author | A.M. Thurnherr <athurnherr@yahoo.com> |
Fri, 05 Aug 2016 10:10:28 -0400 | |
changeset 36 | 515b06dae59c |
parent 35 | 7c394a2d1fc9 |
child 39 | 3bddaa514ef5 |
permissions | -rw-r--r-- |
0 | 1 |
#====================================================================== |
2 |
# R D I _ C O O R D S . P L |
|
3 |
# doc: Sun Jan 19 17:57:53 2003 |
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# dlm: Sun Jul 31 13:54:26 2016 |
0 | 5 |
# (c) 2003 A.M. Thurnherr |
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# uE-Info: 568 0 NIL 0 0 72 10 2 4 NIL ofnI |
0 | 7 |
#====================================================================== |
8 |
||
9 |
# RDI Workhorse Coordinate Transformations |
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10 |
||
11 |
# HISTORY: |
|
12 |
# Jan 19, 2003: - written |
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13 |
# Jan 21, 2003: - made it obey HEADING_BIAS (magnetic declination) |
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14 |
# Jan 22, 3003: - corrected magnetic declination |
|
15 |
# Feb 16, 2003: - use pitch correction from RDI manual |
|
16 |
# Oct 11, 2003: - BUG: return value of atan() had been interpreted |
|
17 |
# as degrees instead of radians |
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18 |
# Feb 27, 2004: - added velApplyHdgBias() |
|
19 |
# - changed non-zero HEADING_ALIGNMENT from error to warning |
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20 |
# Sep 16, 2005: - added deg() for [mkprofile] |
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21 |
# Aug 26, 2006: - BUG: incorrect transformation for uplookers |
|
22 |
# Nov 30, 2007: - optimized &velInstrumentToEarth(), velBeamToInstrument() |
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23 |
# - added support for 3-beam solutions |
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24 |
# Feb 12, 2008: - added threeBeamFlag |
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25 |
# Mar 18, 2009: - added &gimbal_pitch(), &angle_from_vertical() |
|
26 |
# May 19, 2009: - added &velBeamToVertical() |
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27 |
# May 23, 2009: - debugged & renamed to &velBeamToBPEarth |
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28 |
# May 23, 2010: - changed prototypes of rad() & deg() to conform to ANTS |
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5 | 29 |
# Dec 20, 2010: - cosmetics |
6 | 30 |
# Dec 23, 2010: - added &velBeamToBPInstrument |
31 |
# Jan 22, 2011: - made velApplyHdgBias calculate sin/cos every time to allow |
|
32 |
# per-ensemble corrections |
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8 | 33 |
# Jan 15, 2012: - replaced defined(@...) by (@...) to get rid of warning |
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34 |
# Aug 7, 2013: - BUG: &velBeamToBPInstrument did not return any val unless |
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35 |
# all beam velocities are defined |
14 | 36 |
# Nov 27, 2013: - added &RDI_pitch(), &tilt_azimuth() |
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# Mar 4, 2014: - added support for ensembles with missing PITCH/ROLL/HEADING |
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38 |
# May 29, 2014: - BUG: vertical velocity can be calculated even without |
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39 |
# heading |
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40 |
# - removed some old debug statements |
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41 |
# - removed unused code from &velBeamToBPInstrument |
28 | 42 |
# Jan 5, 2016: - added &velEarthToInstrument(@), &velInstrumentToBeam(@) |
31 | 43 |
# Jan 9, 2016: - added &velEarthToBeam(), &velBeamToEarth() |
32 | 44 |
# Feb 29, 2016: - debugged & verified velEarthToInstrument(), velInstrumentToBeam() |
45 |
# - added velBeamToEarth() |
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34 | 46 |
# May 19, 2016: - begin implemeting bin interpolation |
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# May 25, 2016: - continued |
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# May 26, 2016: - made it work |
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parents:
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# May 30, 2016: - begin implementing 2nd order attitude transformations |
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# Jun 6, 2016: - toEarth transformation in beamToBPEarth was but crude approximation; |
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parents:
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# updated with transformation taken from Lohrman et al. (JAOT 1990) |
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# - BUG: v34 sign was inconsistent with RDI coord manual |
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# Jun 8, 2016: - added $ens as arg to velInstrumentToBeam() for consistency |
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# Jul 7, 2016: - added velEarthToBPw() with algorithm debugged and verified |
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# by Paul Wanis from TRDI |
0 | 56 |
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57 |
use strict; |
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58 |
use POSIX; |
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59 |
||
60 |
my($PI) = 3.14159265358979; |
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61 |
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62 |
sub rad(@) { return $_[0]/180 * $PI; } |
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sub deg(@) { return $_[0]/$PI * 180; } |
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64 |
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#---------------------------------------------------------------------- |
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# Tweakables |
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#---------------------------------------------------------------------- |
0 | 68 |
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$RDI_Coords::minValidVels = 3; # 3-beam solutions ok (velBeamToInstrument) |
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$RDI_Coords::binMapping = 'linterp'; # 'linterp' or 'none' (earthVels, BPearthVels) |
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$RDI_Coords::beamTransformation = 'LHR90'; # set to 'RDI' to use 1st order transformations from RDI manual |
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72 |
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#---------------------------------------------------------------------- |
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parents:
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74 |
