Binary angular measurement (BAM)[1] (and the binary angular measurement system, BAMS[2]) is a measure of angles using binary numbers and fixed-point arithmetic, in which a full turn is represented by the value 1. The unit of angular measure used in those methods may be called binary radian (brad) or binary degree.
These representation of angles are often used in numerical control and digital signal processing applications, such as robotics, navigation,[3] computer games,[4] and digital sensors,[5] taking advantage of the implicit modular reduction achieved by truncating binary numbers. It may also be used as the fractional part of a fixed-point number counting the number of full rotations of e.g. a vehicle's wheels or a leadscrew.
Representation
editUnsigned fraction of turn
editIn this system, an angle is represented by an n-bit unsigned binary number in the sequence 0, ..., 2n−1 that is interpreted as a multiple of 1/2n of a full turn; that is, 360/2n degrees or 2π/2n radians. The number can also be interpreted as a fraction of a full turn between 0 (inclusive) and 1 (exclusive) represented in binary fixed-point format with a scaling factor of 1/2n. Multiplying that fraction by 360° or 2π gives the angle in degrees in the range 0 to 360, or in radians, in the range 0 to 2π, respectively.
For example, with n = 8, the binary integers (00000000)2 (fraction 0.00), (01000000)2 (0.25), (10000000)2 (0.50), and (11000000)2 (0.75) represent the angular measures 0°, 90°, 180°, and 270°, respectively.
The main advantage of this system is that the addition or subtraction of the integer numeric values with the n-bit arithmetic used in most computers produces results that are consistent with the geometry of angles. Namely, the integer result of the operation is automatically reduced modulo 2n, matching the fact that angles that differ by an integer number of full turns are equivalent. Thus one does not need to explicitly test or handle the wrap-around, as one must do when using other representations (such as number of degrees or radians in floating-point).[6]
Signed fraction of turn
edit
Alternatively, the same n bits can also be interpreted as a signed integer in the range −2n−1, ..., 2n−1−1 in the two's complement convention. They can also be interpreted as a fraction of a full turn between −0.5 (inclusive) and 0.5 (exclusive) in signed fixed-point format, with the same scaling factor; or a fraction of half-turn between −1.0 (inclusive) and 1.0 (exclusive) with scaling factor 1/2n−1.
Either way, these numbers can then be interpreted as angles between −180° (inclusive) and 180° (exclusive), with −0.25 meaning −90° and 0.25 meaning 90°. The result of adding or subtracting the numerical values will have the same sign as the result of adding or subtracting angles, once reduced to this range. This interpretation eliminates the need to reduce angles to the range [−π, π] when computing trigonometric functions.
Example
editIn the orbital data broadcast by the Global Positioning System, angles are encoded using binary angular measurement. In particular, each satellite broadcasts an ephemeris containing its six Keplerian orbital elements. Four of these are angles, which are encoded as 32-bit binary angles. In the lower-precision almanac data, 24-bit binary angles are used.
See also
edit- Grade, 1/400 of a full turn
- Binary scaling
- CORDIC, algorithms for trigonometric functions
- Constructible polygon, including all polygons with 2n sides
References
edit- ^ "Binary angular measurement". Archived from the original on 2009-12-21.
- ^ "Binary Angular Measurement System". acronyms.thefreedictionary.
- ^ LaPlante, Phillip A. (2004). "Chapter 7.5.3, Binary Angular Measure". Real-Time Systems Design and Analysis. Wiley. ISBN 0-471-22855-9.
- ^ Sanglard, Fabien (2010-01-13). "Doom 1993 code review - Section "Walls"". fabiensanglard.net.
- ^ "Hitachi HM55B Compass Module (#29123)" (PDF). www.hobbyengineering.com. Parallax Digital Compass Sensor (#29123). Parallax, Inc. May 2005. Archived from the original (PDF) on 2011-07-11 – via www.parallax.com.
- ^ Hargreaves, Shawn [in Polish]. "Angles, integers, and modulo arithmetic". blogs.msdn.com. Archived from the original on 2019-06-30. Retrieved 2019-08-05.