author | A.M. Thurnherr <athurnherr@yahoo.com> |
Mon, 30 May 2016 11:03:57 -0400 | |
changeset 35 | 7c394a2d1fc9 |
parent 34 | 3b4bcd55e1ea |
child 36 | 515b06dae59c |
permissions | -rw-r--r-- |
0 | 1 |
#====================================================================== |
2 |
# R D I _ C O O R D S . P L |
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3 |
# doc: Sun Jan 19 17:57:53 2003 |
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# dlm: Thu May 26 17:40:20 2016 |
0 | 5 |
# (c) 2003 A.M. Thurnherr |
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# uE-Info: 530 14 NIL 0 0 72 2 2 4 NIL ofnI |
0 | 7 |
#====================================================================== |
8 |
||
9 |
# RDI Workhorse Coordinate Transformations |
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10 |
||
11 |
# HISTORY: |
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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 |
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15 |
# Feb 16, 2003: - use pitch correction from RDI manual |
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16 |
# Oct 11, 2003: - BUG: return value of atan() had been interpreted |
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17 |
# as degrees instead of radians |
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18 |
# Feb 27, 2004: - added velApplyHdgBias() |
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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 |
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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() |
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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 |
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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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# Aug 7, 2013: - BUG: &velBeamToBPInstrument did not return any val unless |
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# 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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# May 29, 2014: - BUG: vertical velocity can be calculated even without |
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# heading |
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# - removed some old debug statements |
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# - 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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use strict; |
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use POSIX; |
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my($PI) = 3.14159265358979; |
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sub rad(@) { return $_[0]/180 * $PI; } |
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sub deg(@) { return $_[0]/$PI * 180; } |
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57 |
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#---------------------------------------------------------------------- |
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# Tweakables |
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#---------------------------------------------------------------------- |
0 | 61 |
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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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#---------------------------------------------------------------------- |
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# beam to earth transformation (from RDI coord trans manual) |
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#---------------------------------------------------------------------- |
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$RDI_Coords::threeBeam_1 = 0; # stats from velBeamToInstrument |
0 | 70 |
$RDI_Coords::threeBeam_2 = 0; |
71 |
$RDI_Coords::threeBeam_3 = 0; |
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$RDI_Coords::threeBeam_4 = 0; |
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$RDI_Coords::fourBeam = 0; |
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74 |
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75 |
$RDI_Coords::threeBeamFlag = 0; # flag last transformation |
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76 |
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{ # STATIC SCOPE |
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my(@B2I); |
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79 |
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80 |
sub velBeamToInstrument(@) |
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{ |
