A bunch of UI and formatting changes

README.md

@@ -1,12 +1,12 @@
 # 3lips
 
-Coordinate registration for multi-static radar using ellipse intersections. Not a dating app.
+Target localisation for multi-static radar using ellipse intersections. Not a dating app.
 
 ## Features
 
 - Provides a JSON API for geolocation of targets given [blah2](http://github.com/30hours/blah2) radar nodes.
 - Uses a [CesiumJS](http://github.com/CesiumGS/cesium) web front-end to visualise data.
-- Ability to compare a number of algorithms for coordinate registration.
+- Ability to compare a number of algorithms for target localisation.
 
 ## Usage
 
@@ -27,9 +27,13 @@ The association uses the following algorithm:
 
 - ADS-B associator will associate the highest SNR target within some delay and Doppler boundary around the truth.
 
-The coordinate registration uses 1 of the following algorithms:
+The target localisation uses 1 of the following algorithms:
 
-- 
+- **Ellipse parametric** samples an ellipse (2D) at 0 altitude. Find intersections between 3 or more ellipses such that the distance to each point is under some threshold.
+
+- **Ellipsoid parametric** samples an ellipsoid (3D). Find intersections between 3 or more ellipsoids such that the distance to each point is under some threshold.
+
+- **Spherical intersection** a closed form solution which applies when a common receiver or transmitter are used. As described in [Two Methods for Target Localization in Multistatic Passive Radar](https://ieeexplore.ieee.org/document/6129656).
 
 The system architecture is as follows:
 
@@ -40,7 +44,6 @@ The system architecture is as follows:
 ## Future Work
 
 - Implement an association algorithm that is not reliant on ADS-B truth.
-- Add a variety of methods for solving the ellipse/ellipsoid intersection.
 - Choose to use detection or track data from each radar.
 - Long term plots to show metrics such as 2D location accuracy to ADS-B, number of aircraft tracked, etc.
 

api/main.py

@@ -30,7 +30,7 @@ associators = [
 #   {"name": "Ellipsoid Parametric", "id": "ellipsoid-parametric"},
 #   {"name": "Ellipsoid Parametric (Arc Length)", "id": "ellipsoid-parametric-arc"}
 # ]
-coordregs = [
+localisations = [
   {"name": "Ellipsoid Parametric", "id": "ellipsoid-parametric"}
 ]
 
@@ -49,7 +49,7 @@ message_api_request = Message('event', 6969)
 @app.route("/")
 def index():
     return render_template("index.html", servers=servers, \
-      associators=associators, coordregs=coordregs, adsbs=adsbs)
+      associators=associators, localisations=localisations, adsbs=adsbs)
 
 # serve static files from the /app/public folder
 @app.route('/public/<path:file>')

api/map/main.js

@@ -130,9 +130,17 @@ var viewer = new Cesium.Viewer("cesiumContainer", {
 	terrainProviderViewModels: terrainProviders,
 	geocoder: false,
 	shouldAnimate: true,
+  animation: false,
+  timeline: false,
 	selectionIndicator: false
 });
 
+// keep data attribution, remove CesiumIon logo
+var cesiumCredit = document.querySelector('.cesium-credit-logoContainer');
+if (cesiumCredit) {
+    cesiumCredit.style.display = 'none';
+}
+
 /**
  * @brief Adds a point to Cesium viewer with specified parameters.
  * @param {number} latitude - The latitude of the point in degrees.

api/public/js/index.js

@@ -41,12 +41,12 @@ document.getElementById('buttonMap').addEventListener('click', function() {
   // Get the form values
   var servers = document.querySelectorAll('.toggle-button.active');
   var associator = document.querySelector('[name="associator"]').value;
-  var coordreg = document.querySelector('[name="coordreg"]').value;
+  var localisation = document.querySelector('[name="localisation"]').value;
   var adsb = document.querySelector('[name="adsb"]').value;
 
   // Construct the URL with the form values
   var apiUrl = '?server=' + Array.from(servers).map(server => server.value).join('&server=');
-  var mapUrl = '/map/index.html' + apiUrl + '&associator=' + associator + '&coordreg=' + coordreg + '&adsb=' + adsb;
+  var mapUrl = '/map/index.html' + apiUrl + '&associator=' + associator + '&localisation=' + localisation + '&adsb=' + adsb;
 
