use makefile to create 4antenna_setup
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@ -7,7 +7,9 @@ dist: \
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field_singleleft_time.pdf field_singleleft_time.png \
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field_singleleft_phase.pdf field_singleleft_phase.png \
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field_singlecenter_time.pdf field_singlecenter_time.png \
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field_singlecenter_phase.pdf field_singlecenter_phase.png
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field_singlecenter_phase.pdf field_singlecenter_phase.png \
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antenna_setup_four.pdf antenna_setup_four.png \
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antenna_setup_three.pdf antenna_setup_three.png
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dist-clean:
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rm -v sine_beacon.*
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@ -35,3 +37,9 @@ field_singlecenter_time.%: src/beacon_field.py
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$< --time $@ single-center
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field_singlecenter_phase.%: src/beacon_field.py
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$< --phase $@ single-center
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antenna_setup_four.%: src/four_antenna_setup.py
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$< $@
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antenna_setup_three.%: src/four_antenna_setup.py
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$< --no-extra $@
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@ -16,6 +16,23 @@ from itertools import combinations
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c_light = 3e8 # m/s
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class Antenna:
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"""
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Simple Antenna class
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"""
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def __init__(self,x=0,y=0,z=0,t0=0,name=""):
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self.x = x
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self.y = y
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self.z = z
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self.t = t0
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self.name = name
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def __repr__(self):
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cls = self.__class__.__name__
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return f'{cls}(x={self.x!r},y={self.y!r},z={self.z!r},t0={self.t!r},name={self.name!r})'
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def distance(x1, x2):
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"""
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Calculate the Euclidean distance between two locations x1 and x2
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@ -29,6 +46,7 @@ def distance(x1, x2):
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return np.sqrt( np.sum( (x1-x2)**2 ) )
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def phase_mod(phase, low=np.pi):
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"""
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Modulo phase such that it falls within the
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@ -37,30 +55,14 @@ def phase_mod(phase, low=np.pi):
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return (phase + low) % (2*np.pi) - low
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class Antenna:
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"""
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Simple Antenna class
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"""
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def __init__(self,x=0,y=0,z=0,t0=0,name=""):
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self.x = x
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self.y = y
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self.z = z
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self.t0 = t0
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self.name = name
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self.offsets = []
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def __repr__(self):
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cls = self.__class__.__name__
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return f'{cls}(x={self.x!r},y={self.y!r},z={self.z!r},t0={self.t0!r},name={self.name!r})'
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def antenna_triangles(antennas):
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return combinations(antennas, 3)
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def antenna_baselines(antennas):
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return combinations(antennas, 2)
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def plot_four_antenna_geometry(tx, ants, extra_ant=None, ax=None, line_kwargs={}, scatter_kwargs={}, scatter_zorder=5):
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default_line_kwargs = dict( color='grey', lw=3, alpha=0.7)
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@ -75,8 +77,14 @@ def plot_four_antenna_geometry(tx, ants, extra_ant=None, ax=None, line_kwargs={}
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line_kwargs = {**default_line_kwargs, **line_kwargs}
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scatter_kwargs = {**default_scatter_kwargs, **scatter_kwargs}
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if extra_ant is not None:
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all_ants = ants + [extra_ant]
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else:
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all_ants = ants
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# Plot Antennas + Tx
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for i, ant in enumerate([tx] + ants + [extra_ant]):
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for i, ant in enumerate([tx] + all_ants):
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ax.scatter(ant.x, ant.y, zorder=scatter_zorder, **scatter_kwargs)
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ax.annotate(ant.name, (ant.x, ant.y), ha='center', va='center',zorder=scatter_zorder)
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@ -86,20 +94,21 @@ def plot_four_antenna_geometry(tx, ants, extra_ant=None, ax=None, line_kwargs={}
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ax.plot([tx.x, ant.x], [tx.y, ant.y], **tmp_line_kwargs)
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# Lines due to all Antennas (including extra_ant)
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line_offset = 0.08*np.array([1,1])
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for i, ant_triangle in enumerate(antenna_triangles(ants + [extra_ant])):
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tmp_line_kwargs['color'] = None
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tmp_line_kwargs['linestyle'] = '--'
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tmp_line_kwargs['alpha'] = 0.4
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for j, ant in enumerate(antenna_baselines(ant_triangle)):
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a, b = ant[0], ant[1]
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if j == 1: # fix ordering
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a, b == b, a
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if extra_ant is not None:
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line_offset = 0.08*np.array([1,1])
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for i, ant_triangle in enumerate(antenna_triangles(all_ants)):
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tmp_line_kwargs['color'] = None
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tmp_line_kwargs['linestyle'] = '--'
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tmp_line_kwargs['alpha'] = 0.4
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for j, ant in enumerate(antenna_baselines(ant_triangle)):
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a, b = ant[0], ant[1]
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if j == 1: # fix ordering
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a, b == b, a
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dx, dy = (i-1)*line_offset
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l = ax.plot([ a.x+dx, b.x+dx], [a.y+dy, b.y+dy], **tmp_line_kwargs)
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line_kwargs['color'] = l[0].get_color()
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dx, dy = (i-1)*line_offset
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l = ax.plot([ a.x+dx, b.x+dx], [a.y+dy, b.y+dy], **tmp_line_kwargs)
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line_kwargs['color'] = l[0].get_color()
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# Lines internal to ants triangle
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tmp_line_kwargs = line_kwargs
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@ -114,9 +123,20 @@ def plot_four_antenna_geometry(tx, ants, extra_ant=None, ax=None, line_kwargs={}
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return ax
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if __name__ == "__main__":
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use_phase = False
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correct_time = True
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from argparse import ArgumentParser
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import os.path as path
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import sys
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parser = ArgumentParser(description=__doc__)
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parser.add_argument("fname", metavar="path/to/figure[/]", nargs="?", help="Location for generated figure, will append __file__ if a directory. If not supplied, figure is shown.")
