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Merge branch 'develop' into frank-dev2

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unknown 2021-01-15 12:19:58 +01:00
commit 32bb0e7785
7 changed files with 123 additions and 123 deletions
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87
static/scripts/accChart.js
View File

@ -87,9 +87,13 @@ function addDistances(data){
// return distVincenty(el.ser.Position, el.tcp.Position)
const plaindist = distVincenty(el.ser.Position, el.tcp.Position)
arr[i]['distance'] = plaindist
arr[i]['distanceClean'] = plaindist - (el.ser.Speed / 1000 * el.differenceMs)
// if closest measurements not happening in the exact same millisecond,
// calculate traveled distance for the time difference and substract it from result
// bear in mind that this is not exact because the two measurements are not always exactly aligned with
// the direction of motion. that's okay because we only need to estimate the accuracy
arr[i]['distanceCleanAbs'] = plaindist - Math.abs(el.ser.Speed / 1000 * el.differenceMs)
return plaindist //- Math.abs(el.ser.Speed / 1000 * el.differenceMs)
return arr[i].distanceCleanAbs // plaindist - Math.abs(el.ser.Speed / 1000 * el.differenceMs)
})
let tcpTimes = data.map(el => {
@ -103,82 +107,3 @@ function addDistances(data){
accChart.data.datasets[2].data = distances
accChart.update()
}
/**
* Function to calculate distance between two coordinates using the haversine algorithm (less precise).
* @param coord1 first set of coordinates.
* @param coord2 second set of coordinates.
* @returns {number} distance between the two points in meters.
*/
function distanceInMetersBetweenEarthCoordinates(coord1, coord2) {
let long1 = coord1[0]
let lat1 = coord1[1]
let long2 = coord2[0]
let lat2 = coord2[1]
let earthRadiusM = 6371000
let phi1 = lat1 * Math.PI / 180
let phi2 = lat2 * Math.PI / 180
let dlat = (lat2-lat1) * Math.PI / 180
let dlong = (long2 - long1) * Math.PI / 180
let a = Math.sin(dlat/2) * Math.sin(dlat/2) +
Math.cos(phi1) * Math.cos(phi2) *
Math.sin(dlong/2) * Math.sin(dlong/2)
let c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1-a))
return earthRadiusM * c
}
Number.prototype.toRad = function () { return this * Math.PI / 180; }
/**
* Function to calculate distance between two coordinates using the vincenty algorithm (more precise).
* @param coord1 first set of coordinates.
* @param coord2 second set of coordinates.
* @returns {string|number} distance between the two point is meters.
*/
function distVincenty(coord1, coord2) {
const lon1 = coord1[0]
const lat1 = coord1[1]
const lon2 = coord2[0]
const lat2 = coord2[1]
var a = 6378137, b = 6356752.314245, f = 1/298.257223563; // WGS-84 ellipsoid params
var L = (lon2-lon1).toRad()
var U1 = Math.atan((1-f) * Math.tan(lat1.toRad()));
var U2 = Math.atan((1-f) * Math.tan(lat2.toRad()));
var sinU1 = Math.sin(U1), cosU1 = Math.cos(U1);
var sinU2 = Math.sin(U2), cosU2 = Math.cos(U2);
var lambda = L, lambdaP, iterLimit = 100;
do {
var sinLambda = Math.sin(lambda), cosLambda = Math.cos(lambda);
var sinSigma = Math.sqrt((cosU2*sinLambda) * (cosU2*sinLambda) +
(cosU1*sinU2-sinU1*cosU2*cosLambda) * (cosU1*sinU2-sinU1*cosU2*cosLambda));
if (sinSigma===0) return 0; // co-incident points
var cosSigma = sinU1*sinU2 + cosU1*cosU2*cosLambda;
var sigma = Math.atan2(sinSigma, cosSigma);
var sinAlpha = cosU1 * cosU2 * sinLambda / sinSigma;
var cosSqAlpha = 1 - sinAlpha*sinAlpha;
var cos2SigmaM = cosSigma - 2*sinU1*sinU2/cosSqAlpha;
if (isNaN(cos2SigmaM)) cos2SigmaM = 0; // equatorial line: cosSqAlpha=0 (§6)
var C = f/16*cosSqAlpha*(4+f*(4-3*cosSqAlpha));
lambdaP = lambda;
lambda = L + (1-C) * f * sinAlpha *
(sigma + C*sinSigma*(cos2SigmaM+C*cosSigma*(-1+2*cos2SigmaM*cos2SigmaM)));
} while (Math.abs(lambda-lambdaP) > 1e-12 && --iterLimit>0);
if (iterLimit===0) return NaN // formula failed to converge
var uSq = cosSqAlpha * (a*a - b*b) / (b*b);
var A = 1 + uSq/16384*(4096+uSq*(-768+uSq*(320-175*uSq)));
var B = uSq/1024 * (256+uSq*(-128+uSq*(74-47*uSq)));
var deltaSigma = B*sinSigma*(cos2SigmaM+B/4*(cosSigma*(-1+2*cos2SigmaM*cos2SigmaM)-
B/6*cos2SigmaM*(-3+4*sinSigma*sinSigma)*(-3+4*cos2SigmaM*cos2SigmaM)));
var s = b*A*(sigma-deltaSigma);
s = s.toFixed(3); // round to 1mm precision
return s;
}

