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. 2023 Apr 19;23(8):4111. doi: 10.3390/s23084111

Algorithm 4 Pseudocode for circle fit estimation

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procedure CircleFit(iq, previous_circles)
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$n \leftarrow Length (iq)$
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$centroid_I, centroid_Q \leftarrow Mean (iq)$
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$i \leftarrow Complex (i q) - centroid_I$
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$q \leftarrow Imag (i q) - centroid_Q$
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$z \leftarrow i^{2} + q^{2}$
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$M \leftarrow Covariance (i, q, z) / n$
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$a \leftarrow coefficients_characteristic_polynomial$
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loop:
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$y_new = a (1) + x_new * (a (2) + x_new (a (3) + x_new * a (4)))$
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$x_new = x_o l d - \frac{y_new}{Dy}$
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if $(x_new - x_old) / x_new < eps$ then
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break
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goto loop.
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$a, b, r \leftarrow estimated by using eigenvector related to root x_new$
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$a, b, r \leftarrow [a + c e n t r o i d, b + c e n t r o i d, r]$
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$previous_circles \leftarrow running buffer over last 30 estimated circles$
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$a, b, r \leftarrow Mean (previous_circles)$
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$return a, b, r$