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Datei: bands_si.pvs Sprache: PVS

Original von: PVS^©

bands_si[D,H:posreal,B:nnreal,T: {AB: posreal|AB>B},N:above[1],
         gsmin:posreal,gsmax:{x:posreal | x > gsmin},
         vsmin:real,vsmax:{x:real | x > vsmin}] : THEORY
BEGIN

  %% Work in progress

  IMPORTING cd3d_si[D,H,B,T,N],
            bands_3D

   so     : VAR Vect3
   vo     : VAR Nzv2_vect3
   to     : VAR real
   x,y     : VAR real
   fp     : VAR FlightPlan_nz
   trkb     : VAR {fs : (trk_fseq?[gsmin,gsmax]) | increasing?(fs)}
   gsb     : VAR {fs : (gs_fseq?[gsmin,gsmax]) | increasing?(fs)}
   vsb     : VAR {fs : (vs_fseq?[vsmin,vsmax]) | increasing?(fs)}

   rs     : VAR {fs : fseq[real] | increasing?(fs)}

   % bands require that relevant flightplans have nonzero horizontal velocities
   FlightPlanRelevant_nz(to): TYPE+ = {flp: FlightPlanRelevant(to) | FORALL(i:below[N-1]): nz_vect2?(velocity(flp)(i))}

  %------------%
  % ALGORITHMS %
  %------------%

  % return bands for a given segment i
  % i <= N-2 because we need a next point to calculate the velocity
  trk_bands_si_i(so: Vect3, vo: Nzv2_vect3, to: real, fp: FlightPlan_nz) (i : below[N-1])
  : {fs : (trk_fseq?[gsmin,gsmax]) | increasing?(fs)} =
    LET
      fi_st = fp(i)`time,  % assume 0 <= fi_st <= to
      fi_et = fp(i+1)`time,  % assume fist < fi_et
      vi = velocity(fp)(i),  % intruder velocity for segment i
      Bo = B+to,   % absolute range bottom
      To = T+to    % absolute range bottom
    IN
    IF fi_et <= Bo OR fi_st >= To THEN
      emptyseq
    ELSE
        LET
          st = max(fi_st,Bo),  % start of range time
          et = min(fi_et,To),  % end of range time
          si = fp(i)`position,  % intruder position for segment i
          si_o = si-(fi_st-to)*vi,      % projected intruder position back to to
          s = so-si_o,   % relative position at start time
          rel_st = st-to,  % relative start time
          rel_et = et-to  % relative end time
        IN
        trk_bands_3D[D,H,rel_st,rel_et,gsmin,gsmax,vsmin,vsmax](s, vo, vi)
    ENDIF

  % stupid parameters
  expand_trk_bands_si_i : LEMMA
    FORALL (i:below[N-1]):
    fp(i+1)`time > B+to AND fp(i)`time < T+to IMPLIES
      trk_bands_si_i(so,vo,to,fp)(i) =
          LET
            LB = max(fp(i)`time,B+to)-to,
            UB = min(fp(1+i)`time,T+to)-to
          IN
          trk_bands_3D[D,H,LB,UB,gsmin,gsmax,vsmin,vsmax](so-(fp(i)`position-(fp(i)`time-to)*velocity(fp)(i)), vo, velocity(fp)(i))

  % returns track bands for a flightplan
  trk_bands_si(so: Vect3, vo: Nzv2_vect3, to: real, fp: FlightPlan_nz) (i : below[N-1])
  : RECURSIVE {fs : (trk_fseq?[gsmin,gsmax]) | increasing?(fs)} =
    IF i=0 THEN
      trk_bands_si_i(so,vo,to,fp)(i)
    ELSE
      sort (trk_bands_si_i(so,vo,to,fp)(i) o trk_bands_si(so,vo,to,fp)(i-1))
    ENDIF
  MEASURE i