# beam to earth transformation |
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75 |
#---------------------------------------------------------------------- |
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76 |
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$RDI_Coords::threeBeam_1 = 0; # stats from velBeamToInstrument |
0 | 78 |
$RDI_Coords::threeBeam_2 = 0; |
79 |
$RDI_Coords::threeBeam_3 = 0; |
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80 |
$RDI_Coords::threeBeam_4 = 0; |
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81 |
$RDI_Coords::fourBeam = 0; |
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82 |
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83 |
$RDI_Coords::threeBeamFlag = 0; # flag last transformation |
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84 |
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85 |
{ # STATIC SCOPE |
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86 |
my(@B2I); |
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87 |
||
88 |
sub velBeamToInstrument(@) |
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89 |
{ |
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my($ADCP,$ens,$v1,$v2,$v3,$v4) = @_; |
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return undef unless (defined($v1) + defined($v2) + |
92 |
defined($v3) + defined($v4) |
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>= $RDI_Coords::minValidVels); |
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94 |
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8 | 95 |
unless (@B2I) { |
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my($a) = 1 / (2 * sin(rad($ADCP->{BEAM_ANGLE}))); |
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my($b) = 1 / (4 * cos(rad($ADCP->{BEAM_ANGLE}))); |
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my($c) = $ADCP->{CONVEX_BEAM_PATTERN} ? 1 : -1; |
0 | 99 |
my($d) = $a / sqrt(2); |
100 |
@B2I = ([$c*$a, -$c*$a, 0, 0 ], |
|
101 |
[0, 0, -$c*$a, $c*$a], |
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102 |
[$b, $b, $b, $b ], |
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[$d, $d, -$d, -$d ]); |
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} |
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105 |
||
106 |
if (!defined($v1)) { # 3-beam solutions |
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107 |
$RDI_Coords::threeBeamFlag = 1; |
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108 |
$RDI_Coords::threeBeam_1++; |
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109 |
$v1 = -($v2*$B2I[3][1]+$v3*$B2I[3][2]+$v4*$B2I[3][3])/$B2I[3][0]; |
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110 |
} elsif (!defined($v2)) { |
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111 |
$RDI_Coords::threeBeamFlag = 1; |
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112 |
$RDI_Coords::threeBeam_2++; |
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113 |
$v2 = -($v1*$B2I[3][0]+$v3*$B2I[3][2]+$v4*$B2I[3][3])/$B2I[3][1]; |
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114 |
} elsif (!defined($v3)) { |
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115 |
$RDI_Coords::threeBeamFlag = 1; |
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116 |
$RDI_Coords::threeBeam_3++; |
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117 |
$v3 = -($v1*$B2I[3][0]+$v2*$B2I[3][1]+$v4*$B2I[3][3])/$B2I[3][2]; |
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118 |
} elsif (!defined($v4)) { |
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119 |
$RDI_Coords::threeBeamFlag = 1; |
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120 |
$RDI_Coords::threeBeam_4++; |
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121 |
$v4 = -($v1*$B2I[3][0]+$v2*$B2I[3][1]+$v3*$B2I[3][2])/$B2I[3][3]; |
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122 |
} else { |
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123 |
$RDI_Coords::threeBeamFlag = 0; |
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124 |
$RDI_Coords::fourBeam++; |
|
125 |
} |
|
126 |
||
127 |
return ($v1*$B2I[0][0]+$v2*$B2I[0][1], |
|
128 |
$v3*$B2I[1][2]+$v4*$B2I[1][3], |
|
129 |
$v1*$B2I[2][0]+$v2*$B2I[2][1]+$v3*$B2I[2][2]+$v4*$B2I[2][3], |
|
130 |
$v1*$B2I[3][0]+$v2*$B2I[3][1]+$v3*$B2I[3][2]+$v4*$B2I[3][3]); |
|
131 |
} |
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132 |
} # STATIC SCOPE |
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133 |
||
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parents:
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134 |
#---------------------------------------------------------------------- |
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135 |
# velInstrumentToEarth(\%ADCP,ens,v1,v2,v3,v4) => (u,v,w,e) |
515b06dae59c
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parents:
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136 |
# - $RDI_Coords::beamTransformation = 'LHR90' |
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137 |
# - from Lohrmann, Hackett & Roet (J. Tech., 1990) |
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parents:
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# - eq A1 maps to RDI matrix M (sec 5.6) with |
515b06dae59c
version at end of ECOGIG EN586 cruise
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parents:
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139 |
# alpha = roll |
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parents:
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140 |
# beta = gimball_pitch |
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parents:
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141 |
# psi = calculation_pitch |
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parents:
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142 |
# psi = asin{sin(beta) cos(alpha) / sqrt[1- sin(alpha)^2 sin(beta)^2]} |
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parents:
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143 |
# - (I only checked for 0 heading, but this is sufficient) |
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parents:
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144 |
# - $RDI_Coords::beamTransformation = 'RDI' |
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parents:
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# - default prior to LADCP_w V1.3 |
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parents:
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146 |
# - from RDI manual |
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147 |
# - 99% accurate for p/r<8deg |
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148 |
