runway
and approach_runway['localizer']['is_offset']):
offset_ils = True
# The ILS established phase ends when the deviation becomes large.
loc_end = ils_established(ils_loc.array,
slice(
ref_idx, loc_estab, -1),
ils_loc.hz,
point='immediate')
elif approach_type in ['TOUCH_AND_GO', 'GO_AROUND']:
# We finish at the lowest point
loc_end = ref_idx
elif runway_change:
# Use the end of localizer phase as this already reflects the tuned frequency.
est_end = ils_established(ils_loc.array,
slice(loc_estab, ref_idx),
ils_loc.hz,
point='end')
# Make sure we dont end up with a negative slice i.e. end before we are established.
loc_end = min([
x for x in (loc_slice.stop, loc_end,
est_end or np.inf) if x > loc_estab
])
elif approach_type == 'LANDING':
# Just end at 2 dots where we turn off the runway
loc_end_2_dots = index_at_value(
np.ma.abs(ils_loc.array),
2.0,
_slice=slice(
turnoff + 5 *
(_slice.stop - _slice.start) / 100, loc_estab,
-1))
if loc_end_2_dots and is_index_within_slice(
loc_end_2_dots,
_slice) and not np.ma.is_masked(
ils_loc.array[loc_end_2_dots]
) and loc_end_2_dots > loc_estab:
loc_end = loc_end_2_dots
loc_est = slice(loc_estab, loc_end + 1)
#######################################################################
## Identification of the period established on the glideslope
#######################################################################
gs_est = None
if loc_est and 'glideslope' in approach_runway and ils_gs:
# We only look for glideslope established periods if the localizer is already established.
# The range to scan for the glideslope starts with localizer capture and ends at
# 200ft or the minimum height point for a go-around or the end of
# localizer established, if either is earlier.
ils_gs_start = loc_estab
ils_gs_200 = index_at_value(alt.array,
200.0,
_slice=slice(
loc_end, ils_gs_start, -1))
# The expression "ils_gs_200 or np.inf" caters for the case where the aircraft did not pass
# through 200ft, so the result is None, in which case any other value is left to be the minimum.
ils_gs_end = min(ils_gs_200 or np.inf, ref_idx, loc_end)
# Look for ten seconds within half a dot
ils_gs_estab = ils_established(ils_gs.array,
slice(ils_gs_start, ils_gs_end),
ils_gs.hz)
if ils_gs_estab:
gs_est = slice(ils_gs_estab, ils_gs_end + 1)
'''
# These statements help set up test cases.
print()
print(airport['name'])
print(approach_runway['identifier'])
print(landing_runway['identifier'])
print(_slice)
if loc_est:
print('Localizer established ', loc_est.start, loc_est.stop)
if gs_est:
print('Glideslope established ', gs_est.start, gs_est.stop)
print()
'''
self.create_approach(
approach_type,
_slice,
runway_change=runway_change,
offset_ils=offset_ils,
airport=airport,
landing_runway=landing_runway,
approach_runway=approach_runway,
gs_est=gs_est,
loc_est=loc_est,
ils_freq=appr_ils_freq,
turnoff=turnoff,
lowest_lat=lowest_lat,
lowest_lon=lowest_lon,
lowest_hdg=lowest_hdg,
)
def derive(self,
alt_aal=P('Altitude AAL'),
alt_agl=P('Altitude AGL'),
ac_type=A('Aircraft Type'),
app=S('Approach And Landing'),
hdg=P('Heading Continuous'),
lat=P('Latitude Prepared'),
lon=P('Longitude Prepared'),
ils_loc=P('ILS Localizer'),
ils_gs=S('ILS Glideslope'),
ils_freq=P('ILS Frequency'),
land_afr_apt=A('AFR Landing Airport'),
land_afr_rwy=A('AFR Landing Runway'),
lat_land=KPV('Latitude At Touchdown'),
lon_land=KPV('Longitude At Touchdown'),
precision=A('Precise Positioning'),
fast=S('Fast'),
#lat_smoothed=P('Latitude Smoothed'),
#lon_smoothed=P('Longitude Smoothed'),
u=P('Airspeed'),
gspd=P('Groundspeed'),
height_from_rig=P('Altitude ADH'),
hdot=P('Vertical Speed'),
roll=P('Roll'),
heading=P('Heading'),
distance_land=P('Distance To Landing'),
tdwns=KTI('Touchdown'),
offshore=M('Offshore'),
takeoff=S('Takeoff')
):
precise = bool(getattr(precision, 'value', False))
alt = alt_agl if ac_type == helicopter else alt_aal
app_slices = sorted(app.get_slices())
for index, _slice in enumerate(app_slices):
# a) The last approach is assumed to be landing:
if index == len(app_slices) - 1:
approach_type = 'LANDING'
landing = True
# b) We have a touch and go if Altitude AAL reached zero:
#elif np.ma.any(alt.array[_slice] <= 0):
elif np.ma.any(alt.array[slices_int(_slice.start, _slice.stop+(5*alt.frequency))] <= 0):
if ac_type == aeroplane:
approach_type = 'TOUCH_AND_GO'
landing = False
elif ac_type == helicopter:
approach_type = 'LANDING'
landing = True
else:
raise ValueError('Not doing hovercraft!')
