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<div class="title">magnetic_based_test.c</div> </div>
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<a href="magnetic__based__test_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Copyright (C) 2020 Zakaria Kasmi <zkasmi@inf.fu-berlin.de></span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> * 2020 Freie Universität Berlin</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * This file is subject to the terms and conditions of the GNU Lesser General</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Public License v2.1. See the file LICENSE in the top level directory for more</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * details.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#include <stdio.h></span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#include "<a class="code" href="matrix_8h.html">matrix.h</a>"</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#include "<a class="code" href="vector_8h.html">vector.h</a>"</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#include "<a class="code" href="utils_8h.html">utils.h</a>"</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#include "<a class="code" href="trilateration_8h.html">trilateration.h</a>"</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#include "<a class="code" href="magnetic__based__position_8h.html">magnetic_based_position.h</a>"</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div>
<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="magnetic__based__test_8c.html#a94f4b9ae7750825fc3d332e8f1903f75"> 34</a></span> <span class="keywordtype">void</span> <a class="code" href="magnetic__based__test_8c.html#a94f4b9ae7750825fc3d332e8f1903f75">magnetic_based_test</a>(<span class="keywordtype">void</span>)</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> {</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  puts(<span class="stringliteral">"***************** Magnetic-based system example *****************"</span>);</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_pos_matrix[4][3] = {</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  { 100.395, 16.781, 1.084 }, <span class="comment">//P1</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  { 100.937, 22.941, 1.072 }, <span class="comment">//P2</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  { 106.229, 22.716, 1.064 }, <span class="comment">//P3</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  { 106.3, 16.8, 2.35 } <span class="comment">//P4</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  };</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> true_pos[3] = { 102, 18, 2.308 }; <span class="comment">// is usually unknown // Sensor8a3</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="comment">/* magnetic field strengths to the reference stations */</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> B_vec[4] = { 43.2630, 3.0620, 1.4890, 4.5361 };</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="comment">/* Elevation angles to the reference stations */</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> theta_vec[4] = { 31.3710, 12.4870, 11.7280, 0.5352 };</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  uint8_t ref_point_num = 4;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> r0_vec[ref_point_num];</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">for</span> (uint8_t i = 0; i < ref_point_num; i++) {</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  r0_vec[i] = <a class="code" href="magnetic__based__position_8h.html#a01bb024303e8eb202a19dbd70b291c06">magnetic_based_get_r</a>(B_vec[i],</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <a class="code" href="utils_8h.html#a689d2d3db40d341609423404abc5a23a">utils_to_radian</a>(theta_vec[i]), <a class="code" href="magnetic__based__position_8h.html#a3ee4ec231172a5fd866f72acead15bc4">K_T</a>);</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  }</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="comment">/* estimated position */</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> est_pos[4];</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="trilateration_8h.html#adf749802a4d86c2a97a6bac50d17bfea">trilateration2</a>(ref_point_num, ref_pos_matrix, r0_vec,</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  est_pos, NULL);</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  printf(<span class="stringliteral">"true position = "</span>);</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="vector_8h.html#ab2827264910e858f238868695a92db4b">vector_flex_print</a>(3, true_pos, 5, 4);</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  puts(<span class="stringliteral">""</span>);</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  printf(<span class="stringliteral">"estimated position = "</span>);</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <a class="code" href="vector_8h.html#ab2827264910e858f238868695a92db4b">vector_flex_print</a>(3, &est_pos[1], 5, 7);</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  puts(<span class="stringliteral">""</span>);</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> }</div>