# => 1cm/s error for 1m/s winch speed! |
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parents:
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149 |
#---------------------------------------------------------------------- |
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parents:
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150 |
|
0 | 151 |
{ # STATIC SCOPE |
152 |
my($hdg,$pitch,$roll,@I2E); |
|
153 |
||
154 |
sub velInstrumentToEarth(@) |
|
155 |
{ |
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156 |
my($ADCP,$ens,$v1,$v2,$v3,$v4) = @_; |
0 | 157 |
return undef unless (defined($v1) && defined($v2) && |
18 | 158 |
defined($v3) && defined($v4) && |
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159 |
defined($ADCP->{ENSEMBLE}[$ens]->{PITCH}) && |
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defined($ADCP->{ENSEMBLE}[$ens]->{ROLL})); |
0 | 161 |
|
162 |
unless (@I2E && |
|
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163 |
$pitch == $ADCP->{ENSEMBLE}[$ens]->{PITCH} && |
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$roll == $ADCP->{ENSEMBLE}[$ens]->{ROLL}) { |
0 | 165 |
printf(STDERR "$0: warning HEADING_ALIGNMENT == %g ignored\n", |
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$ADCP->{HEADING_ALIGNMENT}) |
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167 |
if ($ADCP->{HEADING_ALIGNMENT}); |
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168 |
$hdg = $ADCP->{ENSEMBLE}[$ens]->{HEADING} - $ADCP->{HEADING_BIAS} |
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169 |
if defined($ADCP->{ENSEMBLE}[$ens]->{HEADING}); |
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170 |
$pitch = $ADCP->{ENSEMBLE}[$ens]->{PITCH}; |
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171 |
$roll = $ADCP->{ENSEMBLE}[$ens]->{ROLL}; |
0 | 172 |
my($rad_gimbal_pitch) = atan(tan(rad($pitch)) * cos(rad($roll))); |
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173 |
my($rad_calc_pitch) = ($RDI_Coords::beamTransformation eq 'RDI') ? $rad_gimbal_pitch : |
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174 |
asin(sin($rad_gimbal_pitch)*cos(rad($roll)) / |
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sqrt(1-sin(rad($roll))**2*sin($rad_gimbal_pitch)**2)); |
19
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parents:
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176 |
my($sh,$ch) = (sin(rad($hdg)),cos(rad($hdg))) |
e23a5fd2923a
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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177 |
if defined($hdg); |
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parents:
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178 |
my($sp,$cp) = (sin($rad_calc_pitch),cos($rad_calc_pitch)); |
0 | 179 |
my($sr,$cr) = (sin(rad($roll)), cos(rad($roll))); |
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180 |
@I2E = $ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP} |
0 | 181 |
? ( |
182 |
[-$ch*$cr-$sh*$sp*$sr, $sh*$cp,-$ch*$sr+$sh*$sp*$cr], |
|
183 |
[-$ch*$sp*$sr+$sh*$cr, $ch*$cp, $sh*$sr+$ch*$sp*$cr], |
|
184 |
[+$cp*$sr, $sp, -$cp*$cr, ], |
|
185 |
) : ( |
|
186 |
[$ch*$cr+$sh*$sp*$sr, $sh*$cp, $ch*$sr-$sh*$sp*$cr], |
|
187 |
[$ch*$sp*$sr-$sh*$cr, $ch*$cp,-$sh*$sr-$ch*$sp*$cr], |
|
188 |
[-$cp*$sr, $sp, $cp*$cr, ], |
|
189 |
); |
|
190 |
} |
|
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191 |
return defined($ADCP->{ENSEMBLE}[$ens]->{HEADING}) |
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|
192 |
? ($v1*$I2E[0][0]+$v2*$I2E[0][1]+$v3*$I2E[0][2], |
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|
193 |
$v1*$I2E[1][0]+$v2*$I2E[1][1]+$v3*$I2E[1][2], |
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|
194 |
$v1*$I2E[2][0]+$v2*$I2E[2][1]+$v3*$I2E[2][2], |
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|
195 |
$v4) |
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|
196 |
: (undef,undef, |
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|
197 |
$v1*$I2E[2][0]+$v2*$I2E[2][1]+$v3*$I2E[2][2], |
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198 |
$v4); |
0 | 199 |
} |
200 |
} # STATIC SCOPE |
|
201 |
||
32 | 202 |
|
203 |
sub velBeamToEarth(@) |
|
204 |
{ |
|
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205 |
my($ADCP,$e,@v) = @_; |
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206 |
return velInstrumentToEarth($ADCP,$e,velBeamToInstrument($ADCP,$e,@v)); |
32 | 207 |
} |
208 |
||
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209 |
|
28 | 210 |
#---------------------------------------------------------------------- |
211 |
# velEarthToInstrument() transforms earth to instrument coordinates |
|
212 |
# - based on manually inverted rotation matrix M (Sec 5.6 in coord-trans manual) |
|
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|
213 |
# - Paul Wanis from TRDI pointed out that M is orthonormal, which |
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|
214 |
# implies that M^-1 = M' (where M' is the transpose), confirming |
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|
215 |
# the (unnecessary) derivation |
32 | 216 |
# - code was verified for both down- and uplookers |
28 | 217 |
# - missing heading data (IMP) causes undef beam velocities |
218 |
#---------------------------------------------------------------------- |
|
219 |
||
220 |
{ # STATIC SCOPE |
|
221 |
my($hdg,$pitch,$roll,@E2I); |
|
222 |
||
223 |
sub velEarthToInstrument(@) |
|
224 |
{ |
|
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|
225 |
my($ADCP,$ens,$u,$v,$w,$ev) = @_; |
28 | 226 |
|
32 | 227 |
unless (@E2I && |
35
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|
228 |
$pitch == $ADCP->{ENSEMBLE}[$ens]->{PITCH} && |
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229 |
$roll == $ADCP->{ENSEMBLE}[$ens]->{ROLL}) { |
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|
230 |
$hdg = $ADCP->{ENSEMBLE}[$ens]->{HEADING} - $ADCP->{HEADING_BIAS} |
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|
231 |
if defined($ADCP->{ENSEMBLE}[$ens]->{HEADING}); |
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|
232 |
$pitch = $ADCP->{ENSEMBLE}[$ens]->{PITCH}; |
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|
233 |
$roll = $ADCP->{ENSEMBLE}[$ens]->{ROLL}; |
28 | 234 |
my($rad_gimbal_pitch) = atan(tan(rad($pitch)) * cos(rad($roll))); |
35
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|
235 |
my($useRoll) = ($ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP}) ? $roll+180 : $roll; |
28 | 236 |
my($sh,$ch) = (sin(rad($hdg)),cos(rad($hdg))) |
237 |
if defined($hdg); |
|
238 |
my($sp,$cp) = (sin($rad_gimbal_pitch),cos($rad_gimbal_pitch)); |
|
32 | 239 |
my($sr,$cr) = (sin(rad($useRoll)), cos(rad($useRoll))); |