  % return bands for a given segment i
  % i <= N-2 because we need a next point to calculate the velocity
  gs_bands_si_i(so: Vect3, vo: Nzv2_vect3, to: real, fp: FlightPlan_nz) (i : below[N-1])
  : {fs : (gs_fseq?[gsmin,gsmax]) | increasing?(fs)} =
    LET
      fi_st = fp(i)`time,  % assume 0 <= fi_st <= to
      fi_et = fp(i+1)`time,  % assume fist < fi_et
      vi = velocity(fp)(i),  % intruder velocity for segment i
      Bo = B+to,   % absolute range bottom
      To = T+to    % absolute range bottom
    IN
    IF fi_et <= Bo OR fi_st >= To THEN
      emptyseq
    ELSE
        LET
          st = max(fi_st,Bo),  % start of range time
          et = min(fi_et,To),  % end of range time
          si = fp(i)`position,  % intruder position for segment i
          si_o = si-(fi_st-to)*vi,      % projected intruder position back to to
          s = so-si_o,   % relative position at start time
          rel_st = st-to,  % relative start time
          rel_et = et-to  % relative end time
        IN
        gs_bands_3D[D,H,rel_st,rel_et,gsmin,gsmax,vsmin,vsmax](s, vo, vi)
    ENDIF

  % returns gs bands for a flightplan
  gs_bands_si(so: Vect3, vo: Nzv2_vect3, to: real, fp: FlightPlan_nz) (i : below[N-1])
  : RECURSIVE {fs : (gs_fseq?[gsmin,gsmax]) | increasing?(fs)} =
    IF i=0 THEN
      gs_bands_si_i(so,vo,to,fp)(i)
    ELSE
      sort (gs_bands_si_i(so,vo,to,fp)(i) o gs_bands_si(so,vo,to,fp)(i-1))
    ENDIF
  MEASURE i

  % return bands for a given segment i
  % i <= N-2 because we need a next point to calculate the velocity
  vs_bands_si_i(so: Vect3, vo: Nzv2_vect3, to: real, fp: FlightPlan_nz) (i : below[N-1])
  : {fs : (vs_fseq?[vsmin,vsmax]) | increasing?(fs)} =
    LET
      fi_st = fp(i)`time,  % assume 0 <= fi_st <= to
      fi_et = fp(i+1)`time,  % assume fist < fi_et
      vi = velocity(fp)(i),  % intruder velocity for segment i
      Bo = B+to,   % absolute range bottom
      To = T+to    % absolute range bottom
    IN
    IF fi_et <= Bo OR fi_st >= To THEN
      emptyseq
    ELSE
        LET
          st = max(fi_st,Bo),  % start of range time
          et = min(fi_et,To),  % end of range time
          si = fp(i)`position,  % intruder position for segment i
          si_o = si-(fi_st-to)*vi,      % projected intruder position back to to
          s = so-si_o,   % relative position at start time
          rel_st = st-to,  % relative start time
          rel_et = et-to  % relative end time
        IN
        vs_bands_3D[D,H,rel_st,rel_et,gsmin,gsmax,vsmin,vsmax](s, vo, vi)
    ENDIF

  % returns gs bands for a flightplan
  vs_bands_si(so: Vect3, vo: Nzv2_vect3, to: real, fp: FlightPlan_nz) (i : below[N-1])
  : RECURSIVE {fs : (vs_fseq?[vsmin,vsmax]) | increasing?(fs)} =
    IF i=0 THEN
      vs_bands_si_i(so,vo,to,fp)(i)
    ELSE
      sort (vs_bands_si_i(so,vo,to,fp)(i) o vs_bands_si(so,vo,to,fp)(i-1))
    ENDIF
  MEASURE i

