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cs:hydrophones:trilateration_setup:start [2016/12/14 00:49] Brian Moore |
cs:hydrophones:trilateration_setup:start [2017/09/12 12:42] James Irwin |
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- | ====== Trilateration ====== | + | ====== Trilateration Setup====== |
Below is the math for calculating the location of the pinger in the water relative to our submarine. Because we know the absolute location of the pinger in the pool, we can calculate the sub's position in the pool. | Below is the math for calculating the location of the pinger in the water relative to our submarine. Because we know the absolute location of the pinger in the pool, we can calculate the sub's position in the pool. | ||
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\Delta z = \Delta t_z * c_s \\ | \Delta z = \Delta t_z * c_s \\ | ||
$$ | $$ | ||
- | In other words, $h_x$ is $\Delta x$ meters closer the pinger than $h_0$, and $h_0$ is $p_0$ meters from the pinger. | + | In other words, $h_x$ is $\Delta x$ meters closer to the pinger than $h_0$, and $h_0$ is $p_0$ meters from the pinger. |
The final calculations for $x$, $y$, and $z$ will be in terms of $\Delta x$, $\Delta y$, and $\Delta z$ | The final calculations for $x$, $y$, and $z$ will be in terms of $\Delta x$, $\Delta y$, and $\Delta z$ |