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my($ADCP,$ens,$v1,$v2,$v3,$v4) = @_; |
0 | 83 |
return undef unless (defined($v1) + defined($v2) + |
84 |
defined($v3) + defined($v4) |
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>= $RDI_Coords::minValidVels); |
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86 |
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8 | 87 |
unless (@B2I) { |
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my($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) = $ADCP->{CONVEX_BEAM_PATTERN} ? 1 : -1; |
0 | 91 |
my($d) = $a / sqrt(2); |
92 |
@B2I = ([$c*$a, -$c*$a, 0, 0 ], |
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[0, 0, -$c*$a, $c*$a], |
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[$b, $b, $b, $b ], |
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[$d, $d, -$d, -$d ]); |
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} |
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97 |
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98 |
if (!defined($v1)) { # 3-beam solutions |
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$RDI_Coords::threeBeamFlag = 1; |
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$RDI_Coords::threeBeam_1++; |
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$v1 = -($v2*$B2I[3][1]+$v3*$B2I[3][2]+$v4*$B2I[3][3])/$B2I[3][0]; |
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} elsif (!defined($v2)) { |
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$RDI_Coords::threeBeamFlag = 1; |
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$RDI_Coords::threeBeam_2++; |
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$v2 = -($v1*$B2I[3][0]+$v3*$B2I[3][2]+$v4*$B2I[3][3])/$B2I[3][1]; |
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} elsif (!defined($v3)) { |
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$RDI_Coords::threeBeamFlag = 1; |
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$RDI_Coords::threeBeam_3++; |
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$v3 = -($v1*$B2I[3][0]+$v2*$B2I[3][1]+$v4*$B2I[3][3])/$B2I[3][2]; |
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} elsif (!defined($v4)) { |
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$RDI_Coords::threeBeamFlag = 1; |
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$RDI_Coords::threeBeam_4++; |
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$v4 = -($v1*$B2I[3][0]+$v2*$B2I[3][1]+$v3*$B2I[3][2])/$B2I[3][3]; |
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} else { |
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$RDI_Coords::threeBeamFlag = 0; |
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$RDI_Coords::fourBeam++; |
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} |
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119 |
return ($v1*$B2I[0][0]+$v2*$B2I[0][1], |
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$v3*$B2I[1][2]+$v4*$B2I[1][3], |
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$v1*$B2I[2][0]+$v2*$B2I[2][1]+$v3*$B2I[2][2]+$v4*$B2I[2][3], |
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$v1*$B2I[3][0]+$v2*$B2I[3][1]+$v3*$B2I[3][2]+$v4*$B2I[3][3]); |
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} |
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} # STATIC SCOPE |
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{ # STATIC SCOPE |
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my($hdg,$pitch,$roll,@I2E); |
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sub velInstrumentToEarth(@) |
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{ |
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my($ADCP,$ens,$v1,$v2,$v3,$v4) = @_; |
0 | 132 |
return undef unless (defined($v1) && defined($v2) && |
18 | 133 |
defined($v3) && defined($v4) && |
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defined($ADCP->{ENSEMBLE}[$ens]->{PITCH}) && |
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defined($ADCP->{ENSEMBLE}[$ens]->{ROLL})); |
0 | 136 |
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137 |
unless (@I2E && |
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$pitch == $ADCP->{ENSEMBLE}[$ens]->{PITCH} && |
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$roll == $ADCP->{ENSEMBLE}[$ens]->{ROLL}) { |
0 | 140 |
printf(STDERR "$0: warning HEADING_ALIGNMENT == %g ignored\n", |
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$ADCP->{HEADING_ALIGNMENT}) |
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if ($ADCP->{HEADING_ALIGNMENT}); |
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$hdg = $ADCP->{ENSEMBLE}[$ens]->{HEADING} - $ADCP->{HEADING_BIAS} |