   // Redirect to the constructed URL
   window.location.href = mapUrl;

api/templates/index.html

@@ -47,7 +47,7 @@
 <div class="col-md-6">
   <div class="jumbotron">
     <h1 class="display-4 text-center">3lips</h1>
-    <p class="lead">Coordinate registration for multi-static radar using ellipse intersections. Requires input of <a href="https://github.com/30hours/blah2" target="_blank">blah2</a> servers, and choice of algorithm for association and coordinate registration. This program exposes an API endpoint to generate geographic coordinates and a <a href="https://github.com/CesiumGS/cesium" target="_blank">Cesium</a> map for display.</p>
+    <p class="lead">Target localisation for multi-static radar using ellipse intersections. Requires input of <a href="https://github.com/30hours/blah2" target="_blank">blah2</a> servers, and choice of algorithm for association and target localisation. This program exposes an API endpoint to generate geographic coordinates and a <a href="https://github.com/CesiumGS/cesium" target="_blank">Cesium</a> map for display.</p>
     <p class="lead">See <a href="https://github.com/30hours/3lips" target="_blank">github.com/30hours/3lips</a> for more details.</p>
   </div>
   <div class="calculator-form">
@@ -72,10 +72,10 @@
       </div>
 
       <div class="mb-3">
-        <label class="form-label fw-bold">Coordinate Registration:</label>
-        <select class="form-select" name="coordreg">
-          {% for coordreg in coordregs %}
-            <option value="{{ coordreg.id }}">{{ coordreg.name }}</option>
+        <label class="form-label fw-bold">Target Localisation:</label>
+        <select class="form-select" name="localisation">
+          {% for localisation in localisations %}
+            <option value="{{ localisation.id }}">{{ localisation.name }}</option>
           {% endfor %}
         </select>
       </div>

event/algorithm/localisation/EllipsoidParametric.py

@@ -24,15 +24,17 @@ class EllipsoidParametric:
         """
 
         self.ellipsoids = []
+        self.nSamples = 150
+        self.threshold  = 800
 
     def process(self, assoc_detections, radar_data):
 
         """
-        @brief Perform coord registration using the ellipsoid parametric method.
+        @brief Perform target localisation using the ellipsoid parametric method.
         @details Generate a (non arc-length) parametric ellipsoid for each node.
         @param assoc_detections (dict): JSON of blah2 radar detections.
         @param radar_data (dict): JSON of adsb2dd truth detections.
-        @return str: JSON of associated detections.
+        @return dict: Dict of associated detections.
         """
 
         output = {}
@@ -75,13 +77,12 @@ class EllipsoidParametric:
                     radar["radar"]
                   )
 
-                samples = self.sample(ellipsoid, radar["delay"]*1000, 120)
+                samples = self.sample(ellipsoid, radar["delay"]*1000, self.nSamples)
                 target_samples[target][radar["radar"]] = samples
 
             # find close points - ellipsoid 1 = master
             radar_keys = list(target_samples[target].keys())
             samples_intersect = []
-            threshold = 500
 
             # loop points in master ellipsoid
             for point1 in target_samples[target][radar_keys[0]]:
@@ -89,7 +90,7 @@ class EllipsoidParametric:
                 # loop over each other list
                 for i in range(1, len(radar_keys)):
                     # loop points in other list
-                    if not any(Geometry.distance_ecef(point1, point2) < threshold 
+                    if not any(Geometry.distance_ecef(point1, point2) < self.threshold 
                       for point2 in target_samples[target][radar_keys[i]]):
                         valid_point = False
                         break
@@ -124,11 +125,6 @@ class EllipsoidParametric:
         """
 
         # rotation matrix
-        phi = np.pi/2 - ellipsoid.pitch
-        theta = ellipsoid.yaw + np.pi/2
-        phi = np.deg2rad(3.834)
-        theta = -np.deg2rad(-77+90)
-
         phi = ellipsoid.pitch
         theta = ellipsoid.yaw
         R = np.array([

event/event.py

@@ -14,7 +14,7 @@ import json
 import hashlib
 
 from algorithm.associator.AdsbAssociator import AdsbAssociator
-from algorithm.coordreg.EllipsoidParametric import EllipsoidParametric
+from algorithm.localisation.EllipsoidParametric import EllipsoidParametric
 from common.Message import Message
 
 from data.Ellipsoid import Ellipsoid
@@ -94,11 +94,11 @@ async def event():
         print("Error: Associator invalid.")
         return
 
-      # coord reg selection
-      if item["coordreg"] == "ellipsoid-parametric":
-        coordreg = ellipsoidParametric
+      # localisation selection
+      if item["localisation"] == "ellipsoid-parametric":
+        localisation = ellipsoidParametric
       else:
-        print("Error: Coord reg invalid.")
+        print("Error: Localisation invalid.")
         return
 
       # processing
@@ -108,7 +108,7 @@ async def event():
         for key, value in associated_dets.items()
         if isinstance(value, list) and len(value) >= 3
       }
-      localised_dets = coordreg.process(associated_dets_3_radars, radar_dict_item)
+      localised_dets = localisation.process(associated_dets_3_radars, radar_dict_item)
 
       if associated_dets:
         print(associated_dets, flush=True)