240 |
@E2I = ([$ch*$cr+$sh*$sp*$sr, $ch*$sp*$sr-$sh*$cr, -$cp*$sr], # M^-1 = R^-1 * P^-1 * R^-1 |
|
241 |
[$sh*$cp, $ch*$cp, $sp ], |
|
242 |
[$ch*$sr-$sh*$sp*$cr, -$sh*$sr-$ch*$sp*$cr, $cp*$cr]); |
|
28 | 243 |
} |
244 |
||
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|
245 |
return defined($ADCP->{ENSEMBLE}[$ens]->{HEADING}) |
28 | 246 |
? ($u*$E2I[0][0]+$v*$E2I[0][1]+$w*$E2I[0][2], |
247 |
$u*$E2I[1][0]+$v*$E2I[1][1]+$w*$E2I[1][2], |
|
248 |
$u*$E2I[2][0]+$v*$E2I[2][1]+$w*$E2I[2][2], |
|
249 |
$ev) |
|
250 |
: (undef,undef,undef,undef); |
|
251 |
||
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|
252 |
} # velEarthToIntrument() |
28 | 253 |
} # STATIC SCOPE |
254 |
||
255 |
#---------------------------------------------------------------------- |
|
256 |
# velInstrumentToBeam() transforms instrument to beam coordinates |
|
257 |
# - based on manually solved eq system in sec 5.3 of coord manual |
|
258 |
# - does not implement bin-remapping |
|
259 |
# - does not work for 3-beam solutions, as it is not known which |
|
260 |
# beam was bad |
|
261 |
#---------------------------------------------------------------------- |
|
262 |
||
263 |
{ # STATIC SCOPE |
|
264 |
my($a,$b,$c,$d); |
|
265 |
||
266 |
sub velInstrumentToBeam(@) |
|
267 |
{ |
|
36
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|
268 |
my($ADCP,$ens,$x,$y,$z,$ev) = @_; |
28 | 269 |
return undef unless (defined($x) + defined($y) + |
270 |
defined($z) + defined($ev) == 4); |
|
271 |
||
272 |
unless (defined($a)) { |
|
35
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|
273 |
$a = 1 / (2 * sin(rad($ADCP->{BEAM_ANGLE}))); |
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|
274 |
$b = 1 / (4 * cos(rad($ADCP->{BEAM_ANGLE}))); |
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|
275 |
$c = $ADCP->{CONVEX_BEAM_PATTERN} ? 1 : -1; |
28 | 276 |
$d = $a / sqrt(2); |
277 |
} |
|
278 |
||
279 |
return ( $x/(2*$a*$c) + $z/(4*$b) + $ev/(4*$d), |
|
280 |
-$x/(2*$a*$c) + $z/(4*$b) + $ev/(4*$d), |
|
281 |
-$y/(2*$a*$c) + $z/(4*$b) - $ev/(4*$d), |
|
282 |
$y/(2*$a*$c) + $z/(4*$b) - $ev/(4*$d)); |
|
283 |
||
284 |
} |
|
285 |
} # STATIC SCOPE |
|
286 |
||
31 | 287 |
#---------------------------------------------------------------------- |
288 |
# velEarthToBeam() combines velEarthToInstrument and velInstrumentToBeam |
|
289 |
#---------------------------------------------------------------------- |
|
290 |
||
291 |
sub velEarthToBeam(@) |
|
292 |
{ |
|
35
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parents:
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diff
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|
293 |
my($ADCP,$ens,$u,$v,$w,$ev) = @_; |
36
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parents:
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|
294 |
return velInstrumentToBeam($ADCP,$ens, |
35
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|
295 |
velEarthToInstrument($ADCP,$ens,$u,$v,$w,$ev)); |
31 | 296 |
} |
297 |
||
36
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|
298 |
#---------------------------------------------------------------------- |
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parents:
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|
299 |
# velEarthToBPw() returns w12 and w34 for beam-coordinate data |
515b06dae59c
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parents:
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changeset
|
300 |
# - I am grateful for Paul Wanis from TRDI who corrected a |
515b06dae59c
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parents:
35
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changeset
|
301 |
# bug in my transformation (fixed in V1.3). [The bug did not |
515b06dae59c
version at end of ECOGIG EN586 cruise
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parents:
35
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|
302 |
# affect the final w profiles significantly, because w12 and w34 |
515b06dae59c
version at end of ECOGIG EN586 cruise
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parents:
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|
303 |
# are used only as diagnostics.] |
515b06dae59c
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
35
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changeset
|
304 |
# - algorithm: |
515b06dae59c
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parents:
35
diff
changeset
|
305 |
# 1) rotate into instrument coordinates |
515b06dae59c
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parents:
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|
306 |
# 2) w12 = w + e*tan(beam_angle)/sqrt(2) |
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parents:
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|
307 |
# w34 = w - e*tan(beam_angle)/sqrt(2) |
515b06dae59c
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parents:
35
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changeset
|
308 |
# 3) rotate into horizontal coords (earth coords w/o |
515b06dae59c
version at end of ECOGIG EN586 cruise
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parents:
35
diff
changeset
|
309 |
# considering heading, i.e. same as earth coords |
515b06dae59c
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parents:
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|
310 |
# in case of w |
515b06dae59c
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parents:
35
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changeset
|
311 |
#---------------------------------------------------------------------- |
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parents:
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diff
changeset
|
312 |
|
515b06dae59c
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parents:
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changeset
|
313 |
sub velEarthToBPw(@) |
515b06dae59c
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parents:
35
diff
changeset
|
314 |
{ |
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parents:
35
diff
changeset
|
315 |
my($ADCP,$ens,$u,$v,$w,$ev) = @_; |
515b06dae59c
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parents:
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changeset
|
316 |
my(@iv) = velEarthToInstrument(@_); |
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parents:
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|
317 |
my(@iv12) = my(@iv34) = @iv; |
515b06dae59c
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parents:
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changeset
|
318 |
$iv12[2] += $iv[3] * tan(rad($ADCP->{BEAM_ANGLE}))/sqrt(2); |
515b06dae59c