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if defined($ADCP->{ENSEMBLE}[$ens]->{HEADING}); |
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145 |
$pitch = $ADCP->{ENSEMBLE}[$ens]->{PITCH}; |
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146 |
$roll = $ADCP->{ENSEMBLE}[$ens]->{ROLL}; |
0 | 147 |
my($rad_gimbal_pitch) = atan(tan(rad($pitch)) * cos(rad($roll))); |
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148 |
my($sh,$ch) = (sin(rad($hdg)),cos(rad($hdg))) |
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149 |
if defined($hdg); |
0 | 150 |
my($sp,$cp) = (sin($rad_gimbal_pitch),cos($rad_gimbal_pitch)); |
151 |
my($sr,$cr) = (sin(rad($roll)), cos(rad($roll))); |
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@I2E = $ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP} |
0 | 153 |
? ( |
154 |
[-$ch*$cr-$sh*$sp*$sr, $sh*$cp,-$ch*$sr+$sh*$sp*$cr], |
|
155 |
[-$ch*$sp*$sr+$sh*$cr, $ch*$cp, $sh*$sr+$ch*$sp*$cr], |
|
156 |
[+$cp*$sr, $sp, -$cp*$cr, ], |
|
157 |
) : ( |
|
158 |
[$ch*$cr+$sh*$sp*$sr, $sh*$cp, $ch*$sr-$sh*$sp*$cr], |
|
159 |
[$ch*$sp*$sr-$sh*$cr, $ch*$cp,-$sh*$sr-$ch*$sp*$cr], |
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160 |
[-$cp*$sr, $sp, $cp*$cr, ], |
|
161 |
); |
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162 |
} |
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return defined($ADCP->{ENSEMBLE}[$ens]->{HEADING}) |
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? ($v1*$I2E[0][0]+$v2*$I2E[0][1]+$v3*$I2E[0][2], |
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165 |
$v1*$I2E[1][0]+$v2*$I2E[1][1]+$v3*$I2E[1][2], |
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166 |
$v1*$I2E[2][0]+$v2*$I2E[2][1]+$v3*$I2E[2][2], |
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167 |
$v4) |
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168 |
: (undef,undef, |
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169 |
$v1*$I2E[2][0]+$v2*$I2E[2][1]+$v3*$I2E[2][2], |
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170 |
$v4); |
0 | 171 |
} |
172 |
} # STATIC SCOPE |
|
173 |
||
32 | 174 |
|
175 |
sub velBeamToEarth(@) |
|
176 |
{ |
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my($ADCP,$e,@v) = @_; |
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return velInstrumentToEarth($ADCP,$e,velBeamToInstrument($ADCP,$e,@v)); |
32 | 179 |
} |
180 |
||
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28 | 182 |
#---------------------------------------------------------------------- |
183 |
# velEarthToInstrument() transforms earth to instrument coordinates |
|
184 |
# - based on manually inverted rotation matrix M (Sec 5.6 in coord-trans manual) |
|
32 | 185 |
# - code was verified for both down- and uplookers |
28 | 186 |
# - missing heading data (IMP) causes undef beam velocities |
187 |
#---------------------------------------------------------------------- |
|
188 |
||
189 |
{ # STATIC SCOPE |
|
190 |
my($hdg,$pitch,$roll,@E2I); |
|
191 |
||
192 |
sub velEarthToInstrument(@) |
|
193 |
{ |
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194 |
my($ADCP,$ens,$u,$v,$w,$ev) = @_; |
28 | 195 |
|
32 | 196 |
unless (@E2I && |
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197 |
$pitch == $ADCP->{ENSEMBLE}[$ens]->{PITCH} && |
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198 |
$roll == $ADCP->{ENSEMBLE}[$ens]->{ROLL}) { |
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199 |
$hdg = $ADCP->{ENSEMBLE}[$ens]->{HEADING} - $ADCP->{HEADING_BIAS} |
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200 |
if defined($ADCP->{ENSEMBLE}[$ens]->{HEADING}); |
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201 |
$pitch = $ADCP->{ENSEMBLE}[$ens]->{PITCH}; |
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202 |
$roll = $ADCP->{ENSEMBLE}[$ens]->{ROLL}; |
28 | 203 |
my($rad_gimbal_pitch) = atan(tan(rad($pitch)) * cos(rad($roll))); |
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204 |
my($useRoll) = ($ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP}) ? $roll+180 : $roll; |
28 | 205 |
my($sh,$ch) = (sin(rad($hdg)),cos(rad($hdg))) |
206 |
if defined($hdg); |
|
207 |
my($sp,$cp) = (sin($rad_gimbal_pitch),cos($rad_gimbal_pitch)); |
|
32 | 208 |
my($sr,$cr) = (sin(rad($useRoll)), cos(rad($useRoll))); |
209 |
@E2I = ([$ch*$cr+$sh*$sp*$sr, $ch*$sp*$sr-$sh*$cr, -$cp*$sr], # M^-1 = R^-1 * P^-1 * R^-1 |
|
210 |
[$sh*$cp, $ch*$cp, $sp ], |
|
211 |
[$ch*$sr-$sh*$sp*$cr, -$sh*$sr-$ch*$sp*$cr, $cp*$cr]); |
|
28 | 212 |
} |
213 |
||
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214 |
return defined($ADCP->{ENSEMBLE}[$ens]->{HEADING}) |
28 | 215 |
? ($u*$E2I[0][0]+$v*$E2I[0][1]+$w*$E2I[0][2], |
