Package com.irurueta.navigation.indoor.fingerprint

Class LinearFingerprintPositionEstimator<P extends com.irurueta.geometry.Point<P>>

java.lang.Object

com.irurueta.navigation.indoor.fingerprint.BaseFingerprintPositionEstimator<P,FingerprintPositionEstimatorListener<P>>

com.irurueta.navigation.indoor.fingerprint.FingerprintPositionEstimator<P>

com.irurueta.navigation.indoor.fingerprint.LinearFingerprintPositionEstimator<P>

Type Parameters:

P - a Point type.

Direct Known Subclasses:

LinearFingerprintPositionEstimator2D, LinearFingerprintPositionEstimator3D

public abstract class LinearFingerprintPositionEstimator<P extends com.irurueta.geometry.Point<P>>
extends FingerprintPositionEstimator<P>

Base class for position estimators based on located fingerprints containing only RSSI readings and having as well prior knowledge of the location of radio sources associated to those readings. This implementation uses a first-order Taylor approximation over provided located fingerprints to determine an approximate position for a non-located fingerprint and solves the problem in a linear way.

Field Summary

Fields inherited from class com.irurueta.navigation.indoor.fingerprint.FingerprintPositionEstimator

removeMeansFromFingerprintReadings, sources, useNoMeanNearestFingerprintFinder, useSourcesPathLossExponentWhenAvailable

Fields inherited from class com.irurueta.navigation.indoor.fingerprint.BaseFingerprintPositionEstimator

DEFAULT_MAX_NEAREST_FINGERPRINTS, DEFAULT_MIN_NEAREST_FINGERPRINTS, DEFAULT_PATH_LOSS_EXPONENT, estimatedPositionCoordinates, fingerprint, listener, locatedFingerprints, locked, maxNearestFingerprints, minNearestFingerprints, nearestFingerprints, pathLossExponent

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	LinearFingerprintPositionEstimator()	Constructor.
protected	LinearFingerprintPositionEstimator(FingerprintPositionEstimatorListener<P> listener)	Constructor.
protected	LinearFingerprintPositionEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<P>> sources)	Constructor.
protected	LinearFingerprintPositionEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<P>> sources, FingerprintPositionEstimatorListener<P> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	estimate()	Estimates position based on provided located radio sources and readings of such radio sources at an unknown location.

Methods inherited from class com.irurueta.navigation.indoor.fingerprint.FingerprintPositionEstimator

getSources, getUseNoMeanNearestFingerprintFinder, getUseSourcesPathLossExponentWhenAvailable, isMeansFromFingerprintReadingsRemoved, isReady, setMeansFromFingerprintReadingsRemoved, setSources, setUseNoMeanNearestFingerprintFinder, setUseSourcesPathLossExponentWhenAvailable

Methods inherited from class com.irurueta.navigation.indoor.fingerprint.BaseFingerprintPositionEstimator

getEstimatedPosition, getEstimatedPosition, getEstimatedPositionCoordinates, getFingerprint, getListener, getLocatedFingerprints, getMaxNearestFingerprints, getMinNearestFingerprints, getNearestFingerprints, getNumberOfDimensions, getPathLossExponent, isLocked, setFingerprint, setListener, setLocatedFingerprints, setMinMaxNearestFingerprints, setPathLossExponent, totalReadings

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

LinearFingerprintPositionEstimator

protected LinearFingerprintPositionEstimator()

Constructor.

LinearFingerprintPositionEstimator

protected LinearFingerprintPositionEstimator(FingerprintPositionEstimatorListener<P> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

LinearFingerprintPositionEstimator

protected LinearFingerprintPositionEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<P>> sources)

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 2D position estimation at least 2 located total readings are required among all fingerprints, for example 2 readings are required in a single fingerprint, or at least 2 fingerprints at different locations containing a single reading are required. For 3D position estimation 3 located total readings are required among all fingerprints).

LinearFingerprintPositionEstimator

protected LinearFingerprintPositionEstimator(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,P>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<P>> sources,
 FingerprintPositionEstimatorListener<P> listener)

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 2D position estimation at least 2 located total readings are required among all fingerprints, for example 2 readings are required in a single fingerprint, or at least 2 fingerprints at different locations containing a single reading are required. For 3D position estimation 3 located total readings are required among all fingerprints).

Method Details

estimate

public void estimate()
              throws com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
FingerprintEstimationException

Estimates position based on provided located radio sources and readings of such radio sources at an unknown location.

Specified by:

estimate in class BaseFingerprintPositionEstimator<P extends com.irurueta.geometry.Point<P>,FingerprintPositionEstimatorListener<P extends com.irurueta.geometry.Point<P>>>

Throws:

com.irurueta.navigation.LockedException - if estimator is locked.

com.irurueta.navigation.NotReadyException - if estimator is not ready.

FingerprintEstimationException - if estimation fails for some other reason.