# c) In any other case we have a go-around:
else:
approach_type = 'GO_AROUND'
landing = False
# Rough reference index to allow for go-arounds
ref_idx = int(index_at_value(alt.array, 0.0, _slice=_slice, endpoint='nearest'))
turnoff = None
if landing:
search_end = fast.get_surrounding(_slice.start)
if search_end and search_end[0].slice.stop >= ref_idx:
search_end = min(search_end[0].slice.stop, _slice.stop)
else:
search_end = _slice.stop
tdn_hdg = np.ma.median(hdg.array[slices_int(ref_idx, search_end+1)])
# Complex trap for the all landing heading data is masked case...
if (tdn_hdg % 360.0) is np.ma.masked:
lowest_hdg = bearing_and_distance(lat.array[ref_idx], lon.array[ref_idx],
lat.array[search_end], lon.array[search_end])[0]
else:
lowest_hdg = (tdn_hdg % 360.0).item()
# While we're here, let's compute the turnoff index for this landing.
head_landing = hdg.array[slices_int((ref_idx+_slice.stop)/2, _slice.stop)]
if len(head_landing) > 2:
peak_bend = peak_curvature(head_landing, curve_sense='Bipolar')
fifteen_deg = index_at_value(
np.ma.abs(head_landing - head_landing[0]), 15.0)
if peak_bend:
turnoff = (ref_idx+_slice.stop)/2 + peak_bend
else:
if fifteen_deg and fifteen_deg < peak_bend:
turnoff = start_search + landing_turn
else:
# No turn, so just use end of landing run.
turnoff = _slice.stop
else:
# No turn, so just use end of landing run.
turnoff = _slice.stop
else:
# We didn't land, but this is indicative of the runway heading
lowest_hdg = (hdg.array[ref_idx] % 360.0).item()
# Pass latitude, longitude and heading
lowest_lat = None
lowest_lon = None
if lat and lon and ref_idx:
lowest_lat = lat.array[ref_idx] or None
lowest_lon = lon.array[ref_idx] or None
if lowest_lat and lowest_lon and approach_type == 'GO_AROUND':
# Doing a go-around, we extrapolate to the threshold
# in case we abort the approach abeam a different airport,
# using the rule of three miles per thousand feet.
distance = np.ma.array([ut.convert(alt_aal.array[ref_idx] * (3 / 1000.0), ut.NM, ut.METER)])
bearing = np.ma.array([lowest_hdg])
reference = {'latitude': lowest_lat, 'longitude': lowest_lon}
lat_ga, lon_ga = latitudes_and_longitudes(bearing, distance, reference)
lowest_lat = lat_ga[0]
lowest_lon = lon_ga[0]
if lat_land and lon_land and not (lowest_lat and lowest_lon):
