comments

Author: BenjaminReenK

app/src/main/java/de/htwberlin/f4/ai/ma/android/sensors/compass/CompassFusion.java

@@ -208,7 +208,7 @@ public void onSensorChanged(SensorEvent sensorEvent) {
             // the normal camera on the backside of the phone points away from the user.
             // if yes, we have to remap the axis.
             // Now the azimuth is calculated relative to the camera(on the backside) / z axis of the phone.
-            // we remap the earth coordinates z axis on the phones y axis and calculate the correct azimuth
+            // we remap the z axis on the y axis and calculate the correct azimuth
             // IMPORTANT: SCREEN MUST POINT TOWARDS USER
             if (Math.abs(pitch) > 70) {
                 SensorManager.remapCoordinateSystem(remapped, SensorManager.AXIS_X, SensorManager.AXIS_Z, remapped);

app/src/main/java/de/htwberlin/f4/ai/ma/android/sensors/compass/CompassSimple.java

@@ -223,7 +223,7 @@ public void onSensorChanged(SensorEvent sensorEvent) {
         // the normal camera on the backside of the phone points away from the user.
         // if yes, we have to remap the axis.
         // Now the azimuth is calculated relative to the camera(on the backside) / z axis of the phone.
-        // we remap the earth coordinates z axis on the phones y axis and calculate the correct azimuth
+        // we remap the z axis on y axis and calculate the correct azimuth
         // IMPORTANT: SCREEN MUST POINT TOWARDS USER
         if (Math.abs(pitch) > 70) {
             SensorManager.remapCoordinateSystem(remapped, SensorManager.AXIS_X, SensorManager.AXIS_Z, remapped);

app/src/main/java/de/htwberlin/f4/ai/ma/measurement/IndoorMeasurement.java

@@ -14,7 +14,7 @@
  *
  * Used to determine the position and handle all sensor stuff
  *
- * Calculate position in cartesian coordinate system
+ * Calculate position in cartesian coordinate system using dead reckoning
  *
  * Author: Benjamin Kneer
  */

app/src/main/java/de/htwberlin/f4/ai/ma/measurement/WKT.java

@@ -3,7 +3,7 @@
 /**
  * WKT Class
  *
- * Used to create transform coordinates <-> WKT String
+ * Used to create / transform coordinates <-> WKT String
  */
 
 public class WKT {

app/src/main/java/de/htwberlin/f4/ai/ma/measurement/modules/variant_a/PositionModuleA.java

@@ -60,20 +60,18 @@ public PositionModuleA(Context context, CalibrationData calibrationData) {
      */
     @Override
     public float[] calculatePosition() {
-
         // calculate new position with these 3 values
-        // altitude = delta z
-        float altitude = altitudeModule.getAltitude();
+        float deltaZ = altitudeModule.getAltitude();
         float distance = distanceModule.getDistance(calibrationData.isStairs());
         float[] orientation = orientationModule.getOrientation();
 
         // beta = azimuth
-        float beta = orientation[0];
+        double beta = orientation[0];
         double sinbeta = Math.sin(Math.toRadians(beta));
         double cosbeta = Math.cos(Math.toRadians(beta));
 
         // calculate inclination angle (alpha)
-        double alpha = Math.asin(altitude / distance);
+        double alpha = Math.asin(deltaZ / distance);
         double cosalpha = Math.cos(alpha);
 
         // calculate delta x and delta y
@@ -82,7 +80,7 @@ public float[] calculatePosition() {
 
         coordinates[0] += deltaX;
         coordinates[1] += deltaY;
-        coordinates[2] += altitude;
+        coordinates[2] += deltaZ;
 
         return coordinates;
     }