78
static/scripts/distanceCalc.js Normal file
View File

@ -0,0 +1,78 @@
/**
* Function to calculate distance between two coordinates using the haversine algorithm (less precise).
* @param coord1 first set of coordinates.
* @param coord2 second set of coordinates.
* @returns {number} distance between the two points in meters.
*/
function distanceInMetersBetweenEarthCoordinates(coord1, coord2) {
let long1 = coord1[0]
let lat1 = coord1[1]
let long2 = coord2[0]
let lat2 = coord2[1]
let earthRadiusM = 6371000
let phi1 = lat1 * Math.PI / 180
let phi2 = lat2 * Math.PI / 180
let dlat = (lat2-lat1) * Math.PI / 180
let dlong = (long2 - long1) * Math.PI / 180
let a = Math.sin(dlat/2) * Math.sin(dlat/2) +
Math.cos(phi1) * Math.cos(phi2) *
Math.sin(dlong/2) * Math.sin(dlong/2)
let c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1-a))
return earthRadiusM * c
}
Number.prototype.toRad = function () { return this * Math.PI / 180; }
/**
* Function to calculate distance between two coordinates using the vincenty algorithm (more precise).
* @param coord1 first set of coordinates.
* @param coord2 second set of coordinates.
* @returns {string|number} distance between the two point is meters.
*/
function distVincenty(coord1, coord2) {
const lon1 = coord1[0]
const lat1 = coord1[1]
const lon2 = coord2[0]
const lat2 = coord2[1]
var a = 6378137, b = 6356752.314245, f = 1/298.257223563; // WGS-84 ellipsoid params
var L = (lon2-lon1).toRad()
var U1 = Math.atan((1-f) * Math.tan(lat1.toRad()));
var U2 = Math.atan((1-f) * Math.tan(lat2.toRad()));
var sinU1 = Math.sin(U1), cosU1 = Math.cos(U1);
var sinU2 = Math.sin(U2), cosU2 = Math.cos(U2);
var lambda = L, lambdaP, iterLimit = 100;
do {
var sinLambda = Math.sin(lambda), cosLambda = Math.cos(lambda);
var sinSigma = Math.sqrt((cosU2*sinLambda) * (cosU2*sinLambda) +
(cosU1*sinU2-sinU1*cosU2*cosLambda) * (cosU1*sinU2-sinU1*cosU2*cosLambda));
if (sinSigma===0) return 0; // co-incident points
var cosSigma = sinU1*sinU2 + cosU1*cosU2*cosLambda;
var sigma = Math.atan2(sinSigma, cosSigma);
var sinAlpha = cosU1 * cosU2 * sinLambda / sinSigma;
var cosSqAlpha = 1 - sinAlpha*sinAlpha;
var cos2SigmaM = cosSigma - 2*sinU1*sinU2/cosSqAlpha;
if (isNaN(cos2SigmaM)) cos2SigmaM = 0; // equatorial line: cosSqAlpha=0 (§6)
var C = f/16*cosSqAlpha*(4+f*(4-3*cosSqAlpha));
lambdaP = lambda;
lambda = L + (1-C) * f * sinAlpha *
(sigma + C*sinSigma*(cos2SigmaM+C*cosSigma*(-1+2*cos2SigmaM*cos2SigmaM)));
} while (Math.abs(lambda-lambdaP) > 1e-12 && --iterLimit>0);
if (iterLimit===0) return NaN // formula failed to converge
var uSq = cosSqAlpha * (a*a - b*b) / (b*b);
var A = 1 + uSq/16384*(4096+uSq*(-768+uSq*(320-175*uSq)));
var B = uSq/1024 * (256+uSq*(-128+uSq*(74-47*uSq)));
var deltaSigma = B*sinSigma*(cos2SigmaM+B/4*(cosSigma*(-1+2*cos2SigmaM*cos2SigmaM)-
B/6*cos2SigmaM*(-3+4*sinSigma*sinSigma)*(-3+4*cos2SigmaM*cos2SigmaM)));
var s = b*A*(sigma-deltaSigma);
s = s.toFixed(3); // round to 1mm precision
return s;
}