  %-------------%
  % Definitions %
  %-------------%

  % is a track band red?
  red_trk_band_fp?(so,vo,to,fp,trkb)(i:subrange(0,trkb`length-2)) : bool =
    LET
      mp = (trkb`seq(i)+trkb`seq(i+1))/2,
      trk = trk2v3(vo)(mp)
    IN
    conflict_3D?(so,to,trk,fp)

  red_gs_band_fp?(so,vo,to,fp,gsb)(i:subrange(0,gsb`length-2)) : bool =
    LET
      mp = (gsb`seq(i)+gsb`seq(i+1))/2,
      gs = gs2v3(vo)(mp)
    IN
    conflict_3D?(so,to,gs,fp)

  red_vs_band_fp?(so,vo,to,fp,vsb)(i:subrange(0,vsb`length-2)) : bool =
    LET
      mp = (vsb`seq(i)+vsb`seq(i+1))/2,
      vs = vs2v3(vo)(mp)
    IN
    conflict_3D?(so,to,vs,fp)

  %------------%
  % Utilities  %
  %------------%

  % just to save a bit of typing
  segdefs : LEMMA
    FORALL (j:subrange(0,N-2)):
      seg_lh_bottom(fp,to)(j)+fp(j)`time-to = max(fp(j)`time,B+to)-to AND
      seg_lh_top(fp,to)(j)+fp(j)`time-to = min(fp(1+j)`time,T+to)-to

  %------------%
  % Theorems   %
  %------------%

  %%%%%%%%%%%%%%%%%%%%%%%%%%%% TRK %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

  % a critical point occurs in a trk_bands_si result iff it occurs in some trk_bands_si_i subcall result
  trk_bands_si_combines : LEMMA
    FORALL (i:subrange(0,N-2), x:real):
      member(x,trk_bands_si(so,vo,to,fp)(i)) IFF
        EXISTS (j:subrange(0,i)): member(x,trk_bands_si_i(so,vo,to,fp)(j))

  % not used - practice
  empty_no_members : LEMMA
    NOT member(x,emptyseq)

  % a critical point occurs in a trk_bands_si result iff it occurs in some trk_bands_3D on a relevant segment j
  % note: delay asserting to preserve the local variables -- once they become theory parameters it    may not be possible
  % to easily unify them
  trk_bands_si_component : LEMMA
    FORALL (i:subrange(0,N-2), x:real):
      member(x,trk_bands_si(so,vo,to,fp)(i)) IFF
        EXISTS (j:subrange(0,i)):
          LET
            LB = max(fp(j)`time,B+to)-to,
            UB = min(fp(1+j)`time,T+to)-to
          IN
          fp(j+1)`time > B+to AND fp(j)`time < T+ to AND
          member(x,trk_bands_3D[D,H,LB,UB,gsmin,gsmax,vsmin,vsmax]
     (so-(fp(j)`position - (fp(j)`time-to)*velocity(fp)(j)), vo, velocity(fp)(j)))

   % the overall bands have at least as many critical points as any of the segments
   trk_bands_si_length : LEMMA
     FORALL (i:subrange(0,N-2), j: subrange(0,i)):
       trk_bands_si(so,vo,to,fp)(i)`length >= trk_bands_si_i(so,vo,to,fp)(j)`length

   % we got something from trk_bands_si_i iff the flightplan segment is relevant
   trk_bands_si_i_relevant : LEMMA
     FORALL (i:subrange(0,N-2)):
       trk_bands_si_i(so,vo,to,fp)(i)`length > 0 IFF fp(i)`time < to+T AND to+B < fp(i+1)`time

   % if the flightplan segment has any points, it will have at least 2 points
   trk_bands_si_i_relevant_has_2 : LEMMA
     FORALL (i:subrange(0,N-2)):
       trk_bands_si_i(so,vo,to,fp)(i)`length > 0 IFF trk_bands_si_i(so,vo,to,fp)(i)`length > 1

   % we got something from trk_bands_si iff the flightplan is relevant
   trk_bands_si_relevant : LEMMA
     FORALL (i:subrange(0,N-2)):
       trk_bands_si(so,vo,to,fp)(i)`length > 0 IFF fp(0)`time < to+T AND to+B < fp(i+1)`time

   % relevant bands have at least 2 critical points
   trk_bands_si_relevant_has_2 : LEMMA
     FORALL (i:subrange(0,N-2)):
       trk_bands_si(so,vo,to,fp)(i)`length > 0 IFF trk_bands_si(so,vo,to,fp)(i)`length > 1