# use lat/lon at landing if values at ref_idx are masked
# only interested in landing within approach slice.
lat_land = lat_land.get(within_slice=_slice)
lon_land = lon_land.get(within_slice=_slice)
if lat_land and lon_land:
lowest_lat = lat_land[0].value or None
lowest_lon = lon_land[0].value or None
kwargs = dict(
precise=precise,
_slice=_slice,
lowest_lat=lowest_lat,
lowest_lon=lowest_lon,
lowest_hdg=lowest_hdg,
appr_ils_freq=None,
ac_type=ac_type,
)
# If the approach is a landing, pass through information from the
# achieved flight record in case we cannot determine airport and
# runway:
if landing:
kwargs.update(
land_afr_apt=land_afr_apt,
land_afr_rwy=land_afr_rwy,
hint='landing',
)
if landing or approach_type == 'GO_AROUND':
# if we have a frequency and valid localiser signal at lowest point in approach
appr_ils_freq = None
if ils_freq:
appr_ils_freq = np.ma.round(ils_freq.array[ref_idx] or 0, 2)
if not precise and appr_ils_freq and ils_loc and np.ma.abs(ils_loc.array[ref_idx]) < 2.5:
kwargs['appr_ils_freq'] = appr_ils_freq
airport, landing_runway = self._lookup_airport_and_runway(**kwargs)
if not airport and ac_type == aeroplane:
continue
if ac_type == aeroplane and not airport.get('runways'):
self.error("Airport %s: contains no runways", airport['code'])
# Simple determination of heliport.
heliport = is_heliport(ac_type, airport, landing_runway)
for touchdown, tkoff in zip(tdwns.get_ordered_by_index(), takeoff.get_ordered_by_index()):
# If both the takeoff and touchdown point are offshore then we consider
# the approach to be a 'SHUTTLING APPROACH'. Else we continue to look for
# an 'AIRBORNE RADAR DIRECT/OVERHEAD APPROACH' or a 'STANDARD APPROACH'
#
# A couple of seconds are added to the end of the slice as some flights used
# to test this had the touchdown a couple of seconds outside the approach slice
if is_index_within_slice(touchdown.index, slice(_slice.start, _slice.stop+5*alt.frequency)):
if offshore and \
offshore.array[int(touchdown.index)] == 'Offshore' and \
tkoff.start < touchdown.index:
if not distance_land:
if offshore.array[tkoff.start] == 'Offshore':
approach_type = 'SHUTTLING'
elif offshore.array[tkoff.start] == 'Offshore' and \
tkoff.start < len(distance_land.array) and \
distance_land.array[int(tkoff.start)] <= 40:
approach_type = 'SHUTTLING'
elif height_from_rig:
Vy = 80.0 # Type dependent?
# conditions_defs is a dict of condition name : expression to evaluate pairs, listed this way for clarity
condition_defs={'Below 120 kts' : lambda p : p['Airspeed'] < 120,
'Below Vy+5' : lambda p : p['Airspeed'] < Vy+5.0,
'Over Vy' : lambda p : p['Airspeed'] > Vy,
'Over Vy-5' : lambda p : p['Airspeed'] > Vy-5.0,
'Below 70 gspd' : lambda p : p['Groundspeed'] < 72,
'Below 60 gspd' : lambda p : p['Groundspeed'] < 60,
#'Below Vy-10' : lambda p : p['Airspeed'] < Vy-10.0,
#'Over Vy-10' : lambda p : p['Airspeed'] > Vy-10.0,
#'Above 30 gspd' : lambda p : p['Groundspeed'] > 30,
'Over 900 ft' : lambda p : p['Altitude ADH'] > 900,
'Over 200 ft' : lambda p : p['Altitude ADH'] > 200,
'Below 1750 ft': lambda p : p['Altitude ADH'] < 1750,
'Below 1100 ft' : lambda p : p['Altitude ADH'] < 1100,
'Over 350 ft' : lambda p : p['Altitude ADH'] > 350,
'Below 700 ft' : lambda p : p['Altitude ADH'] < 700,
'ROD < 700 fpm' : lambda p : p['Vertical Speed'] > -700,
'ROD > 200 fpm' : lambda p : p['Vertical Speed'] < -200,
'Not climbing' : lambda p : p['Vertical Speed'] < 200,
#'Over 400 ft' : lambda p : p['Altitude ADH'] > 400,
#'Below 1500 ft': lambda p : p['Altitude ADH'] < 1500,
