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@AlekUnderwater
AlekUnderwater authored Aug 7, 2019
1 parent 600bcec commit 3a685ea
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6 changes: 6 additions & 0 deletions UCNLNav_Tests/App.config
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<?xml version="1.0" encoding="utf-8" ?>
<configuration>
<startup>
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
</startup>
</configuration>
181 changes: 181 additions & 0 deletions UCNLNav_Tests/Program.cs
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using System;
using UCNLNav;
namespace UCNLNav_Tests
{
class Program
{
static void Main(string[] args)
{
int bases_number = 4; // number of base points
double start_bases_z = 1.5; // initial z-coordinate of base points
double base_z_step = 5; // base z-coordinate step

// actual target location
double actual_target_lat_deg = 44.12345678; // singed degrees
double actual_target_lon_deg = 48.12345678; // signed degrees
double actual_target_z = 25; // meters

double start_dst_projection = 500; // start distance from target, meters
double dst_inc_step = 50; // distance increment

// azimuth step
double az_step = Math.PI * 2 / bases_number;
double actual_target_lat_rad = Algorithms.Deg2Rad(actual_target_lat_deg);
double actual_target_lon_rad = Algorithms.Deg2Rad(actual_target_lon_deg);

// signal propagation speed
double velocity = 1450.0; // m/s

double az = 0;
double base_lat_rad = 0;
double base_lon_rad = 0;
double rev_az_rad = 0;
int it_cnt = 0;
double dst_projection;
double slant_range;
double dZ;// = actual_target_z - start_bases_z;
bool res = false;
double dst_proj = 0;
double fwd_az_rad = 0;
double target_lat = 0;
double target_lon = 0;
double radialError = 0;
double dst_error = 0;
double target_z = 0;
double base_z;

GeoPoint3DD[] toaBases = new GeoPoint3DD[bases_number];
GeoPoint3DT[] tdoaBases = new GeoPoint3DT[bases_number];


Console.WriteLine();
Console.WriteLine("* Testing Vincenty equations...");
Console.WriteLine("Generating base points...");
for (int baseIdx = 0; baseIdx < bases_number; baseIdx++)
{
dst_projection = start_dst_projection + dst_inc_step * baseIdx;
res = Algorithms.VincentyDirect(actual_target_lat_rad, actual_target_lon_rad,
az, dst_projection,
Algorithms.WGS84Ellipsoid,
Algorithms.VNC_DEF_EPSILON, Algorithms.VNC_DEF_IT_LIMIT,
out base_lat_rad, out base_lon_rad, out rev_az_rad, out it_cnt);

base_z = start_bases_z + base_z_step * baseIdx;
dZ = actual_target_z - base_z;
slant_range = Math.Sqrt(dst_projection * dst_projection + dZ * dZ);

toaBases[baseIdx] = new GeoPoint3DD(Algorithms.Rad2Deg(base_lat_rad), Algorithms.Rad2Deg(base_lon_rad), base_z, slant_range);
tdoaBases[baseIdx] = new GeoPoint3DT(toaBases[baseIdx].Latitude, toaBases[baseIdx].Longitude, toaBases[baseIdx].Depth, toaBases[baseIdx].SlantRange / velocity);

Console.WriteLine(string.Format("Base #{0}", baseIdx));
Console.WriteLine(string.Format("Distance projection: {0:F03} m", dst_projection));
Console.WriteLine(string.Format("Azimuth: {0:F03}°", Algorithms.Rad2Deg(az)));

Console.WriteLine(string.Format("Vincenty direct ({0}): LAT: {1:F07}°, LON: {2:F07}°, Iterations: {3}",
res,
toaBases[baseIdx].Latitude,
toaBases[baseIdx].Longitude,
it_cnt));

it_cnt = 0;
res = Algorithms.VincentyInverse(actual_target_lat_rad, actual_target_lon_rad,
base_lat_rad, base_lon_rad,
Algorithms.WGS84Ellipsoid,
Algorithms.VNC_DEF_EPSILON, Algorithms.VNC_DEF_IT_LIMIT,
out dst_proj, out fwd_az_rad, out rev_az_rad, out it_cnt);

Console.WriteLine("Checking with Vincenty inverse:");
Console.WriteLine(string.Format("Vincenty inverse ({0}): DST: {1:F03} m ({2:F03}), AZM: {3:F03}° ({4:F03})°, Iterations: {5}",
res,
dst_proj, dst_projection,
Algorithms.Rad2Deg(fwd_az_rad), Algorithms.Rad2Deg(az),
it_cnt));

az += az_step;
}

Console.WriteLine();
Console.WriteLine("Press a key to start TOA 2D test...");
Console.ReadKey();

Console.WriteLine();
Console.WriteLine("* Solving a TOA problem with TOA_Locate2D...");
Navigation.TOA_Locate2D(toaBases,
double.NaN, double.NaN,
actual_target_z,
Algorithms.NLM_DEF_IT_LIMIT, Algorithms.NLM_DEF_PREC_THRLD, 10.0,
Algorithms.WGS84Ellipsoid,
out target_lat, out target_lon, out radialError, out it_cnt);

Console.WriteLine("LAT: {0:F07}° (Actual {1:F07}°), LON: {2:F07}° (Actual {3:F07}°), Estimated radial error: {4:F03} m, Iterations: {5}",
target_lat, actual_target_lat_deg, target_lon, actual_target_lon_deg, radialError, it_cnt);

