33 lines
1.8 KiB
Python
33 lines
1.8 KiB
Python
"""Distance certificates for Q2; does not change Q1's angular polygon model."""
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from math import cos, sin, radians, isfinite
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from .localization import Measurement
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def first_bearing_candidate_disk(measurement: Measurement,
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max_range_m: float = 1500,
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guaranteed_range_m: float = 1000) -> dict:
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"""Enclose the entire truncated first-bearing sector, then erode its disk.
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For half-angle <=45 degrees the sector MEC has center distance and radius
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a=R/(2*cos(delta)). Intersecting with Omega only shrinks the source set.
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A missing sufficient disk is NOT proof that Q is empty. The certificate
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guarantees distance only: directional transmitters may still be invisible.
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"""
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if any(isinstance(v, bool) or not isinstance(v, (int, float)) or not isfinite(v)
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or v <= 0 for v in (max_range_m, guaranteed_range_m)):
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raise ValueError("接收半径必须为有限正数")
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if measurement.half_angle_deg > 45:
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raise ValueError("此窄角域证书仅支持半角不超过45度；题设为1度")
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delta, theta = radians(measurement.half_angle_deg), radians(measurement.bearing_deg % 360)
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a = max_range_m/(2*cos(delta))
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center = [measurement.x+a*cos(theta), measurement.y+a*sin(theta)]
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available = guaranteed_range_m-a
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return {"source_model": "first_bearing_sector_with_range_upper_bound",
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"sector_enclosing_circle": {"center": center, "radius_m": a},
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"sufficient_candidate_disk": {"center": center, "radius_m": available}
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if available >= 0 else None,
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"candidate_nonempty_certified": available >= 0,
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"distance_only": True,
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"max_range_m": max_range_m, "guaranteed_range_m": guaranteed_range_m}
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