#'Below 1300 ft': lambda p : p['Altitude ADH'] < 1300,
'Roll below 25 deg' : lambda p : valid_between(p['Roll'], -25.0, 25.0),
'Wings Level' : lambda p : valid_between(p['Roll'], -10.0, 10.0),
'Within 20 deg of final heading' : lambda p : np.ma.abs(p['head_off_final']) < 20.0,
#'Within 45 deg of downwind leg' : 'valid_between(np.ma.abs(head_off_final), 135.0, 225.0)',
#'15 deg off final heading' : lambda p : np.ma.abs(np.ma.abs(p['head_off_two_miles'])-15.0) < 5.0,
#'Heading towards oil rig' : lambda p : np.ma.abs(p['head_off_two_miles']) < 6.0,
'Beyond 0.7 NM' : lambda p : p['Distance To Landing'] > 0.7,
'Within 0.8 NM' : lambda p : p['Distance To Landing'] < 0.8,
'Beyond 1.5 NM' : lambda p : p['Distance To Landing'] > 1.5,
'Within 2.0 NM' : lambda p : p['Distance To Landing'] < 2.0,
'Within 3.0 NM' : lambda p : p['Distance To Landing'] < 3.0,
'Beyond 3.0 NM' : lambda p : p['Distance To Landing'] > 3.0,
'Within 10.0 NM' : lambda p : p['Distance To Landing'] < 10.0,
#'Within 1.5 NM' : lambda p : p['Distance To Landing'] < 1.5,
}
# Phase map is a dict of the flight phases with the list of conditions which must be
# satisfied for the phase to be active.
phase_map={'Circuit':['Below 120 kts',
'Over Vy',
'Below 1100 ft',
'Over 900 ft',
'Roll below 25 deg', # includes downwind turn
],
'Level within 2NM':['Below Vy+5',
'Over Vy-5',
'Below 1100 ft',
'Over 900 ft',
'Wings Level',
'Within 20 deg of final heading',
'Within 2.0 NM',
'Beyond 1.5 NM',
],
'Initial Descent':['Wings Level',
'Within 20 deg of final heading',
'ROD < 700 fpm',
'ROD > 200 fpm',
'Beyond 0.7 NM',
'Over 350 ft',
],
'Final Approach':['Wings Level',
'Within 20 deg of final heading',
'ROD < 700 fpm',
'Within 0.8 NM',
'Below 60 gspd',
'Below 700 ft',
],
# Phases for ARDA/AROA
#
# All heading conditions are commented out as the pilots usually
# go outside the boundaries; the other conditions seem to be
# enough to detect them
'ARDA/AROA 10 to 3':['Within 10.0 NM',
'Beyond 3.0 NM',
'Below 1750 ft',
'Not climbing',
#'Heading towards oil rig',
],
'ARDA/AROA Level within 3NM':['Below 70 gspd',
'Over 200 ft',
'Wings Level',
'Within 3.0 NM',
'Beyond 1.5 NM',
#'Within 20 deg of final heading',
],
'ARDA/AROA Final':['Not climbing',
'Within 2.0 NM',
#'15 deg off final heading'
],
}
"""
#Phases that can be used to tighten the conditions for ARDA/AROA
'Radar Heading Change':['15 deg off final heading', 'Within 1.5 NM', 'Beyond 0.7 NM'],
'Low Approach':['Below Vy+5', 'Below 700 ft', 'Over 350 ft', 'Within 20 deg of final heading', 'Wings Level'],
'Low Circuit':['Below 120 kts', 'Over Vy-5', 'Below 700 ft', 'Over 350 ft', 'Roll below 25 deg']
"""
approach_map = {'RIG': ['Circuit',
'Level within 2NM',
'Initial Descent',
'Final Approach'],
'AIRBORNE_RADAR': ['ARDA/AROA 10 to 3',
'ARDA/AROA Level within 3NM',
'ARDA/AROA Final']}
# Making sure the approach slice contains enough information to be able
# to properly identify ARDA/AROA approaches (the procedure starts from 10NM
# before touchdown)
app_slice = slice(index_at_value(distance_land.array, 11, _slice=slice(0,touchdown.index)), touchdown.index)
heading_repaired = repair_mask(heading.array[app_slice],
frequency=heading.frequency,
repair_duration=np.ma.count_masked(heading.array[app_slice]),
copy=True,
extrapolate=True)
param_arrays = {
'Airspeed': u.array[app_slice],
'Groundspeed': gspd.array[app_slice],
'Altitude ADH': height_from_rig.array[app_slice],
'Vertical Speed': hdot.array[app_slice],
'Roll': roll.array[app_slice],