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parents:
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changeset
|
319 |
$iv34[2] -= $iv[3] * tan(rad($ADCP->{BEAM_ANGLE}))/sqrt(2); |
515b06dae59c
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parents:
35
diff
changeset
|
320 |
my(@ev12) = velInstrumentToEarth($ADCP,$ens,@iv12); |
515b06dae59c
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parents:
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diff
changeset
|
321 |
my(@ev34) = velInstrumentToEarth($ADCP,$ens,@iv34); |
515b06dae59c
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parents:
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changeset
|
322 |
return ($ev12[2],$ev34[2]); |
515b06dae59c
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parents:
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changeset
|
323 |
} |
515b06dae59c
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parents:
35
diff
changeset
|
324 |
|
0 | 325 |
#====================================================================== |
5 | 326 |
# velBeamToBPEarth(@) calculates the vertical- and horizontal vels |
0 | 327 |
# from the two beam pairs separately. Note that (w1+w2)/2 is |
36
515b06dae59c
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parents:
35
diff
changeset
|
328 |
# identical to the w estimated according to RDI (ignoring 3-beam |
515b06dae59c
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parents:
35
diff
changeset
|
329 |
# solutions). |
0 | 330 |
#====================================================================== |
331 |
||
332 |
{ # STATIC SCOPE |
|
333 |
my($TwoCosBAngle,$TwoSinBAngle); |
|
334 |
||
335 |
sub velBeamToBPEarth(@) |
|
336 |
{ |
|
35
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34
diff
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|
337 |
my($ADCP,$ens,$b1,$b2,$b3,$b4) = @_; |
0 | 338 |
my($v12,$w12,$v34,$w34); |
339 |
||
18 | 340 |
return (undef,undef,undef,undef) |
35
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parents:
34
diff
changeset
|
341 |
unless (defined($ADCP->{ENSEMBLE}[$ens]->{PITCH}) && |
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parents:
34
diff
changeset
|
342 |
defined($ADCP->{ENSEMBLE}[$ens]->{ROLL})); |
18 | 343 |
|
0 | 344 |
unless (defined($TwoCosBAngle)) { |
35
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parents:
34
diff
changeset
|
345 |
$TwoCosBAngle = 2 * cos(rad($ADCP->{BEAM_ANGLE})); |
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|
346 |
$TwoSinBAngle = 2 * sin(rad($ADCP->{BEAM_ANGLE})); |
0 | 347 |
} |
36
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parents:
35
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changeset
|
348 |
my($rad_roll) = rad($ADCP->{ENSEMBLE}[$ens]->{ROLL}); |
515b06dae59c
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parents:
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|
349 |
my($sr) = sin($rad_roll); my($cr) = cos($rad_roll); |
515b06dae59c
version at end of ECOGIG EN586 cruise
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parents:
35
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changeset
|
350 |
my($rad_gimbal_pitch) = atan(tan(rad($ADCP->{ENSEMBLE}[$ens]->{PITCH})) * $cr); # gimbal pitch |
515b06dae59c
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|
351 |
my($rad_calc_pitch) = ($RDI_Coords::beamTransformation eq 'RDI') ? $rad_gimbal_pitch : |
515b06dae59c
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changeset
|
352 |
asin(sin($rad_gimbal_pitch)*cos($rad_roll) / |
515b06dae59c
version at end of ECOGIG EN586 cruise
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changeset
|
353 |
sqrt(1-sin($rad_roll)**2*sin($rad_gimbal_pitch)**2)); |
515b06dae59c
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diff
changeset
|
354 |
my($sp) = sin($rad_calc_pitch); my($cp) = cos($rad_calc_pitch); |
0 | 355 |
|
356 |
# Sign convention: |
|
357 |
# - refer to Coord manual Fig. 3 |
|
358 |
# - v12 is horizontal velocity from beam1 to beam2, i.e. westward for upward-looking ADCP |
|
359 |
# with beam 3 pointing north (heading = 0) |
|
360 |
||
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parents:
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|
361 |
my($v12_ic) = ($b1-$b2)/$TwoSinBAngle; # instrument coords |
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parents:
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|
362 |
my($v34_ic) = ($b4-$b3)/$TwoSinBAngle; # consistent with RDI Coords |
0 | 363 |
my($w12_ic) = ($b1+$b2)/$TwoCosBAngle; |
364 |
my($w34_ic) = ($b3+$b4)/$TwoCosBAngle; |
|
36
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parents:
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diff
changeset
|
365 |
my($w_ic) = ($w12_ic+$w34_ic) / 2; |
0 | 366 |
|
36
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parents:
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|
367 |
if ($ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_DOWN}) { # beampair Earth coords |
515b06dae59c
version at end of ECOGIG EN586 cruise
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parents:
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|
368 |
$v12 = $v12_ic*$cr + $v34_ic*0 + $w_ic*$sr; # Lohrman et al. (1990) A1 |
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parents:
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diff
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|
369 |
$v34 = $v12_ic*$sp*$sr + $v34_ic*$cp - $w_ic*$sp*$cr; # - defined for z upward => DL |
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parents:
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diff
changeset
|
370 |
$w12 =-$v12_ic*$cp*$sr + $v34_ic*$sp + $w12_ic*$cp*$cr; |
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parents:
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diff
changeset
|
371 |
$w34 =-$v12_ic*$cp*$sr + $v34_ic*$sp + $w34_ic*$cp*$cr; |
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
372 |
} else { # RDI Coord trans manual |
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
35
diff
changeset
|
373 |
$v12 =-$v12_ic*$cr + $v34_ic*0 - $w_ic*$sr; # - as above with 1st & 3rd cols negated |
515b06dae59c
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
35
diff
changeset
|
374 |
$v34 =-$v12_ic*$sp*$sr + $v34_ic*$cp + $w_ic*$sp*$cr; |
515b06dae59c
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parents:
35
diff
changeset
|
375 |
$w12 = $v12_ic*$cp*$sr + $v34_ic*$sp - $w12_ic*$cp*$cr; |
515b06dae59c
version at end of ECOGIG EN586 cruise
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parents:
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diff
changeset
|
376 |
$w34 = $v12_ic*$cp*$sr + $v34_ic*$sp - $w34_ic*$cp*$cr; |
0 | 377 |
} |
378 |