   % if a point is conflicting for the flightplan, it must be conflicting for one of the segments
   % (this is conflict_3D_rew_absolute_time)
  trk_bands_si_equivalence: LEMMA
    FORALL (fpr:FlightPlanRelevant_nz(to)):
       LET
         trkb = trk_bands_si(so,vo,to,fpr)(N-2),
         trk = trk2v3(vo)
       IN
       FORALL (x,y): (0<=x AND x<=y AND y<=2*pi AND
         (FORALL (i:subrange(0,trkb`length-1)): trkb`seq(i) < x OR y < trkb`seq(i)))
  IMPLIES
         (conflict_3D?(so,to,trk(x),fpr) IFF conflict_3D?(so,to,trk(y),fpr))

   trk_red_bands_si : THEOREM
    FORALL (fpr:FlightPlanRelevant_nz(to)):
    LET trkb = trk_bands_si(so,vo,to,fpr)(N-2) IN
     FORALL (i:subrange(0,trkb`length-2) | trkb`seq(i) /= trkb`seq(i+1)) :
       red_trk_band_fp?(so,vo,to,fpr,trkb)(i) IFF
       (FORALL (x | trkb`seq(i) < x AND x < trkb`seq(i+1)):
         LET trk = trk2v3(vo)(x) IN
         conflict_3D?(so,to,trk,fpr))

  trk_green_bands_si : THEOREM
    FORALL (fpr:FlightPlanRelevant_nz(to)):
    LET trkb = trk_bands_si(so,vo,to,fpr)(N-2) IN
     FORALL (i:subrange(0,trkb`length-2) | trkb`seq(i) /= trkb`seq(i+1)) :
       NOT red_trk_band_fp?(so,vo,to,fpr,trkb)(i) IFF
       (FORALL (x | trkb`seq(i) < x AND x < trkb`seq(i+1)):
         LET trk = trk2v3(vo)(x) IN
         NOT conflict_3D?(so,to,trk,fpr))

  %%%%%%%%%%%%%%%%%%%%%%%%%%%% GS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

  gs_bands_si_combines : LEMMA
    FORALL (i:subrange(0,N-2), x:real):
      member(x,gs_bands_si(so,vo,to,fp)(i)) IFF
        EXISTS (j:subrange(0,i)): member(x,gs_bands_si_i(so,vo,to,fp)(j))

  gs_bands_si_component : LEMMA
    FORALL (i:subrange(0,N-2), x:real):
      member(x,gs_bands_si(so,vo,to,fp)(i)) IFF
        EXISTS (j:subrange(0,i)):
          LET
            LB = max(fp(j)`time,B+to)-to,
            UB = min(fp(1+j)`time,T+to)-to
          IN
          fp(j+1)`time > B+to AND fp(j)`time < T+ to AND
          member(x,gs_bands_3D[D,H,LB,UB,gsmin,gsmax,vsmin,vsmax]
     (so-(fp(j)`position - (fp(j)`time-to)*velocity(fp)(j)), vo, velocity(fp)(j)))

  gs_bands_si_equivalence: LEMMA
    FORALL (fpr:FlightPlanRelevant_nz(to)):
       LET
         gsb = gs_bands_si(so,vo,to,fpr)(N-2),
         gs = gs2v3(vo)
       IN
       FORALL (x,y): (gsmin<=x AND x<=y AND y<=gsmax AND
         (FORALL (i:subrange(0,gsb`length-1)): gsb`seq(i) < x OR y < gsb`seq(i)))
  IMPLIES
         (conflict_3D?(so,to,gs(x),fpr) IFF conflict_3D?(so,to,gs(y),fpr))