'Distance To Landing': distance_land.array[app_slice],
'Heading': heading_repaired,
'Latitude': lat.array[app_slice],
'Longitude': lon.array[app_slice],
}
longest_approach_type, longest_approach_durn, longest_approach_slice = find_rig_approach(condition_defs,
phase_map, approach_map,
Vy, None, param_arrays,
debug=False)
if longest_approach_type is not None:
approach_type = longest_approach_type.upper()
_slice = slice(app_slice.start + longest_approach_slice.start, app_slice.stop)
if heliport:
self.create_approach(
approach_type,
_slice,
runway_change=False,
offset_ils=False,
airport=airport,
landing_runway=None,
approach_runway=None,
gs_est=None,
loc_est=None,
ils_freq=None,
turnoff=None,
lowest_lat=lowest_lat,
lowest_lon=lowest_lon,
lowest_hdg=lowest_hdg,
)
continue
#########################################################################
## Analysis of fixed wing approach to a runway
##
## First step is to check the ILS frequency for the runway in use
## and cater for a change from the approach runway to the landing runway.
#########################################################################
appr_ils_freq = None
runway_change = False
offset_ils = False
# Do we have a recorded ILS frequency? If so, what was it tuned to at the start of the approach??
if ils_freq:
appr_ils_freq = ils_freq.array[int(_slice.start)]
# Was this valid, and if so did the start of the approach match the landing runway?
if appr_ils_freq and not (np.isnan(appr_ils_freq) or np.ma.is_masked(appr_ils_freq)):
appr_ils_freq = round(appr_ils_freq, 2)
runway_kwargs = {
'ilsfreq': appr_ils_freq,
'latitude': lowest_lat,
'longitude': lowest_lon,
}
if not precise:
runway_kwargs['hint'] = kwargs.get('hint', 'approach')
approach_runway = nearest_runway(airport, lowest_hdg, **runway_kwargs)
# Have we have identified runways for both conditions that are both different and parallel?
if all((approach_runway, landing_runway)) \
and approach_runway['id'] != landing_runway['id'] \
and approach_runway['identifier'][:2] == landing_runway['identifier'][:2]:
runway_change = True
else:
# Without a frequency source, we just have to hope any localizer signal is for this runway!
approach_runway = landing_runway
if approach_runway and 'frequency' in approach_runway['localizer']:
if np.ma.count(ils_loc.array[slices_int(_slice)]) > 10:
if runway_change:
# We only use the first frequency tuned. This stops scanning across both runways if the pilot retunes.
loc_slice = shift_slices(
runs_of_ones(np.ma.abs(ils_freq.array[slices_int(_slice)] - appr_ils_freq) < 0.001),
_slice.start
)[0]
else:
loc_slice = _slice
else:
# No localizer or inadequate data for this approach.
loc_slice = None
else:
# The approach was to a runway without an ILS, so even if it was tuned, we ignore this.
appr_ils_freq = None
loc_slice = None
if np.ma.is_masked(appr_ils_freq):
loc_slice = None
appr_ils_freq = None
else:
if appr_ils_freq and loc_slice:
if appr_ils_freq != round(ut.convert(approach_runway['localizer']['frequency'], ut.KHZ, ut.MHZ), 2):
loc_slice = None
#######################################################################
## Identification of the period established on the localizer
#######################################################################
loc_est = None
if loc_slice:
valid_range = np.ma.flatnotmasked_edges(ils_loc.array[slices_int(_slice)])
# I have some data to scan. Shorthand names;
loc_start = valid_range[0] + _slice.start
loc_end = valid_range[1] + _slice.start
scan_back = slice(ref_idx, loc_start, -1)
