DeadReckoningLibrary

Dead Reckoning Library

Dead Reckoning Blueprint Function Library. Houses functions for performing dead reckoning.

public class DeadReckoningLibrary

Includes

• GlmSharp
• OpenDis.Dis1998
• System
• UnityEngine

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Members

Access		Type	Name	Description
Private	Static Const	double	ALLOWABLE_FLOATING_POINT_ERROR	The minimum offset a floating point number can have to be approximately equal.
Private	Static Const	double	MIN_ROTATION_RATE	Minimum significant rotation rate = 1deg/5sec.

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Functions

Access		Return	Name	Description
Public	Static	Orientation	CalculateBodyDeadReckonedPosition(dvec3 entityLocation, dvec3 entityLinearVelocity, dvec3 entityLinearAcceleration, dvec3 entityAngularVelocity, Orientation entityOrientation, float deltaTime)	Calculates the new position vector using the given velocity, acceleration, and time increment given in body coordinates
Public	Static	Orientation	CalculateDeadReckonedOrientation(Orientation entityOrientation, dvec3 entityAngularVelocity, float deltaTime)	Calculates the new orientation vector using the given velocity, acceleration, and time increment
Public	Static	dvec3	CalculateDeadReckonedPosition(dvec3 PositionVector, dvec3 VelocityVector, dvec3 AccelerationVector, float DeltaTime)	Calculates the new position vector using the given velocity, acceleration, and time increment
Public	Static	Orientation	CalculateOrientationFromQuaternion(dvec3 AngularVelocity, Quaternion localQuaternion, float deltaTime)	Converts a Quaternion into an OpenDIS Orientation (Psi, Theta, Phi).
Public	Static	dmat3(dvec3 AngularVelocityVector, double DeltaTime)	Calculates and returns the dead reckoning matrix used for calculating entity rotation
Public	Static	Quaternion	CreateDeadReckoningQuaternion(dvec3 AngularVelocityVector, double DeltaTime)	Calculates and returns the dead reckoning quaternion used for calculating entity rotation
Public	Static	bool	DeadReckoning(EntityStatePdu EntityPduToDeadReckon, float DeltaTime, ref EntityStatePdu DeadReckonedPdu)	Performs dead reckoning on the given Entity PDU
Public	Static	byte[]	FormOtherParameters(EDeadReckoningAlgorithm DeadReckoningAlgorithm, Orientation EntityPsiThetaPhiRadians, Vector3Double EntityECEFLocation)	Forms the Other Parameters section utilized in Dead Reckoning Parameters
Public	Static	dmat3	GetEntityOrientationMatrix(Orientation entityOrientation)	Calculates a DIS entity's orientation matrix from the provided Euler angles
Public	Static	Quaternion	GetEntityOrientationQuaternion(double PsiRadians, double ThetaRadians, double PhiRadians)	Calculates a DIS entity's orientation quaternion from the provided Euler angles
Public	Static	bool	GetLocalEulerAngles(byte[] otherParameters, out Orientation localRotation)	Gets the local yaw, pitch, and roll from the other parameters structure. The yaw, pitch, and roll act on the entity's local North, East, Down vectors
Public	Static	bool	GetLocalQuaternionAngles(byte[] otherParameters, out Quaternion localRotation)	Gets the local entity orientation as a quaternion from the dead reckoning other parameters

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Details

ALLOWABLE_FLOATING_POINT_ERROR

private static readonly double ALLOWABLE_FLOATING_POINT_ERROR = 1e-7

The minimum offset a floating point number can have to be approximately equal.

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MIN_ROTATION_RATE

private static readonly double MIN_ROTATION_RATE = 0.2 * Math.PI / 180

Minimum significant rotation rate = 1deg/5sec.

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CalculateBodyDeadReckonedPosition

public static dvec3 CalculateBodyDeadReckonedPosition
(
    dvec3 entityLocation,
    dvec3 entityLinearVelocity,
    dvec3 entityLinearAcceleration,
    dvec3 entityAngularVelocity,
    Orientation entityOrientation,
    float deltaTime
)

Calculates the new position vector using the given velocity, acceleration, and time increment given in body coordinates.

Parameter	Description
entityLocation	The initial position of the entity in body coordinates.
entityLinearVelocity	The initial velocity in body coordinates.
entityLinearAcceleration	The initial linear acceleration in body coordinates.
entityAngularVelocity	The initial angular acceleration in body coordinates.
entityOrientation	The orientation of the entity in radians.
deltaTime	The time increment for dead reckoning calculation.

Returns
The position vector in body coordinates.

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CalculateDeadReckonedOrientation

public static Orientation CalculateDeadReckonedOrientation
(
    Orientation entityOrientation,
    dvec3 entityAngularVelocity,
    float deltaTime
)

Calculates the new orientation vector using the given velocity, acceleration, and time increment.

Parameter	Description
entityOrientation	The rotation about the Z axis in radians
entityAngularVelocity	The rotation about the Y axis in radians
deltaTime	The rotation about the X axis in radians

Returns
The dead reckoning orientation matrix based off the given Entity Orientation and Entity Angular Velocity.

