author | A.M. Thurnherr <athurnherr@yahoo.com> |
Mon, 23 Feb 2015 09:19:46 +0000 | |
changeset 15 | 3746197831db |
parent 2 | ec6b10ba8a34 |
child 20 | 61b92f8fb463 |
permissions | -rw-r--r-- |
2 | 1 |
%====================================================================== |
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% F I X C O M P A S S . M |
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% doc: Fri Dec 30 14:59:27 2011 |
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% dlm: Sat Dec 31 12:32:47 2011 |
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% (c) 2011 A.M. Thurnherr |
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% uE-Info: 31 92 NIL 0 0 72 0 2 4 NIL ofnI |
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%====================================================================== |
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function [d,p]=fixcompass(d,p) |
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% |
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% fix compass issues |
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% |
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% p.fix_compass=1 apply offset only |
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% p.fix_compass=2 fix up looking compass to down looking compass + offset |
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% p.fix_compass=3 fix down looking compass to up looking compass + offset |
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% |
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% p.hdg_offset will apply a fixed rotation to the compass. In most cases you |
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% will want to set the compass that you trust to 0 and rotate the other one |
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% by the difference in direction between the two beam 3 headings as mounted |
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% on the frame |
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% : [downoffset upoffset] |
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% |
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% once you done this rotup2down gets disabled since I assume you know what the offset was |
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% |
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% M. Visbeck LDEO 2004 |
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% |
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% Changes by ant: |
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% Dec 30, 2011: - BUG: p.fix_compass = 2 and = 3 did not work; bug report and fix |
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% provided by Roman Tarakanov <rtarakanov@gmail.com> today |
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% bug fix verified with PALE data (old code produces garbage results) |
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disp('FIXCOMPASS adjust compass') |
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% use tilt sensors to figure out allingment between instruments |
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diary off |
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hoff2=fminsearch('checktilt',0,[],[d.rol(2,:);d.pit(2,:);d.rol(1,:);d.pit(1,:)]); |
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diary on |
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disp([' mean instrument alignment based on tilt is ',num2str(hoff2),' deg']) |
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[lb,lt]=size(d.ru); |
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if p.fix_compass==2 |
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p=setdefv(p,'hdg_offset',[0 hoff2]); |
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elseif p.fix_compass==3 |
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p=setdefv(p,'hdg_offset',[-hoff2 0]); |
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else |
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p=setdefv(p,'hdg_offset',[0 0]); |
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end |
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p=setdefv(p,'hdg_offset_used',[0 0]); |
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rot=p.hdg_offset; |
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rotv(1,:)=ones(1,lt)*rot(1); |
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disp([' offset down looking compass by : ',num2str(rot(1))]) |
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p.hdg_offset_used(1)=p.hdg_offset_used(1)+rot(1); |
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if p.fix_compass==3 |
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disp(' use up looking compass on down looking ADCP') |
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rotv(1,:)=d.hdg(2,:)-d.hdg(1,:)+rot(1); |
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p.rotup2down=0; |
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end |
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if length(d.izu)>0 |
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rotv(2,:)=ones(1,lt)*rot(2); |
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disp([' offset up looking compass by : ',num2str(rot(2))]) |
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p.hdg_offset_used(2)=p.hdg_offset_used(2)+rot(2); |
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if p.fix_compass==2 |
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disp(' use down looking compass on up looking ADCP') |
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rotv(2,:)=d.hdg(1,:)-d.hdg(2,:)+rot(2); |
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p.rotup2down=0; |
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end |
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end |
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rotm=meshgrid(rotv(1,:),d.izd); |
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[d.ru(d.izd,:),d.rv(d.izd,:)]=uvrot(d.ru(d.izd,:),d.rv(d.izd,:),rotm); |
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if length(rotv(1,:))==size(d.bvel,1) |
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[d.bvel(:,1),d.bvel(:,2)]=uvrot(d.bvel(:,1),d.bvel(:,2),rotv(1,:)'); |
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else |
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[d.bvel(1,:),d.bvel(2,:)]=uvrot(d.bvel(1,:),d.bvel(2,:),rotv(1,:)); |
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end |
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if length(d.izu)>0 |
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rotm=meshgrid(rotv(2,:),d.izu); |
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[d.ru(d.izu,:),d.rv(d.izu,:)]=uvrot(d.ru(d.izu,:),d.rv(d.izu,:),rotm); |
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end |
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