||
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changeset
|
379 |
$v12=$w12=undef unless (defined($b1) && defined($b2)); |
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parents:
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changeset
|
380 |
$v34=$w34=undef unless (defined($b3) && defined($b4)); |
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changeset
|
381 |
|
0 | 382 |
return ($v12,$w12,$v34,$w34); |
383 |
} |
|
384 |
} |
|
385 |
||
5 | 386 |
#=================================================================== |
387 |
# velBeamToBPInstrument(@) calculates the instrument-coordinate vels |
|
388 |
# from the two beam pairs separately. |
|
36
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parents:
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diff
changeset
|
389 |
# - in spite of the function name, the output is in ship |
515b06dae59c
version at end of ECOGIG EN586 cruise
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parents:
35
diff
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|
390 |
# coordinates (instr coords with w up) |
5 | 391 |
#=================================================================== |
392 |
||
393 |
{ # STATIC SCOPE |
|
394 |
my($TwoCosBAngle,$TwoSinBAngle); |
|
395 |
||
396 |
sub velBeamToBPInstrument(@) |
|
397 |
{ |
|
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parents:
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|
398 |
my($ADCP,$ens,$b1,$b2,$b3,$b4) = @_; |
5 | 399 |
my($v12,$w12,$v34,$w34); |
400 |
||
18 | 401 |
return (undef,undef,undef,undef) |
35
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
402 |
unless (defined($ADCP->{ENSEMBLE}[$ens]->{PITCH}) && |
7c394a2d1fc9
before implementing 2nd order coord trans
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parents:
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diff
changeset
|
403 |
defined($ADCP->{ENSEMBLE}[$ens]->{ROLL})); |
18 | 404 |
|
5 | 405 |
unless (defined($TwoCosBAngle)) { |
35
7c394a2d1fc9
before implementing 2nd order coord trans
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parents:
34
diff
changeset
|
406 |
$TwoCosBAngle = 2 * cos(rad($ADCP->{BEAM_ANGLE})); |
7c394a2d1fc9
before implementing 2nd order coord trans
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parents:
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diff
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|
407 |
$TwoSinBAngle = 2 * sin(rad($ADCP->{BEAM_ANGLE})); |
5 | 408 |
} |
409 |
||
410 |
# Sign convention: |
|
411 |
# - refer to Coord manual Fig. 3 |
|
412 |
# - v12 is horizontal velocity from beam1 to beam2 |
|
413 |
# - w is +ve upward, regardless of instrument orientation |
|
414 |
||
415 |
if (defined($b1) && defined($b2)) { |
|
416 |
$v12 = ($b1-$b2)/$TwoSinBAngle; |
|
417 |
$w12 = ($b1+$b2)/$TwoCosBAngle; |
|
35
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parents:
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diff
changeset
|
418 |
$w12 *= -1 if ($ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP}); |
5 | 419 |
} |
420 |
if (defined($b3) && defined($b4)) { |
|
36
515b06dae59c
version at end of ECOGIG EN586 cruise
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
35
diff
changeset
|
421 |
$v34 = ($b4-$b3)/$TwoSinBAngle; |
5 | 422 |
$w34 = ($b3+$b4)/$TwoCosBAngle; |
35
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parents:
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diff
changeset
|
423 |
$w34 *= -1 if ($ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP}); |
5 | 424 |
} |
425 |
||
426 |
return ($v12,$w12,$v34,$w34); |
|
427 |
} |
|
428 |
} |
|
429 |
||
0 | 430 |
#====================================================================== |
431 |
# velApplyHdgBias() applies the heading bias, which is used to correct |
|
432 |
# for magnetic declination for data recorded in Earth-coordinates ONLY. |
|
433 |
# Bias correction for beam-coordinate data is done in velInstrumentToEarth() |
|
434 |
#====================================================================== |
|
435 |
||
6 | 436 |
sub velApplyHdgBias(@) |
437 |
{ |
|
35
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
438 |
my($ADCP,$ens,$v1,$v2,$v3,$v4) = @_; |
18 | 439 |
return (undef,undef,undef,undef) |
440 |
unless (defined($v1) && defined($v2) && |
|
35
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
441 |
defined($ADCP->{ENSEMBLE}[$ens]->{HEADING})); |
0 | 442 |
|
35
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parents:
34
diff
changeset
|
443 |
my($sh) = sin(rad(-$ADCP->{HEADING_BIAS})); |
7c394a2d1fc9
before implementing 2nd order coord trans
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parents:
34
diff
changeset
|
444 |
my($ch) = cos(rad(-$ADCP->{HEADING_BIAS})); |
0 | 445 |
|
6 | 446 |
return ( $v1*$ch + $v2*$sh, |
447 |
-$v1*$sh + $v2*$ch, |
|
448 |
$v3 , |
|
449 |
$v4 ); |
|
450 |
} |
|
0 | 451 |
|
452 |
#---------------------------------------------------------------------- |
|
453 |
# Pitch/Roll Functions |
|
454 |
#---------------------------------------------------------------------- |
|
455 |
||
456 |
sub gimbal_pitch($$) # RDI coord trans manual |
|
457 |
{ |
|
5 | 458 |
my($RDI_pitch,$RDI_roll) = @_; |
18 | 459 |
return 'nan' unless defined($RDI_pitch) && defined($RDI_roll); |
5 | 460 |
return deg(atan(tan(rad($RDI_pitch)) * cos(rad($RDI_roll)))); |
0 | 461 |
} |
462 |
||
14 | 463 |
sub RDI_pitch($$) |
464 |
{ |
|
465 |
my($gimbal_pitch,$roll) = @_; |
|
18 | 466 |
return 'nan' unless defined($gimbal_pitch) && defined($roll); |
14 | 467 |
return deg(atan(tan(rad($gimbal_pitch))/cos(rad($roll)))); |
468 |
} |
|
469 |
||
470 |
sub tilt_azimuth($$) |
|
471 |
{ |
|
472 |
my($gimbal_pitch,$roll) = @_; |
|
18 | 473 |
return 'nan' unless defined($gimbal_pitch) && defined($roll); |
14 | 474 |
return angle(deg(atan2(sin(rad($gimbal_pitch)),sin(rad($roll))))); |
475 |
} |
|
476 |
||
18 | 477 |
# - angle from vertical is home grown |
0 | 478 |
# - angle between two unit vectors given by acos(v1 dot v2) |
479 |
# - vertical unit vector v1 = (0 0 1) => dot product = z-component of v2 |
|
480 |
# - when vertical unit vector is pitched in x direction, followed by |
|
481 |
# roll in y direction: |
|
482 |
# x = sin(pitch) |
|
483 |
# y = cos(pitch) * sin(roll) |
|
484 |
# z = cos(pitch) * cos(roll) |
|
485 |
# has been checked with sqrt(x^2+y^2+z^2) == 1 |
|
486 |
# - for small angles, this is very similar to sqrt(pitch^2+roll^2) |
|
487 |
||
488 |
sub angle_from_vertical($$) |
|
489 |
{ |
|
5 | 490 |
my($RDI_pitch,$RDI_roll) = @_; |
18 | 491 |
return 'nan' unless defined($RDI_pitch) && defined($RDI_roll); |
5 | 492 |
my($rad_pitch) = atan(tan(rad($RDI_pitch)) * cos(rad($RDI_roll))); |
493 |