10
static/scripts/cubes.js → static/scripts/indicators.js
View File

@ -54,7 +54,7 @@ cube.position.x = 0
cube2.position.x = 0
// calibration globals
let manCalibration = new THREE.Euler( 0, 0, 0, 'YXZ' )
let manCalibration = new THREE.Euler( 0, 0, 0, 'XYZ' )
let calibrationRot = new THREE.Quaternion()
let calPitch = 0
let calRoll = 0
@ -100,7 +100,7 @@ rollRange.oninput = () => {
function delCalibration(evt) {
calibrationRot = new THREE.Quaternion()
manCalibration = new THREE.Euler( 0, 0, 0, 'YXZ' )
manCalibration = new THREE.Euler( 0, 0, 0, 'XYZ' )
pitchRange.value = 0
yawRange.value = 0
rollRange.value = 0
@ -122,7 +122,7 @@ function manualCalibration(evt) {
calState = !calState
console.log("mancal OFF")
con.style.display = "none"
manCalibration = new THREE.Euler( 0, 0, 0, 'YXZ' )
manCalibration = new THREE.Euler( 0, 0, 0, 'XYZ' )
pitchRange.value = 0
yawRange.value = 0
rollRange.value = 0
@ -147,7 +147,7 @@ document.getElementById("manualCalibration").onclick = manualCalibration
document.getElementById("calibrate").onclick = calibrate
// indicators //
// indicators from https://github.com/sebmatton/jQuery-Flight-Indicators.git
let options = {
size : 200, // Sets the size in pixels of the indicator (square)
@ -202,4 +202,4 @@ function setIndicatorsSer(sensordata) {
altimeter.setAltitude((sensordata.Position[2] * 10).toFixed())
altitudeLabel.innerHTML = `HMSL: ${(sensordata.Position[2]).toFixed(2)} m`
}
}
}