# If we are turning in, we are not interested in signals that are not related to this approach.
# The value of 45 deg was selected to encompass Washington National airport with a 40 deg offset.
hdg_diff = np.ma.abs(np.ma.mod((hdg.array-lowest_hdg)+180.0, 360.0)-180.0)
ils_hdg_45 = index_at_value(hdg_diff, 45.0, _slice=scan_back)
# We are not interested above 1,500 ft, so may trim back the start point to that point:
ils_alt_1500 = index_at_value(alt_aal.array, 1500.0, _slice=scan_back)
# The criteria for start of established phase is the latter of the approach phase start, the turn-in or 1500ft.
# The "or 0" allow for flights that do not turn through 45 deg or keep below 1500ft.
loc_start = max(loc_start, ils_hdg_45 or 0, ils_alt_1500 or 0)
if loc_start < ref_idx:
# Did I get established on the localizer, and if so,
# when? We only look AFTER the aircraft is already within
# 45deg of the runway heading, below 1500ft and the data
# is valid for this runway. Testing that the aircraft is
# not just passing across the localizer is built into the
# ils_established function.
loc_estab = ils_established(ils_loc.array, slice(loc_start, ref_idx), ils_loc.hz)
else:
# If localiser start is after we touchdown bail.
loc_estab = None
if loc_estab:
# Refine the end of the localizer established phase...
if (approach_runway and approach_runway['localizer']['is_offset']):
offset_ils = True
# The ILS established phase ends when the deviation becomes large.
loc_end = ils_established(ils_loc.array, slice(ref_idx, loc_estab, -1), ils_loc.hz, point='immediate')
elif approach_type in ['TOUCH_AND_GO', 'GO_AROUND']:
# We finish at the lowest point
loc_end = ref_idx
elif runway_change:
# Use the end of localizer phase as this already reflects the tuned frequency.
est_end = ils_established(ils_loc.array, slice(loc_estab, ref_idx), ils_loc.hz, point='end')
# Make sure we dont end up with a negative slice i.e. end before we are established.
loc_end = min([x for x in (loc_slice.stop, loc_end, est_end or np.inf) if x > loc_estab])
elif approach_type == 'LANDING':
# Just end at 2 dots where we turn off the runway
loc_end_2_dots = index_at_value(np.ma.abs(ils_loc.array), 2.0, _slice=slice(turnoff+5*(_slice.stop-_slice.start)/100, loc_estab, -1))
if loc_end_2_dots and \
is_index_within_slice(loc_end_2_dots, _slice) and \
not np.ma.is_masked(ils_loc.array[int(loc_end_2_dots)]) and \
loc_end_2_dots > loc_estab:
loc_end = loc_end_2_dots
loc_est = slice(loc_estab, loc_end+1)
#######################################################################
## Identification of the period established on the glideslope
#######################################################################
gs_est = None
if loc_est and 'glideslope' in approach_runway and ils_gs:
# We only look for glideslope established periods if the localizer is already established.
# The range to scan for the glideslope starts with localizer capture and ends at
# 200ft or the minimum height point for a go-around or the end of
# localizer established, if either is earlier.
ils_gs_start = loc_estab
ils_gs_200 = index_at_value(alt.array, 200.0, _slice=slice(loc_end, ils_gs_start, -1))
# The expression "ils_gs_200 or np.inf" caters for the case where the aircraft did not pass
# through 200ft, so the result is None, in which case any other value is left to be the minimum.
ils_gs_end = min(ils_gs_200 or np.inf, ref_idx, loc_end)
# Look for ten seconds within half a dot
ils_gs_estab = ils_established(ils_gs.array, slice(ils_gs_start, ils_gs_end), ils_gs.hz)
if ils_gs_estab:
gs_est = slice(ils_gs_estab, ils_gs_end+1)
'''
# These statements help set up test cases.
print()
print(airport['name'])
print(approach_runway['identifier'])
print(landing_runway['identifier'])
print(_slice)
if loc_est:
print('Localizer established ', loc_est.start, loc_est.stop)
if gs_est:
print('Glideslope established ', gs_est.start, gs_est.stop)
print()
'''
self.create_approach(
approach_type,
_slice,
runway_change=runway_change,
offset_ils=offset_ils,
airport=airport,
landing_runway=landing_runway,
approach_runway=approach_runway,
gs_est=gs_est,
loc_est=loc_est,
ils_freq=appr_ils_freq,
turnoff=turnoff,
lowest_lat=lowest_lat,
lowest_lon=lowest_lon,
lowest_hdg=lowest_hdg,
)