ICAROUS
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#include <SafetyBuffers.h>
Static Public Member Functions | |
static double | psiHorizNAC (double relHDist, double relGS, int NACpOwn, int NACvOwn, int NACpIntr, int NACvIntr, double lambda, double T) |
static double | psiHorizNIC (double relHDist, double relGS, int NICOwn, int NACvOwn, int NICIntr, int NACvIntr, double lambda, double T) |
static double | psiVertNAC (double relVDist, double relVS, int NACpOwn, int NACvOwn, int NACpIntr, int NACvIntr, double lambda, double T) |
static double | psiVertNIC (double relVDist, double relVS, int NICOwn, int NACvOwn, int NICIntr, int NACvIntr, double lambda, double T) |
static double | psi (double relDist, double relV, double ao, double ai, double bo, double bi, double lambda, double T) |
static double | psiH (Vect2 sm, Vect2 vm, double ao, double ai, double bo, double bi, double lambda, double T) |
static double | psiHorizNAC (Position po, Position pi, Velocity vo, Velocity vi, int NACpOwn, int NACvOwn, int NACpIntr, int NACvIntr, double lambda, double T) |
SafetyBuffers class. This computes the psi value (increase in safety buffer size) needed to preserve a given certainty for detection readings, based on relative distance and speed, and data accuracy values.
In general, these functions will fail (give a negative value) if invalid NIC/NAC values are given, or if a NIC/NAC corresponds to an unknown accuracy category for that dimension.
Calculations are based on A. Narkawicz, C. Munoz, H. Herencia-Zapana, G. Hagen. "Formal Verification of Safety Buffers for State-Based Conflict Detection."
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Calculate the increase in a safety buffer in either vertical or horizontal that preserves a given detection accuracy, based on arbitrary measurement accuracy bounds. The overall accuracy is 4-(p0+p1+p2+p3). This uses horizontal distance and ground speed or vertical distance and vertical speed.
relDist | The relative distance between ownship and intruder, at the last good reading (m) |
relV | The relative speed between ownship and intruder, at time of last good reading (m/s) |
ao | accuracy of ownship position information: the reported value is within this distance of the true value with a probability of p0 (m) |
ai | accuracy of intruder position information: the reported value is within this distance of the true value with a probability of p1 (m) |
bo | accuracy of ownship velocity information: the reported value is within this range of the true value with a probability of p2 (m/s) |
bi | accuracy of intruder velocity information: the reported value is within this range of the true value with a probability of p3 (m/s) |
lambda | Time since last good reading (s) |
T | Lookahead time (s) |
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Calculate the increase in a safety buffer in either vertical or horizontal that preserves a given detection accuracy, based on arbitrary measurement accuracy bounds. The overall accuracy is 4-(p0+p1+p2+p3). This uses horizontal distance and ground speed or vertical distance and vertical speed.
sm | The relative horizontal Euclidean positions between ownship and intruder, at the last good reading (m) |
vm | The relative horizontal Euclidean velocities between ownship and intruder, at time of last good reading (m/s) |
ao | accuracy of ownship position information: the reported value is within this distance of the true value with a probability of p0 (m) |
ai | accuracy of intruder position information: the reported value is within this distance of the true value with a probability of p1 (m) |
bo | accuracy of ownship velocity information: the reported value is within this range of the true value with a probability of p2 (m/s) |
bi | accuracy of intruder velocity information: the reported value is within this range of the true value with a probability of p3 (m/s) |
lambda | Time since last good reading (s) |
T | Lookahead time (s) |
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Calculate the increase of horizontal safety buffer size based on NACp values
relHDist | Relative horizontal distance between ownship and intruder at last good reading (m) |
relGS | Relative ground speed between ownship and intruder at last good reading (m/s) |
NACpOwn | Ownship NACp (1-11) |
NACvOwn | Ownship NACv (1-4) |
NACpIntr | Intruder NACp (1-11) |
NACvIntr | Intruder NACv (1-4) |
lambda | Time since last good reading (s) |
T | Lookahead time (s) |
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Calculate the increase of horizontal safety buffer size based on NACp values. If positions are in lat/lon, this uses the projection defined in Projection.getProjection, with the ownship as the origin. This version does not include inaccuracies resulting from the projection. Be sure to call Projection.
po | position of ownship |
pi | position of intruder |
vo | velocity of ownship |
vi | velocity of intruder |
relGS | Relative ground speed between ownship and intruder at last good reading (m/s) |
NACpOwn | Ownship NACp (1-11) |
NACvOwn | Ownship NACv (1-4) |
NACpIntr | Intruder NACp (1-11) |
NACvIntr | Intruder NACv (1-4) |
lambda | Time since last good reading (s) |
T | Lookahead time (s) |
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Calculate the increase of horizontal safety buffer size based on NIC values
relHDist | Relative horizontal distance between ownship and intruder at last good reading (m) |
relGS | Relative ground speed between ownship and intruder at last good reading (m/s) |
NACpOwn | Ownship NIC (1-11) |
NACvOwn | Ownship NACv (1-4) |
NACpIntr | Intruder NIC (1-11) |
NACvIntr | Intruder NACv (1-4) |
lambda | Time since last good reading (s) |
T | Lookahead time (s) |
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Calculate the increase of vertical safety buffer size based on NACp values.
relVDist | Relative vertical distance between ownship and intruder at last good reading (m) |
relVS | Relative vertical speed between ownship and intruder at last good reading (m/s) |
NACpOwn | Ownship NACp (9-11) |
NACvOwn | Ownship NACv (1-4) |
NACpIntr | Intruder NACp (9-11) |
NACvIntr | Intruder NACv (1-4) |
lambda | Time since last good reading (s) |
T | Lookahead time (s) |
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Calculate the increase of vertical safety buffer size based on NIC values.
relVDist | Relative vertical distance between ownship and intruder at last good reading (m) |
relVS | Relative vertical speed between ownship and intruder at last good reading (m/s) |
NACpOwn | Ownship NIC (9-11) |
NACvOwn | Ownship NACv (1-4) |
NACpIntr | Intruder NIC (9-11) |
NACvIntr | Intruder NACv (1-4) |
lambda | Time since last good reading (s) |
T | Lookahead time (s) |