return deg(acos(cos($rad_pitch) * cos(rad($RDI_roll)))); |
|
0 | 494 |
} |
495 |
||
35
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
496 |
#---------------------------------------------------------------------- |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
497 |
# alongBeamDZ(ADCP_dta,ens,beam) => (dz_to_bin1_center,bin_dz) |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
498 |
# - calculate vertical distances: |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
499 |
# - between transducer and bin1 |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
500 |
# - between adjacent bins |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
501 |
# - no soundspeed correction |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
502 |
# - for UL (Fig. 3 Coord Manual): |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
503 |
# b1 = phi + roll b2 = phi - roll |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
504 |
# b3 = phi - pitch b4 = phi + pitch |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
505 |
# - for DL: |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
506 |
# b1 = phi + roll b2 = phi - roll |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
507 |
# b3 = phi + pitch b4 = phi - pitch |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
508 |
#---------------------------------------------------------------------- |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
509 |
|
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
510 |
sub alongBeamDZ($$$) |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
511 |
{ |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
512 |
my($ADCP,$ens,$beam) = @_; |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
513 |
|
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
514 |
my($tilt); # determine tilt of given beam |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
515 |
my($pitch) = $ADCP->{ENSEMBLE}[$ens]->{PITCH}; |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
516 |
my($roll) = $ADCP->{ENSEMBLE}[$ens]->{ROLL}; |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
517 |
if ($beam == 0) { # beam 1 |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
518 |
$tilt = &angle_from_vertical($pitch,$ADCP->{BEAM_ANGLE}+$roll); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
519 |
} elsif ($beam == 1) { # beam 2 |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
520 |
$tilt = &angle_from_vertical($pitch,$ADCP->{BEAM_ANGLE}-$roll); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
521 |
} elsif ($beam == 2) { # beam 3 |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
522 |
$tilt = $ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP} |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
523 |
? &angle_from_vertical($ADCP->{BEAM_ANGLE}-$pitch,$roll) |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
524 |
: &angle_from_vertical($ADCP->{BEAM_ANGLE}+$pitch,$roll); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
525 |
} else { # beam 4 |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
526 |
$tilt = $ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP} |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
527 |
? &angle_from_vertical($ADCP->{BEAM_ANGLE}+$pitch,$roll) |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
528 |
: &angle_from_vertical($ADCP->{BEAM_ANGLE}-$pitch,$roll); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
529 |
} |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
530 |
return ($ADCP->{DISTANCE_TO_BIN1_CENTER}*cos(rad($tilt)), |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
531 |
$ADCP->{BIN_LENGTH}*cos(rad($tilt))); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
532 |
} |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
533 |
|
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
534 |
#---------------------------------------------------------------------- |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
535 |
# binterp(ADCP_dta,ens,bin,ADCP_field) => @interpolated_vals |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
536 |
# - interpolate beam velocities to nominal bin center |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
537 |
# - field can be VELOCITY, ECHO_AMPLITUDE, ... |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
538 |
# |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
539 |
# earthVels(ADCP_dta,ens,bin) => (u,v,w,err_vel) |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
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|
540 |
# BPEarthVels(ADCP_dta,ens,bin) => (v12,w12,v34,w34) |
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changeset
|
541 |
# - new interface (V1.7) |
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|
542 |
#---------------------------------------------------------------------- |
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parents:
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changeset
|
543 |
|
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parents:
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changeset
|
544 |
sub binterp1($$$$$) # interpolate along a single beam |
7c394a2d1fc9
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parents:
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changeset
|
545 |
{ |
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before implementing 2nd order coord trans
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parents:
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changeset
|
546 |
my($ADCP,$ens,$target_dz,$ADCP_field,$beam) = @_; |
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|
547 |
|
7c394a2d1fc9
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parents:
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changeset
|
548 |
my($dz2bin1,$bin_dz) = &alongBeamDZ($ADCP,$ens,$beam); |
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parents:
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|
549 |
my($floor_bin) = int(($target_dz-$dz2bin1) / $bin_dz); |
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parents:
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|
550 |
$floor_bin-- if ($floor_bin == $ADCP->{N_BINS}-1); |
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parents:
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changeset
|
551 |
|
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parents:
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|
552 |
my($y1) = $ADCP->{ENSEMBLE}[$ens]->{$ADCP_field}[$floor_bin][$beam]; |
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parents:
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|
553 |
my($y2) = $ADCP->{ENSEMBLE}[$ens]->{$ADCP_field}[$floor_bin+1][$beam]; |