216 |
$u*$E2I[1][0]+$v*$E2I[1][1]+$w*$E2I[1][2], |
|
217 |
$u*$E2I[2][0]+$v*$E2I[2][1]+$w*$E2I[2][2], |
|
218 |
$ev) |
|
219 |
: (undef,undef,undef,undef); |
|
220 |
||
221 |
} |
|
222 |
} # STATIC SCOPE |
|
223 |
||
224 |
#---------------------------------------------------------------------- |
|
225 |
# velInstrumentToBeam() transforms instrument to beam coordinates |
|
226 |
# - based on manually solved eq system in sec 5.3 of coord manual |
|
227 |
# - does not implement bin-remapping |
|
228 |
# - does not work for 3-beam solutions, as it is not known which |
|
229 |
# beam was bad |
|
230 |
#---------------------------------------------------------------------- |
|
231 |
||
232 |
{ # STATIC SCOPE |
|
233 |
my($a,$b,$c,$d); |
|
234 |
||
235 |
sub velInstrumentToBeam(@) |
|
236 |
{ |
|
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237 |
my($ADCP,$x,$y,$z,$ev) = @_; |
28 | 238 |
return undef unless (defined($x) + defined($y) + |
239 |
defined($z) + defined($ev) == 4); |
|
240 |
||
241 |
unless (defined($a)) { |
|
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242 |
$a = 1 / (2 * sin(rad($ADCP->{BEAM_ANGLE}))); |
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243 |
$b = 1 / (4 * cos(rad($ADCP->{BEAM_ANGLE}))); |
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244 |
$c = $ADCP->{CONVEX_BEAM_PATTERN} ? 1 : -1; |
28 | 245 |
$d = $a / sqrt(2); |
246 |
} |
|
247 |
||
248 |
return ( $x/(2*$a*$c) + $z/(4*$b) + $ev/(4*$d), |
|
249 |
-$x/(2*$a*$c) + $z/(4*$b) + $ev/(4*$d), |
|
250 |
-$y/(2*$a*$c) + $z/(4*$b) - $ev/(4*$d), |
|
251 |
$y/(2*$a*$c) + $z/(4*$b) - $ev/(4*$d)); |
|
252 |
||
253 |
} |
|
254 |
} # STATIC SCOPE |
|
255 |
||
31 | 256 |
#---------------------------------------------------------------------- |
257 |
# velEarthToBeam() combines velEarthToInstrument and velInstrumentToBeam |
|
258 |
#---------------------------------------------------------------------- |
|
259 |
||
260 |
sub velEarthToBeam(@) |
|
261 |
{ |
|
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|
262 |
my($ADCP,$ens,$u,$v,$w,$ev) = @_; |
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263 |
return velInstrumentToBeam($ADCP, |
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264 |
velEarthToInstrument($ADCP,$ens,$u,$v,$w,$ev)); |
31 | 265 |
} |
266 |
||
0 | 267 |
#====================================================================== |
5 | 268 |
# velBeamToBPEarth(@) calculates the vertical- and horizontal vels |
0 | 269 |
# from the two beam pairs separately. Note that (w1+w2)/2 is |
270 |
# identical to the w estimated according to RDI without 3-beam |
|
271 |
# solutions. |
|
272 |
#====================================================================== |
|
273 |
||
274 |
{ # STATIC SCOPE |
|
275 |
my($TwoCosBAngle,$TwoSinBAngle); |
|
276 |
||
277 |
sub velBeamToBPEarth(@) |
|
278 |
{ |
|
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279 |
my($ADCP,$ens,$b1,$b2,$b3,$b4) = @_; |
0 | 280 |
my($v12,$w12,$v34,$w34); |
281 |
||
18 | 282 |
return (undef,undef,undef,undef) |
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|
283 |
unless (defined($ADCP->{ENSEMBLE}[$ens]->{PITCH}) && |
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|
284 |
defined($ADCP->{ENSEMBLE}[$ens]->{ROLL})); |
18 | 285 |
|
0 | 286 |
unless (defined($TwoCosBAngle)) { |
35
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|
287 |
$TwoCosBAngle = 2 * cos(rad($ADCP->{BEAM_ANGLE})); |
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|
288 |
$TwoSinBAngle = 2 * sin(rad($ADCP->{BEAM_ANGLE})); |
0 | 289 |
} |
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|
290 |
my($roll) = rad($ADCP->{ENSEMBLE}[$ens]->{ROLL}); |
0 | 291 |
my($sr) = sin($roll); my($cr) = cos($roll); |
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292 |
my($pitch) = atan(tan(rad($ADCP->{ENSEMBLE}[$ens]->{PITCH})) * $cr); # gimbal pitch |
0 | 293 |
my($sp) = sin($pitch); my($cp) = cos($pitch); |
294 |
||
295 |
# Sign convention: |
|
296 |
# - refer to Coord manual Fig. 3 |
|
297 |
# - v12 is horizontal velocity from beam1 to beam2, i.e. westward for upward-looking ADCP |
|
298 |
# with beam 3 pointing north (heading = 0) |
|
299 |
# - w is +ve upward, regardless of instrument orientation |
|
300 |
||
301 |
my($v12_ic) = ($b1-$b2)/$TwoSinBAngle; # instrument coords with w vertical up |
|
302 |
my($w12_ic) = ($b1+$b2)/$TwoCosBAngle; |
|
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|
303 |
$w12_ic *= -1 if ($ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP}); |
0 | 304 |
my($v34_ic) = ($b3-$b4)/$TwoSinBAngle; |
305 |
my($w34_ic) = ($b3+$b4)/$TwoCosBAngle; |
|
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|