45
static/scripts/websocket.js
View File

@ -1,6 +1,5 @@
let tempTCPCoords = null;
let tempSERIALCoords = null;
let tempDist = 0;
window.addEventListener("load", function(evt) {
let output = document.getElementById("output");
@ -41,7 +40,7 @@ window.addEventListener("load", function(evt) {
document.getElementById("TCPlat").innerHTML = "Smartphone lat: " + dat.SOURCE_TCP.Position[0]
updateMapTCP(dat.SOURCE_TCP.Position[1], dat.SOURCE_TCP.Position[0])
map.panTo([dat.SOURCE_TCP.Position[1], dat.SOURCE_TCP.Position[0]])
tempTCPCoords = [dat.SOURCE_TCP.Position[1], dat.SOURCE_TCP.Position[0]]
tempTCPCoords = dat.SOURCE_TCP
}
if(dat.SOURCE_TCP.Speed !== 0){
addSpeedTcp(dat.SOURCE_TCP.Speed);
@ -69,37 +68,35 @@ window.addEventListener("load", function(evt) {
document.getElementById("SERIALlat").innerHTML = "Ublox lat: " + dat.SOURCE_SERIAL.Position[0]
updateMapSERIAL(dat.SOURCE_SERIAL.Position[1], dat.SOURCE_SERIAL.Position[0])
map.panTo([dat.SOURCE_SERIAL.Position[1], dat.SOURCE_SERIAL.Position[0]])
tempSERIALCoords = [dat.SOURCE_SERIAL.Position[1], dat.SOURCE_SERIAL.Position[0]]
tempSERIALCoords = dat.SOURCE_SERIAL
if (tempTCPCoords !== null) {
let long1 = tempTCPCoords[0]
let lat1 = tempTCPCoords[1]
let long2 = tempSERIALCoords[0]
let lat2 = tempSERIALCoords[1]
let earthRadiusM = 6371000
// calculate distance between coordinates from phone and m8u
let tempDist = distVincenty(tempTCPCoords.Position, tempSERIALCoords.Position)
// calculate time difference between currently cached measurements from phone and m8u
let timeDiff = Date.parse(tempTCPCoords.Timestamp) - Date.parse(tempSERIALCoords.Timestamp)
// calculate error estimation: traveled distance in time difference
let distError = Math.abs(dat.SOURCE_SERIAL.Speed / 1000 * timeDiff)
// remove invalid negative values
let distClean = Math.max(tempDist - distError, 0) // set to zero if error greater than diff as this is only an estimation
let phi1 = lat1 * Math.PI / 180
let phi2 = lat2 * Math.PI / 180
addDistanceToBarChart(distClean)
document.getElementById("distance").innerHTML = "Distance 2D: " + distClean.toFixed(3) + " m"
let dlat = (lat2-lat1) * Math.PI / 180
let dlong = (long2 - long1) * Math.PI / 180
let a = Math.sin(dlat/2) * Math.sin(dlat/2) +
Math.cos(phi1) * Math.cos(phi2) *
Math.sin(dlong/2) * Math.sin(dlong/2)
let c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1-a))
tempDist = (earthRadiusM * c).toFixed(3)
addDistanceToBarChart(tempDist)
document.getElementById("distance").innerHTML = "Distance: " + tempDist
if(tempDist <= dat.SOURCE_SERIAL.HAcc){
if(distClean <= dat.SOURCE_SERIAL.HAcc){
document.getElementById("greenlamp").style.backgroundColor = 'rgba(0, 230, 64, 1)'
document.getElementById("yellow").style.backgroundColor = 'rgb(157,117,25)'
document.getElementById("redlamp").style.backgroundColor = 'rgba(139, 0, 0, 1)'
}
else if(distClean <= tempTCPCoords.HAcc){
document.getElementById("greenlamp").style.backgroundColor = 'rgba(0, 100, 0, 1)'
document.getElementById("yellow").style.backgroundColor = 'rgb(255,199,66)'
document.getElementById("redlamp").style.backgroundColor = 'rgba(139, 0, 0, 1)'
}
else{
document.getElementById("greenlamp").style.backgroundColor = 'rgba(0, 100, 0, 1)'
document.getElementById("redlamp").style.backgroundColor = 'rgba(242, 38, 19, 1)'
document.getElementById("yellow").style.backgroundColor = 'rgb(157,117,25)'
document.getElementById("redlamp").style.backgroundColor = 'rgb(255,14,14)'
}
}