   gs_red_bands_si : THEOREM
    FORALL (fpr:FlightPlanRelevant_nz(to)):
    LET gsb = gs_bands_si(so,vo,to,fpr)(N-2) IN
     FORALL (i:subrange(0,gsb`length-2) | gsb`seq(i) /= gsb`seq(i+1)) :
       red_gs_band_fp?(so,vo,to,fpr,gsb)(i) IFF
       (FORALL (x | gsb`seq(i) < x AND x < gsb`seq(i+1)):
         LET gs = gs2v3(vo)(x) IN
         conflict_3D?(so,to,gs,fpr))

  gs_green_bands_si : THEOREM
    FORALL (fpr:FlightPlanRelevant_nz(to)):
    LET gsb = gs_bands_si(so,vo,to,fpr)(N-2) IN
     FORALL (i:subrange(0,gsb`length-2) | gsb`seq(i) /= gsb`seq(i+1)) :
       NOT red_gs_band_fp?(so,vo,to,fpr,gsb)(i) IFF
       (FORALL (x | gsb`seq(i) < x AND x < gsb`seq(i+1)):
         LET gs = gs2v3(vo)(x) IN
         NOT conflict_3D?(so,to,gs,fpr))

  %%%%%%%%%%%%%%%%%%%%%%%%%%%% VS %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

  vs_bands_si_combines : LEMMA
    FORALL (i:subrange(0,N-2), x:real):
      member(x,vs_bands_si(so,vo,to,fp)(i)) IFF
        EXISTS (j:subrange(0,i)): member(x,vs_bands_si_i(so,vo,to,fp)(j))

  vs_bands_si_component : LEMMA
    FORALL (i:subrange(0,N-2), x:real):
      member(x,vs_bands_si(so,vo,to,fp)(i)) IFF
        EXISTS (j:subrange(0,i)):
          LET
            LB = max(fp(j)`time,B+to)-to,
            UB = min(fp(1+j)`time,T+to)-to
          IN
          fp(j+1)`time > B+to AND fp(j)`time < T+ to AND
          member(x,vs_bands_3D[D,H,LB,UB,gsmin,gsmax,vsmin,vsmax]
     (so-(fp(j)`position - (fp(j)`time-to)*velocity(fp)(j)), vo, velocity(fp)(j)))

  vs_bands_si_equivalence: LEMMA
    FORALL (fpr:FlightPlanRelevant_nz(to)):
       LET
         vsb = vs_bands_si(so,vo,to,fpr)(N-2),
         vs = vs2v3(vo)
       IN
       FORALL (x,y): (vsmin<=x AND x<=y AND y<=vsmax AND
         (FORALL (i:subrange(0,vsb`length-1)): vsb`seq(i) < x OR y < vsb`seq(i)))
  IMPLIES
         (conflict_3D?(so,to,vs(x),fpr) IFF conflict_3D?(so,to,vs(y),fpr))

   vs_red_bands_si : THEOREM
    FORALL (fpr:FlightPlanRelevant_nz(to)):
    LET vsb = vs_bands_si(so,vo,to,fpr)(N-2) IN
     FORALL (i:subrange(0,vsb`length-2) | vsb`seq(i) /= vsb`seq(i+1)) :
       red_vs_band_fp?(so,vo,to,fpr,vsb)(i) IFF
       (FORALL (x | vsb`seq(i) < x AND x < vsb`seq(i+1)):
         LET vs = vs2v3(vo)(x) IN
         conflict_3D?(so,to,vs,fpr))

  vs_green_bands_si : THEOREM
    FORALL (fpr:FlightPlanRelevant_nz(to)):
    LET vsb = vs_bands_si(so,vo,to,fpr)(N-2) IN
     FORALL (i:subrange(0,vsb`length-2) | vsb`seq(i) /= vsb`seq(i+1)) :
       NOT red_vs_band_fp?(so,vo,to,fpr,vsb)(i) IFF
       (FORALL (x | vsb`seq(i) < x AND x < vsb`seq(i+1)):
         LET vs = vs2v3(vo)(x) IN
         NOT conflict_3D?(so,to,vs,fpr))

END bands_si

¤ Dauer der Verarbeitung: 0.15 Sekunden (vorverarbeitet) ¤

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