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CalculateDeadReckonedPosition

public static dvec3 CalculateDeadReckonedPosition
(
    dvec3 entityLocation,
    dvec3 entityLinearVelocity,
    dvec3 entityAcceleration,
    float deltaTime
)

Calculates the new position vector using the given velocity, acceleration, and time increment.

Parameter	Description
entityLocation	The initial position of the entity in world coordinates
entityLinearVelocity	The initial velocity in world coordinates
entityAcceleration	The initial acceleration in world coordinates
deltaTime	The time increment for dead reckoning calculation

Returns
The calulated dead reckoned position.

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CalculateOrientationFromQuaternion

public static Orientation CalculateOrientationFromQuaternion
(
    dvec3 AngularVelocity,
    Quaternion localQuaternion,
    float deltaTime
)

Calculates the new position vector using the given velocity, acceleration, and time increment.

Parameter	Description
AngularVelocity	The Entity PDU being dead reckoned.
localQuaternion	The Quaternion to convert into an Orientation (Psi, Theta, Phi).
deltaTime	The time increment for dead reckoning calculation.

Returns
The OpenDIS Orientation.

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CreateDeadReckoningQuaternion

public static Quaternion CreateDeadReckoningQuaternion
(
    dvec3 AngularVelocityVector,
    double DeltaTime
)

Calculates and returns the dead reckoning quaternion used for calculating entity rotation.

Parameter	Description
AngularVelocityVector	The angular velocity vector in body coordinates
DeltaTime	The time increment for dead reckoning calculations

Returns
The dead reckoning quaternion used for calculating entity rotation

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DeadReckoning

public static bool DeadReckoning
(
    EntityStatePdu EntityPduToDeadReckon,
    float DeltaTime,
    ref EntityStatePdu DeadReckonedPdu
)

Performs dead reckoning on the given Entity PDU.

Parameter	Description
EntityPDUToDeadReckon	The Entity State PDU to perform dead reckoning on
DeltaTime	The time elapsed in seconds that dead reckoning should be calculated for
DeadReckonedPdu	The resulting dead reckoned EntityStatePDU that contains all of the dead reckoning information

Returns
True if dead reckoning algorithm is supported and dead reckoning was performed. False otherwise.

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FormOtherParameters

public static byte[] FormOtherParameters
(
    EDeadReckoningAlgorithm DeadReckoningAlgorithm,
    Orientation EntityPsiThetaPhiRadians,
    Vector3Double EntityECEFLocation
)

Forms the Other Parameters section utilized in Dead Reckoning Parameters.

Parameter	Description
DeadReckoningAlgorithm	The dead reckoning algorithm being used
EntityPsiThetaPhiRadians	The Psi, Theta, Phi orientation of the entity
EntityECEFLocation	The ECEF location of the entity

Returns
An array of 15 bytes representing the Other Parameters of the Dead Reckoning PDU

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GetEntityOrientationMatrix

public static dmat3 GetEntityOrientationMatrix
(
    Orientation entityOrientation
)

Calculates a DIS entity's orientation matrix from the provided Euler angles.

Parameter	Description
entityOrientation	The orientation of the entity in radians

Returns
Orientation matrix from the provided Euler angles of a DIS entity

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GetEntityOrientationQuaternion

public static Quaternion GetEntityOrientationQuaternion
(
    double PsiRadians,
    double ThetaRadians,
    double PhiRadians
)

Calculates a DIS entity's orientation quaternion from the provided Euler angles.

Parameter	Description
PsiRadians	The rotation about the Z axis in radians
ThetaRadians	The rotation about the Y axis in radians
PhiRadians	The rotation about the X axis in radians

Returns
A DIS entity's orientation quaternion from the provided Euler angles

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GetLocalEulerAngles

public static bool GetLocalEulerAngles
(
    byte[] otherParameters,
    out Orientation localRotation
)

Gets the local yaw, pitch, and roll from the other parameters structure. The yaw, pitch, and roll act on the entity's local North, East, Down vectors.

Parameter	Description
otherParameters	The 120 bits sent as part of the dead reckoning parameters marked as other parameters sent as an array of bytes
localRotation	The local yaw, pitch, and roll of the entity in radians. Yaw is the heading from true north, positive to the right. Pitch is the elevation angle above or below the local horizon, positive up. Roll is the bank angle from the local horizontal, positive tile to the right

Returns
False if OtherDeadReckoningParameters has a length less than 15 or the Dead Reckoning Parameter Type (OtherDeadReckoningParameters[0]) is not set to 1. True otherwise.

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GetLocalQuaternionAngles

public static bool GetLocalQuaternionAngles
(
    byte[] otherParameters,
    out Quaternion localRotation
)

Gets the local entity orientation as a quaternion from the dead reckoning other parameters.

Parameter	Description
otherParameters	The 120 bits sent as part of the dead reckoning parameters marked as other parameters sent as an array of bytes
localRotation	The four-valued unit quaternion that represents the entity's orientation

Returns
False if OtherDeadReckoningParameters has a length less than 15 or the Dead Reckoning Parameter Type (OtherDeadReckoningParameters[0]) is not set to 2. True otherwise.

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