Algorithms.VincentyInverse(actual_target_lat_rad, actual_target_lon_rad,
Algorithms.Deg2Rad(target_lat), Algorithms.Deg2Rad(target_lon),
Algorithms.WGS84Ellipsoid, Algorithms.VNC_DEF_EPSILON, Algorithms.VNC_DEF_IT_LIMIT,
out dst_error, out fwd_az_rad, out rev_az_rad, out it_cnt);
Console.WriteLine(string.Format("Distance on the ellipsoid between actual target location and calculated: {0:F03} m", dst_error));


Console.WriteLine();
Console.WriteLine("Press a key to start TDOA test...");
Console.ReadKey();

Console.WriteLine();
Console.WriteLine("* Solving a TDOA problem with TDOA_Locate2D...");

for (int i = 0; i < tdoaBases.Length; i++)
{
tdoaBases[i] = new GeoPoint3DT(toaBases[i].Latitude, toaBases[i].Longitude, toaBases[i].Depth, toaBases[i].SlantRange / velocity);
}

Navigation.TDOA_Locate2D(tdoaBases,
double.NaN, double.NaN,
actual_target_z,
Algorithms.NLM_DEF_IT_LIMIT, Algorithms.NLM_DEF_PREC_THRLD, 10,
Algorithms.WGS84Ellipsoid,
velocity,
out target_lat, out target_lon, out radialError, out it_cnt);

Console.WriteLine("LAT: {0:F07}° (Actual {1:F07}°), LON: {2:F07}° (Actual {3:F07}°), Estimated radial error: {4:F03} m, Iterations: {5}",
target_lat, actual_target_lat_deg, target_lon, actual_target_lon_deg, radialError, it_cnt);

Algorithms.VincentyInverse(actual_target_lat_rad, actual_target_lon_rad,
Algorithms.Deg2Rad(target_lat), Algorithms.Deg2Rad(target_lon),
Algorithms.WGS84Ellipsoid, Algorithms.VNC_DEF_EPSILON, Algorithms.VNC_DEF_IT_LIMIT,
out dst_error, out fwd_az_rad, out rev_az_rad, out it_cnt);
Console.WriteLine(string.Format("Distance on the ellipsoid between actual target location and calculated: {0:F03} m", dst_error));



Console.WriteLine();
Console.WriteLine("Press a key to start TOA 3D test...");
Console.ReadKey();

Console.WriteLine();
Console.WriteLine("* Solving a TOA problem with TOA_Locate3D...");
Navigation.TOA_Locate3D(toaBases,
double.NaN, double.NaN, double.NaN,
Algorithms.NLM_DEF_IT_LIMIT, Algorithms.NLM_DEF_PREC_THRLD, 10.0,
Algorithms.WGS84Ellipsoid,
out target_lat, out target_lon, out target_z, out radialError, out it_cnt);

Console.WriteLine("LAT: {0:F07}° (Actual {1:F07}°), LON: {2:F07}° (Actual {3:F07}°), DPT: {4:F03} m ({5:F03}), Estimated radial error: {6:F03} m, Iterations: {7}",
target_lat, actual_target_lat_deg, target_lon, actual_target_lon_deg, target_z, actual_target_z, radialError, it_cnt);

Algorithms.VincentyInverse(actual_target_lat_rad, actual_target_lon_rad,
Algorithms.Deg2Rad(target_lat), Algorithms.Deg2Rad(target_lon),
Algorithms.WGS84Ellipsoid, Algorithms.VNC_DEF_EPSILON, Algorithms.VNC_DEF_IT_LIMIT,
out dst_error, out fwd_az_rad, out rev_az_rad, out it_cnt);
Console.WriteLine(string.Format("Distance on the ellipsoid between actual target location and calculated: {0:F03} m", dst_error));




Console.WriteLine();
Console.WriteLine("Press a key to exit...");
Console.ReadKey();
}
}
}
57 changes: 57 additions & 0 deletions UCNLNav_Tests/UCNLNav_Tests.csproj
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<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
<ProjectGuid>{4E1A75E0-DAFB-4C02-8CCA-3D2987B07BCA}</ProjectGuid>
<OutputType>Exe</OutputType>
<AppDesignerFolder>Properties</AppDesignerFolder>
<RootNamespace>UCNLNav_Tests</RootNamespace>
<AssemblyName>UCNLNav_Tests</AssemblyName>
<TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
<FileAlignment>512</FileAlignment>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
<DebugSymbols>true</DebugSymbols>
<DebugType>full</DebugType>
<Optimize>false</Optimize>
<OutputPath>bin\Debug\</OutputPath>
<DefineConstants>DEBUG;TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
<PlatformTarget>AnyCPU</PlatformTarget>
<DebugType>pdbonly</DebugType>
<Optimize>true</Optimize>
<OutputPath>bin\Release\</OutputPath>
<DefineConstants>TRACE</DefineConstants>
<ErrorReport>prompt</ErrorReport>
<WarningLevel>4</WarningLevel>
</PropertyGroup>
<ItemGroup>
<Reference Include="System" />
<Reference Include="System.Core" />
<Reference Include="Microsoft.CSharp" />
<Reference Include="UCNLNav">
<HintPath>..\UCNLNav\bin\Release\UCNLNav.dll</HintPath>
</Reference>
</ItemGroup>
<ItemGroup>
<Compile Include="Program.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
</ItemGroup>
<ItemGroup>
<None Include="App.config" />
</ItemGroup>
<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
<!-- To modify your build process, add your task inside one of the targets below and uncomment it.
Other similar extension points exist, see Microsoft.Common.targets.
<Target Name="BeforeBuild">
</Target>
<Target Name="AfterBuild">
</Target>
-->
</Project>

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