#'C:\\Users\\pkhomchuk\\My Projects\\UAS - FAA Software\\Tracker\\Radar_3D_4'
#'C:\\Users\\pkhomchuk\\My Projects\\UAS - FAA Delivery\\UAS - FAA Software\\Tracker\\Maneuver',
#'C:\\Users\\pkhomchuk\\My Projects\\UAS - FAA Delivery\\UAS - FAA Software\\Tracker\\Straight',
#'C:\\Users\\pkhomchuk\\My Projects\\UAS - FAA Delivery\\UAS - FAA Software\\Tracker\s\55',
'' )
TGT_BEACON = 2332
NMI2FT = 6076.11548
def listFilesInDir( dir, ext ) :
os.chdir( dir )
return glob.glob( '*.' + ext )
errors = []
for ind, folder in enumerate( output_folders ) :
if folder != '' :
residual_rng_rate = []
output_file_names = listFilesInDir( folder, 'txt' )
truth_ind = 0
for filename in output_file_names :
output = OutputFile.read( folder + "\\" + filename )
trk = OutputFile.Track( output, beacon = TGT_BEACON, sensor = 'radar' );
if trk.dataIsGood :
residuals = np.ndarray.tolist( NMI2FT * np.transpose( trk.residuals ))
residual_rng_rate += residuals[ 0 ]
plt.figure( 1 )
plt.boxplot( residual_rng_rate )
plt.show()
truth_file_names = listFilesInDir( folder, 'txt' )
for filename in truth_file_names :
truth = TruthFile.read( folder + '\\' + filename )
tgt_true[ ind ].append( TruthFile.Aircraft( truth, beacon = TGT_BEACON ) )
own_true[ ind ].append( TruthFile.Aircraft( truth, beacon = OWN_BEACON ) )
errors = []
for ind, folder in enumerate( output_folders ) :
if folder != '' :
hist_errors = TrkErrors.HistErrors()
output_file_names = listFilesInDir( folder, 'txt' )
truth_ind = 0
for filename in output_file_names :
output = OutputFile.read( folder + "\\" + filename )
trk = OutputFile.Track( output, rack_id = 1, track_type = 2 );
if trk.dataIsGood :
truth_ind = int( math.floor( ( int( filename.split( '.' )[ 0 ][ 3: ] ) - 1 ) / N_MONTE_CARLO ) )
err = TrkErrors.Errors( own_true[ ind ][ truth_ind ], tgt_true[ ind ][ truth_ind ], trk, True )
hist_errors = hist_errors + err.hist_errors
#if ind % N_MONTE_CARLO == 0 and ind > 0 :
# truth_ind += 1
errors.append( hist_errors )
n = len( errors )
# Plot horizontal position error
gs = gridspec.GridSpec( 1, n )
plt.figure( 1 )
for i in range( n ) :
import math truth_file_name = 'C:\\Users\\pkhomchuk\\My Projects\\UAS encounters\\MIT_LL\\55\\truth_mit_ll_19235.txt' output_file_name = 'C:\\Users\\pkhomchuk\\My Projects\\UAS - FAA Software\\Tracker\\Radar_4D_1\\out4.txt' NMI2FT = 6076.11548 KNOTS2FT_PER_MIN = NMI2FT / 60 OWN_BEACON = 2331 TGT_BEACON = 2332 truth = TruthFile.read( truth_file_name ) tgt_true = TruthFile.Aircraft( truth, beacon = TGT_BEACON ) own_true = TruthFile.Aircraft( truth, beacon = OWN_BEACON ) output = OutputFile.read( output_file_name ) trk = OutputFile.Track( output, beacon = TGT_BEACON, sensor = 'radar' ); tgt_true_pos_own_enu = ct.geod2enu( own_true.pos_geod, tgt_true.pos_geod ) tgt_true_pos_sph = ct.enu2sph( tgt_true_pos_own_enu ) plt.figure( 1 ) plt.plot( tgt_true_pos_own_enu[ :, ct.EAST ], tgt_true_pos_own_enu[ :, ct.NORTH ], 'g-' ) plt.xlabel( 'East [nmi]' ) plt.ylabel( 'North [nmi]' ) plt.grid() gs = gridspec.GridSpec( 1, 2 ) plt.figure( 2 ) plt.subplot( gs[ 0 ] ) plt.plot( trk.time, 3600 * trk.residuals[ :, 3 ], 'g-' )
