Пример #1
0
angle0 = np.zeros((track.duration, n_couples))
angle1 = np.zeros((track.duration, n_couples))

sdmax = np.zeros((track.duration, n_couples))
sdmin = np.zeros((track.duration, n_couples))

remove_sat = fn.crossings_sat(aps_sat, couples, track.duration)
remove_same_slope = fn.crossings_same_slopes(slopes, couples, track.duration)

remove_not_valid = remove_sat * remove_same_slope

i = 0
for crossing in couples:

    # Calculating cross-section
    x_cross[:, i], y_cross[:, i] = fn.crossings(slopes, y_intercept, crossing)

    # Calculate distance between APs and cross point
    dist0[:, i], dist1[:, i] = fn.crossings_dist(track.aps, crossing, x_cross[:, i], y_cross[:, i])

    # Find angles from both APs
    angle0[:, i] = local_angle_sim[:, crossing[0]]
    angle1[:, i] = local_angle_sim[:, crossing[1]]

    # Calculate total SD
    sdmax[:, i], sdmin[:, i] = fn.add_sd(angle0[:, i], angle1[:, i], dist0[:, i], dist1[:, i])

    i += 1

# Calculate position_error(crossing) in order to find optimal weights
weights = fn.find_weights(sdmax)
Пример #2
0
        # Converting predicted angles into slopes
        # [0: x, 1: y, 2: direction, 3: distance, 4: global_angle, 5: predicted_local_angle, 6: predicted_global_angle]
        # [7: predicted_slope]
        for i in range(n_ap):
            aps[i].append(1/math.tan(math.radians(aps[i][6])))

        # Finding y intercept
        # [0: x, 1: y, 2: direction, 3: distance, 4: global_angle, 5: predicted_local_angle, 6: predicted_global_angle]
        # [7: predicted_slope, 8: y_intercept]
        for i in range(n_ap):
            aps[i].append(aps[i][1] - aps[i][7] * aps[i][0])

        # Calculating cross-section
        # [0: ap_1, 1: ap_2, 2: cross_x, 3: cross_y]
        ap_cross = fn.crossings(ap_cross, aps)

        # Calculate distance between APs and cross point
        # [0: ap_1, 1: ap_2, 2: cross_x, 3: cross_y, 4: dist_1, 5: dist_2]
        ap_cross = fn.crossings_dist(ap_cross, aps)

        # Find angles from both APs
        # [0: ap_1, 1: ap_2, 2: cross_x, 3: cross_y, 4: dist_1, 5: dist_2, 6: angle_1, 7: angle_2]
        ap_cross = fn.crossings_angles(ap_cross, aps)

        # Calculate total SD
        # [0: ap_1, 1: ap_2, 2: cross_x, 3: cross_y, 4: dist_1, 5: dist_2, 6: angle_1, 7: angle_2, 8: SD_max, 9: SD_min]
        ap_cross = fn.add_sd(ap_cross)

        # Calculate position_error(crossing) in order to find optimal weights
        # [0: ap_1, 1: ap_2, 2: cross_x, 3: cross_y, 4: dist_1, 5: dist_2, 6: angle_1, 7: angle_2, 8: SD_max, 9: SD_min]