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Merge pull request #10 from desiderr/vel3dk
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Corrected VEL3D-K DPA
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@danmergens
danmergens authored Feb 14, 2019
2 parents aa3bc25 + d97166d commit 7afbf5b
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8 changes: 6 additions & 2 deletions RELEASE_NOTES.md
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@@ -1,8 +1,12 @@
# Release 2.4.1 2018-12-11
# Development Release 2.4.2 2019-02-14

Issue #13461 - corrected VEL3D-K data product algorithm.

# Development Release 2.4.1 2018-12-11

PCO2W corrections

# Release 2.4.0 2018-05-18
# Development Release 2.4.0 2018-05-18

Issue #13276 - make stuck test handle invalid arguments
- Use the absolute value of num parameter if it is negative
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126 changes: 110 additions & 16 deletions ion_functions/data/test/test_vel_functions.py
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Expand Up @@ -14,6 +14,7 @@
from ion_functions.data.vel_functions import nortek_mag_corr_east, nortek_mag_corr_north, nortek_up_vel
from ion_functions.data.vel_functions import velpt_mag_corr_east, velpt_mag_corr_north, velpt_up_vel
from ion_functions.data.vel_functions import velpt_up_vel
from ion_functions.data.vel_functions import vel3dk_transform
from ion_functions.data.vel_functions import vel3dk_east, vel3dk_north
from ion_functions.data.vel_functions import vel3dk_up
from ion_functions.data.vel_functions import valid_lat, valid_lon
Expand Down Expand Up @@ -193,6 +194,93 @@ def test_velpt(self):
np.testing.assert_array_almost_equal(vn_cor, VN_EXPECTED)
np.testing.assert_array_almost_equal(vu_cor, VU_EXPECTED)

def test_vel3dk_transform(self):
"""
Tests the function vel3dk_transform which calculates east, north,
and up velocities uncorrected for magnetic declination for a vel3d-k
instrument using test data from the VELPTMN DPS. Inputs to this
function are beam velocities in units of m/sec and tilt angles
in units of degrees.
Implemented by:
2018-06-19: Russell Desiderio.
********************* 2018-06-20 *************************************
THE STATIONARY TRANSFORM CASE HAS NOT BEEN CHECKED AND COULD VERY WELL
BE INCORRECT. TO DATE IT HAS NOT BEEN USED DURING OOI MCLANE PROFILES.
**********************************************************************
Notes:
The 2014 code from Nortek contained errors. The June 2018 code
modifications from Nortek corrected these errors. See the
documentation in the Notes section of the function
generate_beam_transforms in the module vel_functions.py.
Unit test values are calculated from modifications I made to the
Matlab code provided by Nortek in 2018; this Nortek code used
beam2xyz matrices whose entries had only 4 or 5 sigfigs, I figured
out the matrix entries exactly. Because of Nortek's history in
supplying code with errors, I independently derived the algorithm;
this does agree (to 4-5 sigfigs) with the code supplied by Nortek in
2018.
References:
OOI (2012). Data Product Specification for Mean Point Water
Velocity. Document Control Number 1341-00790.
https://alfresco.oceanobservatories.org/ (See: Company Home
>> OOI >> Controlled >> 1000 System Level >>
1341-00790_Data_Product_SPEC_VELPTMN_OOI.pdf)
VEL3D-K IDD (2014) (No DPS as of 2014-03-03)
https://confluence.oceanobservatories.org/display/
instruments/VEL3D-K__stc_imodem+-+Telemetered
"""

beams = np.array([
[1, 2, 4, 0, 0],
[1, 2, 4, 0, 0],
[1, 2, 4, 0, 0],
[1, 2, 4, 0, 0],
[1, 2, 4, 0, 0],
[2, 3, 4, 0, 0],
[2, 3, 4, 0, 0],
[2, 3, 4, 0, 0],
[2, 3, 4, 0, 0],
[2, 3, 4, 0, 0]])

# change velocity units to m/s
vel0 = VEL0 * 10.**VSCALE
vel1 = VEL1 * 10.**VSCALE
vel2 = VEL2 * 10.**VSCALE
# change tilt units to degrees
hdg = 0.1 * HDG
ptch = 0.1 * PTCH
rll = 0.1 * RLL

ENU = vel3dk_transform(vel0, vel1, vel2, hdg, ptch, rll, beams)
ve_calcd = np.array(ENU[0, :])[0]
vn_calcd = np.array(ENU[1, :])[0]
vu_calcd = np.array(ENU[2, :])[0]

VE_expected = np.array([
0.97152370, -0.15048551, 0.43161923, 0.04983687, 0.22505532,
0.61535247, -1.49808509, 0.66066875, -0.49045816, 0.38834679])

VN_expected = np.array([
0.34746236, 0.27587512, -0.28755576, 0.42188307, -0.57203139,
-0.98769358, 1.39724668, 0.66724621, -1.76064247, -0.13929959])

VU_expected = np.array([
-0.27506406, 0.75059143, 0.58418777, 1.36163388, 0.85850869,
1.21113768, 0.38492693, -0.66162609, 0.75089539, -1.80239185])

np.testing.assert_array_almost_equal(ve_calcd, VE_expected, decimal=7)
np.testing.assert_array_almost_equal(vn_calcd, VN_expected, decimal=7)
np.testing.assert_array_almost_equal(vu_calcd, VU_expected, decimal=7)

def test_vel3dk(self):
"""
Tests functions vel3dk_east, vel3dk_north, and vel3dk_up
Expand Down Expand Up @@ -220,6 +308,9 @@ def test_vel3dk(self):
for cloning the present routine to add unit tests checking
the actions of the DPAs when the beams variable contains
fill values (to fix redmine blocker #3178).
2018-06-19: Russell Desiderio. Changed unit test values to reflect the
changes incorporated into the vel3dk DPA algorithm.
References:
Expand Down Expand Up @@ -254,16 +345,16 @@ def test_vel3dk(self):
VEL0, VEL1, VEL2, HDG, PTCH, RLL, beams, VSCALE)

