Input:, , , , |
Output: execution code. |
1 code =0; //Initial value of execution code. |
2 ; //List ofto be evaluated. |
3 =1; //Times of coordinate inversion. |
4 axis = X; |
5 ifthen://Judge whether the localization is successful. |
6 code =1; |
7 break; //End the localization. |
8 end. |
9 whiledo://Detect anomalous probe combination. |
10 if 3 then://All coordinate inversions are tried. |
11 code = 2; |
12 break; //End inversion process. |
13 end. |
14 if axis == X then://Invert coordinates of x-axis generated probe. |
15 = (, 0); |
16 = LS(, ); //Estimate target location based on new probes. |
17 update ; //Obtain target distance at the evaluation location. |
18 .append(()); |
19 = ; |
20 axis = Y; |
21 continue; //Verification. |
22 end. |
23 else. |
24 if axis == Y then://Invert coordinates of the probe on the y-axis. |
25 = (, 0); |
26 = (0,); |
27 = LS(, ); //Estimate target location based on new probes. |
28 update ; //Obtain target distance at the evaluation location. |
29 .append(()); |
30 = ; |
31 axis = XY. |
32 continue; //Verification. |
33 end. |
34 else. |
35 = (, 0); //Invert coordinates of 2 generated probes. |
36 = (0,); |
37 = LS(, ); //Estimate location based on new probes. |
38 update ; //Obtain target distance at the evaluation location. |
39 .append(()); |
40 = ; |
41 continue; //Verification. |
42 end. |
43 end |
44 return:, code. |