306 |
$w34_ic *= -1 if ($ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP}); |
0 | 307 |
|
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|
308 |
if ($ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP}) { # beampair Earth coords |
0 | 309 |
$w12 = $w12_ic*$cr + $v12_ic*$sr - $v34_ic*$sp; |
310 |
$v12 = $v12_ic*$cr - $w12_ic*$sr + $w34_ic*$sp; |
|
311 |
$w34 = $w34_ic*$cp - $v34_ic*$sp + $v12_ic*$sr; |
|
312 |
$v34 = $v34_ic*$cp + $w34_ic*$sp - $w12_ic*$sr; |
|
313 |
} else { |
|
314 |
$w12 = $w12_ic*$cr - $v12_ic*$sr - $v34_ic*$sp; |
|
315 |
$v12 = $v12_ic*$cr + $w12_ic*$sr + $w34_ic*$sp; |
|
316 |
$w34 = $w34_ic*$cp - $v34_ic*$sp - $v12_ic*$sr; |
|
317 |
$v34 = $v34_ic*$cp + $w34_ic*$sp + $w12_ic*$sr; |
|
318 |
} |
|
319 |
||
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diff
changeset
|
320 |
$v12=$w12=undef unless (defined($b1) && defined($b2)); |
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changeset
|
321 |
$v34=$w34=undef unless (defined($b3) && defined($b4)); |
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|
322 |
|
0 | 323 |
return ($v12,$w12,$v34,$w34); |
324 |
} |
|
325 |
} |
|
326 |
||
5 | 327 |
#=================================================================== |
328 |
# velBeamToBPInstrument(@) calculates the instrument-coordinate vels |
|
329 |
# from the two beam pairs separately. |
|
330 |
#=================================================================== |
|
331 |
||
332 |
{ # STATIC SCOPE |
|
333 |
my($TwoCosBAngle,$TwoSinBAngle); |
|
334 |
||
335 |
sub velBeamToBPInstrument(@) |
|
336 |
{ |
|
35
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diff
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|
337 |
my($ADCP,$ens,$b1,$b2,$b3,$b4) = @_; |
5 | 338 |
my($v12,$w12,$v34,$w34); |
339 |
||
18 | 340 |
return (undef,undef,undef,undef) |
35
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diff
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|
341 |
unless (defined($ADCP->{ENSEMBLE}[$ens]->{PITCH}) && |
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parents:
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diff
changeset
|
342 |
defined($ADCP->{ENSEMBLE}[$ens]->{ROLL})); |
18 | 343 |
|
5 | 344 |
unless (defined($TwoCosBAngle)) { |
35
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parents:
34
diff
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|
345 |
$TwoCosBAngle = 2 * cos(rad($ADCP->{BEAM_ANGLE})); |
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diff
changeset
|
346 |
$TwoSinBAngle = 2 * sin(rad($ADCP->{BEAM_ANGLE})); |
5 | 347 |
} |
348 |
||
349 |
# Sign convention: |
|
350 |
# - refer to Coord manual Fig. 3 |
|
351 |
# - v12 is horizontal velocity from beam1 to beam2 |
|
352 |
# - w is +ve upward, regardless of instrument orientation |
|
353 |
||
354 |
if (defined($b1) && defined($b2)) { |
|
355 |
$v12 = ($b1-$b2)/$TwoSinBAngle; |
|
356 |
$w12 = ($b1+$b2)/$TwoCosBAngle; |
|
35
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diff
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|
357 |
$w12 *= -1 if ($ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP}); |
5 | 358 |
} |
359 |
if (defined($b3) && defined($b4)) { |
|
360 |
$v34 = ($b3-$b4)/$TwoSinBAngle; |
|
361 |
$w34 = ($b3+$b4)/$TwoCosBAngle; |
|
35
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parents:
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diff
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|
362 |
$w34 *= -1 if ($ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP}); |
5 | 363 |
} |
364 |
||
365 |
return ($v12,$w12,$v34,$w34); |
|
366 |
} |
|
367 |
} |
|
368 |
||
0 | 369 |
#====================================================================== |
370 |
# velApplyHdgBias() applies the heading bias, which is used to correct |
|
371 |
# for magnetic declination for data recorded in Earth-coordinates ONLY. |
|
372 |
# Bias correction for beam-coordinate data is done in velInstrumentToEarth() |
|
373 |
#====================================================================== |
|
374 |
||
6 | 375 |
sub velApplyHdgBias(@) |
376 |
{ |
|
35
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34
diff
changeset
|
377 |
my($ADCP,$ens,$v1,$v2,$v3,$v4) = @_; |
18 | 378 |
return (undef,undef,undef,undef) |
379 |
unless (defined($v1) && defined($v2) && |
|
35
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parents:
34
diff
changeset
|
380 |
defined($ADCP->{ENSEMBLE}[$ens]->{HEADING})); |
0 | 381 |
|
35
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diff
changeset
|
382 |
my($sh) = sin(rad(-$ADCP->{HEADING_BIAS})); |
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parents:
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|
383 |
my($ch) = cos(rad(-$ADCP->{HEADING_BIAS})); |
0 | 384 |
|
6 | 385 |
return ( $v1*$ch + $v2*$sh, |
386 |
-$v1*$sh + $v2*$ch, |
|
387 |
$v3 , |
|
388 |
$v4 ); |
|
389 |
} |
|
0 | 390 |
|
391 |
#---------------------------------------------------------------------- |
|
392 |
# Pitch/Roll Functions |
|
393 |
#---------------------------------------------------------------------- |
|
394 |
||
395 |
sub gimbal_pitch($$) # RDI coord trans manual |
|
396 |
{ |
|
5 | 397 |
my($RDI_pitch,$RDI_roll) = @_; |
18 | 398 |
return 'nan' unless defined($RDI_pitch) && defined($RDI_roll); |
5 | 399 |
return deg(atan(tan(rad($RDI_pitch)) * cos(rad($RDI_roll)))); |
0 | 400 |
} |
401 |
||
14 | 402 |
sub RDI_pitch($$) |
403 |
{ |
|
404 |
my($gimbal_pitch,$roll) = @_; |
|
18 | 405 |
return 'nan' unless defined($gimbal_pitch) && defined($roll); |
14 | 406 |
return deg(atan(tan(rad($gimbal_pitch))/cos(rad($roll)))); |
407 |
} |
|
408 |
||
409 |
sub tilt_azimuth($$) |
|
410 |
{ |
|
411 |
my($gimbal_pitch,$roll) = @_; |
|
18 | 412 |
return 'nan' unless defined($gimbal_pitch) && defined($roll); |
14 | 413 |
return angle(deg(atan2(sin(rad($gimbal_pitch)),sin(rad($roll))))); |
414 |
} |
|
415 |
||
18 | 416 |
# - angle from vertical is home grown |
0 | 417 |
# - angle between two unit vectors given by acos(v1 dot v2) |
418 |
# - vertical unit vector v1 = (0 0 1) => dot product = z-component of v2 |
|
419 |
# - when vertical unit vector is pitched in x direction, followed by |
|
420 |
# roll in y direction: |
|
421 |
# x = sin(pitch) |
|
422 |
# y = cos(pitch) * sin(roll) |
|
423 |
# z = cos(pitch) * cos(roll) |
|
424 |
# has been checked with sqrt(x^2+y^2+z^2) == 1 |
|
425 |
# - for small angles, this is very similar to sqrt(pitch^2+roll^2) |
|
426 |
||
427 |
sub angle_from_vertical($$) |
|
428 |
{ |
|
5 | 429 |
my($RDI_pitch,$RDI_roll) = @_; |
18 | 430 |
return 'nan' unless defined($RDI_pitch) && defined($RDI_roll); |
5 | 431 |
my($rad_pitch) = atan(tan(rad($RDI_pitch)) * cos(rad($RDI_roll))); |
432 |
return deg(acos(cos($rad_pitch) * cos(rad($RDI_roll)))); |
|
0 | 433 |
} |
434 |
||
35
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diff
changeset
|
435 |
#---------------------------------------------------------------------- |
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diff
changeset
|
436 |
# alongBeamDZ(ADCP_dta,ens,beam) => (dz_to_bin1_center,bin_dz) |
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diff
changeset
|
437 |
# - calculate vertical distances: |
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diff
changeset
|
438 |
# - between transducer and bin1 |
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diff
changeset
|
439 |
# - between adjacent bins |
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diff
changeset
|
440 |
# - no soundspeed correction |
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diff
changeset
|
441 |
# - for UL (Fig. 3 Coord Manual): |
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diff
changeset
|
442 |
# b1 = phi + roll b2 = phi - roll |
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diff
changeset
|
443 |
# b3 = phi - pitch b4 = phi + pitch |
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diff
changeset
|
444 |
# - for DL: |
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diff
changeset
|
445 |
# b1 = phi + roll b2 = phi - roll |
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diff
changeset
|
446 |
# b3 = phi + pitch b4 = phi - pitch |
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parents:
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diff
changeset
|
447 |
#---------------------------------------------------------------------- |
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diff
changeset
|
448 |
|
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diff
changeset
|
449 |
sub alongBeamDZ($$$) |
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diff
changeset
|
450 |
{ |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
451 |
my($ADCP,$ens,$beam) = @_; |
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
452 |
|
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parents:
34
diff
changeset
|
453 |
my($tilt); # determine tilt of given beam |
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changeset
|
454 |
my($pitch) = $ADCP->{ENSEMBLE}[$ens]->{PITCH}; |
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parents:
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diff
changeset
|
455 |
my($roll) = $ADCP->{ENSEMBLE}[$ens]->{ROLL}; |
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parents:
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diff