19
templates/index.html
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@ -7,6 +7,7 @@
<script src="https://api.mapbox.com/mapbox-gl-js/v1.12.0/mapbox-gl.js"></script>
<link href="https://api.mapbox.com/mapbox-gl-js/v1.12.0/mapbox-gl.css" rel="stylesheet"/>
<script src="https://cdnjs.cloudflare.com/ajax/libs/three.js/r124/three.js"></script>
<script src="static/scripts/distanceCalc.js"></script>
<script src="static/scripts/websocket.js"></script>
<link rel="stylesheet" type="text/css" href="static/indicators/css/flightindicators.css" />
<script src="https://cdnjs.cloudflare.com/ajax/libs/jquery/3.5.1/jquery.min.js"></script>
@ -87,10 +88,13 @@
<div class="lamp">
<div class="lampinner" id="greenlamp" style="background-color: darkgreen"></div>
</div>
<div class="lamp">
<div class="lampinner" id="yellow" style="background-color: #9D7519"></div>
</div>
<div class="lamp">
<div class="lampinner" id="redlamp" style="background-color: #8b0000"></div>
</div>
<label style="margin:auto; margin-left: 10px">Smartphone innerhalb Toleranzbereich</label>
<label style="margin:auto; margin-left: 10px">Smartphone Genauigkeit</label>
</div>
</div>
@ -99,13 +103,17 @@
<canvas id="accuracy" width="500" height="150"></canvas>
</div>
<div class="accuracy-values">
<div class="container" style="width: 150px; height: 50px">
<div class="container" style="width: 150px; height: 70px">
<label id="serialHAcc"
style="color: rgba(214, 69, 65, 1); font: 12px/20px 'Helvetica Neue', Arial, Helvetica, sans-serif">Ublox
HAcc: </label><br>
<label id="tcpHAcc"
style="color: rgba(30, 139, 195, 1); font: 12px/20px 'Helvetica Neue', Arial, Helvetica, sans-serif">Phone
HAcc: </label>
HAcc: </label><br>
<label id="distance"
style="color: rgba(30, 139, 0, 1); font: 12px/20px 'Helvetica Neue', Arial, Helvetica, sans-serif">
Distance: </label>
</div>
<div class="container" style="width: 150px; height: 50px">
<label id="serialVAcc"
@ -114,9 +122,6 @@
<label id="tcpVAcc"
style="color: rgba(30, 139, 195, 1); font: 12px/20px 'Helvetica Neue', Arial, Helvetica, sans-serif">Phone
VAcc: </label><br>
<label id="distance"
style="color: rgba(30, 139, 0, 1); font: 12px/20px 'Helvetica Neue', Arial, Helvetica, sans-serif">
Distance: </label>
</div>
</div>
</div>
@ -166,7 +171,7 @@
style="margin: 10px 0px"></label>
</div>
</div>
<script src="static/scripts/cubes.js"></script>
<script src="static/scripts/indicators.js"></script>
</div>
</div>

1
templates/replayFull.html
View File

@ -6,6 +6,7 @@
<script src="https://cdnjs.cloudflare.com/ajax/libs/Chart.js/2.9.4/Chart.bundle.js"></script>
<script src="https://api.mapbox.com/mapbox-gl-js/v1.12.0/mapbox-gl.js"></script>
<link href="https://api.mapbox.com/mapbox-gl-js/v1.12.0/mapbox-gl.css" rel="stylesheet" />
<script src="static/scripts/distanceCalc.js"></script>
<script src="static/scripts/refull.js"></script>
<link rel="stylesheet" href="static/replayStyle.css">
</head>

6
ublox/messages.go
View File

@ -4,12 +4,6 @@ type Message interface {
ClassID() uint16
}
//type UbxMessage interface {
// Timestamp() (time.Time, error)
// Position() ([3]float64, error)
// Orientation() ([3]float64, error)
//}
type RawMessage struct {
classID uint16
Data []byte