transform_sensor_bias: Transform sensor bias

In battleVerse/scenarioMaker: Build scenarios for the battleVerse

Transform sensor bias

Description

Sensor systems occasionally have a bias in bearing, range, or altitude, e.g., targets are always 2 degrees clockwise or 10 meters lower in altitude. This function takes sensor data and ownship data given in lat/lon/alt units and transforms the bearing, range, or altitude AS SPECIFIED BY THE USER. Note that this is not an automatic correction. It returns the transformed sensor data in lat/lon/alt units.

Usage

transform_sensor_bias(
  ownShipData,
  sensorData,
  biasBearing = 0,
  biasRange = 0,
  biasAlt = 0
)

Arguments

ownShipData	data frame containing all of the truth position of the sensor system (likely from GPS or land-based radar systems). This may be ownship if testing something on a ship or the lat/lon position of a stationary ststem. MUST have the following columns (but can have more, for example heading and truthID): time: (double) time of measurement. We currently recommend POSIX lon: (double) longitude of target at time of measurement lat: (double) latitude of target at time of measurement alt: (double) altitude of target at time of measurement
sensorData	data frame containing each sensor point for all of the tracks. MUST have the following columns: time: (double) time of measurement. We currently recommend POSIX lon: (double) longitude of target at time of measurement lat: (double) latitude of target at time of measurement alt: (double) altitude of target at time of measurement trackNum: (factor) identifier for the track. We recommend numbers for each unique track returned by the sensor system
biasBearing	(Default = 0) amount to adjust bearing bias, in degrees azimuth. Positive numbers are clockwise, negative are counterclockwise
biasRange	(Default = 0) amount to adjust range bias, in meters. Positive numbers shift sensor points away from sensor system, negative numbers shift sensor points closer to sensor system
biasAlt	(Default = 0) amount to adjust altitude, in meters. Positive numbers shift sensor point to higher altitude, negative numbers shift sensor points to lower altitude

Value

data frame with the lat and lon position of the targets. Variables include:

• time: time of measurement (POSIX)

• trackNum: (factor) name of sensor track. Number is recommended

• lat: latitude (degrees)

• lon: longitude (degrees)

• alt: altitude (meters)

Examples

ownShipData <- example1_ownShipData
sensorData <- example1_sensorData

# Increasing the bearing of each sensor point by 10 degrees (i.e., clockwise)
adj1 <- transform_sensor_bias(ownShipData, sensorData, biasBearing = 10)

# Increasing the range of each sensor point by 3000 meters
adj2 <- transform_sensor_bias(ownShipData, sensorData, biasRange = 3000)

battleVerse/scenarioMaker documentation built on July 16, 2024, 4:21 a.m.