Android Open Source - Look Inertial Navigation System

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License

The source code is released under:

====================== LOOK! LICENSING TERMS ====================== look! is licensed under the BSD 3-Clause (also known as "BSD New" or "BSD Simplified"), as follows: Copyright (c) 2010-2012, Look...

Java Source Code

/**
*-----------------------------------------------------------------------------
* Copyright (c) 2012, Look! Development Team
* All rights reserved./*w ww . j a v a2  s  .  c  om*/
*
* Distributed under the terms of the BSD Simplified License.
*
* The full license is in the LICENSE file, distributed with this software.
*-----------------------------------------------------------------------------
*/
package es.ucm.look.locationProvider;

import java.util.LinkedList;

/**
 * Calculates the relative distance
 * 
 * @author Jorge Creixell Rojo
 * Based on Indoor Navigation System for Handheld Devices
 * by Manh Hung V. Le, Dimitris Saragas, Nathan Webb
 * 
 */
public class InertialNavigationSystem {
  public static final int MAX_SIZE = 1000;
  public static final float HUMAN_SPEED_WALK = 5000.0f / 3600.0f; // 5km/3600s

  private LinkedList<Motion> motions;

  public InertialNavigationSystem() {
    motions = new LinkedList<Motion>();
  }

  public void reset() {
    if (!motions.isEmpty())
      motions.clear();
    long time = System.currentTimeMillis();
    motions.add(new Motion(time));
  }

  /**
   * Add new motion sample to the queue
   * 
   * @param a
   *            acceleration
   * @param t
   *            time
   */
  public void addMotion() {
    // If the queue is full, remove the first element
    if (motions.size() == MAX_SIZE) {
      motions.removeFirst();
    }
    long time = System.currentTimeMillis();
    float dt = (time - motions.getLast().time) / 1000.0f;
    float[] d = Util.copyArray(motions.getLast().distance);
    Motion current = new Motion(time);
    if (DeviceSensor.isMoving()) {
      // moved distance
      float distance = HUMAN_SPEED_WALK * dt;
      float heading = (float) Math.toRadians(DeviceSensor.getHeading());
      current.distance[0] = d[0] + distance * (float) Math.sin(heading);
      current.distance[1] = d[1] + distance * (float) Math.cos(heading);
    } else {
      current.distance[0] = d[0];
      current.distance[1] = d[1];
    }
    // add the new motion element to the end of the queue
    motions.addLast(current);
  }

  public float[] displacement() {
    float[] d = Util.copyArray(motions.getLast().distance);
    return d;
  }
}

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