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Commit 61c7bdd9 authored by Stavros Vakalis's avatar Stavros Vakalis
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added angle estimation

parent 042116a7
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...@@ -11,6 +11,7 @@ from pyratk.datatypes.ts_data import TimeSeries # storing data ...@@ -11,6 +11,7 @@ from pyratk.datatypes.ts_data import TimeSeries # storing data
from pyratk.datatypes.motion import StateMatrix from pyratk.datatypes.motion import StateMatrix
from pyratk.datatypes.geometry import Point from pyratk.datatypes.geometry import Point
from pyratk.datatypes.radar import Detection from pyratk.datatypes.radar import Detection
from scipy import signal
class ApsTracker(object): class ApsTracker(object):
"""Class to track detections using 4 doppler measurements.""" """Class to track detections using 4 doppler measurements."""
...@@ -51,10 +52,19 @@ class ApsTracker(object): ...@@ -51,10 +52,19 @@ class ApsTracker(object):
# Add new Detection objects to detections list # Add new Detection objects to detections list
fft_mats = [self.receiver_array[0].fft_mat, self.receiver_array[1].fft_mat] fft_mats = [self.receiver_array[0].fft_mat, self.receiver_array[1].fft_mat]
var0=np.power(np.mean(self.receiver_array[0].fft_mat,axis=0),2)
var1=np.power(np.mean(self.receiver_array[1].fft_mat,axis=0),2)
#var0=signal.resample_poly(var00,4,1)
#var1=signal.resample_poly(var01,4,1)
f=np.linspace(-50000,50000,num=var0.size-1)
r_d0=np.abs(f[np.argmax(var0)]*3e8/100e9*2/3/2)
r_d1=np.abs(f[np.argmax(var1)]*3e8/100e9*2/3/2)
theta=np.arcsin((r_d0-r_d1)/0.3864)+0.5*np.pi
R=0.5*(r_d0+r_d1)
# loc is cylindrical (R, theta, Z), but Z is ignored by plot # loc is cylindrical (R, theta, Z), but Z is ignored by plot
R = np.random.rand() * 15 #R = np.random.rand() * 15
theta = np.random.rand() * np.pi #theta = np.random.rand() * np.pi
loc = Point(R, theta, 0.0) loc = Point(R, theta, 0.0)
new_detection = Detection(loc) new_detection = Detection(loc)
self.detections.append(new_detection) self.detections.append(new_detection)
......
...@@ -63,7 +63,7 @@ class PolarTrackerWidget(pg.GraphicsLayoutWidget): ...@@ -63,7 +63,7 @@ class PolarTrackerWidget(pg.GraphicsLayoutWidget):
self.plot.addItem(self.det_loc_plot) self.plot.addItem(self.det_loc_plot)
# Set up plot # Set up plot
self.plot.setLimits(yMin=0) #self.plot.setLimits(yMin=0)
self.plot.setRange(yRange=[0, self.max_range], xRange=[-self.max_range, self.max_range]) self.plot.setRange(yRange=[0, self.max_range], xRange=[-self.max_range, self.max_range])
self.plot.setAspectLocked(True) self.plot.setAspectLocked(True)
# xMin=-self.max_range, xMax=self.max_range) # xMin=-self.max_range, xMax=self.max_range)
......
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