changeset
|
456 |
if ($beam == 0) { # beam 1 |
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
457 |
$tilt = &angle_from_vertical($pitch,$ADCP->{BEAM_ANGLE}+$roll); |
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parents:
34
diff
changeset
|
458 |
} elsif ($beam == 1) { # beam 2 |
7c394a2d1fc9
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parents:
34
diff
changeset
|
459 |
$tilt = &angle_from_vertical($pitch,$ADCP->{BEAM_ANGLE}-$roll); |
7c394a2d1fc9
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parents:
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diff
changeset
|
460 |
} elsif ($beam == 2) { # beam 3 |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
461 |
$tilt = $ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP} |
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parents:
34
diff
changeset
|
462 |
? &angle_from_vertical($ADCP->{BEAM_ANGLE}-$pitch,$roll) |
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parents:
34
diff
changeset
|
463 |
: &angle_from_vertical($ADCP->{BEAM_ANGLE}+$pitch,$roll); |
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parents:
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diff
changeset
|
464 |
} else { # beam 4 |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
465 |
$tilt = $ADCP->{ENSEMBLE}[$ens]->{XDUCER_FACING_UP} |
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
466 |
? &angle_from_vertical($ADCP->{BEAM_ANGLE}+$pitch,$roll) |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
467 |
: &angle_from_vertical($ADCP->{BEAM_ANGLE}-$pitch,$roll); |
7c394a2d1fc9
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parents:
34
diff
changeset
|
468 |
} |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
469 |
return ($ADCP->{DISTANCE_TO_BIN1_CENTER}*cos(rad($tilt)), |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
470 |
$ADCP->{BIN_LENGTH}*cos(rad($tilt))); |
7c394a2d1fc9
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parents:
34
diff
changeset
|
471 |
} |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
472 |
|
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
473 |
#---------------------------------------------------------------------- |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
474 |
# binterp(ADCP_dta,ens,bin,ADCP_field) => @interpolated_vals |
7c394a2d1fc9
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parents:
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diff
changeset
|
475 |
# - interpolate beam velocities to nominal bin center |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
476 |
# - field can be VELOCITY, ECHO_AMPLITUDE, ... |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
477 |
# |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
478 |
# earthVels(ADCP_dta,ens,bin) => (u,v,w,err_vel) |
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parents:
34
diff
changeset
|
479 |
# BPEarthVels(ADCP_dta,ens,bin) => (v12,w12,v34,w34) |
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
480 |
# - new interface (V1.7) |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
481 |
#---------------------------------------------------------------------- |
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parents:
34
diff
changeset
|
482 |
|
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
483 |
sub binterp1($$$$$) # interpolate along a single beam |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
484 |
{ |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
485 |
my($ADCP,$ens,$target_dz,$ADCP_field,$beam) = @_; |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
486 |
|
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
487 |
my($dz2bin1,$bin_dz) = &alongBeamDZ($ADCP,$ens,$beam); |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
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diff
changeset
|
488 |
my($floor_bin) = int(($target_dz-$dz2bin1) / $bin_dz); |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
489 |
$floor_bin-- if ($floor_bin == $ADCP->{N_BINS}-1); |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
490 |
|
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
491 |
my($y1) = $ADCP->{ENSEMBLE}[$ens]->{$ADCP_field}[$floor_bin][$beam]; |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
492 |
my($y2) = $ADCP->{ENSEMBLE}[$ens]->{$ADCP_field}[$floor_bin+1][$beam]; |
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
493 |
$y2 = $y1 unless defined($y2); |
7c394a2d1fc9
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A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
494 |
$y1 = $y2 unless defined($y1); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