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<div class="ttc" id="avector_8h_html_ab2827264910e858f238868695a92db4b"><div class="ttname"><a href="vector_8h.html#ab2827264910e858f238868695a92db4b">vector_flex_print</a></div><div class="ttdeci">void vector_flex_print(uint32_t length, vector_t arr[], uint8_t before_dot, uint8_t after_dot)</div><div class="ttdoc">Display the values of the vector's elements.</div><div class="ttdef"><b>Definition:</b> <a href="vector_8c_source.html#l00284">vector.c:284</a></div></div>
<div class="ttc" id="atrilateration_8h_html"><div class="ttname"><a href="trilateration_8h.html">trilateration.h</a></div><div class="ttdoc">Implement the trilateration algorithm.</div></div>
<div class="ttc" id="autils_8h_html_a689d2d3db40d341609423404abc5a23a"><div class="ttname"><a href="utils_8h.html#a689d2d3db40d341609423404abc5a23a">utils_to_radian</a></div><div class="ttdeci">double utils_to_radian(double deg_angle)</div><div class="ttdoc">Convert the angle from degrees to radians.</div><div class="ttdef"><b>Definition:</b> <a href="utils_8c_source.html#l00031">utils.c:31</a></div></div>
<div class="ttc" id="amagnetic__based__position_8h_html"><div class="ttname"><a href="magnetic__based__position_8h.html">magnetic_based_position.h</a></div><div class="ttdoc">Functions of of DC-pulsed, magnetic localization system.</div></div>
<div class="ttc" id="amatrix_8h_html"><div class="ttname"><a href="matrix_8h.html">matrix.h</a></div><div class="ttdoc">Matrix computations.</div></div>
<div class="ttc" id="autils_8h_html"><div class="ttname"><a href="utils_8h.html">utils.h</a></div><div class="ttdoc">Utilities for linear algebra.</div></div>
<div class="ttc" id="amagnetic__based__test_8c_html_a94f4b9ae7750825fc3d332e8f1903f75"><div class="ttname"><a href="magnetic__based__test_8c.html#a94f4b9ae7750825fc3d332e8f1903f75">magnetic_based_test</a></div><div class="ttdeci">void magnetic_based_test(void)</div><div class="ttdoc">Example of a magnetic-based localization system.</div><div class="ttdef"><b>Definition:</b> <a href="magnetic__based__test_8c_source.html#l00034">magnetic_based_test.c:34</a></div></div>
<div class="ttc" id="atrilateration_8h_html_adf749802a4d86c2a97a6bac50d17bfea"><div class="ttname"><a href="trilateration_8h.html#adf749802a4d86c2a97a6bac50d17bfea">trilateration2</a></div><div class="ttdeci">void trilateration2(uint8_t anchor_num, matrix_t anchor_pos_matrix[anchor_num][3], matrix_t dist_arr[], matrix_t solution_x1[], matrix_t solution_x2[])</div><div class="ttdoc">Implement the trilateration algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="trilateration_8c_source.html#l00069">trilateration.c:69</a></div></div>
<div class="ttc" id="amagnetic__based__position_8h_html_a3ee4ec231172a5fd866f72acead15bc4"><div class="ttname"><a href="magnetic__based__position_8h.html#a3ee4ec231172a5fd866f72acead15bc4">K_T</a></div><div class="ttdeci">#define K_T</div><div class="ttdoc">The number of turns of the wire.</div><div class="ttdef"><b>Definition:</b> <a href="magnetic__based__position_8h_source.html#l00075">magnetic_based_position.h:75</a></div></div>
<div class="ttc" id="amatrix_8h_html_af38ac6b76d645fea9abd6caeb4d9dd31"><div class="ttname"><a href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a></div><div class="ttdeci">#define matrix_t</div><div class="ttdoc">Define the data type of the matrix elements.</div><div class="ttdef"><b>Definition:</b> <a href="matrix_8h_source.html#l00038">matrix.h:38</a></div></div>
<div class="ttc" id="amagnetic__based__position_8h_html_a01bb024303e8eb202a19dbd70b291c06"><div class="ttname"><a href="magnetic__based__position_8h.html#a01bb024303e8eb202a19dbd70b291c06">magnetic_based_get_r</a></div><div class="ttdeci">matrix_t magnetic_based_get_r(matrix_t B, matrix_t theta, matrix_t k)</div><div class="ttdoc">Computes the distance between a mobile station and a reference stations of a magnet-based localizatio...</div><div class="ttdef"><b>Definition:</b> <a href="magnetic__based__position_8c_source.html#l00166">magnetic_based_position.c:166</a></div></div>
<div class="ttc" id="avector_8h_html"><div class="ttname"><a href="vector_8h.html">vector.h</a></div><div class="ttdoc">Vector computations.</div></div>
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