VE_expected = np.array([
0.34404501, -0.01039404, 0.64049184, -0.17489265, -0.0739631,
-1.09305797, -0.47947474, 0.11710443, 1.97369869, -1.6466505])
0.82249603, -0.22633049, 0.49801448, -0.07904969, 0.38632842,
0.88336431, -1.84831136, 0.43001174, 0.06043974, 0.41225013])

VN_expected = np.array([
0.91742235, 0.04629215, 0.06132321, 0.56597656, -0.35874325,
0.37553716, -1.87672302, -1.12589293, 0.0720366, -0.6617893])
0.62296765, 0.21800797, -0.14479311, 0.41739691, -0.47814240,
-0.75753862, 0.88334724, 0.83473984, -1.82667954, -0.01635351])

vU_expected = np.array([
-0.42452079, 0.8123358, 0.443022, 1.29753572, 0.99032304,
1.21870746, 0.76989652, -0.19519593, -0.05982637, -0.51904823])
-0.27506406, 0.75059143, 0.58418777, 1.36163388, 0.85850869,
1.21113768, 0.38492693, -0.66162609, 0.75089539, -1.80239185])

np.testing.assert_array_almost_equal(ve_calcd, VE_expected, decimal=7)
np.testing.assert_array_almost_equal(vn_calcd, VN_expected, decimal=7)
Expand All @@ -283,6 +374,8 @@ def test_vel3dk_onebadrow_in_beams(self):
Written to test DPA modifications to clear redmine blocker #3178.
NOTE: fillvalues in column 4 will cause NaN output.
fillvalues in column 5 will not cause NaN output.
2018-06-20: Russell Desiderio. Revised check values because vel3dk code was
corrected.
"""

beams = np.array([
Expand All @@ -305,16 +398,16 @@ def test_vel3dk_onebadrow_in_beams(self):
VEL0, VEL1, VEL2, HDG, PTCH, RLL, beams, VSCALE)

VE_expected = np.array([
0.34404501, -0.01039404, 0.64049184, -0.17489265, np.nan,
-1.09305797, -0.47947474, 0.11710443, 1.97369869, -1.6466505])
0.82249603, -0.22633049, 0.49801448, -0.07904969, np.nan,
0.88336431, -1.84831136, 0.43001174, 0.06043974, 0.41225013])

VN_expected = np.array([
0.91742235, 0.04629215, 0.06132321, 0.56597656, np.nan,
0.37553716, -1.87672302, -1.12589293, 0.0720366, -0.6617893])
0.62296765, 0.21800797, -0.14479311, 0.41739691, np.nan,
-0.75753862, 0.88334724, 0.83473984, -1.82667954, -0.01635351])

vU_expected = np.array([
-0.42452079, 0.8123358, 0.443022, 1.29753572, np.nan,
1.21870746, 0.76989652, -0.19519593, -0.05982637, -0.51904823])
-0.27506406, 0.75059143, 0.58418777, 1.36163388, np.nan,
1.21113768, 0.38492693, -0.66162609, 0.75089539, -1.80239185])

np.testing.assert_array_almost_equal(ve_calcd, VE_expected, decimal=7)
np.testing.assert_array_almost_equal(vn_calcd, VN_expected, decimal=7)
Expand All @@ -334,6 +427,8 @@ def test_vel3dk_onegoodrow_in_beams(self):
Written to test DPA modifications to clear redmine blocker #3178.
NOTE: fillvalues in column 4 will cause NaN output.
fillvalues in column 5 will not cause NaN output.
2018-06-20: Russell Desiderio. Revised check values because vel3dk code was
corrected.
"""

beams = np.array([
Expand All @@ -357,15 +452,15 @@ def test_vel3dk_onegoodrow_in_beams(self):

VE_expected = np.array([
np.nan, np.nan, np.nan, np.nan, np.nan,
np.nan, np.nan, np.nan, 1.97369869, np.nan])
np.nan, np.nan, np.nan, 0.06043974, np.nan])

VN_expected = np.array([
np.nan, np.nan, np.nan, np.nan, np.nan,
np.nan, np.nan, np.nan, 0.0720366, np.nan])
np.nan, np.nan, np.nan, -1.82667954, np.nan])

vU_expected = np.array([
np.nan, np.nan, np.nan, np.nan, np.nan,
np.nan, np.nan, np.nan, -0.05982637, np.nan])
np.nan, np.nan, np.nan, 0.75089539, np.nan])

np.testing.assert_array_almost_equal(ve_calcd, VE_expected, decimal=7)
np.testing.assert_array_almost_equal(vn_calcd, VN_expected, decimal=7)
Expand Down Expand Up @@ -796,4 +891,3 @@ def test_fsi_acm(self):

np.testing.assert_allclose(u_calc, u_xpctd, rtol=0.0, atol=1.e-6)
np.testing.assert_allclose(v_calc, v_xpctd, rtol=0.0, atol=1.e-6)

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