495 |
return undef unless defined($y1); |
7c394a2d1fc9
before implementing 2nd order coord trans
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 |
my($dz1) = $dz2bin1 + $floor_bin * $bin_dz; |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
498 |
my($dz2) = $dz1 + $bin_dz; |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
499 |
my($ifac) = ($target_dz - $dz1) / ($dz2 - $dz1); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
500 |
die("assertion failed\nifac = $ifac (target_dz = $target_dz, dz1 = $dz1, dz2 = $dz2)") |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
501 |
unless ($ifac>= -0.5 && $ifac<=2); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
502 |
return $y1 + $ifac*($y2-$y1); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
503 |
} |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
504 |
|
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
505 |
sub binterp($$$$) |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
506 |
{ |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
507 |
my($ADCP,$ens,$target_bin,$ADCP_field) = @_; |
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 |
my($crt) = cos(rad($ADCP->{ENSEMBLE}[$ens]->{TILT})); # calc center depth of target bin |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
510 |
my($target_dz) = ($ADCP->{DISTANCE_TO_BIN1_CENTER} + $target_bin*$ADCP->{BIN_LENGTH}) * $crt; |
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 |
return (&binterp1($ADCP,$ens,$target_dz,$ADCP_field,0), # interpolate all four beams |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
513 |
&binterp1($ADCP,$ens,$target_dz,$ADCP_field,1), |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
514 |
&binterp1($ADCP,$ens,$target_dz,$ADCP_field,2), |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
515 |
&binterp1($ADCP,$ens,$target_dz,$ADCP_field,3)); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
516 |
} |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
517 |
|
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
518 |
sub earthVels($$$) |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
519 |
{ |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
520 |
my($ADCP,$ens,$bin) = @_; |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
521 |
if ($RDI_Coords::binMapping eq 'linterp') { |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
522 |
return velInstrumentToEarth($ADCP,$ens, |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
523 |
velBeamToInstrument($ADCP,$ens, |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
524 |
binterp($ADCP,$ens,$bin,'VELOCITY'))); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
525 |
} elsif ($RDI_Coords::binMapping eq 'none') { |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
526 |
return velInstrumentToEarth($ADCP,$ens, |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
527 |
velBeamToInstrument($ADCP,$ens, |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
528 |
@{$ADCP->{ENSEMBLE}[$ens]->{VELOCITY}[$bin]})); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
529 |
} else { |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
530 |
die("earthVels(): unknown bin mapping '$RDI_Coords::binMapping '\n"); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
531 |
} |
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 |
sub BPEarthVels($$$) |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
535 |
{ |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
536 |
my($ADCP,$ens,$bin) = @_; |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
537 |
if ($RDI_Coords::binMapping eq 'linterp') { |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
538 |
return velBeamToBPEarth($ADCP,$ens,binterp($ADCP,$ens,$bin,'VELOCITY')); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
539 |
} elsif ($RDI_Coords::binMapping eq 'none') { |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
540 |
return velBeamToBPEarth($ADCP,$ens,@{$ADCP->{ENSEMBLE}[$ens]->{VELOCITY}[$bin]}); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
541 |
} else { |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
542 |
die("BPEarthVels(): unknown bin mapping '$RDI_Coords::binMapping '\n"); |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
543 |
} |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
544 |
} |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
545 |
|
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
546 |
#---------------------------------------------------------------------- |
7c394a2d1fc9
before implementing 2nd order coord trans
A.M. Thurnherr <athurnherr@yahoo.com>
parents:
34
diff
changeset
|
547 |
|
0 | 548 |
1; |