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parser.add_argument("--no-extra", dest='extra', action='store_false', help='Disable the extra (fourth) antenna')
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args = parser.parse_args()
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if args.fname is not None and path.isdir(args.fname):
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args.fname = path.join(args.fname, path.splitext(path.basename(__file__))[0] + ".pdf")
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tx = Antenna(name="T", x=-8, y=2, t0=0)
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@ -126,42 +146,40 @@ if __name__ == "__main__":
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Antenna(name='3', x=1, y= 3, t0=10 ),
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]
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extra_ant = Antenna(name='4', x=4, y=-1, t0=-6)
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if False:#correct_time: # taken from the output of this script
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"""
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Antenna Triangle(1,2,3)
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j=0: 1,2
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j=1: 3,1
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j=2: 2,3
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sigmas: [-2.99999999 9. -6.00000001]
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sigmas sum: -8.881784197001252e-16
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(Antenna(x=0,y=0,z=0,t0=1,name='1'), Antenna(x=2,y=-3,z=0,t0=4,name='2'), Antenna(x=1,y=3,z=0,t0=10,name='3')) : [0. 2.99999999 9. ]
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Antenna Triangle(1,2,4)
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sigmas: [-2.99999999 -7.00000001 10. ]
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sigmas sum: 0.0
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(Antenna(x=0,y=0,z=0,t0=1,name='1'), Antenna(x=2,y=-3,z=0,t0=4,name='2'), Antenna(x=4,y=-1,z=0,t0=-6,name='4')) : [ 0. 2.99999999 -7.00000001]
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Antenna Triangle(1,3,4)
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sigmas: [-9. -7.00000001 16.00000001]
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sigmas sum: 0.0
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(Antenna(x=0,y=0,z=0,t0=1,name='1'), Antenna(x=1,y=3,z=0,t0=10,name='3'), Antenna(x=4,y=-1,z=0,t0=-6,name='4')) : [ 0. 9. -7.00000001]
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Antenna Triangle(2,3,4)
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sigmas: [ -6.00000001 -10. 16.00000001]
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sigmas sum: 0.0
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(Antenna(x=2,y=-3,z=0,t0=4,name='2'), Antenna(x=1,y=3,z=0,t0=10,name='3'), Antenna(x=4,y=-1,z=0,t0=-6,name='4')) : [ 0. 6.00000001 -10.
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"""
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print("Running with pre-corrected times")
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ants[1].t0 -= 2.99999999
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ants[2].t0 -= 9
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extra_ant.t0 -= -7
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if args.extra:
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extra_ant = Antenna(name='4', x=4, y=-1, t0=-6)
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all_ants = ants + [extra_ant]
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else:
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extra_ant = None
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all_ants = ants
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ax = plot_four_antenna_geometry(tx, ants, extra_ant=extra_ant)
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fig = ax.get_figure()
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if args.fname is not None:
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plt.savefig(args.fname)
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else:
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plt.show()
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if True:
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sys.exit(0)
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########################
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### Lol, show my calculations are right
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for i, triangle in enumerate(antenna_triangles(ants + [extra_ant])):
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use_phase = False
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correct_time = True
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if args.extra:
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all_ants = ants + [extra_ant]
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else:
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all_ants = ants
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for ant in enumerate(all_ants):
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ant.offsets = []
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ant.backup_t = []
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for i, triangle in enumerate(antenna_triangles(all_ants)):
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print("Antenna Triangle({},{},{})".format(*[ant.name for ant in triangle]))
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sigma = np.zeros((3))
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@ -169,12 +187,12 @@ if __name__ == "__main__":
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a, b = ant_pair[0], ant_pair[1]
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if j == 1: # fix ordering
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a, b = b, a
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if i == 0: # print sigma pairing for first triangle
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print('j={}: {},{}'.format(j, a.name, b.name))
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phys_Dt = (distance(tx, a) - distance(tx, b))/c_light
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meas_Dt = a.t0 - b.t0
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meas_Dt = a.t - b.t
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if use_phase:
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f_beacon = 50e6 # Hz
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@ -182,25 +200,25 @@ if __name__ == "__main__":
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phys_Dt = to_phase(phys_Dt)
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meas_Dt = to_phase(meas_Dt)
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sigma[j] = meas_Dt - phys_Dt
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if False:
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print(
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"Dt'_{},{} = ".format(a.name, b.name)
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+ "{}".format(meas_Dt)
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+ " = {} - {}".format(a.t0, b.t0)
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+ " = {} - {}".format(a.t, b.t)
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)
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print(
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"Dt_{},{} = ".format(a.name, b.name)
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+ "{}".format(phys_Dt)
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+ " = {} - {}".format(distance(tx, a), distance(tx, b))
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)
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print(
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"sigma_{},{} = ".format(a.name, b.name)
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+ "{}".format(sigma[j])
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)
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print("sigmas:", sigma)
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if use_phase:
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print("sigmas sum:", phase_mod(np.sum(sigma)))
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@ -217,12 +235,9 @@ if __name__ == "__main__":
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for i in [1,2]:
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triangle[i].offsets.append(-ant_sigma[i])
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if correct_time:
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triangle[i].backup_t0 = triangle[i].t0
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triangle[i].t0 += -ant_sigma[i]
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triangle[i].backup_t.append(triangle[i].t)
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triangle[i].t += -ant_sigma[i]
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if correct_time:
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print(ants + [extra_ant])
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for i, ant in enumerate(ants + [extra_ant]):
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for i, ant in enumerate(all_ants):
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print(i, ant.name, ant.offsets)
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plt.show()
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