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parents:
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|
554 |
$y2 = $y1 unless defined($y2); |
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parents:
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changeset
|
555 |
$y1 = $y2 unless defined($y1); |
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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changeset
|
556 |
return undef unless defined($y1); |
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
557 |
|
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parents:
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changeset
|
558 |
my($dz1) = $dz2bin1 + $floor_bin * $bin_dz; |
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parents:
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changeset
|
559 |
my($dz2) = $dz1 + $bin_dz; |
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parents:
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|
560 |
my($ifac) = ($target_dz - $dz1) / ($dz2 - $dz1); |
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parents:
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changeset
|
561 |
die("assertion failed\nifac = $ifac (target_dz = $target_dz, dz1 = $dz1, dz2 = $dz2)") |
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before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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changeset
|
562 |
unless ($ifac>= -0.5 && $ifac<=2); |
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parents:
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changeset
|
563 |
return $y1 + $ifac*($y2-$y1); |
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parents:
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changeset
|
564 |
} |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
565 |
|
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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changeset
|
566 |
sub binterp($$$$) |
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parents:
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changeset
|
567 |
{ |
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parents:
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diff
changeset
|
568 |
my($ADCP,$ens,$target_bin,$ADCP_field) = @_; |
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parents:
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diff
changeset
|
569 |
|
7c394a2d1fc9
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parents:
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changeset
|
570 |
my($crt) = cos(rad($ADCP->{ENSEMBLE}[$ens]->{TILT})); # calc center depth of target bin |
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parents:
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diff
changeset
|
571 |
my($target_dz) = ($ADCP->{DISTANCE_TO_BIN1_CENTER} + $target_bin*$ADCP->{BIN_LENGTH}) * $crt; |
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
572 |
|
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
573 |
return (&binterp1($ADCP,$ens,$target_dz,$ADCP_field,0), # interpolate all four beams |
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parents:
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diff
changeset
|
574 |
&binterp1($ADCP,$ens,$target_dz,$ADCP_field,1), |
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parents:
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diff
changeset
|
575 |
&binterp1($ADCP,$ens,$target_dz,$ADCP_field,2), |
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parents:
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diff
changeset
|
576 |
&binterp1($ADCP,$ens,$target_dz,$ADCP_field,3)); |
7c394a2d1fc9
before implementing 2nd order coord trans
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parents:
34
diff
changeset
|
577 |
} |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
578 |
|
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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changeset
|
579 |
sub earthVels($$$) |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
580 |
{ |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
581 |
my($ADCP,$ens,$bin) = @_; |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
582 |
if ($RDI_Coords::binMapping eq 'linterp') { |
7c394a2d1fc9
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parents:
34
diff
changeset
|
583 |
return velInstrumentToEarth($ADCP,$ens, |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
584 |
velBeamToInstrument($ADCP,$ens, |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
585 |
binterp($ADCP,$ens,$bin,'VELOCITY'))); |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
586 |
} elsif ($RDI_Coords::binMapping eq 'none') { |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
587 |
return velInstrumentToEarth($ADCP,$ens, |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
588 |
velBeamToInstrument($ADCP,$ens, |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
589 |
@{$ADCP->{ENSEMBLE}[$ens]->{VELOCITY}[$bin]})); |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
590 |
} else { |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
591 |
die("earthVels(): unknown bin mapping '$RDI_Coords::binMapping '\n"); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
592 |
} |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
593 |
} |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
594 |
|
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
595 |
sub BPEarthVels($$$) |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
596 |
{ |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
597 |
my($ADCP,$ens,$bin) = @_; |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
598 |
if ($RDI_Coords::binMapping eq 'linterp') { |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
599 |
return velBeamToBPEarth($ADCP,$ens,binterp($ADCP,$ens,$bin,'VELOCITY')); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
600 |
} elsif ($RDI_Coords::binMapping eq 'none') { |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
601 |
return velBeamToBPEarth($ADCP,$ens,@{$ADCP->{ENSEMBLE}[$ens]->{VELOCITY}[$bin]}); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
602 |
} else { |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
603 |
die("BPEarthVels(): unknown bin mapping '$RDI_Coords::binMapping '\n"); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
604 |
} |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
605 |
} |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
606 |
|
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
607 |
#---------------------------------------------------------------------- |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
608 |
|
0 | 609 |
1; |