Computes the distance between reference marker and ground marker, up to six pairs of markers. For each pair, distance from reference marker to ground marker plane is computed in the reference frame of the reference marker.
The calculated distance simulates a real height sensor on a vehicle, and takes into account roll and pitch of vehicle. This is done by computing the combined roll-pitch angle for the marker, and dividing the distance in the ground reference plane by cosine of this angle:
theta = asin(sqrt(sin(roll)**2+sin(pitch)**2)) distance = distance_in_ground_reference/cos(theta)
Input:
REQ/id, FUNCTION = USER (1139,imkr1,jmkr1,imkr2,jmkr2,...,imkr6,jmkr6,scale )
where:
| | Description |
|---|
imkr1 | = | i MARKER of MARKER pair 1 |
jmkr1 | = | j MARKER of MARKER pair 1 |
imkr2 | = | i MARKER of MARKER pair 2 (optional) |
jmkr2 | = | j MARKER of MARKER pair 2 (optional) |
imkr6 | = | i MARKER of MARKER pair 6 (optional) |
jmkr6 | = | j MARKER of MARKER pair 6 (optional) |
scale | = | scale factor to be multiplied to the answers (e.g. scale = 1.0 for millimeters and for inches scale = 0.03937) |
Request File Output
Column Number Output:
1. Scaled height sensor distance between imkr1 and jmkr1
2. Scaled height sensor distance between imkr2 and jmkr2
3. Scaled height sensor distance between imkr3 and jmkr3
4. Scaled height sensor distance between imkr4 and jmkr4
5. Scaled height sensor distance between imkr5 and jmkr5
6. Scaled height sensor distance between imkr6 and jmkr6