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Commit deea6338 authored by Merlo, Jason's avatar Merlo, Jason
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Added cable length parameter to tracker

parent f3cae7a7
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......@@ -17,7 +17,7 @@ class ApsTracker(object):
"""Class to track detections using 4 doppler measurements."""
# === INITIALIZATION METHODS ============================================= #
def __init__(self, daq, receiver_array, moving_average_weight=1.0):
def __init__(self, daq, receiver_array, moving_average_weight=1.0, cable_len=3.05):
"""
Initialize tracker class.
"""
......@@ -26,6 +26,8 @@ class ApsTracker(object):
self.receiver_array = receiver_array
self.detections = []
self.cable_len = cable_len
self.max_freq = np.zeros(len(receiver_array))
self.max_range = np.zeros(len(receiver_array))
......@@ -66,8 +68,8 @@ class ApsTracker(object):
self.max_freq[0] = (np.argmax(var0, axis=0) - self.receiver_array[0].fast_center_bin) * self.receiver_array[0].fast_bin_size
self.max_freq[1] = (np.argmax(var1, axis=0) - self.receiver_array[1].fast_center_bin) * self.receiver_array[1].fast_bin_size
self.max_range[0] += (np.abs(self.max_freq[0] * 3e8/self.chirp_rate/2) - 2.47) * self.weight
self.max_range[1] += (np.abs(self.max_freq[1] * 3e8/self.chirp_rate/2) - 2.47) * self.weight
self.max_range[0] += (np.abs(self.max_freq[0] * 3e8/self.chirp_rate/2) - self.cable_len) * self.weight
self.max_range[1] += (np.abs(self.max_freq[1] * 3e8/self.chirp_rate/2) - self.cable_len) * self.weight
theta = np.arcsin((self.max_range[0] - self.max_range[1]) / self.baseline) + np.pi * 0.5
R = np.average(self.max_range)
......
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